Everything put together
Dependencies: FastAnalogIn MODSERIAL PID QEI RPCInterface Servo mbed-rtos mbed telemetry
main.cpp@2:a8adff46eaca, 2016-03-29 (annotated)
- Committer:
- vsutardja
- Date:
- Tue Mar 29 23:31:32 2016 +0000
- Revision:
- 2:a8adff46eaca
- Parent:
- 1:32610c005260
- Child:
- 3:c57674c348bd
Velocity moving weighted average
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsutardja | 0:fcf070a88ba0 | 1 | #include "mbed.h" |
vsutardja | 0:fcf070a88ba0 | 2 | #include "rtos.h" |
vsutardja | 0:fcf070a88ba0 | 3 | #include "Servo.h" |
vsutardja | 0:fcf070a88ba0 | 4 | #include "FastAnalogIn.h" |
vsutardja | 0:fcf070a88ba0 | 5 | #include "PID.h" |
vsutardja | 0:fcf070a88ba0 | 6 | #include "QEI.h" |
vsutardja | 0:fcf070a88ba0 | 7 | #include "telemetry.h" |
vsutardja | 0:fcf070a88ba0 | 8 | |
vsutardja | 0:fcf070a88ba0 | 9 | // ========= |
vsutardja | 0:fcf070a88ba0 | 10 | // Telemetry |
vsutardja | 0:fcf070a88ba0 | 11 | // ========= |
vsutardja | 0:fcf070a88ba0 | 12 | //MODSERIAL telemetry_serial(PTC4, PTC3); // TX, RX |
vsutardja | 0:fcf070a88ba0 | 13 | //telemetry::MbedHal telemetry_hal(telemetry_serial); // Hardware Abstraction Layer |
vsutardja | 0:fcf070a88ba0 | 14 | //telemetry::Telemetry telemetry_obj(telemetry_hal); // Telemetry |
vsutardja | 0:fcf070a88ba0 | 15 | |
vsutardja | 0:fcf070a88ba0 | 16 | |
vsutardja | 0:fcf070a88ba0 | 17 | // ============= |
vsutardja | 0:fcf070a88ba0 | 18 | // Communication |
vsutardja | 0:fcf070a88ba0 | 19 | // ============= |
vsutardja | 0:fcf070a88ba0 | 20 | Serial pc(USBTX, USBRX); // USB connection |
vsutardja | 0:fcf070a88ba0 | 21 | Serial bt(PTC4, PTC3); // BlueSMiRF connection |
vsutardja | 0:fcf070a88ba0 | 22 | //int idx = 0; |
vsutardja | 0:fcf070a88ba0 | 23 | char cmd; // Command |
vsutardja | 0:fcf070a88ba0 | 24 | char ch; |
vsutardja | 0:fcf070a88ba0 | 25 | char in[2]; |
vsutardja | 0:fcf070a88ba0 | 26 | |
vsutardja | 0:fcf070a88ba0 | 27 | void communication(void const *args); // Communications |
vsutardja | 0:fcf070a88ba0 | 28 | |
vsutardja | 0:fcf070a88ba0 | 29 | // ===== |
vsutardja | 0:fcf070a88ba0 | 30 | // Motor |
vsutardja | 0:fcf070a88ba0 | 31 | // ===== |
vsutardja | 0:fcf070a88ba0 | 32 | PwmOut motor(PTA4); // Enable pin (PWM) |
vsutardja | 0:fcf070a88ba0 | 33 | int T = 25000; // Frequency |
vsutardja | 0:fcf070a88ba0 | 34 | float d = 0.0; // Duty cycle |
vsutardja | 0:fcf070a88ba0 | 35 | |
vsutardja | 0:fcf070a88ba0 | 36 | // ======= |
vsutardja | 0:fcf070a88ba0 | 37 | // Encoder |
