Elct Car Team / Mbed 2 deprecated CarLab_v2

- This code combines steering and driving in one ticker - Fault check is in a ticker instead of while loop

Dependencies:   mbed MMA8451Q

steering_header.h@5:636c3fe18aa8, 2021-10-25 (annotated)

Committer:
aalawfi
Date:
Mon Oct 25 02:14:11 2021 +0000
Revision:
5:636c3fe18aa8
Parent:
4:8b1d52dab862 
- Attempted to extend state control to driving: I wrapped the PI controller in an if-else statement, if the motor is enabled, allow PI controll, if the motor is disabled, write duty cycle of zero.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aalawfi 2:c857935f928e 1 /*
aalawfi 2:c857935f928e 2 Include libraries, IO pins
aalawfi 2:c857935f928e 3 */
aalawfi 2:c857935f928e 4 #include "cmath"
aalawfi 2:c857935f928e 5 #include <algorithm> // std::min, std::max
aalawfi 2:c857935f928e 6 #define M_PI 3.14159265359f
aalawfi 2:c857935f928e 7 #define MAX_TURN_ANGLE M_PI/4
aalawfi 2:c857935f928e 8 #define MIN_TURN_ANGLE -M_PI/4
aalawfi 2:c857935f928e 9 #define SERVO_MOTOR_FREQ 50.0f
aalawfi 2:c857935f928e 10 #define CENTER_DUTY_CYCLE 0.075f
aalawfi 2:c857935f928e 11 #define REF 0.0f //in meters
aalawfi 2:c857935f928e 12 #define KP 16.45 // 16.65 optimal
aalawfi 2:c857935f928e 13 #define KD 0.98 // 0.88 optimal
aalawfi 2:c857935f928e 14 #define TIME_DERIVATIVE 0.9 // good 0.8
aalawfi 2:c857935f928e 15 //#define TI 0.02 // in seconds
aalawfi 2:c857935f928e 16 #define SEN_DIFF_TO_DIST 0.97 //in [V/m]
aalawfi 2:c857935f928e 17 #define BITS 4
aalawfi 2:c857935f928e 18 //Construct the Ticker to call the steering control system at a set rate
aalawfi 2:c857935f928e 19 // INPUT PINS
aalawfi 2:c857935f928e 20 AnalogIn left_distance_sensor(PTB1);
aalawfi 2:c857935f928e 21 AnalogIn right_distance_sensor(PTB0);
aalawfi 2:c857935f928e 22
aalawfi 2:c857935f928e 23 // PWM out
aalawfi 2:c857935f928e 24 PwmOut servo_motor_pwm(PTD4);
aalawfi 2:c857935f928e 25
aalawfi 2:c857935f928e 26 // Digital outs
aalawfi 4:8b1d52dab862 27 DigitalOut seg1[BITS]={PTC17, PTA16,PTA17,PTE31}; // insert pin numbers
aalawfi 2:c857935f928e 28
aalawfi 2:c857935f928e 29
aalawfi 2:c857935f928e 30 //Interrupt In
aalawfi 4:8b1d52dab862 31 InterruptIn left_landmark_sensor(PTD6);
aalawfi 4:8b1d52dab862 32 InterruptIn right_landmark_sensor(PTD7);
aalawfi 2:c857935f928e 33
aalawfi 2:c857935f928e 34 // Tickers
aalawfi 5:636c3fe18aa8 35 volatile bool steering_enabled = true;
aalawfi 2:c857935f928e 36 Ticker steering_control_ticker;
aalawfi 2:c857935f928e 37
aalawfi 2:c857935f928e 38