Diff: main.cpp

Revision:

0:d264484486c3

Child:

1:9238d61200e0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 29 02:46:45 2017 +0000
@@ -0,0 +1,313 @@
+#include "mbed.h"
+#include <ros.h>
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/Twist.h>
+
+#define Ts 0.01f    //period of timer1 (s)
+
+Serial pc(USBTX, USBRX);
+ 
+DigitalOut led1(PC_1);
+
+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);
+
+void init_TIMER(void);
+void timer1_interrupt(void);
+// 函式宣告
+void init_IO();
+void init_CN();
+void CN_ITR();
+void init_PWM();
+
+// servo motor
+float servo_duty = 0.069;  // 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;
+ 
+// 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;
+ 
+// DC motor rotation speed control
+int speed_count_1 = 0;
+float rotation_speed_1 = 0.0;
+float rotation_speed_ref_1 = 0.0;//150rpm
+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 = 0.0;//-80rpm
+float pwm2_duty = 0.5;
+float PI_out_2 = 0.0;
+float err_2 = 0.0;
+float ierr_2 = 0.0;
+ 
+//set parameters
+float kp = 0.015;
+float ki = 0.11;
+float pi = 3.14159;
+
+ros::NodeHandle nh;
+ 
+geometry_msgs::Twist vel_msg;
+ros::Publisher p("feedback_wheel_angularVel", &vel_msg);
+
+void messageCb(const geometry_msgs::Vector3 &msg){
+    //receive velocity command from PC to motor 
+    
+    geometry_msgs::Vector3 vector3 = msg;
+     
+    rotation_speed_ref_2 = (vector3.x)/1000*2*pi/60;
+    rotation_speed_ref_1 = (vector3.y)/1000*2*pi/60;
+    
+}
+ros::Subscriber<geometry_msgs::Vector3> s("cmd_wheel_angularVel", messageCb);
+
+int main() {
+    led1 = 0;
+    init_TIMER();
+    init_PWM();
+    init_CN();
+    
+    nh.initNode();
+    nh.subscribe(s);
+    nh.advertise(p);
+    
+    while(1) {
+       vel_msg.linear.x = rotation_speed_ref_2;   //command1
+       vel_msg.linear.y = rotation_speed_2;      //respond1
+       vel_msg.linear.z = 0;
+       
+       vel_msg.angular.x = rotation_speed_ref_1;   //command1
+       vel_msg.angular.y = rotation_speed_1;      //respond1
+       vel_msg.angular.z = 0;
+    }   
+}
+
+void timer1_interrupt(){
+    //do motor control here
+    
+    //pc.printf("hello timer1_ITR\n");
+    // servo motor
+    ///code for sevo motor///
+    /////////////////////////
+    /////////////////////////   
+    //rotating angle for every call
+    angle = 15;
+    
+    //servo_duty output for every call
+    servo_duty = servo_duty + 0.088/180*angle/100;
+    /////////////////////////
+    /////////////////////////
+    
+    //protection code for servo
+    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///
+    //////////////////////////////
+    //////////////////////////////
+    
+    //PI control
+    err_1 = rotation_speed_ref_1 - rotation_speed_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;
+    //pc.printf("pwm1_duty = %d \n\r", pwm1_duty);
+    pwm1.write(pwm1_duty);
+    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///
+    //////////////////////////////
+    //////////////////////////////
+    
+    //PI control
+    err_2 = rotation_speed_ref_2 - rotation_speed_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;
+    //pc.printf("pwm2_duty = %d \n\r", pwm2_duty);
+    pwm2.write(pwm2_duty);
+    TIM1->CCER |= 0x40;    
+}
+
+void init_TIMER(){
+    timer1.attach_us(&timer1_interrupt, 10000);    
+}
+
+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()
+{
+    //pc.printf("hello init_CN \n");
+    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();
+    //led1 != led1; 
+ 
+    ///code for state determination///
+    //////////////////////////////////
+    //////////////////////////////////
+    //determine the state
+    if((HallA_1_state == 0)&&(HallB_1_state == 0))
+    {
+        state_1 = 1;
+    }
+    else if((HallA_1_state == 0)&&(HallB_1_state == 1))
+    {
+        state_1 = 2;
+    }
+    else if((HallA_1_state == 1)&&(HallB_1_state == 1))
+    {
+        state_1 = 3;
+    }
+    else if((HallA_1_state == 1)&&(HallB_1_state ==0))
+    {
+        state_1 = 4;
+    }
+    
+    //forward or backward
+    int direction_1 = 0;
+    direction_1 = state_1 - state_1_old;
+    if((direction_1 == -1) || (direction_1 == 3))
+    {
+        //forward
+        speed_count_1 = speed_count_1 + 1;
+    }
+    else if((direction_1 == 1) || (direction_1 == -3))
+    {
+        //backward
+        speed_count_1 = speed_count_1 - 1;
+    }
+    else
+    {
+        //prevent initializing error
+        state_1_old = state_1;
+    }
+    
+    //change old state
+    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///
+    //////////////////////////////////
+    /////////////////////////////////
+    //determine the state
+    if((HallA_2_state == 0)&&(HallB_2_state == 0))
+    {
+        state_2 = 1;
+    }
+    else if((HallA_2_state == 0)&&(HallB_2_state == 1))
+    {
+        state_2 = 2;
+    }
+    else if((HallA_2_state == 1)&&(HallB_2_state == 1))
+    {
+        state_2 = 3;
+    }
+    else if((HallA_2_state == 1)&&(HallB_2_state ==0))
+    {
+        state_2 = 4;
+    }
+    
+    //forward or backward
+    int direction_2 = 0;
+    direction_2 = state_2 - state_2_old;
+    if((direction_2 == 1) || (direction_2 == -3))
+    {
+        //forward
+        speed_count_2 = speed_count_2 + 1;
+    }
+    else if((direction_2 == -1) || (direction_2 == 3))
+    {
+        //backward
+        speed_count_2 = speed_count_2 - 1;
+    }
+    else
+    {
+        //prevent initializing error
+        state_2_old = state_2;
+    }
+    
+    //change old state
+    state_2_old = state_2;
+    //////////////////////////////////
+    //////////////////////////////////
+    //forward : speed_count_2 + 1
+    //backward : speed_count_2 - 1
+}