vsutardja | 0:fcf070a88ba0 | 38 | // ======= |
vsutardja | 2:a8adff46eaca | 39 | const int MVG_AVG = 4; |
vsutardja | 0:fcf070a88ba0 | 40 | int ppr = 389; // Pulses per revolution |
vsutardja | 0:fcf070a88ba0 | 41 | QEI qei(PTD3, PTD2, NC, ppr, QEI::X4_ENCODING); // Quadrature encoder |
vsutardja | 0:fcf070a88ba0 | 42 | float c = 0.20106; // Wheel circumference |
vsutardja | 0:fcf070a88ba0 | 43 | int prev_pulses = 0; // Previous pulse count |
vsutardja | 0:fcf070a88ba0 | 44 | int curr_pulses = 0; // Current pulse count |
vsutardja | 0:fcf070a88ba0 | 45 | float velocity = 0; // Velocity |
vsutardja | 2:a8adff46eaca | 46 | float v_prev[MVG_AVG] = {0}; |
vsutardja | 0:fcf070a88ba0 | 47 | |
vsutardja | 0:fcf070a88ba0 | 48 | // ======== |
vsutardja | 0:fcf070a88ba0 | 49 | // Velocity |
vsutardja | 0:fcf070a88ba0 | 50 | // ======== |
vsutardja | 1:32610c005260 | 51 | float Kp = 13.0; // Proportional factor |
vsutardja | 0:fcf070a88ba0 | 52 | float Ki = 0; // Integral factor |
vsutardja | 0:fcf070a88ba0 | 53 | float Kd = 0; // Derivative factor |
vsutardja | 0:fcf070a88ba0 | 54 | float interval = 0.01; // Sampling interval |
vsutardja | 0:fcf070a88ba0 | 55 | PID motor_ctrl(Kp, Ki, Kd, interval); // Motor controller |
vsutardja | 0:fcf070a88ba0 | 56 | |
vsutardja | 0:fcf070a88ba0 | 57 | // ===== |
vsutardja | 0:fcf070a88ba0 | 58 | // Servo |
vsutardja | 0:fcf070a88ba0 | 59 | // ===== |
vsutardja | 0:fcf070a88ba0 | 60 | Servo servo(PTA12); // Enable pin (PWM) |
vsutardja | 0:fcf070a88ba0 | 61 | float a = 88; // Angle |
vsutardja | 0:fcf070a88ba0 | 62 | |
vsutardja | 0:fcf070a88ba0 | 63 | // ====== |
vsutardja | 0:fcf070a88ba0 | 64 | // Camera |
vsutardja | 0:fcf070a88ba0 | 65 | // ====== |
vsutardja | 0:fcf070a88ba0 | 66 | DigitalOut clk(PTD5); // Clock pin |
vsutardja | 0:fcf070a88ba0 | 67 | DigitalOut si(PTD0); // SI pin |
vsutardja | 0:fcf070a88ba0 | 68 | FastAnalogIn ao(PTC2); // AO pin |
vsutardja | 0:fcf070a88ba0 | 69 | Timeout camera_read; // Camera read timeout |
vsutardja | 0:fcf070a88ba0 | 70 | int t_int = 15000; // Exposure time |
vsutardja | 0:fcf070a88ba0 | 71 | int img[128]; // Image data |
vsutardja | 0:fcf070a88ba0 | 72 | |
vsutardja | 0:fcf070a88ba0 | 73 | void readCamera(); // Read data from camera |
vsutardja | 0:fcf070a88ba0 | 74 | |
vsutardja | 0:fcf070a88ba0 | 75 | // ================ |
vsutardja | 0:fcf070a88ba0 | 76 | // Image processing |
vsutardja | 0:fcf070a88ba0 | 77 | // ================ |
vsutardja | 0:fcf070a88ba0 | 78 | int max = -1; |
