TRR 2018 / Mbed 2 deprecated biniou-TRR2019-DLVV

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed MPU6050

sm_servo.cpp@10:e63fe4080760, 2019-10-04 (annotated)

Committer:
GaspardD
Date:
Fri Oct 04 09:46:00 2019 +0000
Revision:
10:e63fe4080760
Parent:
9:1b54bac6d9a7
Child:
12:58ad06f9847d
ca marche

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GaspardD 2:e9d928fd327a 1 #include "sm_servo.h"
GaspardD 2:e9d928fd327a 2
GaspardD 2:e9d928fd327a 3 PwmOut pwm_Servo(PE_9);
GaspardD 8:f23601373e8b 4
GaspardD 8:f23601373e8b 5 // declaration des entrées analogiques
GaspardD 8:f23601373e8b 6 AnalogIn front(PA_5);
GaspardD 8:f23601373e8b 7 AnalogIn ana_left_90(PA_4);
GaspardD 8:f23601373e8b 8 AnalogIn ana_right_90(PF_10);
GaspardD 8:f23601373e8b 9 AnalogIn ana_left_45(PC_0);
GaspardD 8:f23601373e8b 10 AnalogIn ana_right_45(PF_4);
GaspardD 8:f23601373e8b 11 AnalogIn ana_left_5(PF_9);
GaspardD 8:f23601373e8b 12 AnalogIn ana_right_5(PA_6);
GaspardD 8:f23601373e8b 13
GaspardD 8:f23601373e8b 14 AnalogIn analog_value_PF3(PF_3);
GaspardD 8:f23601373e8b 15
GaspardD 2:e9d928fd327a 16 E_STATE_SERVO e_stateServo;
GaspardD 3:1b7eb426247e 17 bool directionCheck = false;
GaspardD 6:ab9f3695633f 18 int pulsewidth = SERVO_PULSE_MIDDLE_US;//SERVO_PULSE_MAX_US;
GaspardD 2:e9d928fd327a 19
GaspardD 8:f23601373e8b 20 double d_last_odom_asservissement = 0;
GaspardD 8:f23601373e8b 21
GaspardD 8:f23601373e8b 22 double d_prev_dist_left_90;
GaspardD 8:f23601373e8b 23 double d_prev_dist_right_90;
GaspardD 8:f23601373e8b 24 double d_dist_left_90;
GaspardD 8:f23601373e8b 25 double d_dist_right_90;
GaspardD 8:f23601373e8b 26
GaspardD 9:1b54bac6d9a7 27 double d_prev_dist_left_45;
GaspardD 9:1b54bac6d9a7 28 double d_prev_dist_right_45;
GaspardD 9:1b54bac6d9a7 29 double d_dist_left_45;
GaspardD 9:1b54bac6d9a7 30 double d_dist_right_45;
GaspardD 9:1b54bac6d9a7 31
GaspardD 9:1b54bac6d9a7 32 double d_positionOnTrack;
GaspardD 9:1b54bac6d9a7 33
GaspardD 8:f23601373e8b 34 double coef_positionnement;
GaspardD 8:f23601373e8b 35 double coef_angle_correction_bordure;
GaspardD 8:f23601373e8b 36 double angle_correction_final ;
GaspardD 8:f23601373e8b 37 double angle_correction_position;
GaspardD 8:f23601373e8b 38 double angle_correction_bordure;
GaspardD 8:f23601373e8b 39 double distance_parcourue;
GaspardD 8:f23601373e8b 40
GaspardD 9:1b54bac6d9a7 41 double ponderation_angle[6];
GaspardD 9:1b54bac6d9a7 42 double d_mediane;
GaspardD 9:1b54bac6d9a7 43 double distCapt;
GaspardD 8:f23601373e8b 44
GaspardD 2:e9d928fd327a 45 void init_sm_servo()
GaspardD 2:e9d928fd327a 46 {
GaspardD 2:e9d928fd327a 47 e_stateServo = SERVO_INIT;
