EE192 Team 4 / Mbed 2 deprecated FixedPWM

Fixed PWM

Dependencies:   FastAnalogIn MODSERIAL PID QEI RPCInterface Servo mbed-rtos mbed telemetry

Fork of Sequential_Timing by EE192 Team 4

main.cpp@4:947c3634b649, 2016-04-01 (annotated)

Committer:
vsutardja
Date:
Fri Apr 01 00:34:18 2016 +0000
Revision:
4:947c3634b649
Parent:
3:c57674c348bd
Child:
5:7cba3ffc38bb
Faster Figure 8

Who changed what in which revision?

UserRevisionLine numberNew 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 4:947c3634b649 25 char in[5];
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 4:947c3634b649 46 float vel = 0;
vsutardja 2:a8adff46eaca 47 float v_prev[MVG_AVG] = {0};
vsutardja 0:fcf070a88ba0 48
vsutardja 0:fcf070a88ba0 49 // ========
vsutardja 0:fcf070a88ba0 50 // Velocity
vsutardja 0:fcf070a88ba0 51 // ========
vsutardja 4:947c3634b649 52 float Kp = 6.0; // Proportional factor
vsutardja 0:fcf070a88ba0 53 float Ki = 0; // Integral factor
vsutardja 0:fcf070a88ba0 54 float Kd = 0; // Derivative factor
vsutardja 0:fcf070a88ba0 55 float interval = 0.01; // Sampling interval
vsutardja 4:947c3634b649 56 float ref_v = 1.0;
vsutardja 0:fcf070a88ba0 57 PID motor_ctrl(Kp, Ki, Kd, interval); // Motor controller
vsutardja 0:fcf070a88ba0 58
vsutardja 0:fcf070a88ba0 59 // =====
vsutardja 0:fcf070a88ba0 60 // Servo
vsutardja 0:fcf070a88ba0 61 // =====
vsutardja 0:fcf070a88ba0 62 Servo servo(PTA12); // Enable pin (PWM)
vsutardja 0:fcf070a88ba0 63 float a = 88; // Angle
vsutardja 4:947c3634b649 64 float Ks = 0.7;
vsutardja 0:fcf070a88ba0 65
vsutardja 0:fcf070a88ba0 66 // ======
vsutardja 0:fcf070a88ba0 67 // Camera
vsutardja 0:fcf070a88ba0 68 // ======
vsutardja 0:fcf070a88ba0 69 DigitalOut clk(PTD5); // Clock pin
vsutardja 0:fcf070a88ba0 70 DigitalOut si(PTD0); // SI pin
vsutardja 0:fcf070a88ba0 71 FastAnalogIn ao(PTC2); // AO pin
vsutardja 0:fcf070a88ba0 72 Timeout camera_read; // Camera read timeout
vsutardja 0:fcf070a88ba0 73 int t_int = 15000; // Exposure time
vsutardja 0:fcf070a88ba0 74 int img[128]; // Image data
vsutardja 0:fcf070a88ba0 75
vsutardja 0:fcf070a88ba0 76 void readCamera(); // Read data from camera
vsutardja 0:fcf070a88ba0 77
vsutardja 0:fcf070a88ba0 78 // ================
vsutardja 0:fcf070a88ba0 79 // Image processing
vsutardja 0:fcf070a88ba0 80 // ================
vsutardja 0:fcf070a88ba0 81 int max = -1;
vsutardja 3:c57674c348bd 82 float lum_bg = 0;
vsutardja 3:c57674c348bd 83 float contrast = 0;
vsutardja 0:fcf070a88ba0 84 int argmax = 0;
vsutardja 0:fcf070a88ba0 85 int argmin = 0;
vsutardja 0:fcf070a88ba0 86 int temp[128];
vsutardja 4:947c3634b649 87 int center = 64;
vsutardja 0:fcf070a88ba0 88
vsutardja 0:fcf070a88ba0 89 void track(); // Line-tracking steering
vsutardja 0:fcf070a88ba0 90
