PRISMA Lab
Clone per testare Mbed studio
Dependencies: PwmIn IONMcMotor MPU6050 Eigen ROVER
Fork of
Hyfliers_Completo_testato
by 
Marco De Silva
Robots/Rover/Rover.h@3:fc26045926d9, 2019-11-06 (annotated)
- Committer:
- anfontanelli
- Date:
- Wed Nov 06 10:57:51 2019 +0000
- Revision:
- 3:fc26045926d9
- Child:
- 4:3f22193053d0
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| anfontanelli | 3:fc26045926d9 | 1 | #ifndef ROVER_H |
| anfontanelli | 3:fc26045926d9 | 2 | #define ROVER_H |
| anfontanelli | 3:fc26045926d9 | 3 | #include "mbed.h" |
| anfontanelli | 3:fc26045926d9 | 4 | #include "IONMcMotors.h" |
| anfontanelli | 3:fc26045926d9 | 5 | #include "Servo.h" |
| anfontanelli | 3:fc26045926d9 | 6 | #include "Core.h" |
| anfontanelli | 3:fc26045926d9 | 7 | #include "MPU6050.h" |
| anfontanelli | 3:fc26045926d9 | 8 | #include "platform/PlatformMutex.h" |
| anfontanelli | 3:fc26045926d9 | 9 | |
| anfontanelli | 3:fc26045926d9 | 10 | #include "TOFs.h" |
| anfontanelli | 3:fc26045926d9 | 11 | |
| anfontanelli | 3:fc26045926d9 | 12 | #include "Eth_tcp.h" |
| anfontanelli | 3:fc26045926d9 | 13 | |
| anfontanelli | 3:fc26045926d9 | 14 | |
| anfontanelli | 3:fc26045926d9 | 15 | class Rover |
| anfontanelli | 3:fc26045926d9 | 16 | { |
| anfontanelli | 3:fc26045926d9 | 17 | public: |
| anfontanelli | 3:fc26045926d9 | 18 | Rover(); |
| anfontanelli | 3:fc26045926d9 | 19 | |
| anfontanelli | 3:fc26045926d9 | 20 | void setWheelsVelocity(float forward_speed, float stabilization_speed, float asset_correction_speed, float pipe_radius, float maxWheelAcceleration); |
| anfontanelli | 3:fc26045926d9 | 21 | void getRoverVelocity(float &forward_speed, float &stabilization_speed, float &asset_correction_speed, float pipe_radius); |
| anfontanelli | 3:fc26045926d9 | 22 | void getMotorsTorque(float &torM1, float &torM2, float &torM3); |
| anfontanelli | 3:fc26045926d9 | 23 | void getMotorsSpeed(float &speedM1, float &speedM2, float &speedM3); |
| anfontanelli | 3:fc26045926d9 | 24 | |
| anfontanelli | 3:fc26045926d9 | 25 | void getRoverWheelsVelocity(float &speed_wheel_dx, float &speed_wheel_sx, float &speed_wheels_retro); |
| anfontanelli | 3:fc26045926d9 | 26 | |
| anfontanelli | 3:fc26045926d9 | 27 | |
| anfontanelli | 3:fc26045926d9 | 28 | void setCentralJointsAngle(float act1, float act2); |
| anfontanelli | 3:fc26045926d9 | 29 | void calcImuAngles(float& pitch, float& roll, float dtImu); |
| anfontanelli | 3:fc26045926d9 | 30 | |
| anfontanelli | 3:fc26045926d9 | 31 | int get_forward_vel(); |
| anfontanelli | 3:fc26045926d9 | 32 | int get_pitch(); |
| anfontanelli | 3:fc26045926d9 | 33 | int get_jointFront(); |
| anfontanelli | 3:fc26045926d9 | 34 | int get_jointRetro(); |
| anfontanelli | 3:fc26045926d9 | 35 | |
| anfontanelli | 3:fc26045926d9 | 36 | void ethComunicationUpdate(float _time, float _pitch, float _vels_a, float _vels_m, float _velf_a, float _velf_m) ; |
| anfontanelli | 3:fc26045926d9 | 37 | |
| anfontanelli | 3:fc26045926d9 | 38 | int getEthState(void); |
| anfontanelli | 3:fc26045926d9 | 39 | |
| anfontanelli | 3:fc26045926d9 | 40 | |
| anfontanelli | 3:fc26045926d9 | 41 | void startEthComunication(); |
| anfontanelli | 3:fc26045926d9 | 42 | |
| anfontanelli | 3:fc26045926d9 | 43 | void initializeImu(); |
| anfontanelli | 3:fc26045926d9 | 44 | |
| anfontanelli | 3:fc26045926d9 | 45 | void initializeTofs(); |
| anfontanelli | 3:fc26045926d9 | 46 | void acquireTofs(float &frontDistance, float &retroDistance); |
