RaC2018 / Mbed 2 deprecated Robot_a_cables_v3_5

Include new libraries normal mode updated(offset reduced)

Dependencies:   mbed

Fork of Robot_a_cables_v2_6_5 by RaC2018

main.cpp@7:e87feff62bfd, 2018-05-14 (annotated)

Committer:
protongamer
Date:
Mon May 14 15:27:10 2018 +0000
Revision:
7:e87feff62bfd
Parent:
6:ffffa9dfadfc
Child:
8:1e6d3d9ae1d3
version 2.5;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LouisReynier 0:1ab5fdb4fa56 1 #include "mbed.h"
protongamer 6:ffffa9dfadfc 2 #include "parameters.h"
protongamer 3:86e21a36eecb 3 /*
protongamer 3:86e21a36eecb 4 Projet BTS SN - Robot à câbles - Lycée Georges Cabanis
protongamer 3:86e21a36eecb 5 Enzo Niro - Erwin Sazio
protongamer 3:86e21a36eecb 6 Transmission par Bus CAN(protocol CANOpen)
protongamer 3:86e21a36eecb 7
protongamer 3:86e21a36eecb 8 */
LouisReynier 0:1ab5fdb4fa56 9
protongamer 1:4d70e593345f 10
protongamer 3:86e21a36eecb 11
protongamer 3:86e21a36eecb 12 DigitalOut MOTOR1_OP(LED1);
protongamer 3:86e21a36eecb 13 DigitalOut MOTOR2_OP(LED2);
protongamer 3:86e21a36eecb 14 DigitalOut DEB_MOD_DEG(LED3);
protongamer 3:86e21a36eecb 15 DigitalOut DEB_MOD_NOR(LED4);
protongamer 7:e87feff62bfd 16 DigitalOut MOD_DEG(p25);
protongamer 7:e87feff62bfd 17 DigitalOut MOD_NOR(p26);
protongamer 3:86e21a36eecb 18 DigitalIn SWH(p5);
protongamer 3:86e21a36eecb 19 DigitalIn SWV(p6);
protongamer 3:86e21a36eecb 20 DigitalIn BPO(p7);
Ringslev 5:d5a021bbe81b 21 AnalogIn joystick_ctr(p15); // Pin 2 (fil vert) Center Tap Reference
Ringslev 5:d5a021bbe81b 22 AnalogIn joystick_x(p16); // Pin 4 (fil jaune)
Ringslev 5:d5a021bbe81b 23 AnalogIn joystick_y(p17); // Pin 5 (fil bleu)
protongamer 3:86e21a36eecb 24
Ringslev 5:d5a021bbe81b 25 CAN can2(p30, p29, 1000000); // on definit pin et debit
Ringslev 5:d5a021bbe81b 26 CANMessage msg;
Ringslev 5:d5a021bbe81b 27 Serial pc(USBTX, USBRX);
protongamer 4:3fd7c53d31c1 28
Ringslev 5:d5a021bbe81b 29 uint8_t mode = 0;
Ringslev 5:d5a021bbe81b 30 int x,y,ctr_x,ctr_y; // Variables de joystick
Ringslev 5:d5a021bbe81b 31 uint8_t ping = 0; //variable pour etat de processus
Ringslev 5:d5a021bbe81b 32 uint8_t done = 0;
Ringslev 5:d5a021bbe81b 33 char command[8]; //word to send command
protongamer 7:e87feff62bfd 34 uint16_t timer_process_read; //counter to make mbed read actual position
protongamer 7:e87feff62bfd 35 double dy = 1262, dx = 492.5;//coordinates values when origin is done
protongamer 6:ffffa9dfadfc 36 //these positions are in counters
