ECE4333 - 2018 - Ahmed & Brandon / Mbed OS MbedOS_Robot_Team

ManualControl

Dependencies:   TPixy-Interface

Fork of MbedOS_Robot by ECE4333 - 2018 - Ahmed & Brandon

PiControlThread.cpp@10:8919b1b76243, 2018-03-02 (annotated)

Committer:
asobhy
Date:
Fri Mar 02 23:37:31 2018 +0000
Revision:
10:8919b1b76243
Parent:
9:fe56b888985c
Child:
11:9135e5bc2fcf
vision + robot testing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
asobhy 8:a0890fa79084 1 /******************************************************************************/
asobhy 8:a0890fa79084 2 // ECE4333
asobhy 9:fe56b888985c 3 // LAB Partner 1: Ahmed Sobhy - ID: 3594449
asobhy 9:fe56b888985c 4 // LAB Partner 2: Brandon Kingman - ID: 3470444
asobhy 9:fe56b888985c 5 // Project: Autonomous Robot Design
asobhy 9:fe56b888985c 6 // Instructor: Prof. Chris Diduch
asobhy 8:a0890fa79084 7 /******************************************************************************/
asobhy 8:a0890fa79084 8 // filename: PiControlThread.cpp
asobhy 8:a0890fa79084 9 // file content description:
asobhy 8:a0890fa79084 10 // * Function to Create the PiControl Thread
asobhy 8:a0890fa79084 11 // * PiControl Thread
asobhy 8:a0890fa79084 12 // * PiControl ISR
asobhy 8:a0890fa79084 13 // * Variables related to the functionality of the thread
asobhy 8:a0890fa79084 14 /******************************************************************************/
asobhy 8:a0890fa79084 15
asobhy 0:a355e511bc5d 16 #include "mbed.h"
asobhy 0:a355e511bc5d 17 #include "ui.h"
asobhy 9:fe56b888985c 18 #include "Drivers/motor_driver_r.h"
asobhy 9:fe56b888985c 19 #include "Drivers/motor_driver_l.h"
asobhy 0:a355e511bc5d 20 #include "Drivers/DE0_driver.h"
asobhy 1:3e9684e81312 21 #include "PiControlThread.h"
asobhy 7:73fd05fe556a 22 #include "Drivers/PiController.h"
asobhy 0:a355e511bc5d 23
asobhy 10:8919b1b76243 24 // setpoints
asobhy 9:fe56b888985c 25 extern int setpointR, setpointL;
asobhy 10:8919b1b76243 26 extern int SteeringError, DistanceError;
asobhy 0:a355e511bc5d 27
asobhy 10:8919b1b76243 28 //
asobhy 9:fe56b888985c 29 int velR, velL;
asobhy 10:8919b1b76243 30
asobhy 10:8919b1b76243 31 // control signal
asobhy 9:fe56b888985c 32 int32_t U_right, U_left;
asobhy 9:fe56b888985c 33
asobhy 9:fe56b888985c 34 sensors_t sensors;
asobhy 0:a355e511bc5d 35
asobhy 8:a0890fa79084 36 int time_passed = 0;
asobhy 8:a0890fa79084 37
asobhy 0:a355e511bc5d 38 void PiControlThread(void const *);
asobhy 0:a355e511bc5d 39 void PeriodicInterruptISR(void);
asobhy 0:a355e511bc5d 40
asobhy 10:8919b1b76243 41 // steering gain
asobhy 10:8919b1b76243 42 int Ks = 1;
asobhy 10:8919b1b76243 43
asobhy 10:8919b1b76243 44 // distance gain
asobhy 10:8919b1b76243 45 int Kd = 1;
asobhy 10:8919b1b76243 46
asobhy 10:8919b1b76243 47 // overall robot required speed
asobhy 10:8919b1b76243 48 int Setpoint;
asobhy 10:8919b1b76243 49
asobhy 0:a355e511bc5d 50 osThreadId PiControlId;
asobhy 0:a355e511bc5d 51
asobhy 0:a355e511bc5d 52 /******************************************************************************/
asobhy 0:a355e511bc5d 53 // osPriorityIdle = -3, ///< priority: idle (lowest)
asobhy 0:a355e511bc5d 54 // osPriorityLow = -2, ///< priority: low
asobhy 0:a355e511bc5d 55 // osPriorityBelowNormal = -1, ///< priority: below normal
asobhy 0:a355e511bc5d 56 // osPriorityNormal = 0, ///< priority: normal (default)
asobhy 0:a355e511bc5d 57 // osPriorityAboveNormal = +1, ///< priority: above normal
