s
Dependencies: PwmIn mbed RASCarLED buzzer millis
main.cpp@9:92283a284936, 2020-05-04 (annotated)
- Committer:
- LordScarface
- Date:
- Mon May 04 22:22:18 2020 +0000
- Revision:
- 9:92283a284936
- Parent:
- 8:32133eeb7037
mbed studio
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
emilmont | 0:f59179afee57 | 1 | #include "mbed.h" |
LordScarface | 8:32133eeb7037 | 2 | #include "millis.h" |
LordScarface | 8:32133eeb7037 | 3 | #include "PwmIn.h" |
LordScarface | 9:92283a284936 | 4 | #include "RASCarLED.h" |
LordScarface | 9:92283a284936 | 5 | #include "buzzer.h" |
LordScarface | 8:32133eeb7037 | 6 | |
LordScarface | 8:32133eeb7037 | 7 | |
LordScarface | 8:32133eeb7037 | 8 | // I/O Declaration_________________________________________________ |
emilmont | 0:f59179afee57 | 9 | |
LordScarface | 9:92283a284936 | 10 | //LEDs |
LordScarface | 9:92283a284936 | 11 | RASCarLED leftLed(PTC7, PTC0, PTC3); |
LordScarface | 9:92283a284936 | 12 | RASCarLED rightLed(PTC4, PTC5, PTC6); |
LordScarface | 9:92283a284936 | 13 | |
LordScarface | 9:92283a284936 | 14 | DigitalOut green(LED_GREEN); |
LordScarface | 8:32133eeb7037 | 15 | DigitalOut red(LED_RED); |
LordScarface | 9:92283a284936 | 16 | DigitalOut blue(LED_BLUE); |
LordScarface | 9:92283a284936 | 17 | |
LordScarface | 9:92283a284936 | 18 | //Debugging out comment out for either USB or Bluetooth |
LordScarface | 9:92283a284936 | 19 | //Serial pc(USBTX, USBRX); |
LordScarface | 9:92283a284936 | 20 | Serial pc(PTE22, PTE23); |
LordScarface | 8:32133eeb7037 | 21 | |
LordScarface | 8:32133eeb7037 | 22 | //OUTPUTS |
LordScarface | 8:32133eeb7037 | 23 | |
LordScarface | 9:92283a284936 | 24 | Beep buzzer(PTA2); |
LordScarface | 9:92283a284936 | 25 | |
LordScarface | 8:32133eeb7037 | 26 | PwmOut leftESC(PTA4); |
LordScarface | 8:32133eeb7037 | 27 | |
LordScarface | 8:32133eeb7037 | 28 | PwmOut rightESC(PTA5); |
LordScarface | 8:32133eeb7037 | 29 | |
LordScarface | 8:32133eeb7037 | 30 | PwmOut Servo(PTA12); |
LordScarface | 8:32133eeb7037 | 31 | |
LordScarface | 8:32133eeb7037 | 32 | DigitalOut LED(PTC1); |
LordScarface | 8:32133eeb7037 | 33 | |
LordScarface | 9:92283a284936 | 34 | PwmOut SpeedReturnChannel(PTD4); |
LordScarface | 8:32133eeb7037 | 35 | |
LordScarface | 9:92283a284936 | 36 | |
LordScarface | 9:92283a284936 | 37 | |
LordScarface | 9:92283a284936 | 38 | //INPUTS____________________ |
LordScarface | 8:32133eeb7037 | 39 | |
LordScarface | 9:92283a284936 | 40 | //von K66F |
LordScarface | 8:32133eeb7037 | 41 | PwmIn steeringAngle(PTD0); |
LordScarface | 8:32133eeb7037 | 42 | |
LordScarface | 9:92283a284936 | 43 | |
LordScarface | 8:32133eeb7037 | 44 | PwmIn motorSpeed(PTD5); |
LordScarface | 8:32133eeb7037 | 45 | |
LordScarface | 9:92283a284936 | 46 | //von Sensoren und Inputs |
LordScarface | 8:32133eeb7037 | 47 | |
LordScarface | 9:92283a284936 | 48 | //bremssignal von k66f |
LordScarface | 8:32133eeb7037 | 49 | InterruptIn eBrake(PTD2); |
LordScarface | 8:32133eeb7037 | 50 | |
LordScarface | 9:92283a284936 | 51 | //RPM Sensor |
LordScarface | 9:92283a284936 | 52 | InterruptIn RPM_one(PTD7); |
LordScarface | 8:32133eeb7037 | 53 | |
LordScarface | 9:92283a284936 | 54 | InterruptIn RPM_two(PTD6); |
LordScarface | 8:32133eeb7037 | 55 | |
LordScarface | 9:92283a284936 | 56 | //externe Potentiometer |
LordScarface | 9:92283a284936 | 57 | AnalogIn poti(PTC2); |
LordScarface | 8:32133eeb7037 | 58 | |
LordScarface | 8:32133eeb7037 | 59 | AnalogIn poti2(PTB1); |
LordScarface | 8:32133eeb7037 | 60 | |
LordScarface | 9:92283a284936 | 61 | //schalter um fahren freizugeben |
LordScarface | 8:32133eeb7037 | 62 | DigitalIn fast(PTD1); |
LordScarface | 8:32133eeb7037 | 63 | |
LordScarface | 8:32133eeb7037 | 64 | |
LordScarface | 8:32133eeb7037 | 65 | |
LordScarface | 8:32133eeb7037 | 66 | //Declarations for RPM measurement___________________ |
LordScarface | 8:32133eeb7037 | 67 | Timer RPM_timer_one; |