protongamer 6:ffffa9dfadfc 37 int32_t p1, p2; //motors positions
protongamer 7:e87feff62bfd 38 int32_t p_actual, p_actual2, p_pom, p_pom2; //p_actual position read by can, p_pom position done when origin is made
protongamer 6:ffffa9dfadfc 39
protongamer 6:ffffa9dfadfc 40 //longueur câbles
protongamer 6:ffffa9dfadfc 41 //lx = longueur entre les point des moteurs
protongamer 6:ffffa9dfadfc 42 //l1 = longueur moteur gauche à l'effecteur
protongamer 6:ffffa9dfadfc 43 //l2 = longueur moteur droite à l'effecteur
protongamer 7:e87feff62bfd 44 int32_t lx, l1, l2;
protongamer 6:ffffa9dfadfc 45
protongamer 6:ffffa9dfadfc 46
protongamer 6:ffffa9dfadfc 47
protongamer 6:ffffa9dfadfc 48
protongamer 1:4d70e593345f 49
Ringslev 5:d5a021bbe81b 50 void display_mode()
Ringslev 5:d5a021bbe81b 51 {
Ringslev 5:d5a021bbe81b 52 if(mode == 0) // MODE DEGRADE
Ringslev 5:d5a021bbe81b 53 {
Ringslev 5:d5a021bbe81b 54 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 55 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 56 }
Ringslev 5:d5a021bbe81b 57 else if(mode == 1) // MODE NORMAL
Ringslev 5:d5a021bbe81b 58 {
Ringslev 5:d5a021bbe81b 59 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 60 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 61 }
Ringslev 5:d5a021bbe81b 62 }
protongamer 1:4d70e593345f 63
protongamer 1:4d70e593345f 64 void send(int id, char octet_emis[], char RouD, char longueur )
protongamer 1:4d70e593345f 65 {
protongamer 1:4d70e593345f 66 int emis_ok = 0 ;
LouisReynier 0:1ab5fdb4fa56 67
protongamer 4:3fd7c53d31c1 68 MOTOR1_OP = 1;
protongamer 4:3fd7c53d31c1 69 MOTOR1_OP = 0;
protongamer 4:3fd7c53d31c1 70
protongamer 1:4d70e593345f 71 if (RouD == 'D')
protongamer 1:4d70e593345f 72 { emis_ok = can2.write(CANMessage(id, octet_emis, longueur, CANData, CANStandard )) ;
protongamer 3:86e21a36eecb 73 //pc.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
protongamer 1:4d70e593345f 74 }// c'ets la valeur retournée par la fonction write
protongamer 1:4d70e593345f 75 else
protongamer 1:4d70e593345f 76 { emis_ok = can2.write(CANMessage(id, octet_emis, longueur, CANRemote, CANStandard ));
protongamer 3:86e21a36eecb 77 //pc.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
protongamer 1:4d70e593345f 78 }
protongamer 1:4d70e593345f 79 //lcd.locate(0,10);
protongamer 1:4d70e593345f 80 //lcd.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
protongamer 3:86e21a36eecb 81 /*if(emis_ok) {
protongamer 1:4d70e593345f 82 // ici octet emis n'a pas de sens car trame remote !