GaspardD 2:e9d928fd327a 48 }
GaspardD 2:e9d928fd327a 49
GaspardD 8:f23601373e8b 50 double pwmFromAngle(double angleDeg)
GaspardD 8:f23601373e8b 51 {
GaspardD 8:f23601373e8b 52 //on a une regression linéaire entre l'angle et la pwm on centre sur 0 puis on applique
GaspardD 9:1b54bac6d9a7 53 pulsewidth = (d_CHASSIS_inversion*angleDeg * 11.0) + SERVO_PULSE_MIDDLE_US;
GaspardD 9:1b54bac6d9a7 54 //rs_LOG_pc.printf("pulsewidth = %d =(%f * 11.0) + 1500\r\n",pulsewidth,angleDeg);
GaspardD 8:f23601373e8b 55 if(pulsewidth > SERVO_PULSE_MAX_US) {
GaspardD 8:f23601373e8b 56 pulsewidth = SERVO_PULSE_MAX_US;
GaspardD 8:f23601373e8b 57 } else if(pulsewidth < SERVO_PULSE_MIN_US) {
GaspardD 8:f23601373e8b 58 pulsewidth = SERVO_PULSE_MIN_US;
GaspardD 8:f23601373e8b 59 }
GaspardD 10:e63fe4080760 60
GaspardD 10:e63fe4080760 61 //logging
GaspardD 9:1b54bac6d9a7 62 s_LOG_history[i_LOG_index_data].pwm_dir = pulsewidth;
GaspardD 10:e63fe4080760 63 s_LOG_history[i_LOG_index_data].left_90 = d_dist_left_90;
GaspardD 10:e63fe4080760 64 s_LOG_history[i_LOG_index_data].right_90 = d_dist_right_90;
GaspardD 10:e63fe4080760 65 s_LOG_history[i_LOG_index_data].left_45 = d_dist_left_45;
GaspardD 10:e63fe4080760 66 s_LOG_history[i_LOG_index_data].right_45 = d_dist_right_45;
GaspardD 10:e63fe4080760 67 s_LOG_history[i_LOG_index_data].odom = d_ODOM_distFromGlobalStart_m;
GaspardD 10:e63fe4080760 68 s_LOG_history[i_LOG_index_data].speed = d_ODOM_speed_mps;
GaspardD 10:e63fe4080760 69
GaspardD 10:e63fe4080760 70 log_check();
GaspardD 10:e63fe4080760 71
GaspardD 8:f23601373e8b 72 return pulsewidth;
GaspardD 8:f23601373e8b 73 }
GaspardD 8:f23601373e8b 74
GaspardD 8:f23601373e8b 75
GaspardD 8:f23601373e8b 76
GaspardD 8:f23601373e8b 77 double getDistCapteur(AnalogIn* p)
GaspardD 8:f23601373e8b 78 {
GaspardD 9:1b54bac6d9a7 79 distCapt = 0.182/(double)p->read() ;
GaspardD 9:1b54bac6d9a7 80 if (distCapt > 1.5) {
GaspardD 9:1b54bac6d9a7 81 distCapt = 1.5 ;
GaspardD 9:1b54bac6d9a7 82 }
GaspardD 9:1b54bac6d9a7 83 return distCapt ;
GaspardD 8:f23601373e8b 84 }
GaspardD 8:f23601373e8b 85
GaspardD 9:1b54bac6d9a7 86 //renvoie un double entre 0 et 1 avec 0 position extrème gauche et 1 extrème droite
GaspardD 9:1b54bac6d9a7 87 double positionOnTrack()
GaspardD 9:1b54bac6d9a7 88 {
GaspardD 9:1b54bac6d9a7 89 d_positionOnTrack = 0.25*(3*(d_dist_left_90/(d_dist_left_90 + d_dist_right_90)) + (d_dist_left_45/(d_dist_left_45 + d_dist_right_45) ));
GaspardD 8:f23601373e8b 90
GaspardD 9:1b54bac6d9a7 91 return d_positionOnTrack;
GaspardD 9:1b54bac6d9a7 92 }
GaspardD 8:f23601373e8b 93
