Secret_Betago / Mbed 2 deprecated Low_Level

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Dependencies:   BEAR_Reciever Motor eeprom iSerial mbed

Fork of BEAR_Motion by BE@R lab

main.cpp@16:c0a1daeb9fa5, 2016-01-22 (annotated)

Committer:
ParinyaT
Date:
Fri Jan 22 19:23:59 2016 +0000
Revision:
16:c0a1daeb9fa5
Parent:
15:6ebca0a1aaca
Child:
17:4c96838e579f
unfinish eeprom

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ParinyaT 0:451c27e4d55e 1 //*****************************************************/
b0ssiz 6:98871feebea0 2 // Include //
ParinyaT 0:451c27e4d55e 3 #include "mbed.h"
ParinyaT 0:451c27e4d55e 4 #include "pinconfig.h"
ParinyaT 0:451c27e4d55e 5 #include "PID.h"
ParinyaT 0:451c27e4d55e 6 #include "Motor.h"
ParinyaT 0:451c27e4d55e 7 #include "eeprom.h"
b0ssiz 6:98871feebea0 8 #include "Receiver.h"
ParinyaT 0:451c27e4d55e 9
ParinyaT 0:451c27e4d55e 10 //*****************************************************/
ParinyaT 1:84167ca00307 11 //--PID parameter--
ParinyaT 1:84167ca00307 12 //-Upper-//
b0ssiz 10:3b3d6bc88677 13 float U_Kc;
b0ssiz 10:3b3d6bc88677 14 float U_Ti;
b0ssiz 10:3b3d6bc88677 15 float U_Td;
ParinyaT 16:c0a1daeb9fa5 16 float U_Ki=U_Kc*U_Ti;
ParinyaT 16:c0a1daeb9fa5 17 float U_Kd=U_Kc*U_Td;
ParinyaT 1:84167ca00307 18 //-lower-//
b0ssiz 10:3b3d6bc88677 19 float L_Kc;
b0ssiz 10:3b3d6bc88677 20 float L_Ti;
b0ssiz 10:3b3d6bc88677 21 float L_Td;
ParinyaT 16:c0a1daeb9fa5 22 float L_Ki=L_Kc*L_Ti;
ParinyaT 16:c0a1daeb9fa5 23 float L_Kd=L_Kc*L_Td;
ParinyaT 0:451c27e4d55e 24 //*****************************************************/
ParinyaT 0:451c27e4d55e 25 // Global //
ParinyaT 11:3dd92d1d542c 26 Ticker Recieve;
ParinyaT 1:84167ca00307 27 //-- Communication --
ParinyaT 0:451c27e4d55e 28 Serial PC(D1,D0);
b0ssiz 10:3b3d6bc88677 29 Bear_Receiver com(Tx,Rx,115200);
b0ssiz 14:28e24fcc5a01 30 int16_t MY_ID = 0x01;
ParinyaT 11:3dd92d1d542c 31 //-- Memorry --
ParinyaT 11:3dd92d1d542c 32 EEPROM memory(PB_4,PA_8,0);
b0ssiz 14:28e24fcc5a01 33 uint8_t UpMargin[4];
b0ssiz 14:28e24fcc5a01 34 uint8_t LowMargin[4];
ParinyaT 13:49cb002ad8fd 35 uint8_t Height[4];
ParinyaT 13:49cb002ad8fd 36 uint8_t Wheelpos[4];
ParinyaT 13:49cb002ad8fd 37 uint8_t Mag[24];
ParinyaT 16:c0a1daeb9fa5 38 uint8_t Offset[8];
b0ssiz 14:28e24fcc5a01 39 uint8_t Body_width[4];
ParinyaT 16:c0a1daeb9fa5 40 uint8_t Angle_Range_Up[8];
ParinyaT 16:c0a1daeb9fa5 41 uint8_t Angle_Range_Low[8];
b0ssiz 6:98871feebea0 42 //-- encoder --
ParinyaT 13:49cb002ad8fd 43 float up_angle,low_angle;
ParinyaT 1:84167ca00307 44 int Upper_Position;
ParinyaT 1:84167ca00307 45 int Lower_Position;
ParinyaT 0:451c27e4d55e 46 int data;
ParinyaT 1:84167ca00307 47 SPI ENC(Emosi, Emiso, Esck);
ParinyaT 1:84167ca00307 48 DigitalOut EncA(EncoderA);
ParinyaT 1:84167ca00307 49 DigitalOut EncB(EncoderB);
ParinyaT 0:451c27e4d55e 50 //-- Motor --
ParinyaT 1:84167ca00307 51 int dir;
ParinyaT 1:84167ca00307 52 Motor Upper(PWM_LU,A_LU,B_LU);
ParinyaT 1:84167ca00307 53 Motor Lower(PWM_LL,A_LL,B_LL);
ParinyaT 0:451c27e4d55e 54 //-- PID --
ParinyaT 1:84167ca00307 55 int Upper_SetPoint;
ParinyaT 1:84167ca00307 56 int Lower_SetPoint;
ParinyaT 1:84167ca00307 57 PID Up_PID(U_Kc, U_Ti, U_Td, 0.001);//Kp,Ki,Kd,Rate
ParinyaT 1:84167ca00307 58 PID Low_PID(L_Kc, L_Ti, L_Td, 0.001);
