Team Virgo v3 / Orion_newPCB_test_LV

Implement new controller

Dependencies:   mbed-rtos mbed QEI BNO055 MPU6050_DMP_Nucleo-I2Cdev virgo3_imuHandler_Orion_PCB MAX17048 Servo

Fork of Orion_newPCB_test by Team Virgo v3

orion_main.cpp@25:3a82f868c101, 2018-03-13 (annotated)

Committer:
harrynguyen
Date:
Tue Mar 13 12:32:04 2018 +0000
Revision:
25:3a82f868c101
Parent:
23:6806c3bacf58
Child:
26:32eaf3c3ac2e
Change velocity

Who changed what in which revision?

UserRevisionLine numberNew contents of line
harrynguyen 21:7cd86bea7f83 1 /**
harrynguyen 21:7cd86bea7f83 2 * @author Akash Vibhute
harrynguyen 21:7cd86bea7f83 3 * < akash . roboticist [at] gmail . com >
harrynguyen 21:7cd86bea7f83 4 *
harrynguyen 21:7cd86bea7f83 5 * @section LICENSE
harrynguyen 21:7cd86bea7f83 6 *
harrynguyen 21:7cd86bea7f83 7 * Copyright (c) 2015 Akash Vibhute
harrynguyen 21:7cd86bea7f83 8 *
harrynguyen 21:7cd86bea7f83 9 * Licensed under the Apache License, Version 2.0 (the "License");
harrynguyen 21:7cd86bea7f83 10 * you may not use this file except in compliance with the License.
harrynguyen 21:7cd86bea7f83 11 * You may obtain a copy of the License at
harrynguyen 21:7cd86bea7f83 12 *
harrynguyen 21:7cd86bea7f83 13 * http://www.apache.org/licenses/LICENSE-2.0
harrynguyen 21:7cd86bea7f83 14 *
harrynguyen 21:7cd86bea7f83 15 * Unless required by applicable law or agreed to in writing, software
harrynguyen 21:7cd86bea7f83 16 * distributed under the License is distributed on an "AS IS" BASIS,
harrynguyen 21:7cd86bea7f83 17 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
harrynguyen 21:7cd86bea7f83 18 * See the License for the specific language governing permissions and
harrynguyen 21:7cd86bea7f83 19 * limitations under the License.
harrynguyen 21:7cd86bea7f83 20 *
harrynguyen 21:7cd86bea7f83 21 * The above copyright notice and this permission notice shall be included in
harrynguyen 21:7cd86bea7f83 22 * all copies or substantial portions of the Software.
harrynguyen 21:7cd86bea7f83 23 *
harrynguyen 21:7cd86bea7f83 24 * @section DESCRIPTION
harrynguyen 21:7cd86bea7f83 25 *
harrynguyen 21:7cd86bea7f83 26 * Virgo_v3 robot controller v1.0 with Virgo_v3 PCB [AV22032015]
harrynguyen 21:7cd86bea7f83 27 * Robot controller software for SUTD Virgo version 3 robot
harrynguyen 21:7cd86bea7f83 28 *
harrynguyen 21:7cd86bea7f83 29 */
harrynguyen 21:7cd86bea7f83 30
harrynguyen 21:7cd86bea7f83 31 /**
harrynguyen 21:7cd86bea7f83 32 * Header file for including all necessary functions for robot and defining any
harrynguyen 21:7cd86bea7f83 33 * custom functions written in the main file.