vsutardja 0:fcf070a88ba0 91 // ================
vsutardja 0:fcf070a88ba0 92 // Functions
vsutardja 0:fcf070a88ba0 93 // ================
vsutardja 0:fcf070a88ba0 94
vsutardja 0:fcf070a88ba0 95 // Communications
vsutardja 0:fcf070a88ba0 96 void communication(void const *args) {
vsutardja 0:fcf070a88ba0 97 while (true) {
vsutardja 0:fcf070a88ba0 98 bt.printf("\r\nPress q to return to this prompt.\r\n");
vsutardja 0:fcf070a88ba0 99 bt.printf("Available diagnostics:\r\n");
vsutardja 0:fcf070a88ba0 100 bt.printf(" [0] Velocity\r\n");
vsutardja 0:fcf070a88ba0 101 bt.printf(" [1] Steering\r\n");
vsutardja 2:a8adff46eaca 102 bt.printf(" [2] Change Kp\r\n");
vsutardja 4:947c3634b649 103 bt.printf(" [3] Change Ki\r\n");
vsutardja 4:947c3634b649 104 bt.printf(" [4] Change Kd\r\n");
vsutardja 4:947c3634b649 105 bt.printf(" [5] Change Ks\r\n");
vsutardja 4:947c3634b649 106 bt.printf(" [6] Change reference velocity\r\n");
vsutardja 0:fcf070a88ba0 107 cmd = bt.getc();
vsutardja 0:fcf070a88ba0 108 while (cmd != 'q') {
vsutardja 0:fcf070a88ba0 109 switch(atoi(&cmd)){
vsutardja 0:fcf070a88ba0 110 case 0:
vsutardja 4:947c3634b649 111 bt.printf("Duty cycle: %f, Pulse count: %d, Velocity: %f, Kp: %f, Ki: %f, Kd: %f\r\n", d, curr_pulses, velocity, Kp, Ki, Kd);
vsutardja 0:fcf070a88ba0 112 break;
vsutardja 0:fcf070a88ba0 113 case 1:
vsutardja 0:fcf070a88ba0 114 bt.printf("Servo angle: %f, Track center: %d, t_int: %d\r\n", a, center, t_int);
vsutardja 0:fcf070a88ba0 115 break;
vsutardja 2:a8adff46eaca 116 case 2:
vsutardja 4:947c3634b649 117 bt.printf("Current: %f, New (5 digits): ", Kp);
vsutardja 4:947c3634b649 118 for (int i = 0; i < 5; i++) {
vsutardja 4:947c3634b649 119 in[i] = bt.getc();
vsutardja 4:947c3634b649 120 bt.putc(in[i]);
vsutardja 2:a8adff46eaca 121 }
vsutardja 2:a8adff46eaca 122 bt.printf("\r\n");
vsutardja 2:a8adff46eaca 123 Kp = atof(in);
vsutardja 4:947c3634b649 124 motor_ctrl.setTunings(Kp, Ki, Kd);
vsutardja 4:947c3634b649 125 cmd = 'q';
vsutardja 2:a8adff46eaca 126 break;
vsutardja 2:a8adff46eaca 127 case 3:
vsutardja 4:947c3634b649 128 bt.printf("Current: %f, New (5 digits): ", Ki);
vsutardja 4:947c3634b649 129 for (int i = 0; i < 5; i++) {
vsutardja 4:947c3634b649 130 in[i] = bt.getc();
vsutardja 4:947c3634b649 131 bt.putc(in[i]);
vsutardja 4:947c3634b649 132 }
vsutardja 4:947c3634b649 133 bt.printf("\r\n");
vsutardja 4:947c3634b649 134 Ki = atof(in);
vsutardja 4:947c3634b649 135 motor_ctrl.setTunings(Kp, Ki, Kd);
vsutardja 4:947c3634b649 136 cmd = 'q';
vsutardja 4:947c3634b649 137 break;
vsutardja 4:947c3634b649 138 case 4:
vsutardja 4:947c3634b649 139 bt.printf("Current: %f, New (5 digits): ", Kd);
vsutardja 4:947c3634b649 140 for (int i = 0; i < 5; i++) {
vsutardja 4:947c3634b649 141 in[i] = bt.getc();