ParinyaT 0:451c27e4d55e 59 //*****************************************************/
ParinyaT 1:84167ca00307 60 void Read_Encoder(PinName Encoder)
ParinyaT 0:451c27e4d55e 61 {
soulx 7:bf239d051e8c 62 ENC.format(8,0);
soulx 7:bf239d051e8c 63 ENC.frequency(200000);//due to rising time,have to decrease clock from 1M - 240k
b0ssiz 6:98871feebea0 64
soulx 7:bf239d051e8c 65 if(Encoder == EncoderA) {
soulx 7:bf239d051e8c 66 EncA = 0;
soulx 7:bf239d051e8c 67 } else {
soulx 7:bf239d051e8c 68 EncB = 0;
soulx 7:bf239d051e8c 69 }
soulx 7:bf239d051e8c 70 ENC.write(0x41);
soulx 7:bf239d051e8c 71 ENC.write(0x09);
soulx 7:bf239d051e8c 72 data = ENC.write(0x00);
soulx 7:bf239d051e8c 73 if(Encoder == EncoderA) {
soulx 7:bf239d051e8c 74 EncA = 1;
soulx 7:bf239d051e8c 75 } else {
soulx 7:bf239d051e8c 76 EncB = 1;
soulx 7:bf239d051e8c 77 }
b0ssiz 6:98871feebea0 78
ParinyaT 0:451c27e4d55e 79 }
ParinyaT 0:451c27e4d55e 80 //*****************************************************/
ParinyaT 1:84167ca00307 81 int Get_EnValue(int Val)
ParinyaT 0:451c27e4d55e 82 {
ParinyaT 0:451c27e4d55e 83 int i = 0;
ParinyaT 0:451c27e4d55e 84 static unsigned char codes[] = {
b0ssiz 6:98871feebea0 85 127, 63, 62, 58, 56, 184, 152, 24, 8, 72, 73, 77, 79, 15, 47, 175,
b0ssiz 6:98871feebea0 86 191, 159, 31, 29, 28, 92, 76, 12, 4, 36, 164, 166, 167, 135, 151, 215,
b0ssiz 6:98871feebea0 87 223, 207, 143, 142, 14, 46, 38, 6, 2, 18, 82, 83, 211, 195, 203, 235,
b0ssiz 6:98871feebea0 88 239, 231, 199, 71, 7, 23, 19, 3, 1, 9, 41, 169, 233, 225, 229, 245,
b0ssiz 6:98871feebea0 89 247, 243, 227, 163, 131, 139, 137, 129, 128, 132, 148, 212, 244, 240, 242, 250,
b0ssiz 6:98871feebea0 90 251, 249, 241, 209, 193, 197, 196, 192, 64, 66, 74, 106, 122, 120, 121, 125,
b0ssiz 6:98871feebea0 91 253, 252, 248, 232, 224, 226, 98, 96, 32, 33, 37, 53, 61, 60, 188, 190,
b0ssiz 6:98871feebea0 92 254, 126, 124, 116, 112, 113, 49, 48, 16, 144, 146, 154, 158, 30, 94, 95
b0ssiz 6:98871feebea0 93 };
b0ssiz 6:98871feebea0 94
b0ssiz 6:98871feebea0 95 while(Val != codes[i]) {
ParinyaT 1:84167ca00307 96 i++;
ParinyaT 0:451c27e4d55e 97 }
b0ssiz 6:98871feebea0 98
ParinyaT 1:84167ca00307 99 return i;
b0ssiz 6:98871feebea0 100
ParinyaT 0:451c27e4d55e 101 }
ParinyaT 0:451c27e4d55e 102 //*****************************************************/
ParinyaT 1:84167ca00307 103 void SET_UpperPID()
ParinyaT 1:84167ca00307 104 {
ParinyaT 1:84167ca00307 105 Upper.period(0.001);
ParinyaT 1:84167ca00307 106 Up_PID.setMode(0);
ParinyaT 1:84167ca00307 107 Up_PID.setInputLimits(0,127);
ParinyaT 1:84167ca00307 108 Up_PID.setOutputLimits(0,1);
ParinyaT 1:84167ca00307 109 }
ParinyaT 1:84167ca00307 110 //******************************************************/
ParinyaT 1:84167ca00307 111 void SET_LowerPID()
ParinyaT 1:84167ca00307 112 {
ParinyaT 1:84167ca00307 113 Lower.period(0.001);
ParinyaT 1:84167ca00307 114 Low_PID.setMode(0);
b0ssiz 10:3b3d6bc88677 115 Low_PID.setInputLimits(0,127); // set range
ParinyaT 1:84167ca00307 116 Low_PID.setOutputLimits(0,1);
ParinyaT 1:84167ca00307 117 }
b0ssiz 6:98871feebea0 118 //******************************************************/
ParinyaT 1:84167ca00307 119 void Move_Upper()
ParinyaT 1:84167ca00307 120 {
ParinyaT 1:84167ca00307 121 Read_Encoder(EncoderA);
ParinyaT 1:84167ca00307 122 Upper_Position = Get_EnValue(data);