harrynguyen 21:7cd86bea7f83 34 */
harrynguyen 21:7cd86bea7f83 35 #include "main.h"
harrynguyen 21:7cd86bea7f83 36 #include "globalExterns.h"
harrynguyen 21:7cd86bea7f83 37
harrynguyen 21:7cd86bea7f83 38 /**
harrynguyen 21:7cd86bea7f83 39 * Functions, Threads & General Definitions
harrynguyen 21:7cd86bea7f83 40 */
harrynguyen 21:7cd86bea7f83 41 //*****************************************************************************
harrynguyen 21:7cd86bea7f83 42 //** Drivetrain **
harrynguyen 21:7cd86bea7f83 43 motorDriver drive; //motor drive train
harrynguyen 21:7cd86bea7f83 44 odometer odometry; //odometer function
harrynguyen 21:7cd86bea7f83 45 pidControl PID_L, PID_R; //pidcontroller for left and right motors
harrynguyen 21:7cd86bea7f83 46
harrynguyen 21:7cd86bea7f83 47 Timer motorControl_t;
harrynguyen 21:7cd86bea7f83 48 float rpm_cmd[2]; //drive motor rpm command
harrynguyen 21:7cd86bea7f83 49 float rpm_compensated[2]; //rpm command compensated by acc limit
harrynguyen 21:7cd86bea7f83 50 float targetAcceleration = 300.0; //RPM/s acceleration
harrynguyen 21:7cd86bea7f83 51 float pwm_cmd[2]; //drive motor pwm command
harrynguyen 21:7cd86bea7f83 52
harrynguyen 21:7cd86bea7f83 53 /* THREAD */
harrynguyen 21:7cd86bea7f83 54 void odometry_thread(void const *n);
harrynguyen 21:7cd86bea7f83 55 void motorControl_thread(void const *n);
harrynguyen 21:7cd86bea7f83 56 /* ** */
harrynguyen 21:7cd86bea7f83 57 //-------------
harrynguyen 21:7cd86bea7f83 58
harrynguyen 21:7cd86bea7f83 59 //** Localization **
harrynguyen 21:7cd86bea7f83 60 IMU_BNO055 imu; //Bosch BNO055 IMU wrapper class. For Invensense IMU use IMU_MPU6050 imu; //MPU9150 / MPU6050 wrapper class
harrynguyen 21:7cd86bea7f83 61 float imuTime;
harrynguyen 21:7cd86bea7f83 62 Localization localization; //localization function
harrynguyen 21:7cd86bea7f83 63
harrynguyen 21:7cd86bea7f83 64 /* FUNCTION */
harrynguyen 21:7cd86bea7f83 65 bool imuInit_function();
harrynguyen 21:7cd86bea7f83 66 /* ** */
harrynguyen 21:7cd86bea7f83 67
harrynguyen 21:7cd86bea7f83 68 /* THREAD */
harrynguyen 21:7cd86bea7f83 69 void imu_thread(void const *n);
harrynguyen 21:7cd86bea7f83 70 /* ** */
harrynguyen 21:7cd86bea7f83 71 //-------------
harrynguyen 21:7cd86bea7f83 72
harrynguyen 21:7cd86bea7f83 73 //** Communications **
harrynguyen 23:6806c3bacf58 74 //nRF24NetworkHandler comm; //nRF24 radio and network layer handler function
harrynguyen 23:6806c3bacf58 75 //uint8_t dataSend_flag; //flag to indicate data is ready to be transmitted
harrynguyen 23:6806c3bacf58 76 //uint8_t comm_status[3]; //[2] comm status, [0] decoded tx status, [1] rx status,
harrynguyen 21:7cd86bea7f83 77
harrynguyen 23:6806c3bacf58 78 //cmdParser wirelessCmd;
harrynguyen 21:7cd86bea7f83 79
harrynguyen 23:6806c3bacf58 80
harrynguyen 21:7cd86bea7f83 81 /* ** */
harrynguyen 21:7cd86bea7f83 82 //-------------