GaspardD 8:f23601373e8b 94 double compute_angle_correction(double consignePos)
GaspardD 8:f23601373e8b 95 {
GaspardD 8:f23601373e8b 96 //aquisition
GaspardD 9:1b54bac6d9a7 97 coef_positionnement = 0.1;//0.05
GaspardD 10:e63fe4080760 98 coef_angle_correction_bordure = 1.5;
GaspardD 9:1b54bac6d9a7 99 d_dist_left_90 = getDistCapteur(&ana_left_90) + 0.016;
GaspardD 9:1b54bac6d9a7 100 d_dist_right_90 = getDistCapteur(&ana_right_90) + 0.016;
GaspardD 9:1b54bac6d9a7 101 d_dist_left_45 = getDistCapteur(&ana_left_45) + 0.042;
GaspardD 9:1b54bac6d9a7 102 d_dist_right_45 = getDistCapteur(&ana_right_45) + 0.042;
GaspardD 9:1b54bac6d9a7 103
GaspardD 8:f23601373e8b 104
GaspardD 8:f23601373e8b 105 angle_correction_final = 0.0;
GaspardD 8:f23601373e8b 106 angle_correction_position = 0.0;
GaspardD 8:f23601373e8b 107 angle_correction_bordure = 0.0;
GaspardD 8:f23601373e8b 108
GaspardD 8:f23601373e8b 109 update_speed();
GaspardD 8:f23601373e8b 110
GaspardD 9:1b54bac6d9a7 111 distance_parcourue = d_ODOM_computed_pos_m - d_last_odom_asservissement ;
GaspardD 9:1b54bac6d9a7 112
GaspardD 9:1b54bac6d9a7 113 //left 90
GaspardD 9:1b54bac6d9a7 114 ponderation_angle[0] = atan2( (d_prev_dist_left_90 - d_dist_left_90), distance_parcourue)*57.296 ;
GaspardD 9:1b54bac6d9a7 115 //right 90
GaspardD 9:1b54bac6d9a7 116 ponderation_angle[1] = -atan2( (d_prev_dist_right_90 - d_dist_right_90), distance_parcourue)*57.296 ;
GaspardD 9:1b54bac6d9a7 117 //left 45
GaspardD 9:1b54bac6d9a7 118 ponderation_angle[2] = atan2( ((d_prev_dist_left_45 - d_dist_left_45)*0.7071), distance_parcourue)*57.296 ;
GaspardD 9:1b54bac6d9a7 119 //right 45
GaspardD 9:1b54bac6d9a7 120 ponderation_angle[3] = -atan2( ((d_prev_dist_right_45 - d_dist_right_45)*0.7071), distance_parcourue)*57.296 ;
GaspardD 9:1b54bac6d9a7 121
GaspardD 9:1b54bac6d9a7 122 //angle detecte entre le 45 et le 90 gauche
GaspardD 9:1b54bac6d9a7 123 ponderation_angle[4] = atan(1.4142*(d_prev_dist_left_90/d_prev_dist_left_45) - 1)*57.296;
GaspardD 9:1b54bac6d9a7 124 //rs_LOG_pc.printf("d_prev_dist_left_90:%f,d_prev_dist_left_45:%f;angle cote gauche = %f;angle 90 gauche: %f\n\r",d_prev_dist_left_90,d_prev_dist_left_45,ponderation_angle[4],ponderation_angle[0]);
GaspardD 9:1b54bac6d9a7 125
GaspardD 9:1b54bac6d9a7 126 //angle detecte entre le 45 et le 90 droite
GaspardD 9:1b54bac6d9a7 127 ponderation_angle[5] = -atan(1.4142*(d_prev_dist_right_90/d_prev_dist_right_45) - 1)*57.296;
GaspardD 9:1b54bac6d9a7 128 //rs_LOG_pc.printf("angle cote droit = %f\n\r",ponderation_angle[5] );
GaspardD 9:1b54bac6d9a7 129
GaspardD 9:1b54bac6d9a7 130
GaspardD 9:1b54bac6d9a7 131 //votation