asobhy 0:a355e511bc5d 58 // osPriorityHigh = +2, ///< priority: high
asobhy 0:a355e511bc5d 59 // osPriorityRealtime = +3, ///< priority: realtime (highest)
asobhy 0:a355e511bc5d 60 /******************************************************************************/
asobhy 0:a355e511bc5d 61
asobhy 0:a355e511bc5d 62 // Declare PeriodicInterruptThread as a thread/process
asobhy 0:a355e511bc5d 63 osThreadDef(PiControlThread, osPriorityRealtime, 1024);
asobhy 0:a355e511bc5d 64
asobhy 0:a355e511bc5d 65 Ticker PeriodicInt; // Declare a timer interrupt: PeriodicInt
asobhy 0:a355e511bc5d 66
asobhy 0:a355e511bc5d 67 DigitalOut led3(LED3);
asobhy 0:a355e511bc5d 68
asobhy 7:73fd05fe556a 69 /*******************************************************************************
asobhy 7:73fd05fe556a 70 * @brief function that creates a thread for the PI controller. It initializes
asobhy 7:73fd05fe556a 71 * the PI controller's gains and initializes the DC Motor. It also
asobhy 7:73fd05fe556a 72 * initializes the PIControllerThread runs at 50ms period
asobhy 7:73fd05fe556a 73 * @param none
asobhy 7:73fd05fe556a 74 * @return none
asobhy 7:73fd05fe556a 75 *******************************************************************************/
asobhy 0:a355e511bc5d 76 void PiControlThreadInit()
asobhy 0:a355e511bc5d 77 {
asobhy 4:417e475239c7 78 DE0_init(); // initialize FPGA
asobhy 9:fe56b888985c 79 motorDriver_R_init(); // initialize motorDriver
asobhy 9:fe56b888985c 80 motorDriver_L_init(); // initialize motorDriver
asobhy 6:e7ce340fe91e 81 // Kp,Ki
asobhy 6:e7ce340fe91e 82 PiController_init(1,0.4); // initialize the PI Controller gains and initialize variables
asobhy 0:a355e511bc5d 83
asobhy 0:a355e511bc5d 84 PiControlId = osThreadCreate(osThread(PiControlThread), NULL);
asobhy 0:a355e511bc5d 85
asobhy 0:a355e511bc5d 86 // Specify address of the PeriodicInt ISR as PiControllerISR, specify the interval
asobhy 0:a355e511bc5d 87 // in seconds between interrupts, and start interrupt generation:
asobhy 1:3e9684e81312 88 PeriodicInt.attach(&PeriodicInterruptISR, 0.05); // 50ms sampling rate
asobhy 4:417e475239c7 89
asobhy 0:a355e511bc5d 90 }
asobhy 0:a355e511bc5d 91
asobhy 0:a355e511bc5d 92
asobhy 10:8919b1b76243 93
asobhy 10:8919b1b76243 94
asobhy 10:8919b1b76243 95
asobhy 10:8919b1b76243 96
asobhy 0:a355e511bc5d 97 /*******************************************************************************
asobhy 7:73fd05fe556a 98 * @brief This is the PI controller thread. It reads several values from the
asobhy 7:73fd05fe556a 99 * FPGA such as speed, time and other sensors data
asobhy 7:73fd05fe556a 100 * @param none
asobhy 7:73fd05fe556a 101 * @return none
asobhy 0:a355e511bc5d 102 *******************************************************************************/
asobhy 0:a355e511bc5d 103 void PiControlThread(void const *argument)
asobhy 1:3e9684e81312 104 {
asobhy 3:4def4ca68910 105
asobhy 0:a355e511bc5d 106 while (true)
asobhy 0:a355e511bc5d 107 {
asobhy 0:a355e511bc5d 108 osSignalWait(0x01, osWaitForever); // Go to sleep until signal, SignalPi, is received.
asobhy 0:a355e511bc5d 109
asobhy 0:a355e511bc5d 110 // get incremental position and time from QEI
asobhy 9:fe56b888985c 111 DE0_read(&sensors);
asobhy 9:fe56b888985c 112
asobhy 9:fe56b888985c 113 SaturateValue(sensors.dp_right, 560);
asobhy 9:fe56b888985c 114 SaturateValue(sensors.dp_left, 560);
asobhy 9:fe56b888985c 115
asobhy 9:fe56b888985c 116 // maximum velocity at dPostition = 560 is vel = 703