harrynguyen 21:7cd86bea7f83 83
harrynguyen 21:7cd86bea7f83 84 //** Power Monitor **
harrynguyen 21:7cd86bea7f83 85 BattGuage battery; //Battery fuel gauge wrapper
harrynguyen 21:7cd86bea7f83 86
harrynguyen 21:7cd86bea7f83 87 /* THREAD */
harrynguyen 21:7cd86bea7f83 88
harrynguyen 21:7cd86bea7f83 89 /* ** */
harrynguyen 21:7cd86bea7f83 90 //-------------
harrynguyen 21:7cd86bea7f83 91
harrynguyen 21:7cd86bea7f83 92 //** Trajectory tracking **
harrynguyen 21:7cd86bea7f83 93 purePursuit purePursuit;
harrynguyen 23:6806c3bacf58 94 //kinematics kinematics;
harrynguyen 21:7cd86bea7f83 95
harrynguyen 21:7cd86bea7f83 96 float purePursuit_velocity, purePursuit_omega, purePursuit_gamma;
harrynguyen 21:7cd86bea7f83 97 //waypoints tored in format: x_coordinate,y_coordinate,speed_%,heading_toFace
harrynguyen 21:7cd86bea7f83 98 uint8_t totalWaypoints = 5;
harrynguyen 21:7cd86bea7f83 99 //kite pattern 200cm long, 100cm wide
harrynguyen 21:7cd86bea7f83 100 int16_t waypoints_set[][4] = { {0,0,90,0},
harrynguyen 21:7cd86bea7f83 101 {100,100,90,0},
harrynguyen 21:7cd86bea7f83 102 {0,200,90,0},
harrynguyen 21:7cd86bea7f83 103 {-100,100,90,0},
harrynguyen 21:7cd86bea7f83 104 {0,0,90,0},
harrynguyen 21:7cd86bea7f83 105 {0,0,90,0},
harrynguyen 21:7cd86bea7f83 106 {0,0,90,0}
harrynguyen 21:7cd86bea7f83 107 };
harrynguyen 21:7cd86bea7f83 108
harrynguyen 21:7cd86bea7f83 109 float waypointZone = 300.0; //diameter around desired waypoint, if robot reaches within that zone then waypoint is reached.
harrynguyen 21:7cd86bea7f83 110 uint8_t waypointReached_flag = 0; //indicates if the desired waypoint has been reached
harrynguyen 21:7cd86bea7f83 111 uint8_t waypointSetFinish_flag = 0; //indicates if the desired waypoint set is over and the robot needs to stop.
harrynguyen 21:7cd86bea7f83 112 float target_waypoint[2] = {0.0, 0.0}; //coordinates in millimeters for pure-pursuit's use. initialize with 0,0 this is necessary to prevent comparison to a garbage value
harrynguyen 21:7cd86bea7f83 113 float target_velocity =0.0; //target velocity in mm/s
harrynguyen 21:7cd86bea7f83 114 float distanceToWaypoint; //distance from robot to waypoint
harrynguyen 21:7cd86bea7f83 115 uint8_t waypoint_index=0;
harrynguyen 21:7cd86bea7f83 116 uint8_t go_cmd=0; //make robot run a waypoint set
harrynguyen 21:7cd86bea7f83 117
harrynguyen 21:7cd86bea7f83 118 /* THREAD */
harrynguyen 21:7cd86bea7f83 119 void purePursuit_thread(void const *n);
harrynguyen 21:7cd86bea7f83 120 void waypointCmd_thread(void const *n);
harrynguyen 21:7cd86bea7f83 121 /* ** */
harrynguyen 21:7cd86bea7f83 122 //-------------
harrynguyen 21:7cd86bea7f83 123
harrynguyen 21:7cd86bea7f83 124 //** Attitude control **
harrynguyen 21:7cd86bea7f83 125 attitudeControl attitudeControl;
harrynguyen 23:6806c3bacf58 126 //pidAttitudeControl pidPitchControl;