GaspardD 9:1b54bac6d9a7 132 bubbleSort(ponderation_angle,6);
GaspardD 9:1b54bac6d9a7 133 d_mediane = (ponderation_angle[2] + ponderation_angle[3])*0.5;
GaspardD 9:1b54bac6d9a7 134 //si la valeur la plus extreme est le min, on prend juste les 5 dernières valeurs
GaspardD 9:1b54bac6d9a7 135 /*if((d_mediane - ponderation_angle[0]) > (ponderation_angle[5] - d_mediane)) {
GaspardD 9:1b54bac6d9a7 136 for(int i=1; i<6; i++) {
GaspardD 9:1b54bac6d9a7 137 angle_correction_bordure = ponderation_angle[i];
GaspardD 9:1b54bac6d9a7 138 }
GaspardD 9:1b54bac6d9a7 139 } else {
GaspardD 9:1b54bac6d9a7 140 for(int i=0; i<5; i++) {
GaspardD 9:1b54bac6d9a7 141 angle_correction_bordure = ponderation_angle[i];
GaspardD 9:1b54bac6d9a7 142 }
GaspardD 9:1b54bac6d9a7 143 }
GaspardD 9:1b54bac6d9a7 144 */
GaspardD 9:1b54bac6d9a7 145 angle_correction_bordure = d_mediane;
GaspardD 9:1b54bac6d9a7 146
GaspardD 9:1b54bac6d9a7 147
GaspardD 9:1b54bac6d9a7 148 angle_correction_position = atan2((consignePos - positionOnTrack()), (0.04*d_ODOM_speed_mps))*57.296;
GaspardD 9:1b54bac6d9a7 149
GaspardD 9:1b54bac6d9a7 150 //rs_LOG_pc.printf("distance_parcourue = %f = %f - %f + 0.001 \n\r",distance_parcourue,d_ODOM_computed_pos_m,d_last_odom_asservissement );
GaspardD 9:1b54bac6d9a7 151 //rs_LOG_pc.printf("angle_correction_bordure = %f = -atan((%f - %f)/ %f) \n\r",angle_correction_bordure,d_prev_dist_left_90,d_dist_left_90,distance_parcourue) ;
GaspardD 9:1b54bac6d9a7 152 //rs_LOG_pc.printf("angle_correction_position = %f = atan((%f - %f)/ (0.04* %f ))*57.296,##### TIME: %d\r\n",angle_correction_position,consignePos,d_dist_left_90,d_ODOM_speed_mps,t_utils_timerSinceStart.read_ms());
GaspardD 9:1b54bac6d9a7 153
GaspardD 8:f23601373e8b 154 angle_correction_final = angle_correction_position * coef_positionnement + angle_correction_bordure*coef_angle_correction_bordure ;
GaspardD 10:e63fe4080760 155 //rs_LOG_pc.printf("angle correction: %f;angle correction bordure: %f ;angle correction position: %f\r\n",angle_correction_final,angle_correction_bordure,angle_correction_position);
GaspardD 8:f23601373e8b 156
GaspardD 8:f23601373e8b 157 d_last_odom_asservissement = d_ODOM_computed_pos_m;
GaspardD 8:f23601373e8b 158 d_prev_dist_left_90 = d_dist_left_90;
GaspardD 8:f23601373e8b 159 d_prev_dist_right_90 = d_dist_right_90;
GaspardD 9:1b54bac6d9a7 160 d_prev_dist_left_45 = d_dist_left_45;
GaspardD 9:1b54bac6d9a7 161 d_prev_dist_right_45 = d_dist_right_45;
GaspardD 9:1b54bac6d9a7 162
GaspardD 8:f23601373e8b 163 return angle_correction_final;
GaspardD 8:f23601373e8b 164 }
GaspardD 8:f23601373e8b 165
GaspardD 8:f23601373e8b 166