vsutardja | 0:fcf070a88ba0 | 79 | int argmax = 0; |
vsutardja | 0:fcf070a88ba0 | 80 | int argmin = 0; |
vsutardja | 0:fcf070a88ba0 | 81 | int temp[128]; |
vsutardja | 0:fcf070a88ba0 | 82 | int center; |
vsutardja | 0:fcf070a88ba0 | 83 | |
vsutardja | 0:fcf070a88ba0 | 84 | void track(); // Line-tracking steering |
vsutardja | 0:fcf070a88ba0 | 85 | |
vsutardja | 0:fcf070a88ba0 | 86 | // ================ |
vsutardja | 0:fcf070a88ba0 | 87 | // Functions |
vsutardja | 0:fcf070a88ba0 | 88 | // ================ |
vsutardja | 0:fcf070a88ba0 | 89 | |
vsutardja | 0:fcf070a88ba0 | 90 | // Communications |
vsutardja | 0:fcf070a88ba0 | 91 | void communication(void const *args) { |
vsutardja | 0:fcf070a88ba0 | 92 | while (true) { |
vsutardja | 0:fcf070a88ba0 | 93 | bt.printf("\r\nPress q to return to this prompt.\r\n"); |
vsutardja | 0:fcf070a88ba0 | 94 | bt.printf("Available diagnostics:\r\n"); |
vsutardja | 0:fcf070a88ba0 | 95 | bt.printf(" [0] Velocity\r\n"); |
vsutardja | 0:fcf070a88ba0 | 96 | bt.printf(" [1] Steering\r\n"); |
vsutardja | 2:a8adff46eaca | 97 | bt.printf(" [2] Change Kp\r\n"); |
vsutardja | 2:a8adff46eaca | 98 | bt.printf(" [3] Change exposure time\r\n"); |
vsutardja | 0:fcf070a88ba0 | 99 | cmd = bt.getc(); |
vsutardja | 0:fcf070a88ba0 | 100 | while (cmd != 'q') { |
vsutardja | 0:fcf070a88ba0 | 101 | switch(atoi(&cmd)){ |
vsutardja | 0:fcf070a88ba0 | 102 | case 0: |
vsutardja | 0:fcf070a88ba0 | 103 | bt.printf("Duty cycle: %f, Pulse count: %d, Velocity: %f, Kp: %f\r\n", d, curr_pulses, velocity, Kp); |
vsutardja | 0:fcf070a88ba0 | 104 | break; |
vsutardja | 0:fcf070a88ba0 | 105 | case 1: |
vsutardja | 0:fcf070a88ba0 | 106 | bt.printf("Servo angle: %f, Track center: %d, t_int: %d\r\n", a, center, t_int); |
vsutardja | 0:fcf070a88ba0 | 107 | break; |
vsutardja | 2:a8adff46eaca | 108 | case 2: |
vsutardja | 2:a8adff46eaca | 109 | // idx = 0; |
vsutardja | 2:a8adff46eaca | 110 | bt.printf("Current Kp = %f. Enter new Kp: ", Kp); |
vsutardja | 2:a8adff46eaca | 111 | // while ((cmd = bt.getc()) != '\n') { |
vsutardja | 2:a8adff46eaca | 112 | for (int idx = 0; idx < 2; idx++) { |
vsutardja | 2:a8adff46eaca | 113 | ch = bt.getc(); |
vsutardja | 2:a8adff46eaca | 114 | in[idx] = ch; |
vsutardja | 2:a8adff46eaca | 115 | // idx = idx + 1; |
vsutardja | 2:a8adff46eaca | 116 | } |
vsutardja | 2:a8adff46eaca | 117 | bt.printf("\r\n"); |
vsutardja | 2:a8adff46eaca | 118 | Kp = atof(in); |
vsutardja | 2:a8adff46eaca | 119 | break; |
vsutardja | 2:a8adff46eaca | 120 | case 3: |