LordScarface | 8:32133eeb7037 | 68 | long RPM_spent_time_one = 0; |
LordScarface | 8:32133eeb7037 | 69 | long RPM_val_one = 0; |
LordScarface | 8:32133eeb7037 | 70 | |
LordScarface | 8:32133eeb7037 | 71 | Timer RPM_timer_two; |
LordScarface | 8:32133eeb7037 | 72 | long RPM_spent_time_two = 0; |
LordScarface | 8:32133eeb7037 | 73 | long RPM_val_two = 0; |
LordScarface | 8:32133eeb7037 | 74 | |
LordScarface | 8:32133eeb7037 | 75 | const int numReadings_one = 8; |
LordScarface | 8:32133eeb7037 | 76 | int RPMs_one[numReadings_one]; |
LordScarface | 8:32133eeb7037 | 77 | int readIndex_one = 0; |
LordScarface | 8:32133eeb7037 | 78 | int total_one = 0; |
LordScarface | 8:32133eeb7037 | 79 | int averageRPM_one = 0; |
LordScarface | 8:32133eeb7037 | 80 | long speed_one = 0; |
LordScarface | 8:32133eeb7037 | 81 | |
LordScarface | 8:32133eeb7037 | 82 | const int numReadings_two = 8; |
LordScarface | 8:32133eeb7037 | 83 | int RPMs_two[numReadings_two]; |
LordScarface | 8:32133eeb7037 | 84 | int readIndex_two = 0; |
LordScarface | 8:32133eeb7037 | 85 | int total_two = 0; |
LordScarface | 8:32133eeb7037 | 86 | int averageRPM_two = 0; |
LordScarface | 8:32133eeb7037 | 87 | long speed_two = 0; |
LordScarface | 8:32133eeb7037 | 88 | //__________________________________________________________ |
LordScarface | 8:32133eeb7037 | 89 | |
LordScarface | 8:32133eeb7037 | 90 | //dings |
LordScarface | 8:32133eeb7037 | 91 | float prev_val = 0; |
LordScarface | 9:92283a284936 | 92 | bool locked = false; |
LordScarface | 8:32133eeb7037 | 93 | |
LordScarface | 9:92283a284936 | 94 | int SLAM1 = 0; |
LordScarface | 9:92283a284936 | 95 | int SLAM2 = 0; |
LordScarface | 8:32133eeb7037 | 96 | |
LordScarface | 8:32133eeb7037 | 97 | //INTERRUPT SERVICE ROUNTINES_______________________________ |
LordScarface | 8:32133eeb7037 | 98 | void RPM_one_ISR() |
LordScarface | 8:32133eeb7037 | 99 | { |
LordScarface | 8:32133eeb7037 | 100 | RPM_one.rise(NULL); |
LordScarface | 8:32133eeb7037 | 101 | RPM_spent_time_one = RPM_timer_one.read_high_resolution_us(); |
LordScarface | 8:32133eeb7037 | 102 | RPM_timer_one.reset(); |
LordScarface | 8:32133eeb7037 | 103 | RPM_one.rise(&RPM_one_ISR); |
LordScarface | 9:92283a284936 | 104 | SLAM1++; |
LordScarface | 8:32133eeb7037 | 105 | } |
LordScarface | 8:32133eeb7037 | 106 | |
LordScarface | 8:32133eeb7037 | 107 | void RPM_two_ISR() |
LordScarface | 8:32133eeb7037 | 108 | { |
LordScarface | 8:32133eeb7037 | 109 | RPM_two.rise(NULL); |
LordScarface | 8:32133eeb7037 | 110 | RPM_spent_time_two = RPM_timer_two.read_high_resolution_us(); |
LordScarface | 8:32133eeb7037 | 111 | RPM_timer_two.reset(); |
LordScarface | 8:32133eeb7037 | 112 | RPM_two.rise(&RPM_two_ISR); |
LordScarface | 9:92283a284936 | 113 | SLAM2++; |
LordScarface | 8:32133eeb7037 | 114 | } |
LordScarface | 8:32133eeb7037 | 115 | |
LordScarface | 8:32133eeb7037 | 116 | bool brake = false; |
LordScarface | 9:92283a284936 | 117 | |
LordScarface | 8:32133eeb7037 | 118 | void eBrake_ISR() |
LordScarface | 8:32133eeb7037 | 119 | { |
LordScarface | 9:92283a284936 | 120 | //myled = !myled; |
LordScarface | 8:32133eeb7037 | 121 | brake = true; |
LordScarface | 8:32133eeb7037 | 122 | } |
LordScarface | 8:32133eeb7037 | 123 | void eBrake2_ISR() |
LordScarface | 8:32133eeb7037 | 124 | { |
LordScarface | 9:92283a284936 | 125 | //myled = !myled; |
LordScarface | 8:32133eeb7037 | 126 | brake = false; |
LordScarface | 9:92283a284936 | 127 | locked = false; |
LordScarface | 8:32133eeb7037 | 128 | } |
LordScarface | 8:32133eeb7037 | 129 | |
LordScarface | 8:32133eeb7037 | 130 | //___________________________________________________________ |
LordScarface | 8:32133eeb7037 | 131 | |
LordScarface | 8:32133eeb7037 | 132 | //MAPPING FUNCTION |
LordScarface | 8:32133eeb7037 | 133 | float map(float x, float in_min, float in_max, float out_min, float out_max) |
LordScarface | 8:32133eeb7037 | 134 | { |
LordScarface | 8:32133eeb7037 | 135 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