harrynguyen 23:6806c3bacf58 127 //pidAttitudeControl pidRollControl;
harrynguyen 21:7cd86bea7f83 128
harrynguyen 21:7cd86bea7f83 129 float pidAttCntrl_correction[2]; //0-pitch control , 1- roll control
harrynguyen 21:7cd86bea7f83 130
harrynguyen 21:7cd86bea7f83 131 /* THREAD */
harrynguyen 21:7cd86bea7f83 132
harrynguyen 21:7cd86bea7f83 133 /* ** */
harrynguyen 21:7cd86bea7f83 134 //-------------
harrynguyen 21:7cd86bea7f83 135
harrynguyen 21:7cd86bea7f83 136
harrynguyen 21:7cd86bea7f83 137 /* ** */
harrynguyen 21:7cd86bea7f83 138 //-------------
harrynguyen 21:7cd86bea7f83 139
harrynguyen 23:6806c3bacf58 140 ////** Robot data recorder **
harrynguyen 23:6806c3bacf58 141 //RDR virgoRDR;
harrynguyen 23:6806c3bacf58 142 //uint8_t recordFlag; //flag to enable / disable recording: 0 - off, 1 - frequency controlled
harrynguyen 21:7cd86bea7f83 143
harrynguyen 21:7cd86bea7f83 144 /* THREAD */
harrynguyen 21:7cd86bea7f83 145
harrynguyen 21:7cd86bea7f83 146 /* ** */
harrynguyen 21:7cd86bea7f83 147 //-------------
harrynguyen 21:7cd86bea7f83 148
harrynguyen 21:7cd86bea7f83 149 //** Declarations of misc functions **
harrynguyen 21:7cd86bea7f83 150 Serial Debug(uart_TX, uart_RX); //Debug serial port
harrynguyen 21:7cd86bea7f83 151 DigitalOut debugLED(debug_LED); //led for Debugging and heartbeat indication
harrynguyen 21:7cd86bea7f83 152
harrynguyen 21:7cd86bea7f83 153 /* THREAD */
harrynguyen 21:7cd86bea7f83 154 void heartbeat_thread(void const *n); //heartbeat loop as an individual thread
harrynguyen 21:7cd86bea7f83 155 void print_thread(void const *n); //Debug printing thread
harrynguyen 21:7cd86bea7f83 156 /* ** */
harrynguyen 21:7cd86bea7f83 157 //-------------
harrynguyen 21:7cd86bea7f83 158 //-----------------------------------------------------------------------------
harrynguyen 21:7cd86bea7f83 159
harrynguyen 21:7cd86bea7f83 160
harrynguyen 21:7cd86bea7f83 161 int main()
harrynguyen 21:7cd86bea7f83 162 {
harrynguyen 21:7cd86bea7f83 163 Debug.baud(PC_BAUDRATE);
harrynguyen 21:7cd86bea7f83 164
harrynguyen 21:7cd86bea7f83 165 debugLED =1;
harrynguyen 21:7cd86bea7f83 166
harrynguyen 21:7cd86bea7f83 167 //wait_ms(5000);
harrynguyen 21:7cd86bea7f83 168
harrynguyen 21:7cd86bea7f83 169 Debug.printf("** Starting Virgo v3 Routines *************\n\n");
harrynguyen 21:7cd86bea7f83 170
harrynguyen 21:7cd86bea7f83 171 //** start Hearbeat loop as a thread **
harrynguyen 21:7cd86bea7f83 172 Thread Heartbeat_function(heartbeat_thread, NULL, osPriorityNormal);
harrynguyen 21:7cd86bea7f83 173 Debug.printf("* Hearbeat loop started *\n");
harrynguyen 21:7cd86bea7f83 174
harrynguyen 21:7cd86bea7f83 175 //** start IMU funtion as Thread **
harrynguyen 21:7cd86bea7f83 176 Thread IMU_function(imu_thread, NULL, osPriorityHigh);
harrynguyen 21:7cd86bea7f83 177 Debug.printf("* IMU routine started *\n");