GaspardD 2:e9d928fd327a 167 void update_sm_servo()
GaspardD 2:e9d928fd327a 168 {
GaspardD 3:1b7eb426247e 169 E_STATE_SERVO next_state = e_stateServo;
GaspardD 2:e9d928fd327a 170
GaspardD 2:e9d928fd327a 171 switch(e_stateServo) {
GaspardD 2:e9d928fd327a 172 case SERVO_INIT:
GaspardD 3:1b7eb426247e 173 if(directionCheck) {
GaspardD 3:1b7eb426247e 174 next_state = SERVO_COMMAND;
GaspardD 3:1b7eb426247e 175 }
GaspardD 2:e9d928fd327a 176 break;
GaspardD 2:e9d928fd327a 177 case SERVO_COMMAND:
GaspardD 8:f23601373e8b 178 //si on detecte une nouvelle acquisition, on traite le signal
GaspardD 8:f23601373e8b 179 d_dist_left_90 = getDistCapteur(&ana_left_90);
GaspardD 9:1b54bac6d9a7 180 //rs_LOG_pc.printf("d_dist_left_90 : %f;d_dist_right_90 : %f;d_positionOnTrack: %f\r\n",d_dist_left_90,d_dist_right_90,d_positionOnTrack);
GaspardD 8:f23601373e8b 181 if(d_dist_left_90 != d_prev_dist_left_90) {
GaspardD 8:f23601373e8b 182
GaspardD 9:1b54bac6d9a7 183 //rs_LOG_pc.printf("compute angle et updateSpeed\r\n");
GaspardD 8:f23601373e8b 184 pulsewidth = pwmFromAngle( compute_angle_correction(s_UTILS_currentSection->consigne_position) );
GaspardD 8:f23601373e8b 185
GaspardD 8:f23601373e8b 186 d_prev_dist_left_90 = d_dist_left_90;
GaspardD 8:f23601373e8b 187
GaspardD 8:f23601373e8b 188 }
GaspardD 8:f23601373e8b 189
GaspardD 8:f23601373e8b 190
GaspardD 2:e9d928fd327a 191 break;
GaspardD 2:e9d928fd327a 192 default:
GaspardD 3:1b7eb426247e 193 break;
GaspardD 3:1b7eb426247e 194 }
GaspardD 2:e9d928fd327a 195
GaspardD 2:e9d928fd327a 196 e_stateServo = next_state;
GaspardD 2:e9d928fd327a 197 return;
GaspardD 2:e9d928fd327a 198 }
GaspardD 2:e9d928fd327a 199
GaspardD 2:e9d928fd327a 200 void output_sm_servo()
GaspardD 2:e9d928fd327a 201 {
GaspardD 3:1b7eb426247e 202 switch(e_stateServo) {
GaspardD 3:1b7eb426247e 203 case SERVO_INIT:
GaspardD 9:1b54bac6d9a7 204 rs_LOG_pc.printf("init servo with pulse %d us\r\n",SERVO_PULSE_MIDDLE_US);
GaspardD 3:1b7eb426247e 205 pwm_Servo.period_ms(SERVO_PERIOD_DURATION_MS);
GaspardD 3:1b7eb426247e 206 pwm_Servo.pulsewidth_us(SERVO_PULSE_MIDDLE_US);
GaspardD 3:1b7eb426247e 207 directionCheck = true;
GaspardD 3:1b7eb426247e 208 break;
GaspardD 3:1b7eb426247e 209 case SERVO_COMMAND:
GaspardD 10:e63fe4080760 210 pwm_Servo.pulsewidth_us(pulsewidth);
GaspardD 10:e63fe4080760 211 //pwm_Servo.pulsewidth_us(SERVO_PULSE_MIDDLE_US);
GaspardD 4:efa207509f63 212
GaspardD 3:1b7eb426247e 213 break;
GaspardD 3:1b7eb426247e 214 default:
GaspardD 3:1b7eb426247e 215 break;
GaspardD 3:1b7eb426247e 216 }
GaspardD 3:1b7eb426247e 217 return;
GaspardD 2:e9d928fd327a 218 }