protongamer 3:86e21a36eecb 83 //pc.printf("send \r \n");
protongamer 3:86e21a36eecb 84 } */
LouisReynier 0:1ab5fdb4fa56 85 }
protongamer 1:4d70e593345f 86
Ringslev 5:d5a021bbe81b 87 void initialisation()
Ringslev 5:d5a021bbe81b 88 {
Ringslev 5:d5a021bbe81b 89 pc.printf("starting...\r\n");
Ringslev 5:d5a021bbe81b 90 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 91 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 92 wait(0.1);
Ringslev 5:d5a021bbe81b 93 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 94 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 95 wait(0.1);
Ringslev 5:d5a021bbe81b 96 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 97 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 98 wait(0.1);
Ringslev 5:d5a021bbe81b 99 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 100 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 101 wait(0.1);
Ringslev 5:d5a021bbe81b 102 MOD_DEG = 1;
Ringslev 5:d5a021bbe81b 103 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 104 wait(0.1);
Ringslev 5:d5a021bbe81b 105 MOD_DEG = 0;
Ringslev 5:d5a021bbe81b 106 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 107 wait(0.1);
Ringslev 5:d5a021bbe81b 108
protongamer 6:ffffa9dfadfc 109 command[0] = DRIVER_R1;
Ringslev 5:d5a021bbe81b 110 command[1] = DRIVER_R2;
Ringslev 5:d5a021bbe81b 111
Ringslev 5:d5a021bbe81b 112 while(ping == 0) // INIT MOTEUR DROIT
Ringslev 5:d5a021bbe81b 113 {
Ringslev 5:d5a021bbe81b 114 pc.printf("ping droite ...\r\n");
Ringslev 5:d5a021bbe81b 115 send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
Ringslev 5:d5a021bbe81b 116 MOD_NOR = 1;
Ringslev 5:d5a021bbe81b 117 if(can2.read(msg))
Ringslev 5:d5a021bbe81b 118 {
Ringslev 5:d5a021bbe81b 119 for(int i = 0; i < msg.len; i++)
Ringslev 5:d5a021bbe81b 120 {
Ringslev 5:d5a021bbe81b 121 pc.printf("0x%x ",msg.data[i]);
Ringslev 5:d5a021bbe81b 122 ping = 1;
Ringslev 5:d5a021bbe81b 123 }//end of for
Ringslev 5:d5a021bbe81b 124 pc.printf("\r \n");
Ringslev 5:d5a021bbe81b 125 }//can.read(msg)
Ringslev 5:d5a021bbe81b 126 wait(0.1);
Ringslev 5:d5a021bbe81b 127 MOD_NOR = 0;
Ringslev 5:d5a021bbe81b 128 wait(0.9);
Ringslev 5:d5a021bbe81b 129 }
Ringslev 5:d5a021bbe81b 130
Ringslev 5:d5a021bbe81b 131 ping =0;
Ringslev 5:d5a021bbe81b 132 command[0] = DRIVER_L1;
Ringslev 5:d5a021bbe81b 133 command[1] = DRIVER_L2;
Ringslev 5:d5a021bbe81b 134
Ringslev 5:d5a021bbe81b 135 while(ping == 0) // INIT MOTEUR GAUCHE
Ringslev 5:d5a021bbe81b 136 {
Ringslev 5:d5a021bbe81b 137 pc.printf("ping gauche ...\r\n");
Ringslev 5:d5a021bbe81b 138 send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
protongamer 3:86e21a36eecb 139 MOD_DEG = 1;
protongamer 3:86e21a36eecb 140 if(can2.read(msg)) {
protongamer 4:3fd7c53d31c1 141 for(int i = 0; i < msg.len; i++){
protongamer 4:3fd7c53d31c1 142 pc.printf("0x%x ",msg.data[i]);
protongamer 4:3fd7c53d31c1 143 ping = 1;