vsutardja 4:947c3634b649 142 bt.putc(in[i]);
vsutardja 2:a8adff46eaca 143 }
vsutardja 2:a8adff46eaca 144 bt.printf("\r\n");
vsutardja 4:947c3634b649 145 Kd = atof(in);
vsutardja 4:947c3634b649 146 motor_ctrl.setTunings(Kp, Ki, Kd);
vsutardja 4:947c3634b649 147 cmd = 'q';
vsutardja 4:947c3634b649 148 break;
vsutardja 4:947c3634b649 149 case 5:
vsutardja 4:947c3634b649 150 bt.printf("Current: %f, New (5 digits): ", Ks);
vsutardja 4:947c3634b649 151 for (int i = 0; i < 5; i++) {
vsutardja 4:947c3634b649 152 in[i] = bt.getc();
vsutardja 4:947c3634b649 153 bt.putc(in[i]);
vsutardja 4:947c3634b649 154 }
vsutardja 4:947c3634b649 155 bt.printf("\r\n");
vsutardja 4:947c3634b649 156 Ks = atof(in);
vsutardja 4:947c3634b649 157 cmd = 'q';
vsutardja 4:947c3634b649 158 break;
vsutardja 4:947c3634b649 159 case 6:
vsutardja 4:947c3634b649 160 bt.printf("Current: %f, New (5 digits): ", ref_v);
vsutardja 4:947c3634b649 161 for (int i = 0; i < 5; i++) {
vsutardja 4:947c3634b649 162 in[i] = bt.getc();
vsutardja 4:947c3634b649 163 bt.putc(in[i]);
vsutardja 4:947c3634b649 164 }
vsutardja 4:947c3634b649 165 bt.printf("\r\n");
vsutardja 4:947c3634b649 166 ref_v = atof(in);
vsutardja 4:947c3634b649 167 motor_ctrl.setSetPoint(ref_v);
vsutardja 4:947c3634b649 168 cmd = 'q';
vsutardja 2:a8adff46eaca 169 break;
vsutardja 0:fcf070a88ba0 170 }
vsutardja 0:fcf070a88ba0 171 if (bt.readable()) {
vsutardja 0:fcf070a88ba0 172 cmd = bt.getc();
vsutardja 0:fcf070a88ba0 173 }
vsutardja 0:fcf070a88ba0 174 }
vsutardja 0:fcf070a88ba0 175 }
vsutardja 0:fcf070a88ba0 176 }
vsutardja 0:fcf070a88ba0 177
vsutardja 0:fcf070a88ba0 178 // Read data from camera
vsutardja 0:fcf070a88ba0 179 void read_camera() {
vsutardja 0:fcf070a88ba0 180 // Start data transfer
vsutardja 0:fcf070a88ba0 181 si = 1;
vsutardja 0:fcf070a88ba0 182 wait_us(1);
vsutardja 0:fcf070a88ba0 183 clk = 1;
vsutardja 0:fcf070a88ba0 184 wait_us(1);
vsutardja 0:fcf070a88ba0 185 si = 0;
vsutardja 0:fcf070a88ba0 186 wait_us(1);
vsutardja 0:fcf070a88ba0 187
vsutardja 0:fcf070a88ba0 188 // Read camera data
vsutardja 0:fcf070a88ba0 189 for (int i = 0; i < 128; i++) {
vsutardja 0:fcf070a88ba0 190 clk = 0;
vsutardja 0:fcf070a88ba0 191 img[i] = ao.read_u16();
vsutardja 0:fcf070a88ba0 192 clk = 1;
vsutardja 0:fcf070a88ba0 193 wait_us(1);
vsutardja 0:fcf070a88ba0 194 }
vsutardja 0:fcf070a88ba0 195 clk = 0;
vsutardja 0:fcf070a88ba0 196
vsutardja 0:fcf070a88ba0 197 // Update servo angle
vsutardja 0:fcf070a88ba0 198 track();
vsutardja 0:fcf070a88ba0 199
vsutardja 0:fcf070a88ba0 200 // Set next frame exposure time
vsutardja 3:c57674c348bd 201 // camera_read.attach_us(&read_camera, t_int);
vsutardja 0:fcf070a88ba0 202 }
vsutardja 0:fcf070a88ba0 203
vsutardja 0:fcf070a88ba0 204 // Find line center from image