ParinyaT 1:84167ca00307 123
ParinyaT 1:84167ca00307 124 Up_PID.setProcessValue(Upper_Position);
b0ssiz 6:98871feebea0 125
soulx 7:bf239d051e8c 126 if(Upper_Position - Upper_SetPoint > 0 ) {
ParinyaT 1:84167ca00307 127 dir = 1;
b0ssiz 6:98871feebea0 128 }
soulx 7:bf239d051e8c 129 if(Upper_Position - Upper_SetPoint < 0 ) {
ParinyaT 1:84167ca00307 130 dir = -1;
b0ssiz 6:98871feebea0 131 }
soulx 7:bf239d051e8c 132 Upper.speed(Up_PID.compute() * dir);
ParinyaT 1:84167ca00307 133 }
ParinyaT 1:84167ca00307 134 //******************************************************/
ParinyaT 1:84167ca00307 135 void Move_Lower()
ParinyaT 1:84167ca00307 136 {
ParinyaT 1:84167ca00307 137 Read_Encoder(EncoderB);
ParinyaT 1:84167ca00307 138 Lower_Position = Get_EnValue(data);
ParinyaT 1:84167ca00307 139
ParinyaT 1:84167ca00307 140 Low_PID.setProcessValue(Lower_Position);
b0ssiz 6:98871feebea0 141
b0ssiz 6:98871feebea0 142 if(Lower_Position - Lower_SetPoint > 0 ) {
ParinyaT 1:84167ca00307 143 dir = 1;
b0ssiz 6:98871feebea0 144 }
b0ssiz 6:98871feebea0 145 if(Lower_Position - Lower_SetPoint < 0 ) {
ParinyaT 1:84167ca00307 146 dir = -1;
b0ssiz 6:98871feebea0 147 }
soulx 7:bf239d051e8c 148 Lower.speed(Low_PID.compute() * dir);
b0ssiz 6:98871feebea0 149 }
ParinyaT 1:84167ca00307 150 //******************************************************/
ParinyaT 1:84167ca00307 151
b0ssiz 15:6ebca0a1aaca 152 void CmdCheck(int16_t id,uint8_t *cmd,uint8_t ins)
b0ssiz 10:3b3d6bc88677 153 {
b0ssiz 14:28e24fcc5a01 154 if(id==MY_ID) {
b0ssiz 14:28e24fcc5a01 155 switch (ins) {
b0ssiz 14:28e24fcc5a01 156 case PING: {
b0ssiz 14:28e24fcc5a01 157
b0ssiz 14:28e24fcc5a01 158 }
b0ssiz 14:28e24fcc5a01 159 case WRITE_DATA: {
b0ssiz 14:28e24fcc5a01 160 switch (cmd[0]) {
b0ssiz 14:28e24fcc5a01 161 case ID: {
b0ssiz 14:28e24fcc5a01 162 MY_ID = cmd[1];
b0ssiz 14:28e24fcc5a01 163 }
b0ssiz 14:28e24fcc5a01 164 case MOTOR_UPPER_ANG: {
b0ssiz 14:28e24fcc5a01 165 uint8_t IntUpAngle[2],FloatUpAngle[2];
b0ssiz 14:28e24fcc5a01 166 uint8_t IntLowAngle[2],FloatLowAngle[2];
b0ssiz 14:28e24fcc5a01 167 float int_buffer,float_buffer;
b0ssiz 14:28e24fcc5a01 168
b0ssiz 14:28e24fcc5a01 169 IntUpAngle[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 170 IntUpAngle[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 171 FloatUpAngle[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 172 FloatUpAngle[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 173 int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntUpAngle);
b0ssiz 14:28e24fcc5a01 174 float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatUpAngle)/FLOAT_CONVERTER;
b0ssiz 14:28e24fcc5a01 175 up_angle=int_buffer+float_buffer;
b0ssiz 14:28e24fcc5a01 176
b0ssiz 14:28e24fcc5a01 177 IntLowAngle[0]=cmd[5];
b0ssiz 14:28e24fcc5a01 178 IntLowAngle[1]=cmd[6];
b0ssiz 14:28e24fcc5a01 179 FloatLowAngle[0]=cmd[7];
b0ssiz 14:28e24fcc5a01 180 FloatLowAngle[1]=cmd[8];
b0ssiz 14:28e24fcc5a01 181 int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntLowAngle);
b0ssiz 14:28e24fcc5a01 182 float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatLowAngle)/FLOAT_CONVERTER;
b0ssiz 14:28e24fcc5a01 183 low_angle=int_buffer+float_buffer;;
b0ssiz 14:28e24fcc5a01 184 }
b0ssiz 14:28e24fcc5a01 185 case UP_MARGIN: {