asobhy 9:fe56b888985c 117 velR = (float)((6135.92 * sensors.dp_right) / sensors.dt_right) ;
asobhy 1:3e9684e81312 118
asobhy 1:3e9684e81312 119 // maximum velocity at dPostition = 560 is vel = 703
asobhy 9:fe56b888985c 120 velL = (float)((6135.92 * sensors.dp_left) / sensors.dt_left) ;
asobhy 9:fe56b888985c 121
asobhy 10:8919b1b76243 122 /*********************Differential Start*******************************/
asobhy 10:8919b1b76243 123 // Inputs are Speed Setpoint and Steering Setpoint
asobhy 10:8919b1b76243 124 // The Inputs for the Steering are specified in the CameraThread
asobhy 10:8919b1b76243 125 // and set at the center.
asobhy 10:8919b1b76243 126 // The distance between the object and the image should be set to 1 meter
asobhy 10:8919b1b76243 127 // If distance decrease then speed should stop.
asobhy 10:8919b1b76243 128 // If distance increase then speed should increase.
asobhy 10:8919b1b76243 129
asobhy 10:8919b1b76243 130 // if object is moving away from the the robot increase robot speed
asobhy 10:8919b1b76243 131 if(DistanceError > 0)
asobhy 10:8919b1b76243 132 {
asobhy 10:8919b1b76243 133 Setpoint = (Kd*DistanceError);
asobhy 10:8919b1b76243 134 }
asobhy 10:8919b1b76243 135 // if object is at the set distance limit or less then do not move.
asobhy 10:8919b1b76243 136 else if(DistanceError <= 0)
asobhy 10:8919b1b76243 137 {
asobhy 10:8919b1b76243 138 Setpoint = 0;
asobhy 10:8919b1b76243 139 }
asobhy 10:8919b1b76243 140
asobhy 10:8919b1b76243 141 setpointR = Setpoint + (Ks*SteeringError);
asobhy 10:8919b1b76243 142 setpointL = Setpoint - (Ks*SteeringError);
asobhy 0:a355e511bc5d 143
asobhy 9:fe56b888985c 144 U_right = PiControllerR(setpointR,sensors.dp_right);
asobhy 9:fe56b888985c 145 U_left = PiControllerL(setpointL,sensors.dp_left);
asobhy 1:3e9684e81312 146
asobhy 9:fe56b888985c 147 // set speed and direction for right motor
asobhy 9:fe56b888985c 148 if (U_right >= 0)
asobhy 0:a355e511bc5d 149 {
asobhy 9:fe56b888985c 150 motorDriver_R_forward(U_right);
asobhy 9:fe56b888985c 151 }
asobhy 9:fe56b888985c 152 else if (U_right < 0)
asobhy 9:fe56b888985c 153 {
asobhy 9:fe56b888985c 154 motorDriver_R_reverse(U_right);
asobhy 0:a355e511bc5d 155 }
asobhy 9:fe56b888985c 156
asobhy 9:fe56b888985c 157 // set speed and direction of left motor
asobhy 9:fe56b888985c 158 if (U_left >= 0)
asobhy 0:a355e511bc5d 159 {
asobhy 9:fe56b888985c 160 motorDriver_L_forward(U_left);
asobhy 9:fe56b888985c 161 }
asobhy 9:fe56b888985c 162 else if (U_left < 0)
asobhy 9:fe56b888985c 163 {
asobhy 9:fe56b888985c 164 motorDriver_L_reverse(U_left);
asobhy 7:73fd05fe556a 165 }
asobhy 3:4def4ca68910 166
asobhy 0:a355e511bc5d 167 }
asobhy 1:3e9684e81312 168
asobhy 0:a355e511bc5d 169 }
asobhy 0:a355e511bc5d 170
asobhy 0:a355e511bc5d 171 /*******************************************************************************
asobhy 7:73fd05fe556a 172 * @brief The ISR below signals the PIControllerThread. it is setup to run
asobhy 7:73fd05fe556a 173 * every 50ms
asobhy 7:73fd05fe556a 174 * @param none
asobhy 7:73fd05fe556a 175 * @return none
asobhy 0:a355e511bc5d 176 *******************************************************************************/
asobhy 0:a355e511bc5d 177 void PeriodicInterruptISR(void)
asobhy 0:a355e511bc5d 178 {
asobhy 0:a355e511bc5d 179 // Send signal to the thread with ID, PeriodicInterruptId, i.e., PeriodicInterruptThread.
asobhy 0:a355e511bc5d 180 osSignalSet(PiControlId,0x1);
asobhy 0:a355e511bc5d 181 }
asobhy 1:3e9684e81312 182