vsutardja 0:fcf070a88ba0 205 // Take two-point moving average to smooth the data
vsutardja 0:fcf070a88ba0 206 // Find indices where max and min of smoothed data are attained
vsutardja 0:fcf070a88ba0 207 // Calculate and return midpoint of argmax and argmin
vsutardja 0:fcf070a88ba0 208 void track() {
vsutardja 0:fcf070a88ba0 209 max = -1;
vsutardja 3:c57674c348bd 210 lum_bg = 0;
vsutardja 0:fcf070a88ba0 211 argmax = 0;
vsutardja 0:fcf070a88ba0 212 argmin = 0;
vsutardja 0:fcf070a88ba0 213 for (int i = 0; i < 107; i++) {
vsutardja 0:fcf070a88ba0 214 if (img[i+11] > max) {
vsutardja 0:fcf070a88ba0 215 max = img[i+11];
vsutardja 0:fcf070a88ba0 216 }
vsutardja 0:fcf070a88ba0 217 if (i == 126) {
vsutardja 0:fcf070a88ba0 218 temp[i-1] = (img[i+11] + img[i+1+11]) / 2 - temp[i-1];
vsutardja 0:fcf070a88ba0 219 if (temp[i-1] > temp[argmax]) {
vsutardja 0:fcf070a88ba0 220 argmax = i - 1;
vsutardja 0:fcf070a88ba0 221 }
vsutardja 0:fcf070a88ba0 222 if (temp[i-1] < temp[argmin]) {
vsutardja 0:fcf070a88ba0 223 argmin = i - 1;
vsutardja 0:fcf070a88ba0 224 }
vsutardja 0:fcf070a88ba0 225 } else {
vsutardja 0:fcf070a88ba0 226 temp[i] = (img[i+11] + img[i+1+11]) / 2;
vsutardja 0:fcf070a88ba0 227 if (i > 0) {
vsutardja 0:fcf070a88ba0 228 temp[i-1] = temp[i] - temp[i-1];
vsutardja 0:fcf070a88ba0 229 if (temp[i-1] > temp[argmax]) {
vsutardja 0:fcf070a88ba0 230 argmax = i - 1;
vsutardja 0:fcf070a88ba0 231 }
vsutardja 0:fcf070a88ba0 232 if (temp[i-1] < temp[argmin]) {
vsutardja 0:fcf070a88ba0 233 argmin = i - 1;
vsutardja 0:fcf070a88ba0 234 }
vsutardja 0:fcf070a88ba0 235 }
vsutardja 0:fcf070a88ba0 236 }
vsutardja 0:fcf070a88ba0 237 }
vsutardja 0:fcf070a88ba0 238
vsutardja 4:947c3634b649 239 for (int i = 0; i < 10; i++) {
vsutardja 4:947c3634b649 240 lum_bg = lum_bg + img[64 - 4 - i] / 20.0 + img[64 + 4 + i] / 20.0;
vsutardja 3:c57674c348bd 241 }
vsutardja 3:c57674c348bd 242
vsutardja 3:c57674c348bd 243 contrast = (max - lum_bg) / lum_bg;
vsutardja 3:c57674c348bd 244
vsutardja 4:947c3634b649 245 // if (contrast < 1.5) {
vsutardja 3:c57674c348bd 246 // Underexposed
vsutardja 4:947c3634b649 247 if (max < 60000) {
vsutardja 4:947c3634b649 248 t_int = t_int + 0.15 * (60000 - max);
vsutardja 3:c57674c348bd 249 }
vsutardja 3:c57674c348bd 250 // Overexposed
vsutardja 3:c57674c348bd 251 if (lum_bg > 25000) {
vsutardja 4:947c3634b649 252 t_int = t_int - 0.15 * (lum_bg - 25000);
vsutardja 3:c57674c348bd 253 }
vsutardja 4:947c3634b649 254 // }
vsutardja 3:c57674c348bd 255
vsutardja 0:fcf070a88ba0 256 if (max > 43253) {
vsutardja 0:fcf070a88ba0 257 center = (argmax + argmin + 2 + 11) / 2;
vsutardja 4:947c3634b649 258 a = 88 + (64 - center) * Ks;
vsutardja 0:fcf070a88ba0 259 servo = a / 180;
vsutardja 0:fcf070a88ba0 260 }
vsutardja 3:c57674c348bd 261