b0ssiz 14:28e24fcc5a01 186 int i;
b0ssiz 14:28e24fcc5a01 187 for(i=0; i<4; i++) {
b0ssiz 14:28e24fcc5a01 188 UpMargin[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 189 }
b0ssiz 14:28e24fcc5a01 190 }
b0ssiz 14:28e24fcc5a01 191 case LOW_MARGIN: {
b0ssiz 14:28e24fcc5a01 192 int i;
b0ssiz 14:28e24fcc5a01 193 for(i=0; i<4; i++) {
b0ssiz 14:28e24fcc5a01 194 LowMargin[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 195 }
b0ssiz 14:28e24fcc5a01 196 }
b0ssiz 14:28e24fcc5a01 197 case KP_UPPER_MOTOR: {
b0ssiz 14:28e24fcc5a01 198 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 199 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 200 float Int,Float;
b0ssiz 14:28e24fcc5a01 201 int_buffer[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 202 int_buffer[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 203 float_buffer[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 204 float_buffer[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 205 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 206 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 207 U_Kc=Int+Float;
b0ssiz 14:28e24fcc5a01 208 }
b0ssiz 14:28e24fcc5a01 209 case KI_UPPER_MOTOR: {
b0ssiz 14:28e24fcc5a01 210 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 211 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 212 float Int,Float,KI;
b0ssiz 14:28e24fcc5a01 213 int_buffer[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 214 int_buffer[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 215 float_buffer[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 216 float_buffer[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 217 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 218 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 219 KI=Int+Float;
b0ssiz 14:28e24fcc5a01 220 U_Ti=KI/U_Kc;
b0ssiz 14:28e24fcc5a01 221 }
b0ssiz 14:28e24fcc5a01 222 case KD_UPPER_MOTOR: {
b0ssiz 14:28e24fcc5a01 223 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 224 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 225 float Int,Float,KD;
b0ssiz 14:28e24fcc5a01 226 int_buffer[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 227 int_buffer[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 228 float_buffer[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 229 float_buffer[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 230 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 231 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 232 KD=Int+Float;
b0ssiz 14:28e24fcc5a01 233 U_Td=KD/U_Kc;
b0ssiz 14:28e24fcc5a01 234 }
b0ssiz 14:28e24fcc5a01 235 case KP_LOWER_MOTOR: {
b0ssiz 14:28e24fcc5a01 236 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 237 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 238 float Int,Float;
b0ssiz 14:28e24fcc5a01 239 int_buffer[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 240 int_buffer[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 241 float_buffer[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 242 float_buffer[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 243 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 244 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 245 L_Kc=Int+Float;
b0ssiz 14:28e24fcc5a01 246 }