harrynguyen 21:7cd86bea7f83 178
harrynguyen 21:7cd86bea7f83 179 //** start OdometryUpdate function as Thread **
harrynguyen 21:7cd86bea7f83 180 Thread Odometry_function(odometry_thread, NULL, osPriorityNormal, 1024);
harrynguyen 21:7cd86bea7f83 181 Debug.printf("* Odometry routine started *\n");
harrynguyen 21:7cd86bea7f83 182
harrynguyen 21:7cd86bea7f83 183 //** start MotorControl function as Thread **
harrynguyen 21:7cd86bea7f83 184 Thread MotorControl_function(motorControl_thread, NULL, osPriorityNormal);
harrynguyen 21:7cd86bea7f83 185 Debug.printf("* Motor control routine started *\n");
harrynguyen 21:7cd86bea7f83 186
harrynguyen 21:7cd86bea7f83 187 //** start PurePursuit controller as Thread **
harrynguyen 21:7cd86bea7f83 188 Thread PurePursuitUpdate_function(purePursuit_thread, NULL, osPriorityNormal);
harrynguyen 21:7cd86bea7f83 189 Debug.printf("* PurePursuit controller routine started *\n");
harrynguyen 21:7cd86bea7f83 190
harrynguyen 21:7cd86bea7f83 191 //** start Waypoint commander function as Thread **
harrynguyen 21:7cd86bea7f83 192 Thread WaypointCmdUpdate_function(waypointCmd_thread, NULL, osPriorityNormal);
harrynguyen 21:7cd86bea7f83 193 Debug.printf("* Waypoint commander routine started *\n");
harrynguyen 21:7cd86bea7f83 194
harrynguyen 21:7cd86bea7f83 195 //** start Debug print loop as a thread **
harrynguyen 21:7cd86bea7f83 196 Thread PrintLoop_function(print_thread, NULL, osPriorityNormal, 1024);
harrynguyen 21:7cd86bea7f83 197 Debug.printf("* Print loop started *\n\n\n");
harrynguyen 21:7cd86bea7f83 198
harrynguyen 21:7cd86bea7f83 199 Debug.printf(" ***** \e[5mWAIT UNTIL IMU IS STABILIZED\e[0;m *****\n");
harrynguyen 21:7cd86bea7f83 200
harrynguyen 21:7cd86bea7f83 201 while(1) {
harrynguyen 21:7cd86bea7f83 202
harrynguyen 21:7cd86bea7f83 203 }
harrynguyen 21:7cd86bea7f83 204 }
harrynguyen 21:7cd86bea7f83 205
harrynguyen 21:7cd86bea7f83 206 /**
harrynguyen 21:7cd86bea7f83 207 * heartbeat loop as an individual thread
harrynguyen 21:7cd86bea7f83 208 */
harrynguyen 21:7cd86bea7f83 209 void heartbeat_thread(void const *n)
harrynguyen 21:7cd86bea7f83 210 {
harrynguyen 21:7cd86bea7f83 211 while(true) {
harrynguyen 21:7cd86bea7f83 212 if(imu.imu_stabilized[0] ==1) {
harrynguyen 21:7cd86bea7f83 213 debugLED = !debugLED;
harrynguyen 21:7cd86bea7f83 214 Thread::wait(Hearbeat_RateMS-50);
harrynguyen 21:7cd86bea7f83 215 debugLED = !debugLED;
harrynguyen 21:7cd86bea7f83 216 Thread::wait(50);
harrynguyen 21:7cd86bea7f83 217 } else
harrynguyen 21:7cd86bea7f83 218 debugLED = 1;
harrynguyen 21:7cd86bea7f83 219 }
harrynguyen 21:7cd86bea7f83 220 }
harrynguyen 21:7cd86bea7f83 221
harrynguyen 21:7cd86bea7f83 222 /**
harrynguyen 21:7cd86bea7f83 223 * imu initialization function
harrynguyen 21:7cd86bea7f83 224 */
harrynguyen 21:7cd86bea7f83 225 bool imuInit_function()
harrynguyen 21:7cd86bea7f83 226 {