LordScarface | 8:32133eeb7037 | 136 | } |
LordScarface | 8:32133eeb7037 | 137 | |
LordScarface | 8:32133eeb7037 | 138 | void setRightESC(float val) |
LordScarface | 8:32133eeb7037 | 139 | { |
LordScarface | 8:32133eeb7037 | 140 | if (val != prev_val) { |
LordScarface | 8:32133eeb7037 | 141 | rightESC.write(val); |
LordScarface | 8:32133eeb7037 | 142 | prev_val = val; |
LordScarface | 8:32133eeb7037 | 143 | } |
LordScarface | 8:32133eeb7037 | 144 | } |
LordScarface | 8:32133eeb7037 | 145 | |
LordScarface | 8:32133eeb7037 | 146 | volatile bool newData = false; |
LordScarface | 8:32133eeb7037 | 147 | volatile float inputs[3]; |
LordScarface | 8:32133eeb7037 | 148 | |
LordScarface | 8:32133eeb7037 | 149 | |
LordScarface | 8:32133eeb7037 | 150 | |
LordScarface | 8:32133eeb7037 | 151 | |
LordScarface | 8:32133eeb7037 | 152 | Timer speedTimer; |
LordScarface | 8:32133eeb7037 | 153 | |
LordScarface | 8:32133eeb7037 | 154 | //PID-Stuff------------------------------------------------------------- |
LordScarface | 9:92283a284936 | 155 | |
LordScarface | 9:92283a284936 | 156 | float set_speed = 1150; //desired RPM value |
LordScarface | 9:92283a284936 | 157 | float Kp = 0; |
LordScarface | 8:32133eeb7037 | 158 | float Ki = 0; |
LordScarface | 8:32133eeb7037 | 159 | float Kd = 0; |
LordScarface | 9:92283a284936 | 160 | |
LordScarface | 9:92283a284936 | 161 | float leftRPM, rightRPM; |
LordScarface | 9:92283a284936 | 162 | |
LordScarface | 9:92283a284936 | 163 | float PID_errorL, PID_error_preL, PID_outL, PID_sumL, PID_valL; |
LordScarface | 9:92283a284936 | 164 | |
LordScarface | 9:92283a284936 | 165 | float PID_errorR, PID_error_preR, PID_outR, PID_sumR, PID_valR; |
LordScarface | 9:92283a284936 | 166 | |
LordScarface | 9:92283a284936 | 167 | |
LordScarface | 9:92283a284936 | 168 | |
LordScarface | 9:92283a284936 | 169 | |
LordScarface | 9:92283a284936 | 170 | |
LordScarface | 8:32133eeb7037 | 171 | //---------------------------------------------------------------------- |
LordScarface | 8:32133eeb7037 | 172 | |
LordScarface | 9:92283a284936 | 173 | void calcPIDleft() |
LordScarface | 8:32133eeb7037 | 174 | { |
LordScarface | 9:92283a284936 | 175 | //save error from last reading |
LordScarface | 9:92283a284936 | 176 | PID_error_preL = PID_errorL; |
LordScarface | 9:92283a284936 | 177 | |
LordScarface | 9:92283a284936 | 178 | //calculate actual error |
LordScarface | 9:92283a284936 | 179 | PID_errorL = set_speed - leftRPM; |
LordScarface | 9:92283a284936 | 180 | |
LordScarface | 9:92283a284936 | 181 | //basic pid formula |
LordScarface | 9:92283a284936 | 182 | PID_valL = Kp * PID_errorL + Ki * PID_sumL + Kd * (PID_errorL - PID_error_preL); |
LordScarface | 9:92283a284936 | 183 | |
LordScarface | 9:92283a284936 | 184 | //store output |
LordScarface | 9:92283a284936 | 185 | PID_outL = PID_valL; |
LordScarface | 8:32133eeb7037 | 186 | |
LordScarface | 9:92283a284936 | 187 | //sum up the integral |
LordScarface | 9:92283a284936 | 188 | PID_sumL += PID_errorL; |
LordScarface | 8:32133eeb7037 | 189 | |
LordScarface | 9:92283a284936 | 190 | //limit the integral to above and below 500 |
LordScarface | 9:92283a284936 | 191 | if (PID_sumL > 500) { |
LordScarface | 9:92283a284936 | 192 | PID_sumL = 500; |
LordScarface | 9:92283a284936 | 193 | } else if (PID_sumL < -500) { |
LordScarface | 9:92283a284936 | 194 | PID_sumL = -500; |
LordScarface | 8:32133eeb7037 | 195 | } |
LordScarface | 8:32133eeb7037 | 196 | |
LordScarface | 9:92283a284936 | 197 | |
LordScarface | 9:92283a284936 | 198 | } |
LordScarface | 9:92283a284936 | 199 | |
LordScarface | 9:92283a284936 | 200 | void calcPIDright() |
LordScarface | 9:92283a284936 | 201 | { |
LordScarface | 9:92283a284936 | 202 | //save error from last reading |
LordScarface | 9:92283a284936 | 203 | PID_error_preR = PID_errorR; |
LordScarface | 9:92283a284936 | 204 | |
LordScarface | 9:92283a284936 | 205 | //calculate actual error |
