PM 2 plant-buddy / Mbed OS PM2_Plant_buddy

Hauptprogramm

Dependencies:   ILI9340_Driver_Lib PM2_Libary Lib_DFPlayerMini

main.cpp@11:be62f37f3a98, 2021-04-14 (annotated)

Committer:
haefeman
Date:
Wed Apr 14 13:12:13 2021 +0000
Revision:
11:be62f37f3a98
Parent:
10:c5d85e35758c
Child:
12:dfa3591affef
header

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 1:93d997d6b232 1 #include "mbed.h"
pmic 1:93d997d6b232 2 #include "platform/mbed_thread.h"
pmic 6:e1fa1a2d7483 3
haefeman 11:be62f37f3a98 4
haefeman 11:be62f37f3a98 5
haefeman 11:be62f37f3a98 6
haefeman 11:be62f37f3a98 7
pmic 6:e1fa1a2d7483 8 /* PM2_Libary */
pmic 1:93d997d6b232 9 #include "EncoderCounter.h"
pmic 1:93d997d6b232 10 #include "Servo.h"
pmic 3:d22942631cd7 11 #include "SpeedController.h"
pmic 9:f10b974d01e0 12 #include "FastPWM.h"
pmic 6:e1fa1a2d7483 13
pmic 6:e1fa1a2d7483 14 using namespace std::chrono;
pmic 6:e1fa1a2d7483 15
pmic 8:9bb806a7f585 16 InterruptIn user_button(USER_BUTTON);
pmic 8:9bb806a7f585 17 DigitalOut led(LED1);
pmic 6:e1fa1a2d7483 18
pmic 6:e1fa1a2d7483 19 bool executeMainTask = false;
pmic 6:e1fa1a2d7483 20 Timer user_button_timer, loop_timer;
pmic 7:c0f5bb355f41 21 int Ts_ms = 50;
pmic 6:e1fa1a2d7483 22
pmic 6:e1fa1a2d7483 23 /* declaration of custom button functions */
pmic 6:e1fa1a2d7483 24 void button_fall();
pmic 6:e1fa1a2d7483 25 void button_rise();
pmic 6:e1fa1a2d7483 26
pmic 6:e1fa1a2d7483 27 /* create analog input object */
pmic 6:e1fa1a2d7483 28 AnalogIn analogIn(PC_2);
pmic 6:e1fa1a2d7483 29 float dist = 0.0f;
pmic 6:e1fa1a2d7483 30
pmic 6:e1fa1a2d7483 31 /* create enable dc motor digital out object */
pmic 6:e1fa1a2d7483 32 DigitalOut enable_motors(PB_15);
pmic 10:c5d85e35758c 33 /* create pwm objects */
pmic 10:c5d85e35758c 34 FastPWM pwmOut_M1(PB_13);
pmic 10:c5d85e35758c 35 FastPWM pwmOut_M2(PA_9);
pmic 10:c5d85e35758c 36 FastPWM pwmOut_M3(PA_10);
pmic 10:c5d85e35758c 37 double Ts_pwm_s = 0.00005; // this needs to be a double value (no f at the end)
pmic 6:e1fa1a2d7483 38 /* create encoder read objects */
pmic 10:c5d85e35758c 39 EncoderCounter encoderCounter_M1(PA_6, PC_7);
pmic 10:c5d85e35758c 40 EncoderCounter encoderCounter_M2(PB_6, PB_7);
pmic 10:c5d85e35758c 41 EncoderCounter encoderCounter_M3(PA_0, PA_1);
pmic 10:c5d85e35758c 42 /* create speed controller objects, only M1 and M2, M3 is used open-loop */
pmic 10:c5d85e35758c 43 float counts_per_turn = 20.0f*78.125f; // counts/turn * gearratio
pmic 10:c5d85e35758c 44 float kn = 180.0f/12.0f; // (RPM/V)
pmic 10:c5d85e35758c 45 float max_voltage = 12.0f; // adjust this to 6.0f if only one batterypack is used
pmic 10:c5d85e35758c 46 SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwmOut_M1, encoderCounter_M1);