harrynguyen 21:7cd86bea7f83 227 return (imu.imuInit());
harrynguyen 21:7cd86bea7f83 228 }
harrynguyen 21:7cd86bea7f83 229
harrynguyen 21:7cd86bea7f83 230 /**
harrynguyen 21:7cd86bea7f83 231 * imu update loop as an individual thread
harrynguyen 21:7cd86bea7f83 232 */
harrynguyen 21:7cd86bea7f83 233 void imu_thread(void const *n)
harrynguyen 21:7cd86bea7f83 234 {
harrynguyen 21:7cd86bea7f83 235 bool init_status = imuInit_function();
harrynguyen 21:7cd86bea7f83 236 Thread::wait(100);
harrynguyen 21:7cd86bea7f83 237
harrynguyen 21:7cd86bea7f83 238 while(init_status) {
harrynguyen 21:7cd86bea7f83 239 imu.imuUpdate();
harrynguyen 21:7cd86bea7f83 240
harrynguyen 21:7cd86bea7f83 241 //Usage:
harrynguyen 21:7cd86bea7f83 242 //imu.Pose[0, 1, 2]; //euler x, y, z
harrynguyen 21:7cd86bea7f83 243 //imu.AngVel[0, 1, 2]; //AngVel x, y, z
harrynguyen 21:7cd86bea7f83 244 //imu.LinAcc[0, 1, 2]; //LinAcc x, y, z
harrynguyen 21:7cd86bea7f83 245 //imu.Quat[0, 1, 2, 3]; //Quaternion w, x, y, z
harrynguyen 21:7cd86bea7f83 246
harrynguyen 21:7cd86bea7f83 247 imuTime = imu.time_s;
harrynguyen 21:7cd86bea7f83 248
harrynguyen 21:7cd86bea7f83 249 Thread::wait(imu_UpdatePeriodMS);
harrynguyen 21:7cd86bea7f83 250 }
harrynguyen 21:7cd86bea7f83 251 }
harrynguyen 21:7cd86bea7f83 252
harrynguyen 21:7cd86bea7f83 253 /**
harrynguyen 21:7cd86bea7f83 254 * odometry update loop as an individual thread
harrynguyen 21:7cd86bea7f83 255 */
harrynguyen 21:7cd86bea7f83 256 void odometry_thread(void const *n)
harrynguyen 21:7cd86bea7f83 257 {
harrynguyen 21:7cd86bea7f83 258 odometry.init();
harrynguyen 21:7cd86bea7f83 259 Thread::wait(50);
harrynguyen 21:7cd86bea7f83 260
harrynguyen 21:7cd86bea7f83 261 while(true) {
harrynguyen 21:7cd86bea7f83 262 odometry.update();
harrynguyen 21:7cd86bea7f83 263
harrynguyen 21:7cd86bea7f83 264 //Usage:
harrynguyen 21:7cd86bea7f83 265 //odometer.revolutions[0, 1]; //revolutions left, right
harrynguyen 21:7cd86bea7f83 266 //odometer.rpm[0, 1]; //rpm left, right
harrynguyen 21:7cd86bea7f83 267
harrynguyen 21:7cd86bea7f83 268 localization.updatePosition(DEG_TO_RAD(imu.Pose[2]), odometry.revolutions);
harrynguyen 21:7cd86bea7f83 269
harrynguyen 21:7cd86bea7f83 270 //Usage:
harrynguyen 21:7cd86bea7f83 271 //localization.position[0, 1] //x, y
harrynguyen 21:7cd86bea7f83 272
harrynguyen 21:7cd86bea7f83 273 Thread::wait(odometry_UpdatePeriodMS);
harrynguyen 21:7cd86bea7f83 274 }
harrynguyen 21:7cd86bea7f83 275 }
harrynguyen 21:7cd86bea7f83 276
harrynguyen 21:7cd86bea7f83 277 /**/
harrynguyen 21:7cd86bea7f83 278 float rpm_smc = 500;
harrynguyen 21:7cd86bea7f83 279 float ref_dtheta = 0;
harrynguyen 21:7cd86bea7f83 280 float ref_theta = 0;
harrynguyen 21:7cd86bea7f83 281
harrynguyen 21:7cd86bea7f83 282 float ref_dgamma = 0;
harrynguyen 21:7cd86bea7f83 283 float ref_gamma = 0;
harrynguyen 21:7cd86bea7f83 284