LordScarface | 9:92283a284936 | 206 | PID_errorR = set_speed - rightRPM; |
LordScarface | 9:92283a284936 | 207 | |
LordScarface | 9:92283a284936 | 208 | //basic pid formula |
LordScarface | 9:92283a284936 | 209 | PID_valR = Kp * PID_errorR + Ki * PID_sumR + Kd * (PID_errorR - PID_error_preR); |
LordScarface | 9:92283a284936 | 210 | |
LordScarface | 9:92283a284936 | 211 | //store output |
LordScarface | 9:92283a284936 | 212 | PID_outR = PID_valR; |
LordScarface | 9:92283a284936 | 213 | |
LordScarface | 9:92283a284936 | 214 | //sum up the integral |
LordScarface | 9:92283a284936 | 215 | PID_sumR += PID_errorR; |
LordScarface | 9:92283a284936 | 216 | |
LordScarface | 9:92283a284936 | 217 | //limit the integral to above and below 500 |
LordScarface | 9:92283a284936 | 218 | if (PID_sumR > 500) { |
LordScarface | 9:92283a284936 | 219 | PID_sumR = 500; |
LordScarface | 9:92283a284936 | 220 | } else if (PID_sumR < -500) { |
LordScarface | 9:92283a284936 | 221 | PID_sumR = -500; |
LordScarface | 8:32133eeb7037 | 222 | } |
LordScarface | 9:92283a284936 | 223 | |
LordScarface | 9:92283a284936 | 224 | |
LordScarface | 8:32133eeb7037 | 225 | } |
LordScarface | 8:32133eeb7037 | 226 | |
emilmont | 0:f59179afee57 | 227 | |
LordScarface | 9:92283a284936 | 228 | |
LordScarface | 9:92283a284936 | 229 | |
LordScarface | 9:92283a284936 | 230 | |
LordScarface | 9:92283a284936 | 231 | |
LordScarface | 9:92283a284936 | 232 | //ESP variables |
LordScarface | 9:92283a284936 | 233 | |
LordScarface | 9:92283a284936 | 234 | float ESP_left = 0; |
LordScarface | 9:92283a284936 | 235 | float ESP_right = 0; |
LordScarface | 9:92283a284936 | 236 | |
LordScarface | 9:92283a284936 | 237 | //ideal 3 |
LordScarface | 9:92283a284936 | 238 | float gain = 1; |
LordScarface | 9:92283a284936 | 239 | |
LordScarface | 9:92283a284936 | 240 | float centerRPM = 0; |
LordScarface | 9:92283a284936 | 241 | |
LordScarface | 9:92283a284936 | 242 | float k66conversion = 0; |
LordScarface | 9:92283a284936 | 243 | |
LordScarface | 9:92283a284936 | 244 | |
LordScarface | 9:92283a284936 | 245 | float prev_angle = 0; |
LordScarface | 9:92283a284936 | 246 | |
LordScarface | 9:92283a284936 | 247 | int angle(int pwm){ |
LordScarface | 9:92283a284936 | 248 | |
LordScarface | 9:92283a284936 | 249 | return map(steeringAngle.pulsewidth()*1000000,1000,2000,-45,45); |
LordScarface | 9:92283a284936 | 250 | |
LordScarface | 9:92283a284936 | 251 | } |
LordScarface | 9:92283a284936 | 252 | |
LordScarface | 9:92283a284936 | 253 | |
LordScarface | 9:92283a284936 | 254 | |
LordScarface | 9:92283a284936 | 255 | |
LordScarface | 9:92283a284936 | 256 | int beep = 0; |
LordScarface | 9:92283a284936 | 257 | |
LordScarface | 9:92283a284936 | 258 | float temp1 = 0; |
LordScarface | 9:92283a284936 | 259 | float temp2 = 0; |
LordScarface | 9:92283a284936 | 260 | |
LordScarface | 9:92283a284936 | 261 | //______________________MAIN____________________________________________________ |
LordScarface | 9:92283a284936 | 262 | |
sam_grove | 7:986d5298b118 | 263 | int main() |
sam_grove | 7:986d5298b118 | 264 | { |
LordScarface | 9:92283a284936 | 265 | pc.baud(115200); |
LordScarface | 8:32133eeb7037 | 266 | pc.printf("Ready!\n"); |
LordScarface | 8:32133eeb7037 | 267 | |
LordScarface | 9:92283a284936 | 268 | |
LordScarface | 8:32133eeb7037 | 269 | |
LordScarface | 8:32133eeb7037 | 270 | //Settings for Interrrupts for RPM Sensors |
LordScarface | 8:32133eeb7037 | 271 | RPM_one.rise(&RPM_one_ISR); |
LordScarface | 8:32133eeb7037 | 272 | RPM_timer_one.start(); |
LordScarface | 8:32133eeb7037 | 273 | RPM_two.rise(&RPM_two_ISR); |
LordScarface | 8:32133eeb7037 | 274 | RPM_timer_two.start(); |
LordScarface | 8:32133eeb7037 | 275 | |
LordScarface | 8:32133eeb7037 | 276 | //Setting for EBrake Interrrupt |
LordScarface | 8:32133eeb7037 | 277 | eBrake.rise(&eBrake_ISR); |
LordScarface | 8:32133eeb7037 | 278 | eBrake.fall(&eBrake2_ISR); |