b0ssiz 14:28e24fcc5a01 247 case KI_LOWER_MOTOR: {
b0ssiz 14:28e24fcc5a01 248 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 249 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 250 float Int,Float,KI;
b0ssiz 14:28e24fcc5a01 251 int_buffer[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 252 int_buffer[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 253 float_buffer[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 254 float_buffer[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 255 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 256 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 257 KI=Int+Float;
b0ssiz 14:28e24fcc5a01 258 L_Ti=KI/L_Kc;
b0ssiz 14:28e24fcc5a01 259 }
b0ssiz 14:28e24fcc5a01 260 case KD_LOWER_MOTOR: {
b0ssiz 14:28e24fcc5a01 261 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 262 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 263 float Int,Float,KD;
b0ssiz 14:28e24fcc5a01 264 int_buffer[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 265 int_buffer[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 266 float_buffer[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 267 float_buffer[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 268 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 269 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 270 KD=Int+Float;
b0ssiz 14:28e24fcc5a01 271 L_Td=KD/L_Kc;
b0ssiz 14:28e24fcc5a01 272 }
b0ssiz 14:28e24fcc5a01 273 case HEIGHT: {
b0ssiz 14:28e24fcc5a01 274 int i;
b0ssiz 14:28e24fcc5a01 275 for(i=0; i<4; i++) {
b0ssiz 14:28e24fcc5a01 276 Height[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 277 }
b0ssiz 14:28e24fcc5a01 278 }
b0ssiz 14:28e24fcc5a01 279 case WHEELPOS: {
b0ssiz 14:28e24fcc5a01 280 int i;
b0ssiz 14:28e24fcc5a01 281 for(i=0; i<4; i++) {
b0ssiz 14:28e24fcc5a01 282 Wheelpos[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 283 }
b0ssiz 14:28e24fcc5a01 284 }
b0ssiz 14:28e24fcc5a01 285 case MAG_DATA: {
b0ssiz 14:28e24fcc5a01 286 int i;
b0ssiz 14:28e24fcc5a01 287 for(i=0; i<24; i++) {
b0ssiz 14:28e24fcc5a01 288 Mag[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 289 }
b0ssiz 14:28e24fcc5a01 290 }
b0ssiz 14:28e24fcc5a01 291 case OFFSET: {
b0ssiz 14:28e24fcc5a01 292 int i;
b0ssiz 14:28e24fcc5a01 293 for(i=0; i<8; i++) {
b0ssiz 14:28e24fcc5a01 294 Offset[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 295 }
b0ssiz 14:28e24fcc5a01 296 }
b0ssiz 14:28e24fcc5a01 297 case BODY_WIDTH: {
b0ssiz 14:28e24fcc5a01 298 int i;
b0ssiz 14:28e24fcc5a01 299 for(i=0; i<4; i++) {
b0ssiz 14:28e24fcc5a01 300 Body_width[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 301 }
b0ssiz 14:28e24fcc5a01 302 }
b0ssiz 14:28e24fcc5a01 303 case ANGLE_RANGE_UP: {
b0ssiz 14:28e24fcc5a01 304 int i;
ParinyaT 16:c0a1daeb9fa5 305 for(i=0; i<8; i++) {
b0ssiz 14:28e24fcc5a01 306 Angle_Range_Up[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 307 }
b0ssiz 14:28e24fcc5a01 308 }
b0ssiz 14:28e24fcc5a01 309 case ANGLE_RANGE_LOW: {
b0ssiz 14:28e24fcc5a01 310 int i;
ParinyaT 16:c0a1daeb9fa5 311 for(i=0; i<8; i++) {
b0ssiz 14:28e24fcc5a01 312 Angle_Range_Low[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 313 }
ParinyaT 13:49cb002ad8fd 314 }
ParinyaT 16:c0a1daeb9fa5 315 // unfinish yet!!!!!!!!!!!!!!!!!