harrynguyen 21:7cd86bea7f83 285 float ref_beta = DEG_TO_RAD(0.0);
harrynguyen 21:7cd86bea7f83 286 float ref_dbeta = 0;
harrynguyen 21:7cd86bea7f83 287
harrynguyen 21:7cd86bea7f83 288 float u1, u2;
harrynguyen 21:7cd86bea7f83 289 /**/
harrynguyen 21:7cd86bea7f83 290 /**
harrynguyen 21:7cd86bea7f83 291 * motor control loop as an individual thread
harrynguyen 21:7cd86bea7f83 292 */
harrynguyen 21:7cd86bea7f83 293 void motorControl_thread(void const *n)
harrynguyen 21:7cd86bea7f83 294 {
harrynguyen 21:7cd86bea7f83 295 motorControl_t.start();
harrynguyen 21:7cd86bea7f83 296
harrynguyen 21:7cd86bea7f83 297 float pitch_th, pitch_om, yaw_th, yaw_om;
harrynguyen 21:7cd86bea7f83 298 float wheelTh_l, wheelTh_r, wheelOm_l, wheelOm_r;
harrynguyen 21:7cd86bea7f83 299 float W_l, W_r;
harrynguyen 21:7cd86bea7f83 300
harrynguyen 21:7cd86bea7f83 301 while(true) {
harrynguyen 21:7cd86bea7f83 302
harrynguyen 21:7cd86bea7f83 303 //if((imu.imu_stabilized[1] ==1) && (go_cmd == 1)) {
harrynguyen 21:7cd86bea7f83 304 if(imu.imu_stabilized[1] ==1) {
harrynguyen 21:7cd86bea7f83 305
harrynguyen 21:7cd86bea7f83 306 pitch_th = DEG_TO_RAD(imu.Pose[0]);
harrynguyen 21:7cd86bea7f83 307 if(pitch_th < -1*M_PI) pitch_th += 2*M_PI;
harrynguyen 21:7cd86bea7f83 308 if(pitch_th > M_PI) pitch_th -= 2*M_PI;
harrynguyen 21:7cd86bea7f83 309 if(pitch_th < -1*M_PI) pitch_th += 2*M_PI;
harrynguyen 21:7cd86bea7f83 310
harrynguyen 21:7cd86bea7f83 311
harrynguyen 21:7cd86bea7f83 312 pitch_om = DEG_TO_RAD(imu.AngVel[0]);
harrynguyen 21:7cd86bea7f83 313
harrynguyen 21:7cd86bea7f83 314 yaw_th = DEG_TO_RAD(imu.Pose[2]);
harrynguyen 21:7cd86bea7f83 315
harrynguyen 21:7cd86bea7f83 316 yaw_om = DEG_TO_RAD(imu.AngVel[2]);
harrynguyen 21:7cd86bea7f83 317
harrynguyen 21:7cd86bea7f83 318 wheelTh_l = odometry.revolutions[0]*(-2*M_PI);
harrynguyen 21:7cd86bea7f83 319 wheelTh_r = odometry.revolutions[1]*(-2*M_PI);
harrynguyen 21:7cd86bea7f83 320
harrynguyen 21:7cd86bea7f83 321 wheelOm_l = (odometry.rpm[0]/60)*(-2*M_PI);
harrynguyen 21:7cd86bea7f83 322 wheelOm_r = (odometry.rpm[1]/60)*(-2*M_PI);
harrynguyen 21:7cd86bea7f83 323
harrynguyen 21:7cd86bea7f83 324 //ref_dtheta = rpm_smc*(-2*M_PI/60.0); //*generalFunctions::abs_f(sin(2*M_PI*imuTime/(15*2)));
harrynguyen 21:7cd86bea7f83 325 //ref_theta = ref_dtheta * imuTime;
harrynguyen 21:7cd86bea7f83 326 //ref_gamma = DEG_TO_RAD(30.0) ;//* sin(2*M_PI*imuTime/(30*2));
harrynguyen 21:7cd86bea7f83 327
harrynguyen 21:7cd86bea7f83 328 ref_dtheta = (purePursuit_velocity * (60.0 / (M_PI * wheel_dia)))*(-2*M_PI/60.0);
harrynguyen 21:7cd86bea7f83 329 ref_gamma = purePursuit_gamma;
harrynguyen 21:7cd86bea7f83 330 ref_dgamma = purePursuit_omega;
harrynguyen 21:7cd86bea7f83 331
harrynguyen 21:7cd86bea7f83 332 attitudeControl.GenWheelVelocities(&W_l, &W_r, 0, motorControl_t.read(),