protongamer 4:3fd7c53d31c1 144 }//end of for
protongamer 4:3fd7c53d31c1 145 pc.printf("\r \n");
protongamer 4:3fd7c53d31c1 146 }//can.read(msg)
protongamer 3:86e21a36eecb 147 wait(0.1);
Ringslev 5:d5a021bbe81b 148 MOD_DEG = 0;
protongamer 3:86e21a36eecb 149 wait(0.9);
Ringslev 5:d5a021bbe81b 150 }
Ringslev 5:d5a021bbe81b 151 } // fin initialisation
Ringslev 5:d5a021bbe81b 152
protongamer 6:ffffa9dfadfc 153
protongamer 6:ffffa9dfadfc 154
protongamer 6:ffffa9dfadfc 155 void read_position(){
protongamer 6:ffffa9dfadfc 156
protongamer 6:ffffa9dfadfc 157
protongamer 6:ffffa9dfadfc 158
protongamer 6:ffffa9dfadfc 159
protongamer 6:ffffa9dfadfc 160
protongamer 7:e87feff62bfd 161
protongamer 6:ffffa9dfadfc 162
protongamer 6:ffffa9dfadfc 163
protongamer 6:ffffa9dfadfc 164
protongamer 6:ffffa9dfadfc 165
protongamer 7:e87feff62bfd 166
protongamer 6:ffffa9dfadfc 167
protongamer 6:ffffa9dfadfc 168 }//fin de fonction
protongamer 6:ffffa9dfadfc 169
protongamer 6:ffffa9dfadfc 170
protongamer 6:ffffa9dfadfc 171
Ringslev 5:d5a021bbe81b 172 void control_Moteur()
Ringslev 5:d5a021bbe81b 173 {
Ringslev 5:d5a021bbe81b 174 ///////////// CONTROLE MOTEUR //////////////////////////////////////////////////////////////////////////////
Ringslev 5:d5a021bbe81b 175 // LECTURE Joystick + stockage valeurs dans x, y
Ringslev 5:d5a021bbe81b 176 ctr_x = int(-((joystick_ctr.read()*100)-50));
Ringslev 5:d5a021bbe81b 177 ctr_y = int((joystick_ctr.read()*100)-50);
Ringslev 5:d5a021bbe81b 178 if(SWH){x = int(-((joystick_x.read()*100)-50))+ctr_x;}else{x=0;} // Detection x avec correction ctr de -42 à +42
Ringslev 5:d5a021bbe81b 179 if(SWV){y = int((joystick_y.read()*100)-50)+ctr_y;}else{y=0;} // Detection y avec correction ctr
Ringslev 5:d5a021bbe81b 180
Ringslev 5:d5a021bbe81b 181 if(mode ==0)
Ringslev 5:d5a021bbe81b 182 {
Ringslev 5:d5a021bbe81b 183 ///////////// MODE DEGRADE /////////////////////////////////////
Ringslev 5:d5a021bbe81b 184 float VX = (float(x)/42)*425000; // Calcule brut vélocité x, y
Ringslev 5:d5a021bbe81b 185 float VY = (float(y)/42)*425000;
Ringslev 5:d5a021bbe81b 186 long int VM_L = VX - VY; // Calcule des vélocités exactes de chaques moteurs
Ringslev 5:d5a021bbe81b 187 long int VM_R = -VX - VY;
Ringslev 5:d5a021bbe81b 188
Ringslev 5:d5a021bbe81b 189 command[0]= (VM_L & 0x000000FF); // Masque + décalage pour translation big vers little endian
Ringslev 5:d5a021bbe81b 190 command[1]= (VM_L & 0x0000FF00)>>8;
Ringslev 5:d5a021bbe81b 191 command[2]= (VM_L & 0x00FF0000)>>16;
Ringslev 5:d5a021bbe81b 192 command[3]= (VM_L & 0xFF000000)>>24;
Ringslev 5:d5a021bbe81b 193 send(RPDO1_L, command, 'D', 4); // Controle moteur gauche
Ringslev 5:d5a021bbe81b 194
Ringslev 5:d5a021bbe81b 195 command[0]= (VM_R & 0x000000FF);
Ringslev 5:d5a021bbe81b 196 command[1]= (VM_R & 0x0000FF00)>>8;
Ringslev 5:d5a021bbe81b 197 command[2]= (VM_R & 0x00FF0000)>>16;
Ringslev 5:d5a021bbe81b 198 command[3]= (VM_R & 0xFF000000)>>24;