ParinyaT 16:c0a1daeb9fa5 316 case SAVE_EEPROM_DATA: {
ParinyaT 16:c0a1daeb9fa5 317 if (cmd[1]==0){
ParinyaT 16:c0a1daeb9fa5 318
ParinyaT 16:c0a1daeb9fa5 319 }
ParinyaT 16:c0a1daeb9fa5 320 }
ParinyaT 12:6b3b997dd7c2 321 }
b0ssiz 14:28e24fcc5a01 322 case READ_DATA: {
b0ssiz 14:28e24fcc5a01 323 switch (cmd[0]) {
b0ssiz 14:28e24fcc5a01 324 case MOTOR_UPPER_ANG: {
ParinyaT 16:c0a1daeb9fa5 325 com.sendMotorPos(MY_ID,Upper_Position,Lower_Position);
b0ssiz 14:28e24fcc5a01 326 }
b0ssiz 14:28e24fcc5a01 327 case UP_MARGIN: {
ParinyaT 16:c0a1daeb9fa5 328 com.sendUpMargin(MY_ID,UpMargin);
b0ssiz 14:28e24fcc5a01 329 }
b0ssiz 14:28e24fcc5a01 330 case LOW_MARGIN: {
ParinyaT 16:c0a1daeb9fa5 331 com.sendLowMargin(MY_ID,LowMargin);
b0ssiz 14:28e24fcc5a01 332 }
b0ssiz 14:28e24fcc5a01 333 case PID_UPPER_MOTOR: {
ParinyaT 16:c0a1daeb9fa5 334 com.sendUpMotorKpKiKd(MY_ID,U_Kc,U_Ki,U_Kd);
b0ssiz 14:28e24fcc5a01 335 }
b0ssiz 14:28e24fcc5a01 336 case PID_LOWER_MOTOR: {
ParinyaT 16:c0a1daeb9fa5 337 com.sendLowMotorKpKiKd(MY_ID,L_Kc,L_Ki,L_Kd);
b0ssiz 14:28e24fcc5a01 338 }
b0ssiz 14:28e24fcc5a01 339 case HEIGHT: {
ParinyaT 16:c0a1daeb9fa5 340 com.sendHeight(MY_ID,Height);
b0ssiz 14:28e24fcc5a01 341 }
b0ssiz 14:28e24fcc5a01 342 case WHEELPOS: {
ParinyaT 16:c0a1daeb9fa5 343 com.sendWheelPos(MY_ID,Wheelpos);
b0ssiz 14:28e24fcc5a01 344 }
b0ssiz 14:28e24fcc5a01 345 case MAG_DATA: {
ParinyaT 16:c0a1daeb9fa5 346 com.sendMagData(MY_ID,Mag);
b0ssiz 14:28e24fcc5a01 347 }
b0ssiz 14:28e24fcc5a01 348 case OFFSET: {
ParinyaT 16:c0a1daeb9fa5 349 com.sendOffset(MY_ID,Offset);
b0ssiz 14:28e24fcc5a01 350 }
b0ssiz 14:28e24fcc5a01 351 case BODY_WIDTH: {
ParinyaT 16:c0a1daeb9fa5 352 com.sendBodyWidth(MY_ID,Body_width);
b0ssiz 14:28e24fcc5a01 353 }
b0ssiz 14:28e24fcc5a01 354 case ANGLE_RANGE_UP: {
ParinyaT 16:c0a1daeb9fa5 355 com.sendUpAngleRange(MY_ID,Angle_Range_Up);
b0ssiz 14:28e24fcc5a01 356 }
b0ssiz 14:28e24fcc5a01 357 case ANGLE_RANGE_LOW: {
ParinyaT 16:c0a1daeb9fa5 358 com.sendLowAngleRange(MY_ID,Angle_Range_Low);
b0ssiz 14:28e24fcc5a01 359 }
ParinyaT 13:49cb002ad8fd 360 }
ParinyaT 13:49cb002ad8fd 361 }
ParinyaT 13:49cb002ad8fd 362 }
b0ssiz 10:3b3d6bc88677 363 }
b0ssiz 14:28e24fcc5a01 364 }
b0ssiz 10:3b3d6bc88677 365 }