vsutardja | 2:a8adff46eaca | 121 | // idx = 0; |
vsutardja | 2:a8adff46eaca | 122 | bt.printf("Current t_int = %dms. Enter new t_int (ms): ", t_int / 1000); |
vsutardja | 2:a8adff46eaca | 123 | // while ((cmd = bt.getc()) != '\n') { |
vsutardja | 2:a8adff46eaca | 124 | for (int idx = 0; idx < 2; idx++) { |
vsutardja | 2:a8adff46eaca | 125 | ch = bt.getc(); |
vsutardja | 2:a8adff46eaca | 126 | in[idx] = ch; |
vsutardja | 2:a8adff46eaca | 127 | // idx = idx + 1; |
vsutardja | 2:a8adff46eaca | 128 | } |
vsutardja | 2:a8adff46eaca | 129 | bt.printf("\r\n"); |
vsutardja | 2:a8adff46eaca | 130 | t_int = atoi(in); |
vsutardja | 2:a8adff46eaca | 131 | break; |
vsutardja | 0:fcf070a88ba0 | 132 | } |
vsutardja | 0:fcf070a88ba0 | 133 | if (bt.readable()) { |
vsutardja | 0:fcf070a88ba0 | 134 | cmd = bt.getc(); |
vsutardja | 0:fcf070a88ba0 | 135 | } |
vsutardja | 0:fcf070a88ba0 | 136 | } |
vsutardja | 0:fcf070a88ba0 | 137 | } |
vsutardja | 0:fcf070a88ba0 | 138 | } |
vsutardja | 0:fcf070a88ba0 | 139 | |
vsutardja | 0:fcf070a88ba0 | 140 | // Read data from camera |
vsutardja | 0:fcf070a88ba0 | 141 | void read_camera() { |
vsutardja | 0:fcf070a88ba0 | 142 | // Start data transfer |
vsutardja | 0:fcf070a88ba0 | 143 | si = 1; |
vsutardja | 0:fcf070a88ba0 | 144 | wait_us(1); |
vsutardja | 0:fcf070a88ba0 | 145 | clk = 1; |
vsutardja | 0:fcf070a88ba0 | 146 | wait_us(1); |
vsutardja | 0:fcf070a88ba0 | 147 | si = 0; |
vsutardja | 0:fcf070a88ba0 | 148 | wait_us(1); |
vsutardja | 0:fcf070a88ba0 | 149 | |
vsutardja | 0:fcf070a88ba0 | 150 | // Read camera data |
vsutardja | 0:fcf070a88ba0 | 151 | for (int i = 0; i < 128; i++) { |
vsutardja | 0:fcf070a88ba0 | 152 | clk = 0; |
vsutardja | 0:fcf070a88ba0 | 153 | img[i] = ao.read_u16(); |
vsutardja | 0:fcf070a88ba0 | 154 | clk = 1; |
vsutardja | 0:fcf070a88ba0 | 155 | wait_us(1); |
vsutardja | 0:fcf070a88ba0 | 156 | } |
vsutardja | 0:fcf070a88ba0 | 157 | clk = 0; |
vsutardja | 0:fcf070a88ba0 | 158 | |
vsutardja | 0:fcf070a88ba0 | 159 | // Update servo angle |
vsutardja | 0:fcf070a88ba0 | 160 | track(); |
vsutardja | 0:fcf070a88ba0 | 161 | |
vsutardja | 0:fcf070a88ba0 | 162 | // Set next frame exposure time |
vsutardja | 0:fcf070a88ba0 | 163 | camera_read.attach_us(&read_camera, t_int); |
vsutardja | 0:fcf070a88ba0 | 164 | } |
vsutardja | 0:fcf070a88ba0 | 165 | |
vsutardja | 0:fcf070a88ba0 | 166 | // Find line center from image |
vsutardja | 0:fcf070a88ba0 | 167 | // Take two-point moving average to smooth the data |
vsutardja | 0:fcf070a88ba0 | 168 | // Find indices where max and min of smoothed data are attained |