LordScarface | 8:32133eeb7037 | 279 | |
LordScarface | 8:32133eeb7037 | 280 | //Values for Servo Passthrough |
LordScarface | 9:92283a284936 | 281 | float servo_pulsewidth = 0; |
LordScarface | 9:92283a284936 | 282 | float pre_pulsewidth = 0; |
LordScarface | 8:32133eeb7037 | 283 | |
LordScarface | 8:32133eeb7037 | 284 | //Servo Settings |
LordScarface | 8:32133eeb7037 | 285 | Servo.period_ms(20); |
LordScarface | 8:32133eeb7037 | 286 | //pc.printf("%f",period |
LordScarface | 9:92283a284936 | 287 | |
LordScarface | 9:92283a284936 | 288 | SpeedReturnChannel.period_ms(10); |
sam_grove | 7:986d5298b118 | 289 | |
LordScarface | 8:32133eeb7037 | 290 | //ESC Settings |
LordScarface | 9:92283a284936 | 291 | leftESC.period_ms(10); |
LordScarface | 9:92283a284936 | 292 | rightESC.period_ms(10); |
LordScarface | 8:32133eeb7037 | 293 | |
LordScarface | 8:32133eeb7037 | 294 | //ARMING ESCS |
LordScarface | 8:32133eeb7037 | 295 | leftESC.pulsewidth_us(1500); //write them to idle position |
LordScarface | 8:32133eeb7037 | 296 | rightESC.pulsewidth_us(1500); |
LordScarface | 9:92283a284936 | 297 | |
LordScarface | 9:92283a284936 | 298 | //wait 4 seconds to arm escs |
LordScarface | 9:92283a284936 | 299 | wait(0.9f); |
LordScarface | 8:32133eeb7037 | 300 | wait(0.9f); |
LordScarface | 8:32133eeb7037 | 301 | wait(0.2f); |
LordScarface | 9:92283a284936 | 302 | wait(0.9f); |
LordScarface | 8:32133eeb7037 | 303 | wait(0.9f); |
LordScarface | 8:32133eeb7037 | 304 | wait(0.2f); |
LordScarface | 9:92283a284936 | 305 | |
LordScarface | 9:92283a284936 | 306 | blue = !green; |
LordScarface | 9:92283a284936 | 307 | green = !red; |
LordScarface | 9:92283a284936 | 308 | red = !blue; |
LordScarface | 9:92283a284936 | 309 | |
LordScarface | 8:32133eeb7037 | 310 | |
LordScarface | 8:32133eeb7037 | 311 | |
LordScarface | 8:32133eeb7037 | 312 | |
LordScarface | 8:32133eeb7037 | 313 | speedTimer.start(); |
LordScarface | 8:32133eeb7037 | 314 | Timer ppp; |
LordScarface | 8:32133eeb7037 | 315 | float poti_val = 0; |
LordScarface | 8:32133eeb7037 | 316 | |
LordScarface | 8:32133eeb7037 | 317 | |
LordScarface | 8:32133eeb7037 | 318 | //MAIN LOOP_________________________________________________________________ |
emilmont | 1:32eacc4f6beb | 319 | while (true) { |
LordScarface | 8:32133eeb7037 | 320 | |
LordScarface | 9:92283a284936 | 321 | if(beep >= 10000){ |
LordScarface | 9:92283a284936 | 322 | buzzer.beep(600,10); |
LordScarface | 9:92283a284936 | 323 | beep = 0; |
LordScarface | 9:92283a284936 | 324 | } |
LordScarface | 9:92283a284936 | 325 | beep++; |
LordScarface | 8:32133eeb7037 | 326 | |
LordScarface | 8:32133eeb7037 | 327 | //MEASURE RPM___________________________________________________________ |
LordScarface | 8:32133eeb7037 | 328 | total_one = total_one - RPMs_one[readIndex_one]; |
LordScarface | 8:32133eeb7037 | 329 | total_two = total_two - RPMs_two[readIndex_two]; |
LordScarface | 8:32133eeb7037 | 330 | |
LordScarface | 8:32133eeb7037 | 331 | if (RPM_timer_one.read_high_resolution_us() > 500000) { |
LordScarface | 8:32133eeb7037 | 332 | RPM_val_one = 0; |
LordScarface | 8:32133eeb7037 | 333 | } else if (RPM_spent_time_one > 0) { |
LordScarface | 8:32133eeb7037 | 334 | RPM_val_one = 60000000/(RPM_spent_time_one * 8); |
LordScarface | 8:32133eeb7037 | 335 | } else { |
LordScarface | 8:32133eeb7037 | 336 | RPM_val_one = 0; |
LordScarface | 8:32133eeb7037 | 337 | } |
LordScarface | 8:32133eeb7037 | 338 | |
LordScarface | 8:32133eeb7037 | 339 | if (RPM_timer_two.read_high_resolution_us() > 500000) { |
LordScarface | 8:32133eeb7037 | 340 | RPM_val_two = 0; |
LordScarface | 8:32133eeb7037 | 341 | } else if (RPM_spent_time_two > 0) { |
LordScarface | 8:32133eeb7037 | 342 | RPM_val_two = 60000000/(RPM_spent_time_two * 8); |
LordScarface | 8:32133eeb7037 | 343 | } else { |
LordScarface | 8:32133eeb7037 | 344 | RPM_val_two = 0; |
LordScarface | 8:32133eeb7037 | 345 | } |
