lab5
Dependencies: mbed ros_lib_indigo
main.cpp
- Committer:
- tea5062001
- Date:
- 2017-03-28
- Revision:
- 0:0846fa975a83
File content as of revision 0:0846fa975a83:
#include "mbed.h" #include <ros.h> #include <geometry_msgs/Twist.h> #include <geometry_msgs/Vector3.h> //The number will be compiled as type "double" in default //Add a "f" after the number can make it compiled as type "float" #define Ts 0.01f //period of timer1 (s) #define Kp 0.006f #define Ki 0.02f Ticker timer1; // servo motor PwmOut servo_cmd(A0); // DC motor PwmOut pwm1(D7); PwmOut pwm1n(D11); PwmOut pwm2(D8); PwmOut pwm2n(A3); // Motor1 sensor InterruptIn HallA(A1); InterruptIn HallB(A2); // Motor2 sensor InterruptIn HallA_2(D13); InterruptIn HallB_2(D12); // 函式宣告 void init_IO(); void init_TIMER(); void timer1_ITR(); void init_CN(); void CN_ITR(); void init_PWM(); // servo motor float servo_duty = 0.025; // 0.069 +(0.088/180)*angle, -90<angle<90 // 90度->duty=0.025; 0度->duty=0.069; -90度->duty=0.113 int angle = 0; int counter; // Hall sensor int HallA_1_state = 0; int HallB_1_state = 0; int state_1 = 0; int state_1_old = 0; int HallA_2_state = 0; int HallB_2_state = 0; int state_2 = 0; int state_2_old = 0; int c = 0; int d = 0; // DC motor rotation speed control int speed_count_1 = 0; float rotation_speed_1 = 0.0; float rotation_speed_ref_1 = 0; float pwm1_duty = 0.5; float PI_out_1 = 0.0; float err_1 = 0.0; float ierr_1 = 0.0; int speed_count_2 = 0; float rotation_speed_2 = 0.0; float rotation_speed_ref_2 = 0; float pwm2_duty = 0.5; float PI_out_2 = 0.0; float err_2 = 0.0; float ierr_2 = 0.0; //rosserial ros::NodeHandle nh; geometry_msgs::Twist vel_msg; ros::Publisher p("feedback_wheel_angularVel", &vel_msg); void messageCallback(const geometry_msgs::Vector3 &msg_receive) { rotation_speed_ref_1 = -msg_receive.x; rotation_speed_ref_2 = msg_receive.y; } ros::Subscriber<geometry_msgs::Vector3> s("cmd_wheel_angularVel",messageCallback); int main() { init_TIMER(); init_PWM(); init_CN(); nh.initNode(); nh.subscribe(s); nh.advertise(p); while(1) { vel_msg.linear.x = rotation_speed_ref_1; vel_msg.linear.y = rotation_speed_1; vel_msg.linear.z = 0; vel_msg.angular.x = rotation_speed_ref_2; vel_msg.angular.y = rotation_speed_2; vel_msg.angular.z = 0; p.publish(&vel_msg); nh.spinOnce(); wait_ms(20); } } void init_TIMER() { timer1.attach_us(&timer1_ITR, 10000.0); // the address of the function to be attached (timer1_ITR) and the interval (10000 micro-seconds) } void init_PWM() { servo_cmd.period_ms(20); servo_cmd.write(servo_duty); pwm1.period_us(50); pwm1.write(0.5); TIM1->CCER |= 0x4; pwm2.period_us(50); pwm2.write(0.5); TIM1->CCER |= 0x40; } void init_CN() { HallA.rise(&CN_ITR); HallA.fall(&CN_ITR); HallB.rise(&CN_ITR); HallB.fall(&CN_ITR); HallA_2.rise(&CN_ITR); HallA_2.fall(&CN_ITR); HallB_2.rise(&CN_ITR); HallB_2.fall(&CN_ITR); } void CN_ITR() { // motor1 HallA_1_state = HallA.read(); HallB_1_state = HallB.read(); ///code for state determination/// state_1 = 10*HallA_1_state + HallB_1_state; //state = AB (ex:A=1,B=0, state_1 = 10) if(state_1_old != state_1) { if((state_1_old/10) == (state_1_old%10)) { if((state_1%10) != (state_1_old%10)) { speed_count_1++; } else if((state_1/10) != (state_1_old/10)) { speed_count_1--; } } else if((state_1_old/10) != (state_1_old%10)) { if((state_1%10) != (state_1_old%10)) { speed_count_1--; } else if((state_1/10) != (state_1_old/10)) { speed_count_1++; } } state_1_old = state_1; } ////////////////////////////////// //forward : speed_count_1 + 1 //backward : speed_count_1 - 1 // motor2 HallA_2_state = HallA_2.read(); HallB_2_state = HallB_2.read(); ///code for state determination/// state_2 = 10*HallA_2_state + HallB_2_state; //state = AB (ex:A=1,B=0, state_1 = 10) if(state_2_old != state_2) { if((state_2_old/10) == (state_2_old%10)) { if((state_2%10) != (state_2_old%10)) { speed_count_2++; } else if((state_2/10) != (state_2_old/10)) { speed_count_2--; } } else if((state_2_old/10) != (state_2_old%10)) { if((state_2%10) != (state_2_old%10)) { speed_count_2--; } else if((state_2/10) != (state_2_old/10)) { speed_count_2++; } } state_2_old = state_2; } ////////////////////////////////// //forward : speed_count_2 + 1 //backward : speed_count_2 - 1 } void timer1_ITR() { // servo motor ///code for sevo motor/// counter = counter + 1; if(counter == 100) { servo_duty = 0.069; } if(counter == 200) { servo_duty = 0.0763; } if(counter == 300) { servo_duty = 0.0837; } if(counter == 400) { servo_duty = 0.091; } if(counter == 500) { servo_duty = 0.0983; } if(counter == 600) { servo_duty = 0.106; } if(counter == 700) { servo_duty = 0.113; } if(counter > 700) { counter=0; } servo_cmd.write(servo_duty); ///////////////////////// if(servo_duty >= 0.113f)servo_duty = 0.113; else if(servo_duty <= 0.025f)servo_duty = 0.025; servo_cmd.write(servo_duty); // motor1 rotation_speed_1 = (float)speed_count_1 * 100.0f / 12.0f * 60.0f / 29.0f ; //unit: rpm speed_count_1 = 0; ///PI controller for motor1/// err_1 = rotation_speed_ref_1 - rotation_speed_1; ierr_1 = ierr_1 + err_1*Ts; PI_out_1 = Kp*err_1 + Ki*ierr_1; ////////////////////////////// if(PI_out_1 >= 0.5f)PI_out_1 = 0.5; else if(PI_out_1 <= -0.5f)PI_out_1 = -0.5; pwm1_duty = PI_out_1 + 0.5f; pwm1.write(PI_out_1 + 0.5f); TIM1->CCER |= 0x4; //motor2 rotation_speed_2 = (float)speed_count_2 * 100.0f / 12.0f * 60.0f / 29.0f; //unit: rpm speed_count_2 = 0; ///PI controller for motor2/// err_2 = rotation_speed_ref_2 - rotation_speed_2; ierr_2 = ierr_2 + err_2*Ts; PI_out_2 = Kp*err_2 + Ki*ierr_2; ////////////////////////////// if(PI_out_2 >= 0.5f)PI_out_2 = 0.5; else if(PI_out_2 <= -0.5f)PI_out_2 = -0.5; pwm2_duty = PI_out_2 + 0.5f; pwm2.write(PI_out_2 + 0.5f); TIM1->CCER |= 0x40; }