ParinyaT 11:3dd92d1d542c 366 /******************************************************/
ParinyaT 13:49cb002ad8fd 367 void Start_Up()
ParinyaT 11:3dd92d1d542c 368 {
ParinyaT 11:3dd92d1d542c 369 // wait for reciever
ParinyaT 11:3dd92d1d542c 370 memory.read(0x00,MY_ID);
ParinyaT 11:3dd92d1d542c 371 memory.read(0x04,Upper_SetPoint);
ParinyaT 11:3dd92d1d542c 372 memory.read(0x08,Lower_SetPoint);
ParinyaT 11:3dd92d1d542c 373 memory.read(0x10,U_Kc);
ParinyaT 11:3dd92d1d542c 374 memory.read(0x14,U_Ti);
ParinyaT 11:3dd92d1d542c 375 memory.read(0x18,U_Td);
ParinyaT 11:3dd92d1d542c 376 memory.read(0x1c,L_Kc);
ParinyaT 11:3dd92d1d542c 377 memory.read(0x20,L_Ti);
ParinyaT 11:3dd92d1d542c 378 memory.read(0x24,L_Td);
b0ssiz 14:28e24fcc5a01 379
ParinyaT 11:3dd92d1d542c 380 }
b0ssiz 14:28e24fcc5a01 381 /*******************************************************/
ParinyaT 13:49cb002ad8fd 382 void Rc()
ParinyaT 11:3dd92d1d542c 383 {
ParinyaT 11:3dd92d1d542c 384 uint8_t data_array[10];
b0ssiz 14:28e24fcc5a01 385 uint8_t id;
b0ssiz 14:28e24fcc5a01 386 uint8_t ins;
b0ssiz 14:28e24fcc5a01 387
b0ssiz 14:28e24fcc5a01 388 com.ReceiveCommand(&id,data_array,&ins);
b0ssiz 15:6ebca0a1aaca 389 CmdCheck((int16_t)id,data_array,ins);
ParinyaT 11:3dd92d1d542c 390 }
ParinyaT 11:3dd92d1d542c 391 /*******************************************************/
ParinyaT 0:451c27e4d55e 392 int main()
ParinyaT 0:451c27e4d55e 393 {
ParinyaT 11:3dd92d1d542c 394 Recieve.attach(&Rc,0.2);
ParinyaT 11:3dd92d1d542c 395 Start_Up();
ParinyaT 1:84167ca00307 396 SET_UpperPID();
ParinyaT 1:84167ca00307 397 SET_LowerPID();
ParinyaT 11:3dd92d1d542c 398
b0ssiz 14:28e24fcc5a01 399 while(1) {
b0ssiz 14:28e24fcc5a01 400 //Set Set_point
b0ssiz 14:28e24fcc5a01 401 Up_PID.setSetPoint(Upper_SetPoint);
b0ssiz 14:28e24fcc5a01 402 Low_PID.setSetPoint(Lower_SetPoint);
ParinyaT 1:84167ca00307 403
b0ssiz 14:28e24fcc5a01 404 //Control Motor
b0ssiz 14:28e24fcc5a01 405 Move_Upper();
b0ssiz 14:28e24fcc5a01 406 Move_Lower();
b0ssiz 14:28e24fcc5a01 407 }
ParinyaT 0:451c27e4d55e 408 }
b0ssiz 6:98871feebea0 409
ParinyaT 0:451c27e4d55e 410
ParinyaT 0:451c27e4d55e 411
b0ssiz 6:98871feebea0 412
b0ssiz 6:98871feebea0 413
b0ssiz 6:98871feebea0 414