LordScarface | 8:32133eeb7037 | 346 | |
LordScarface | 8:32133eeb7037 | 347 | RPMs_one[readIndex_one] = RPM_val_one; |
LordScarface | 8:32133eeb7037 | 348 | total_one = total_one + RPMs_one[readIndex_one]; |
LordScarface | 8:32133eeb7037 | 349 | readIndex_one++; |
LordScarface | 8:32133eeb7037 | 350 | |
LordScarface | 8:32133eeb7037 | 351 | RPMs_two[readIndex_two] = RPM_val_two; |
LordScarface | 8:32133eeb7037 | 352 | total_two = total_two + RPMs_two[readIndex_two]; |
LordScarface | 8:32133eeb7037 | 353 | readIndex_two++; |
LordScarface | 8:32133eeb7037 | 354 | |
LordScarface | 8:32133eeb7037 | 355 | //set rpms to zero if under certain speed |
LordScarface | 8:32133eeb7037 | 356 | if (readIndex_one >= numReadings_one) { |
LordScarface | 8:32133eeb7037 | 357 | readIndex_one = 0; |
LordScarface | 8:32133eeb7037 | 358 | } |
LordScarface | 8:32133eeb7037 | 359 | |
LordScarface | 8:32133eeb7037 | 360 | if (readIndex_two >= numReadings_two) { |
LordScarface | 8:32133eeb7037 | 361 | readIndex_two = 0; |
LordScarface | 8:32133eeb7037 | 362 | } |
LordScarface | 8:32133eeb7037 | 363 | |
LordScarface | 8:32133eeb7037 | 364 | //average the rpms since last run of pid error |
LordScarface | 8:32133eeb7037 | 365 | averageRPM_one = total_one / numReadings_one; |
LordScarface | 8:32133eeb7037 | 366 | averageRPM_two = total_two / numReadings_two; |
LordScarface | 8:32133eeb7037 | 367 | |
LordScarface | 8:32133eeb7037 | 368 | //store pid output |
LordScarface | 8:32133eeb7037 | 369 | leftRPM = averageRPM_two; |
LordScarface | 8:32133eeb7037 | 370 | rightRPM = averageRPM_one; |
LordScarface | 8:32133eeb7037 | 371 | |
LordScarface | 8:32133eeb7037 | 372 | //calculate actual pid error |
LordScarface | 9:92283a284936 | 373 | calcPIDleft(); |
LordScarface | 9:92283a284936 | 374 | calcPIDright(); |
LordScarface | 9:92283a284936 | 375 | |
LordScarface | 9:92283a284936 | 376 | |
LordScarface | 9:92283a284936 | 377 | //torque vectoring |
LordScarface | 9:92283a284936 | 378 | ESP_left = ( -0.0228 * (servo_pulsewidth) + 35.5581 ) * gain; |
LordScarface | 9:92283a284936 | 379 | ESP_right = ( 0.0228 * (servo_pulsewidth) - 35.5581) * gain; |
LordScarface | 9:92283a284936 | 380 | |
LordScarface | 9:92283a284936 | 381 | //drifting |
LordScarface | 9:92283a284936 | 382 | //ESP_right = ( -0.0228 * (servo_pulsewidth) + 35.5581 ) * gain; |
LordScarface | 9:92283a284936 | 383 | //ESP_left = ( 0.0228 * (servo_pulsewidth) - 35.5581) * gain; |
LordScarface | 9:92283a284936 | 384 | |
LordScarface | 9:92283a284936 | 385 | |
LordScarface | 9:92283a284936 | 386 | //groundspeed return channel to K66 |
LordScarface | 9:92283a284936 | 387 | centerRPM = (leftRPM + rightRPM) / 2; |
LordScarface | 9:92283a284936 | 388 | k66conversion = map( centerRPM , 0 , 8000 , 1000 , 2000 ); |
LordScarface | 9:92283a284936 | 389 | SpeedReturnChannel.pulsewidth_us( k66conversion ); |
LordScarface | 9:92283a284936 | 390 | |
LordScarface | 9:92283a284936 | 391 | |
LordScarface | 9:92283a284936 | 392 | |
LordScarface | 9:92283a284936 | 393 | |
LordScarface | 9:92283a284936 | 394 | |
LordScarface | 8:32133eeb7037 | 395 | |
LordScarface | 8:32133eeb7037 | 396 | //check for drivng switch to be pressed |
LordScarface | 9:92283a284936 | 397 | if( ( (motorSpeed.pulsewidth()*1000000) <= 1480 || (motorSpeed.pulsewidth()*1000000) >= 1516 ) && !brake && fast) { |
LordScarface | 9:92283a284936 | 398 | |
LordScarface | 9:92283a284936 | 399 | leftESC.pulsewidth_us( 1500 + ( ( (0.07518797 * (set_speed ) ) + PID_outL ) ) + ESP_left); |
LordScarface | 9:92283a284936 | 400 | rightESC.pulsewidth_us( 1500 + ( ( (0.07518797 * (set_speed ) ) + PID_outR ) ) + ESP_right); |
LordScarface | 9:92283a284936 | 401 | //leftESC.pulsewidth_us(1500 + (int)floor(poti_val)); |
LordScarface | 9:92283a284936 | 402 | //rightESC.pulsewidth_us(1500 + (int)floor(poti_val)); |
LordScarface | 8:32133eeb7037 | 403 | LED = 1; |
LordScarface | 9:92283a284936 | 404 | leftLed.setGreen(); |