vsutardja | 0:fcf070a88ba0 | 169 | // Calculate and return midpoint of argmax and argmin |
vsutardja | 0:fcf070a88ba0 | 170 | void track() { |
vsutardja | 0:fcf070a88ba0 | 171 | max = -1; |
vsutardja | 0:fcf070a88ba0 | 172 | argmax = 0; |
vsutardja | 0:fcf070a88ba0 | 173 | argmin = 0; |
vsutardja | 0:fcf070a88ba0 | 174 | for (int i = 0; i < 107; i++) { |
vsutardja | 0:fcf070a88ba0 | 175 | if (img[i+11] > max) { |
vsutardja | 0:fcf070a88ba0 | 176 | max = img[i+11]; |
vsutardja | 0:fcf070a88ba0 | 177 | } |
vsutardja | 0:fcf070a88ba0 | 178 | if (i == 126) { |
vsutardja | 0:fcf070a88ba0 | 179 | temp[i-1] = (img[i+11] + img[i+1+11]) / 2 - temp[i-1]; |
vsutardja | 0:fcf070a88ba0 | 180 | if (temp[i-1] > temp[argmax]) { |
vsutardja | 0:fcf070a88ba0 | 181 | argmax = i - 1; |
vsutardja | 0:fcf070a88ba0 | 182 | } |
vsutardja | 0:fcf070a88ba0 | 183 | if (temp[i-1] < temp[argmin]) { |
vsutardja | 0:fcf070a88ba0 | 184 | argmin = i - 1; |
vsutardja | 0:fcf070a88ba0 | 185 | } |
vsutardja | 0:fcf070a88ba0 | 186 | } else { |
vsutardja | 0:fcf070a88ba0 | 187 | temp[i] = (img[i+11] + img[i+1+11]) / 2; |
vsutardja | 0:fcf070a88ba0 | 188 | if (i > 0) { |
vsutardja | 0:fcf070a88ba0 | 189 | temp[i-1] = temp[i] - temp[i-1]; |
vsutardja | 0:fcf070a88ba0 | 190 | if (temp[i-1] > temp[argmax]) { |
vsutardja | 0:fcf070a88ba0 | 191 | argmax = i - 1; |
vsutardja | 0:fcf070a88ba0 | 192 | } |
vsutardja | 0:fcf070a88ba0 | 193 | if (temp[i-1] < temp[argmin]) { |
vsutardja | 0:fcf070a88ba0 | 194 | argmin = i - 1; |
vsutardja | 0:fcf070a88ba0 | 195 | } |
vsutardja | 0:fcf070a88ba0 | 196 | } |
vsutardja | 0:fcf070a88ba0 | 197 | } |
vsutardja | 0:fcf070a88ba0 | 198 | } |
vsutardja | 0:fcf070a88ba0 | 199 | |
vsutardja | 0:fcf070a88ba0 | 200 | if (max > 43253) { |
vsutardja | 0:fcf070a88ba0 | 201 | center = (argmax + argmin + 2 + 11) / 2; |
vsutardja | 0:fcf070a88ba0 | 202 | a = 88 + (64 - center) * 0.625; |
vsutardja | 0:fcf070a88ba0 | 203 | servo = a / 180; |
vsutardja | 0:fcf070a88ba0 | 204 | } |
vsutardja | 0:fcf070a88ba0 | 205 | } |
vsutardja | 0:fcf070a88ba0 | 206 | |
vsutardja | 0:fcf070a88ba0 | 207 | // ==== |
vsutardja | 0:fcf070a88ba0 | 208 | // Main |
vsutardja | 0:fcf070a88ba0 | 209 | // ==== |
vsutardja | 0:fcf070a88ba0 | 210 | int main() { |
vsutardja | 2:a8adff46eaca | 211 | |
vsutardja | 0:fcf070a88ba0 | 212 | // Initialize motor |
vsutardja | 0:fcf070a88ba0 | 213 | motor.period_us(T); |
vsutardja | 0:fcf070a88ba0 | 214 | motor = 1.0 - d; |