pmic 10:c5d85e35758c 47 SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwmOut_M2, encoderCounter_M2);
pmic 6:e1fa1a2d7483 48
pmic 6:e1fa1a2d7483 49 /* create servo objects */
pmic 10:c5d85e35758c 50 Servo servo_S1(PB_2);
pmic 10:c5d85e35758c 51 Servo servo_S2(PC_8);
pmic 10:c5d85e35758c 52 // Servo servo_S3(PC_6); // not needed in this example
pmic 10:c5d85e35758c 53 int servoPeriod_mus = 20000;
pmic 10:c5d85e35758c 54 int servoOutput_mus_S1 = 0;
pmic 10:c5d85e35758c 55 int servoOutput_mus_S2 = 0;
pmic 10:c5d85e35758c 56 int servo_counter = 0;
pmic 10:c5d85e35758c 57 int loops_per_second = static_cast<int>(ceilf(1.0f/(0.001f*(float)Ts_ms)));
pmic 1:93d997d6b232 58
pmic 1:93d997d6b232 59 int main()
pmic 9:f10b974d01e0 60 {
pmic 6:e1fa1a2d7483 61 user_button.fall(&button_fall);
pmic 6:e1fa1a2d7483 62 user_button.rise(&button_rise);
pmic 6:e1fa1a2d7483 63 loop_timer.start();
pmic 6:e1fa1a2d7483 64
pmic 10:c5d85e35758c 65 /* enable hardwaredriver dc motors */
pmic 10:c5d85e35758c 66 enable_motors = 1;
pmic 10:c5d85e35758c 67 /* initialize pwm for motor M3*/
pmic 10:c5d85e35758c 68 pwmOut_M3.period(Ts_pwm_s);
pmic 6:e1fa1a2d7483 69 /* set pwm output zero at the beginning, range: 0...1 -> u_min...u_max */
pmic 10:c5d85e35758c 70 pwmOut_M3.write(0.5);
pmic 9:f10b974d01e0 71
pmic 10:c5d85e35758c 72 /* enable servos, you can also disable them */
pmic 10:c5d85e35758c 73 servo_S1.Enable(servoOutput_mus_S1, servoPeriod_mus);
pmic 10:c5d85e35758c 74 servo_S2.Enable(servoOutput_mus_S2, servoPeriod_mus);
pmic 6:e1fa1a2d7483 75
pmic 1:93d997d6b232 76 while (true) {
pmic 6:e1fa1a2d7483 77
pmic 6:e1fa1a2d7483 78 loop_timer.reset();
pmic 6:e1fa1a2d7483 79
pmic 6:e1fa1a2d7483 80 /* ------------- start hacking ------------- -------------*/
pmic 6:e1fa1a2d7483 81
pmic 6:e1fa1a2d7483 82 if (executeMainTask) {
pmic 6:e1fa1a2d7483 83
pmic 6:e1fa1a2d7483 84 /* read analog input */
pmic 6:e1fa1a2d7483 85 dist = analogIn.read() * 3.3f;
pmic 6:e1fa1a2d7483 86
pmic 10:c5d85e35758c 87 /* command a speed to dc motors M1 and M2*/
pmic 10:c5d85e35758c 88 speedController_M1.setDesiredSpeedRPS( 1.0f);
pmic 10:c5d85e35758c 89 speedController_M2.setDesiredSpeedRPS(-0.5f);
pmic 10:c5d85e35758c 90 /* write output voltage to motor M3 */
pmic 10:c5d85e35758c 91 pwmOut_M3.write(0.75);
pmic 6:e1fa1a2d7483 92
pmic 10:c5d85e35758c 93 /* command servo position via output time, this needs to be calibrated */
pmic 10:c5d85e35758c 94 servo_S1.SetPosition(servoOutput_mus_S1);
pmic 10:c5d85e35758c 95 servo_S2.SetPosition(servoOutput_mus_S2);
pmic 10:c5d85e35758c 96 if (servoOutput_mus_S1 <= servoPeriod_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