LordScarface | 9:92283a284936 | 405 | rightLed.setGreen(); |
LordScarface | 9:92283a284936 | 406 | //locked = false; |
LordScarface | 9:92283a284936 | 407 | }else if(brake){ |
LordScarface | 9:92283a284936 | 408 | leftLed.setRed(); |
LordScarface | 9:92283a284936 | 409 | rightLed.setRed(); |
LordScarface | 8:32133eeb7037 | 410 | leftESC.pulsewidth_us(1500); |
LordScarface | 8:32133eeb7037 | 411 | rightESC.pulsewidth_us(1500); |
LordScarface | 8:32133eeb7037 | 412 | } |
LordScarface | 8:32133eeb7037 | 413 | else { |
LordScarface | 9:92283a284936 | 414 | leftLed.setBlue(); |
LordScarface | 9:92283a284936 | 415 | rightLed.setBlue(); |
LordScarface | 9:92283a284936 | 416 | |
LordScarface | 8:32133eeb7037 | 417 | leftESC.pulsewidth_us(1500); |
LordScarface | 8:32133eeb7037 | 418 | rightESC.pulsewidth_us(1500); |
LordScarface | 8:32133eeb7037 | 419 | LED = 0; |
LordScarface | 8:32133eeb7037 | 420 | } |
LordScarface | 8:32133eeb7037 | 421 | |
LordScarface | 8:32133eeb7037 | 422 | //PASSTHROUGH FOR STEERING |
LordScarface | 9:92283a284936 | 423 | pre_pulsewidth = servo_pulsewidth; |
LordScarface | 9:92283a284936 | 424 | |
LordScarface | 9:92283a284936 | 425 | servo_pulsewidth = steeringAngle.pulsewidth(); |
LordScarface | 9:92283a284936 | 426 | servo_pulsewidth = servo_pulsewidth * 1000000; |
LordScarface | 9:92283a284936 | 427 | |
LordScarface | 9:92283a284936 | 428 | //noise reduction and filtering of pwm signal from k66 |
LordScarface | 9:92283a284936 | 429 | if( servo_pulsewidth > 2000 ){ |
LordScarface | 9:92283a284936 | 430 | servo_pulsewidth = pre_pulsewidth; |
LordScarface | 9:92283a284936 | 431 | } |
LordScarface | 9:92283a284936 | 432 | |
LordScarface | 9:92283a284936 | 433 | Servo.pulsewidth_us(servo_pulsewidth); |
LordScarface | 9:92283a284936 | 434 | |
LordScarface | 9:92283a284936 | 435 | //poti_val = abs( (poti.read() * 1000) + 1000); |
LordScarface | 9:92283a284936 | 436 | //Servo.pulsewidth_us( 1500 ); |
LordScarface | 9:92283a284936 | 437 | //SpeedReturnChannel.pulsewidth_us( 1500 ); |
LordScarface | 9:92283a284936 | 438 | |
LordScarface | 9:92283a284936 | 439 | |
LordScarface | 9:92283a284936 | 440 | |
LordScarface | 9:92283a284936 | 441 | |
LordScarface | 9:92283a284936 | 442 | |
LordScarface | 9:92283a284936 | 443 | |
LordScarface | 9:92283a284936 | 444 | |
LordScarface | 9:92283a284936 | 445 | |
LordScarface | 9:92283a284936 | 446 | |
LordScarface | 9:92283a284936 | 447 | |
LordScarface | 9:92283a284936 | 448 | if(pre_pulsewidth != servo_pulsewidth){ |
LordScarface | 9:92283a284936 | 449 | SLAM1 = (SLAM1+SLAM2)/2; |
LordScarface | 9:92283a284936 | 450 | temp1 = SLAM1*cos(angle(servo_pulsewidth * 1000000)+prev_angle)*2; |
LordScarface | 9:92283a284936 | 451 | temp2 = SLAM1*sin(angle(servo_pulsewidth * 1000000)+prev_angle)*2; |
LordScarface | 9:92283a284936 | 452 | |
LordScarface | 9:92283a284936 | 453 | pc.printf("X" "%f" "\n" , temp1 ); |
LordScarface | 9:92283a284936 | 454 | pc.printf("Y" "%f" "\n" , temp2 ); |
LordScarface | 9:92283a284936 | 455 | |
LordScarface | 9:92283a284936 | 456 | SLAM1 = 0; |
LordScarface | 9:92283a284936 | 457 | SLAM2 = 0; |
LordScarface | 9:92283a284936 | 458 | } |
LordScarface | 9:92283a284936 | 459 | |
LordScarface | 9:92283a284936 | 460 | |
LordScarface | 9:92283a284936 | 461 | |
LordScarface | 9:92283a284936 | 462 | |
LordScarface | 9:92283a284936 | 463 | |
LordScarface | 9:92283a284936 | 464 | |
LordScarface | 9:92283a284936 | 465 | |
LordScarface | 9:92283a284936 | 466 | |
LordScarface | 9:92283a284936 | 467 | |
LordScarface | 9:92283a284936 | 468 | |
LordScarface | 9:92283a284936 | 469 | |
LordScarface | 9:92283a284936 | 470 | |
LordScarface | 8:32133eeb7037 | 471 | |
LordScarface | 9:92283a284936 | 472 | |
LordScarface | 9:92283a284936 | 473 | prev_angle += angle(servo_pulsewidth * 1000000); |
LordScarface | 8:32133eeb7037 | 474 | |
LordScarface | 8:32133eeb7037 | 475 | //poti_val = map( poti.read() , 0 , 1 , 0 , 1 ); |