vsutardja 3:c57674c348bd 262 camera_read.attach_us(&read_camera, t_int);
vsutardja 0:fcf070a88ba0 263 }
vsutardja 0:fcf070a88ba0 264
vsutardja 0:fcf070a88ba0 265 // ====
vsutardja 0:fcf070a88ba0 266 // Main
vsutardja 0:fcf070a88ba0 267 // ====
vsutardja 0:fcf070a88ba0 268 int main() {
vsutardja 2:a8adff46eaca 269
vsutardja 0:fcf070a88ba0 270 // Initialize motor
vsutardja 0:fcf070a88ba0 271 motor.period_us(T);
vsutardja 0:fcf070a88ba0 272 motor = 1.0 - d;
vsutardja 0:fcf070a88ba0 273
vsutardja 0:fcf070a88ba0 274 // Initialize servo
vsutardja 0:fcf070a88ba0 275 servo.calibrate(0.001, 45.0);
vsutardja 0:fcf070a88ba0 276 servo = a / 180.0;
vsutardja 0:fcf070a88ba0 277
vsutardja 0:fcf070a88ba0 278 // Initialize & start camera
vsutardja 0:fcf070a88ba0 279 clk = 0;
vsutardja 3:c57674c348bd 280 read_camera();
vsutardja 0:fcf070a88ba0 281
vsutardja 0:fcf070a88ba0 282 // Initialize motor controller
vsutardja 0:fcf070a88ba0 283 motor_ctrl.setInputLimits(0.0, 10.0);
vsutardja 4:947c3634b649 284 motor_ctrl.setOutputLimits(0.01, 0.5);
vsutardja 4:947c3634b649 285 motor_ctrl.setSetPoint(ref_v);
vsutardja 0:fcf070a88ba0 286 motor_ctrl.setBias(0.0);
vsutardja 0:fcf070a88ba0 287 motor_ctrl.setMode(1);
vsutardja 0:fcf070a88ba0 288
vsutardja 0:fcf070a88ba0 289 // Initialize bluetooth
vsutardja 0:fcf070a88ba0 290 bt.baud(115200);
vsutardja 0:fcf070a88ba0 291
vsutardja 0:fcf070a88ba0 292 // Initialize communications thread
vsutardja 0:fcf070a88ba0 293 Thread communication_thread(communication);
vsutardja 0:fcf070a88ba0 294
vsutardja 0:fcf070a88ba0 295 // Start motor controller
vsutardja 0:fcf070a88ba0 296 while (true) {
vsutardja 0:fcf070a88ba0 297 curr_pulses = qei.getPulses();
vsutardja 4:947c3634b649 298 //for (int i = 0; i < MVG_AVG - 1; i++) {
vsutardja 4:947c3634b649 299 // v_prev[i] = abs(1.5 - 0.5 * (1.5 - v_prev[i+1]));
vsutardja 4:947c3634b649 300 // }
vsutardja 4:947c3634b649 301 // v_prev[MVG_AVG-1] = velocity;
vsutardja 4:947c3634b649 302 velocity = (curr_pulses - prev_pulses)/ interval / ppr * c / 2.5;
vsutardja 4:947c3634b649 303 //vel = velocity;
vsutardja 4:947c3634b649 304 // for (int i = 0; i < MVG_AVG; i++) {
vsutardja 4:947c3634b649 305 // velocity = velocity + v_prev[i];
vsutardja 4:947c3634b649 306 // }
vsutardja 4:947c3634b649 307 // velocity = velocity / (MVG_AVG + 1.0);
vsutardja 0:fcf070a88ba0 308 prev_pulses = curr_pulses;
vsutardja 0:fcf070a88ba0 309 motor_ctrl.setProcessValue(velocity);
vsutardja 0:fcf070a88ba0 310 d = motor_ctrl.compute();
vsutardja 0:fcf070a88ba0 311 motor = 1.0 - d;
vsutardja 0:fcf070a88ba0 312 wait(interval);
vsutardja 4:947c3634b649 313 pc.printf("Exposure: %d, Center: %d, Angle: %f\r\n", t_int, center, a);
vsutardja 0:fcf070a88ba0 314 }
vsutardja 0:fcf070a88ba0 315 }