Ringslev 5:d5a021bbe81b 199 send(RPDO1_R, command, 'D', 4); // Controle moteur droit
Ringslev 5:d5a021bbe81b 200 ////////////////////////////////////////////////////////////////
Ringslev 5:d5a021bbe81b 201 }
Ringslev 5:d5a021bbe81b 202 else if(mode ==1)
Ringslev 5:d5a021bbe81b 203 {
Ringslev 5:d5a021bbe81b 204 // MODE NORMAL
Ringslev 5:d5a021bbe81b 205 }
Ringslev 5:d5a021bbe81b 206 //////////////////////////////////////////////////////////////////////////////////////////////////////////////
Ringslev 5:d5a021bbe81b 207 }
Ringslev 5:d5a021bbe81b 208
Ringslev 5:d5a021bbe81b 209 int main() {
Ringslev 5:d5a021bbe81b 210
Ringslev 5:d5a021bbe81b 211 //define Pullup switch
Ringslev 5:d5a021bbe81b 212 SWH.mode(PullUp);
Ringslev 5:d5a021bbe81b 213 SWV.mode(PullUp);
Ringslev 5:d5a021bbe81b 214 BPO.mode(PullUp);
Ringslev 5:d5a021bbe81b 215
Ringslev 5:d5a021bbe81b 216 initialisation(); // Mise en mode opérationnel des moteurs
Ringslev 5:d5a021bbe81b 217
protongamer 6:ffffa9dfadfc 218
protongamer 6:ffffa9dfadfc 219
protongamer 7:e87feff62bfd 220 lx = LENGTH_MOTOR;
Ringslev 5:d5a021bbe81b 221 while(1)
Ringslev 5:d5a021bbe81b 222 {
protongamer 7:e87feff62bfd 223
Ringslev 5:d5a021bbe81b 224 timer_process_read++;
protongamer 7:e87feff62bfd 225 l1 = LENGTH_L1_PO - (p1/2545); //Length 1
protongamer 7:e87feff62bfd 226 l2 = LENGTH_L2_PO - (p2/2545); //Length 2
protongamer 7:e87feff62bfd 227 // dx = (pow((double) l1, 2) - pow((double) l2, 2) + pow((double) lx, 2))/(2*(double) lx);
protongamer 7:e87feff62bfd 228 // dy = sqrt(pow((double) l1, 2) - pow(dx, 2));
protongamer 7:e87feff62bfd 229 dx = (((double) l2*(double) l2) - ((double) l1*(double) l1) + ((double) lx*(double) lx))/(2*(double) lx);
protongamer 7:e87feff62bfd 230 dy = sqrt(((double) l1*(double) l1) - (dx*dx));
protongamer 6:ffffa9dfadfc 231
protongamer 7:e87feff62bfd 232 if(BPO == 0){
protongamer 7:e87feff62bfd 233 timer_process_read = 0;
protongamer 7:e87feff62bfd 234 p_pom = p_actual;
protongamer 7:e87feff62bfd 235 p_pom2 = p_actual2;
protongamer 7:e87feff62bfd 236 wait(1.0);
protongamer 6:ffffa9dfadfc 237 }
protongamer 7:e87feff62bfd 238
protongamer 7:e87feff62bfd 239
protongamer 7:e87feff62bfd 240
protongamer 7:e87feff62bfd 241
protongamer 7:e87feff62bfd 242
protongamer 7:e87feff62bfd 243
protongamer 4:3fd7c53d31c1 244
protongamer 7:e87feff62bfd 245
protongamer 7:e87feff62bfd 246
protongamer 7:e87feff62bfd 247
protongamer 4:3fd7c53d31c1 248
protongamer 7:e87feff62bfd 249 if(timer_process_read == 5){
protongamer 7:e87feff62bfd 250 send(TPDO1_L, command, 'R', 0); //Ask position for second length
protongamer 7:e87feff62bfd 251 if(can2.read(msg)){
protongamer 7:e87feff62bfd 252 p_actual2 = msg.data[3];
protongamer 7:e87feff62bfd 253 p_actual2 = p_actual2 << 8;
protongamer 7:e87feff62bfd 254 p_actual2 = p_actual2 | msg.data[2];
protongamer 7:e87feff62bfd 255 p_actual2 = p_actual2 << 8;