LordScarface | 9:92283a284936 | 476 | |
LordScarface | 8:32133eeb7037 | 477 | |
LordScarface | 9:92283a284936 | 478 | poti_val = abs(poti.read() * 4000); |
LordScarface | 9:92283a284936 | 479 | |
LordScarface | 9:92283a284936 | 480 | |
LordScarface | 9:92283a284936 | 481 | |
LordScarface | 9:92283a284936 | 482 | |
LordScarface | 9:92283a284936 | 483 | |
LordScarface | 9:92283a284936 | 484 | |
LordScarface | 9:92283a284936 | 485 | |
LordScarface | 9:92283a284936 | 486 | if( (motorSpeed.pulsewidth()*1000000) <= 1100 ) set_speed = poti_val; |
LordScarface | 9:92283a284936 | 487 | |
LordScarface | 9:92283a284936 | 488 | if( (motorSpeed.pulsewidth()*1000000) >= 1500 ) set_speed = map(motorSpeed.pulsewidth()*1000000 , 1500 , 2000 , 0 , 7000 ); |
LordScarface | 9:92283a284936 | 489 | |
LordScarface | 8:32133eeb7037 | 490 | //Kp = poti_val; |
LordScarface | 8:32133eeb7037 | 491 | |
LordScarface | 8:32133eeb7037 | 492 | |
LordScarface | 8:32133eeb7037 | 493 | //DEBUGGING___________________________________ |
LordScarface | 8:32133eeb7037 | 494 | /* |
LordScarface | 9:92283a284936 | 495 | pc.printf("motorSpeed:"); |
LordScarface | 9:92283a284936 | 496 | pc.printf("%f", motorSpeed.pulsewidth()*1000000); |
LordScarface | 9:92283a284936 | 497 | pc.printf("\t"); |
LordScarface | 9:92283a284936 | 498 | */ |
LordScarface | 9:92283a284936 | 499 | /* |
LordScarface | 9:92283a284936 | 500 | pc.printf("leftRPM:"); |
LordScarface | 9:92283a284936 | 501 | pc.printf("%f", leftRPM); |
LordScarface | 9:92283a284936 | 502 | pc.printf("\t"); |
LordScarface | 9:92283a284936 | 503 | |
LordScarface | 9:92283a284936 | 504 | pc.printf("rightRPM:"); |
LordScarface | 9:92283a284936 | 505 | pc.printf("%f", rightRPM); |
LordScarface | 9:92283a284936 | 506 | pc.printf("\t"); |
LordScarface | 9:92283a284936 | 507 | |
LordScarface | 9:92283a284936 | 508 | pc.printf("ESP_left:"); |
LordScarface | 9:92283a284936 | 509 | pc.printf("%f", ESP_left); |
LordScarface | 9:92283a284936 | 510 | pc.printf("\t"); |
LordScarface | 9:92283a284936 | 511 | |
LordScarface | 9:92283a284936 | 512 | pc.printf("ESP_right:"); |
LordScarface | 9:92283a284936 | 513 | pc.printf("%f", ESP_right); |
LordScarface | 9:92283a284936 | 514 | pc.printf("\t"); |
LordScarface | 9:92283a284936 | 515 | |
LordScarface | 9:92283a284936 | 516 | pc.printf("steering angle:"); |
LordScarface | 9:92283a284936 | 517 | pc.printf("%f", (servo_pulsewidth)); |
LordScarface | 9:92283a284936 | 518 | pc.printf("\t"); |
LordScarface | 9:92283a284936 | 519 | |
LordScarface | 9:92283a284936 | 520 | |
LordScarface | 9:92283a284936 | 521 | |
LordScarface | 9:92283a284936 | 522 | pc.printf("PID_OUT:"); |
LordScarface | 9:92283a284936 | 523 | pc.printf("%f", 1500+PID_outL ); |
LordScarface | 9:92283a284936 | 524 | pc.printf("\t"); |
LordScarface | 9:92283a284936 | 525 | |
LordScarface | 9:92283a284936 | 526 | |
LordScarface | 9:92283a284936 | 527 | pc.printf("set_speed:"); |
LordScarface | 9:92283a284936 | 528 | pc.printf("%f ", set_speed); |
LordScarface | 9:92283a284936 | 529 | pc.printf("\t"); |
LordScarface | 9:92283a284936 | 530 | |
LordScarface | 9:92283a284936 | 531 | |
LordScarface | 9:92283a284936 | 532 | pc.printf("gain:"); |
LordScarface | 9:92283a284936 | 533 | pc.printf("%f", gain); |
LordScarface | 9:92283a284936 | 534 | pc.printf("\t"); |
LordScarface | 9:92283a284936 | 535 | |
LordScarface | 9:92283a284936 | 536 | |
LordScarface | 9:92283a284936 | 537 | //necessary to keep values centered |
LordScarface | 9:92283a284936 | 538 | pc.printf("zero: 0.0 \t \n" ); |
LordScarface | 8:32133eeb7037 | 539 | */ |
LordScarface | 8:32133eeb7037 | 540 | //_____________________________________________ |
LordScarface | 8:32133eeb7037 | 541 | |
emilmont | 0:f59179afee57 | 542 | } |
LordScarface | 8:32133eeb7037 | 543 | //END OF MAIN LOOP__________________________________________________________ |
LordScarface | 8:32133eeb7037 | 544 | } |