vsutardja | 0:fcf070a88ba0 | 215 | |
vsutardja | 0:fcf070a88ba0 | 216 | // Initialize servo |
vsutardja | 0:fcf070a88ba0 | 217 | servo.calibrate(0.001, 45.0); |
vsutardja | 0:fcf070a88ba0 | 218 | servo = a / 180.0; |
vsutardja | 0:fcf070a88ba0 | 219 | |
vsutardja | 0:fcf070a88ba0 | 220 | // Initialize & start camera |
vsutardja | 0:fcf070a88ba0 | 221 | clk = 0; |
vsutardja | 1:32610c005260 | 222 | // read_camera(); |
vsutardja | 0:fcf070a88ba0 | 223 | |
vsutardja | 0:fcf070a88ba0 | 224 | // Initialize motor controller |
vsutardja | 0:fcf070a88ba0 | 225 | motor_ctrl.setInputLimits(0.0, 10.0); |
vsutardja | 0:fcf070a88ba0 | 226 | motor_ctrl.setOutputLimits(0.1, 0.5); |
vsutardja | 2:a8adff46eaca | 227 | motor_ctrl.setSetPoint(1.5); |
vsutardja | 0:fcf070a88ba0 | 228 | motor_ctrl.setBias(0.0); |
vsutardja | 0:fcf070a88ba0 | 229 | motor_ctrl.setMode(1); |
vsutardja | 0:fcf070a88ba0 | 230 | |
vsutardja | 0:fcf070a88ba0 | 231 | // Initialize bluetooth |
vsutardja | 0:fcf070a88ba0 | 232 | bt.baud(115200); |
vsutardja | 0:fcf070a88ba0 | 233 | |
vsutardja | 0:fcf070a88ba0 | 234 | // Initialize communications thread |
vsutardja | 0:fcf070a88ba0 | 235 | Thread communication_thread(communication); |
vsutardja | 0:fcf070a88ba0 | 236 | |
vsutardja | 0:fcf070a88ba0 | 237 | // Start motor controller |
vsutardja | 0:fcf070a88ba0 | 238 | while (true) { |
vsutardja | 0:fcf070a88ba0 | 239 | curr_pulses = qei.getPulses(); |
vsutardja | 2:a8adff46eaca | 240 | for (int i = 0; i < MVG_AVG - 1; i++) { |
vsutardja | 2:a8adff46eaca | 241 | v_prev[i] = abs(1.5 - 0.5 * (1.5 - v_prev[i+1])); |
vsutardja | 2:a8adff46eaca | 242 | } |
vsutardja | 2:a8adff46eaca | 243 | v_prev[MVG_AVG-1] = velocity; |
vsutardja | 0:fcf070a88ba0 | 244 | velocity = (curr_pulses - prev_pulses)/ interval / ppr * c; |
vsutardja | 2:a8adff46eaca | 245 | for (int i = 0; i < MVG_AVG; i++) { |
vsutardja | 2:a8adff46eaca | 246 | velocity = velocity + v_prev[i]; |
vsutardja | 2:a8adff46eaca | 247 | } |
vsutardja | 2:a8adff46eaca | 248 | velocity = velocity / (MVG_AVG + 1.0); |
vsutardja | 0:fcf070a88ba0 | 249 | prev_pulses = curr_pulses; |
vsutardja | 0:fcf070a88ba0 | 250 | motor_ctrl.setProcessValue(velocity); |
vsutardja | 0:fcf070a88ba0 | 251 | d = motor_ctrl.compute(); |
vsutardja | 0:fcf070a88ba0 | 252 | motor = 1.0 - d; |
vsutardja | 0:fcf070a88ba0 | 253 | wait(interval); |
vsutardja | 2:a8adff46eaca | 254 | pc.printf("Velocity: %f\r\n", velocity); |
vsutardja | 0:fcf070a88ba0 | 255 | } |
vsutardja | 0:fcf070a88ba0 | 256 | } |