| anfontanelli | 3:fc26045926d9 | 47 | |
| anfontanelli | 3:fc26045926d9 | 48 | void computeCentralJointsFromTofs(); |
| anfontanelli | 3:fc26045926d9 | 49 | |
| anfontanelli | 3:fc26045926d9 | 50 | |
| anfontanelli | 3:fc26045926d9 | 51 | |
| anfontanelli | 3:fc26045926d9 | 52 | private: |
| anfontanelli | 3:fc26045926d9 | 53 | |
| anfontanelli | 3:fc26045926d9 | 54 | IONMcMotors *ionMcMeccanum; |
| anfontanelli | 3:fc26045926d9 | 55 | IONMcMotors *ionMcOmni; |
| anfontanelli | 3:fc26045926d9 | 56 | |
| anfontanelli | 3:fc26045926d9 | 57 | Servo *meccanumActuonix; |
| anfontanelli | 3:fc26045926d9 | 58 | Servo *omniActuonix; |
| anfontanelli | 3:fc26045926d9 | 59 | |
| anfontanelli | 3:fc26045926d9 | 60 | MPU6050 *mpu; |
| anfontanelli | 3:fc26045926d9 | 61 | |
| anfontanelli | 3:fc26045926d9 | 62 | Eth_tcp *eth_tcp; |
| anfontanelli | 3:fc26045926d9 | 63 | |
| anfontanelli | 3:fc26045926d9 | 64 | Thread EthThread; |
| anfontanelli | 3:fc26045926d9 | 65 | |
| anfontanelli | 3:fc26045926d9 | 66 | distanceSensors *distance_sensors; |
| anfontanelli | 3:fc26045926d9 | 67 | |
| anfontanelli | 3:fc26045926d9 | 68 | int ionMcBoudRate; |
| anfontanelli | 3:fc26045926d9 | 69 | |
| anfontanelli | 3:fc26045926d9 | 70 | int meccanumMotorGearBoxRatio; |
| anfontanelli | 3:fc26045926d9 | 71 | int omniMotorGearBoxRatio; |
| anfontanelli | 3:fc26045926d9 | 72 | |
| anfontanelli | 3:fc26045926d9 | 73 | int meccanumBoardAddress; |
| anfontanelli | 3:fc26045926d9 | 74 | int omniBoardAddress; |
| anfontanelli | 3:fc26045926d9 | 75 | |
| anfontanelli | 3:fc26045926d9 | 76 | float meccanumTransmissionRatio; |
| anfontanelli | 3:fc26045926d9 | 77 | float omniTransmissionRatio; |
| anfontanelli | 3:fc26045926d9 | 78 | |
| anfontanelli | 3:fc26045926d9 | 79 | int meccanumEncoderPulse; |
| anfontanelli | 3:fc26045926d9 | 80 | int omniEncoderPulse; |
| anfontanelli | 3:fc26045926d9 | 81 | |
| anfontanelli | 3:fc26045926d9 | 82 | float meccanumKt; |
| anfontanelli | 3:fc26045926d9 | 83 | float omniKt; |
| anfontanelli | 3:fc26045926d9 | 84 | |
| anfontanelli | 3:fc26045926d9 | 85 | float r_meccanumWheel; |
| anfontanelli | 3:fc26045926d9 | 86 | float r_omniWheel; |
| anfontanelli | 3:fc26045926d9 | 87 | |
| anfontanelli | 3:fc26045926d9 | 88 | float wheelsCntactPointDistanceFromPipeCenter; |
| anfontanelli | 3:fc26045926d9 | 89 | float omniMeccanumCentralDistance; |
| anfontanelli | 3:fc26045926d9 | 90 | |
| anfontanelli | 3:fc26045926d9 | 91 | //Imu variables |
| anfontanelli | 3:fc26045926d9 | 92 | int16_t ax, ay, az; |
| anfontanelli | 3:fc26045926d9 | 93 | int16_t gx, gy, gz; |
| anfontanelli | 3:fc26045926d9 | 94 | |
| anfontanelli | 3:fc26045926d9 | 95 | float a_x,a_y,a_z; |
| anfontanelli | 3:fc26045926d9 | 96 | float g_x, g_y, g_z; |
| anfontanelli | 3:fc26045926d9 | 97 | |
| anfontanelli | 3:fc26045926d9 | 98 | int16_t FS_a; |
| anfontanelli | 3:fc26045926d9 | 99 | float FS_g; |
| anfontanelli | 3:fc26045926d9 | 100 | |
| anfontanelli | 3:fc26045926d9 | 101 | PlatformMutex eth_mutex; |
| anfontanelli | 3:fc26045926d9 | 102 | |
| anfontanelli | 3:fc26045926d9 | 103 | |
| anfontanelli | 3:fc26045926d9 | 104 | float accBias[3]; |
| anfontanelli | 3:fc26045926d9 | 105 | float gyroBias[3]; |
| anfontanelli | 3:fc26045926d9 | 106 | |
| anfontanelli | 3:fc26045926d9 | 107 | |
| anfontanelli | 3:fc26045926d9 | 108 | |
| anfontanelli | 3:fc26045926d9 | 109 | float pitchAcc; |