protongamer 7:e87feff62bfd 256 p_actual2 = p_actual2 | msg.data[1];
protongamer 7:e87feff62bfd 257 p_actual2 = p_actual2 << 8;
protongamer 7:e87feff62bfd 258 p_actual2 = p_actual2 | msg.data[0];
protongamer 7:e87feff62bfd 259 }
protongamer 7:e87feff62bfd 260
protongamer 7:e87feff62bfd 261
protongamer 7:e87feff62bfd 262 }
protongamer 7:e87feff62bfd 263
protongamer 7:e87feff62bfd 264 if(timer_process_read >= 10){
protongamer 7:e87feff62bfd 265 send(TPDO1_R, command, 'R', 0); //Ask position for first length
protongamer 7:e87feff62bfd 266 if(can2.read(msg)){
protongamer 6:ffffa9dfadfc 267 p_actual = msg.data[3];
protongamer 6:ffffa9dfadfc 268 p_actual = p_actual << 8;
protongamer 6:ffffa9dfadfc 269 p_actual = p_actual | msg.data[2];
protongamer 6:ffffa9dfadfc 270 p_actual = p_actual << 8;
protongamer 6:ffffa9dfadfc 271 p_actual = p_actual | msg.data[1];
protongamer 6:ffffa9dfadfc 272 p_actual = p_actual << 8;
protongamer 6:ffffa9dfadfc 273 p_actual = p_actual | msg.data[0];
protongamer 7:e87feff62bfd 274 }
protongamer 7:e87feff62bfd 275 timer_process_read = 0;
protongamer 7:e87feff62bfd 276 }
protongamer 6:ffffa9dfadfc 277
protongamer 7:e87feff62bfd 278
protongamer 7:e87feff62bfd 279
protongamer 7:e87feff62bfd 280
protongamer 7:e87feff62bfd 281
protongamer 7:e87feff62bfd 282
protongamer 7:e87feff62bfd 283
protongamer 7:e87feff62bfd 284
protongamer 7:e87feff62bfd 285 pc.printf("L1 = %d", l1);
protongamer 7:e87feff62bfd 286 pc.printf("\t L2 = %d", l2);
protongamer 7:e87feff62bfd 287 pc.printf("\t x = %f", dx);
protongamer 7:e87feff62bfd 288 pc.printf("\t y = %f", dy);/*
protongamer 7:e87feff62bfd 289 pc.printf("\t %d", p_actual);
protongamer 7:e87feff62bfd 290 pc.printf("\t %d", p_actual2);
protongamer 7:e87feff62bfd 291 pc.printf("\t %d", p_pom);
protongamer 7:e87feff62bfd 292 pc.printf("\t %d\r\n", p_pom2);*/
protongamer 7:e87feff62bfd 293 pc.printf("\t %d", p1);
protongamer 7:e87feff62bfd 294 pc.printf("\t %d \r\n", p2);
protongamer 7:e87feff62bfd 295
protongamer 7:e87feff62bfd 296
protongamer 7:e87feff62bfd 297
protongamer 7:e87feff62bfd 298 p1 = p_pom - p_actual;
protongamer 7:e87feff62bfd 299 p2 = p_pom2 - p_actual2;
protongamer 4:3fd7c53d31c1 300
protongamer 4:3fd7c53d31c1 301
protongamer 7:e87feff62bfd 302
protongamer 7:e87feff62bfd 303
protongamer 7:e87feff62bfd 304
protongamer 3:86e21a36eecb 305
protongamer 6:ffffa9dfadfc 306 //read_position();
Ringslev 5:d5a021bbe81b 307 control_Moteur(); // Controle du meteur mode degradé et normal
Ringslev 5:d5a021bbe81b 308 display_mode(); // Controle des led affichant le mode
protongamer 1:4d70e593345f 309
protongamer 1:4d70e593345f 310 }// fin while(1)
protongamer 1:4d70e593345f 311
protongamer 1:4d70e593345f 312 } // fin main
protongamer 4:3fd7c53d31c1 313
protongamer 4:3fd7c53d31c1 314
protongamer 4:3fd7c53d31c1 315
protongamer 1:4d70e593345f 316
protongamer 3:86e21a36eecb 317