pmic 10:c5d85e35758c 97 servoOutput_mus_S1 += 100;
pmic 8:9bb806a7f585 98 }
pmic 10:c5d85e35758c 99 if (servoOutput_mus_S2 <= servoPeriod_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
pmic 10:c5d85e35758c 100 servoOutput_mus_S2 += 100;
pmic 8:9bb806a7f585 101 }
pmic 10:c5d85e35758c 102 servo_counter++;
pmic 6:e1fa1a2d7483 103
pmic 6:e1fa1a2d7483 104 /* visual feedback that the main task is executed */
pmic 6:e1fa1a2d7483 105 led = !led;
pmic 9:f10b974d01e0 106
pmic 1:93d997d6b232 107 } else {
pmic 6:e1fa1a2d7483 108
pmic 6:e1fa1a2d7483 109 dist = 0.0f;
pmic 1:93d997d6b232 110
pmic 10:c5d85e35758c 111 speedController_M1.setDesiredSpeedRPS(0.0f);
pmic 10:c5d85e35758c 112 speedController_M2.setDesiredSpeedRPS(0.0f);
pmic 10:c5d85e35758c 113 pwmOut_M3.write(0.5);
pmic 6:e1fa1a2d7483 114
pmic 10:c5d85e35758c 115 servoOutput_mus_S1 = 0;
pmic 10:c5d85e35758c 116 servoOutput_mus_S2 = 0;
pmic 10:c5d85e35758c 117 servo_S1.SetPosition(servoOutput_mus_S1);
pmic 10:c5d85e35758c 118 servo_S2.SetPosition(servoOutput_mus_S2);
pmic 6:e1fa1a2d7483 119
pmic 6:e1fa1a2d7483 120 led = 0;
pmic 1:93d997d6b232 121 }
pmic 6:e1fa1a2d7483 122
pmic 10:c5d85e35758c 123 /* do only output via serial what's really necessary (this makes your code slow)*/
pmic 10:c5d85e35758c 124 printf("%3.3f, %3d, %3d, %3d, %3.3f, %3.3f;\r\n",
pmic 10:c5d85e35758c 125 dist,
pmic 10:c5d85e35758c 126 servoOutput_mus_S1,
pmic 10:c5d85e35758c 127 servoOutput_mus_S2,
pmic 10:c5d85e35758c 128 encoderCounter_M3.read(),
pmic 10:c5d85e35758c 129 speedController_M1.getSpeedRPS(),
pmic 10:c5d85e35758c 130 speedController_M2.getSpeedRPS());
pmic 8:9bb806a7f585 131
pmic 6:e1fa1a2d7483 132 /* ------------- stop hacking ------------- -------------*/
pmic 6:e1fa1a2d7483 133
pmic 6:e1fa1a2d7483 134 int T_loop_ms = duration_cast<milliseconds>(loop_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 135 int dT_loop_ms = Ts_ms - T_loop_ms;
pmic 6:e1fa1a2d7483 136 thread_sleep_for(dT_loop_ms);
pmic 1:93d997d6b232 137 }
pmic 1:93d997d6b232 138 }
pmic 6:e1fa1a2d7483 139
pmic 6:e1fa1a2d7483 140 void button_fall()
pmic 6:e1fa1a2d7483 141 {
pmic 6:e1fa1a2d7483 142 user_button_timer.reset();
pmic 6:e1fa1a2d7483 143 user_button_timer.start();
pmic 6:e1fa1a2d7483 144 }
pmic 6:e1fa1a2d7483 145
pmic 6:e1fa1a2d7483 146 void button_rise()
pmic 6:e1fa1a2d7483 147 {
pmic 6:e1fa1a2d7483 148 int t_button_ms = duration_cast<milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 149 user_button_timer.stop();
pmic 8:9bb806a7f585 150 if (t_button_ms > 200) {
pmic 6:e1fa1a2d7483 151 executeMainTask = !executeMainTask;
pmic 8:9bb806a7f585 152 }
pmic 6:e1fa1a2d7483 153 }