| anfontanelli | 3:fc26045926d9 | 110 | float rollAcc; |
| anfontanelli | 3:fc26045926d9 | 111 | float pitchAcc_p; |
| anfontanelli | 3:fc26045926d9 | 112 | float rollAcc_p; |
| anfontanelli | 3:fc26045926d9 | 113 | float pitch_integrated; |
| anfontanelli | 3:fc26045926d9 | 114 | float roll_integrated; |
| anfontanelli | 3:fc26045926d9 | 115 | |
| anfontanelli | 3:fc26045926d9 | 116 | |
| anfontanelli | 3:fc26045926d9 | 117 | int forward_vel; |
| anfontanelli | 3:fc26045926d9 | 118 | int pitch_d; |
| anfontanelli | 3:fc26045926d9 | 119 | |
| anfontanelli | 3:fc26045926d9 | 120 | int jointFront; |
| anfontanelli | 3:fc26045926d9 | 121 | int jointRetro; |
| anfontanelli | 3:fc26045926d9 | 122 | int enableStab; |
| anfontanelli | 3:fc26045926d9 | 123 | int enableCurv; |
| anfontanelli | 3:fc26045926d9 | 124 | |
| anfontanelli | 3:fc26045926d9 | 125 | float time; |
| anfontanelli | 3:fc26045926d9 | 126 | float pitch; |
| anfontanelli | 3:fc26045926d9 | 127 | float vels_a; |
| anfontanelli | 3:fc26045926d9 | 128 | float vels_m; |
| anfontanelli | 3:fc26045926d9 | 129 | |
| anfontanelli | 3:fc26045926d9 | 130 | float pipeCurve_I; |
| anfontanelli | 3:fc26045926d9 | 131 | float pipeCurve_E; |
| anfontanelli | 3:fc26045926d9 | 132 | float pipeCurve_M; |
| anfontanelli | 3:fc26045926d9 | 133 | int pipeDir; |
| anfontanelli | 3:fc26045926d9 | 134 | |
| anfontanelli | 3:fc26045926d9 | 135 | double eth_time_out; //ms |
| anfontanelli | 3:fc26045926d9 | 136 | |
| anfontanelli | 3:fc26045926d9 | 137 | int eth_state; |
| anfontanelli | 3:fc26045926d9 | 138 | double eth_time; |
| anfontanelli | 3:fc26045926d9 | 139 | double eth_time_sample_received; |
| anfontanelli | 3:fc26045926d9 | 140 | |
| anfontanelli | 3:fc26045926d9 | 141 | Eigen::Matrix3f S; |
| anfontanelli | 3:fc26045926d9 | 142 | Eigen::Matrix3f S_inv; |
| anfontanelli | 3:fc26045926d9 | 143 | //private functions |
| anfontanelli | 3:fc26045926d9 | 144 | float deg2rad(float deg); |
| anfontanelli | 3:fc26045926d9 | 145 | float centralJoint2actuonix(float jointAngle); |
| anfontanelli | 3:fc26045926d9 | 146 | void calibrateImu(); |
| anfontanelli | 3:fc26045926d9 | 147 | void updateRoverKin(float pipe_radius, int pipeDir); |
| anfontanelli | 3:fc26045926d9 | 148 | |
| anfontanelli | 3:fc26045926d9 | 149 | void setState(int state); |
| anfontanelli | 3:fc26045926d9 | 150 | |
| anfontanelli | 3:fc26045926d9 | 151 | |
| anfontanelli | 3:fc26045926d9 | 152 | Timer comunicationTimer; |
| anfontanelli | 3:fc26045926d9 | 153 | |
| anfontanelli | 3:fc26045926d9 | 154 | char cmd; |
| anfontanelli | 3:fc26045926d9 | 155 | MyBuffer <int> vec_to_send; |
| anfontanelli | 3:fc26045926d9 | 156 | MyBuffer <int> recv_vec; |
| anfontanelli | 3:fc26045926d9 | 157 | double t_p; |
| anfontanelli | 3:fc26045926d9 | 158 | double t; |
| anfontanelli | 3:fc26045926d9 | 159 | int n_of_int; |
| anfontanelli | 3:fc26045926d9 | 160 | bool eth_status; |
| anfontanelli | 3:fc26045926d9 | 161 | |
| anfontanelli | 3:fc26045926d9 | 162 | bool sock_open; |
| anfontanelli | 3:fc26045926d9 | 163 | |
| anfontanelli | 3:fc26045926d9 | 164 | |
| anfontanelli | 3:fc26045926d9 | 165 | |
| anfontanelli | 3:fc26045926d9 | 166 | float frontPos; |
| anfontanelli | 3:fc26045926d9 | 167 | float retroPos; |
| anfontanelli | 3:fc26045926d9 | 168 | |
| anfontanelli | 3:fc26045926d9 | 169 | |
| anfontanelli | 3:fc26045926d9 | 170 | }; |
| anfontanelli | 3:fc26045926d9 | 171 | |
| anfontanelli | 3:fc26045926d9 | 172 | #endif |