harrynguyen 21:7cd86bea7f83 333 pitch_th, pitch_om, yaw_th , yaw_om,
harrynguyen 21:7cd86bea7f83 334 wheelTh_l, wheelTh_r, wheelOm_l, wheelOm_r,
harrynguyen 21:7cd86bea7f83 335 0, ref_dbeta, ref_beta,
harrynguyen 21:7cd86bea7f83 336 0, ref_dtheta, ref_theta,
harrynguyen 21:7cd86bea7f83 337 0, ref_dgamma, ref_gamma,
harrynguyen 21:7cd86bea7f83 338 &u1, &u2);
harrynguyen 21:7cd86bea7f83 339
harrynguyen 21:7cd86bea7f83 340
harrynguyen 21:7cd86bea7f83 341
harrynguyen 21:7cd86bea7f83 342 if(waypointSetFinish_flag == 0) {
harrynguyen 25:3a82f868c101 343 rpm_cmd[0]=W_l*60/(2*M_PI)*(-1.0);
harrynguyen 25:3a82f868c101 344 rpm_cmd[1]=W_r*60/(2*M_PI)*(-1.0);
harrynguyen 25:3a82f868c101 345 // rpm_cmd[0]=-800;
harrynguyen 25:3a82f868c101 346 // rpm_cmd[1]=-800;
harrynguyen 21:7cd86bea7f83 347
harrynguyen 21:7cd86bea7f83 348 if( (generalFunctions::abs_f(rpm_cmd[0]) < 500.0) && (generalFunctions::abs_f(rpm_cmd[0]) > 100.0) )
harrynguyen 21:7cd86bea7f83 349 rpm_cmd[0] = 475.0*generalFunctions::sign_f(rpm_cmd[0]);
harrynguyen 21:7cd86bea7f83 350 else if(generalFunctions::abs_f(rpm_cmd[0]) <= 100.0)
harrynguyen 21:7cd86bea7f83 351 rpm_cmd[0] = 0;
harrynguyen 21:7cd86bea7f83 352
harrynguyen 21:7cd86bea7f83 353 if( (generalFunctions::abs_f(rpm_cmd[1]) < 500.0) && (generalFunctions::abs_f(rpm_cmd[1]) > 100.0) )
harrynguyen 21:7cd86bea7f83 354 rpm_cmd[1] = 475.0*generalFunctions::sign_f(rpm_cmd[1]);
harrynguyen 21:7cd86bea7f83 355 else if(generalFunctions::abs_f(rpm_cmd[1]) <= 100.0)
harrynguyen 21:7cd86bea7f83 356 rpm_cmd[1] = 0;
harrynguyen 21:7cd86bea7f83 357
harrynguyen 21:7cd86bea7f83 358 rpm_compensated[0]=PID_L.processAcc(rpm_cmd[0], targetAcceleration, motorControl_t.read());
harrynguyen 21:7cd86bea7f83 359 rpm_compensated[1]=PID_R.processAcc(rpm_cmd[1], targetAcceleration, motorControl_t.read());
harrynguyen 21:7cd86bea7f83 360
harrynguyen 21:7cd86bea7f83 361 //rpm_compensated[0]= rpm_cmd[0];
harrynguyen 21:7cd86bea7f83 362 //rpm_compensated[1]= rpm_cmd[1];
harrynguyen 21:7cd86bea7f83 363
harrynguyen 21:7cd86bea7f83 364 } else {
harrynguyen 21:7cd86bea7f83 365 rpm_cmd[0]=0;
harrynguyen 21:7cd86bea7f83 366 rpm_cmd[1]=0;
harrynguyen 21:7cd86bea7f83 367
harrynguyen 21:7cd86bea7f83 368 rpm_compensated[0]=PID_L.processAcc(rpm_cmd[0], 225.0, motorControl_t.read());
harrynguyen 21:7cd86bea7f83 369 rpm_compensated[1]=PID_R.processAcc(rpm_cmd[1], 225.0, motorControl_t.read());
harrynguyen 21:7cd86bea7f83 370 }
harrynguyen 21:7cd86bea7f83 371
harrynguyen 21:7cd86bea7f83 372 pwm_cmd[0]=PID_L.calcOutput(rpm_compensated[0], odometry.rpm[0], motorControl_t.read());
harrynguyen 21:7cd86bea7f83 373 pwm_cmd[1]=PID_R.calcOutput(rpm_compensated[1], odometry.rpm[1], motorControl_t.read());
harrynguyen 21:7cd86bea7f83 374
harrynguyen 21:7cd86bea7f83 375 drive.setPWM_L(pwm_cmd[0]);
harrynguyen 21:7cd86bea7f83 376 drive.setPWM_R(pwm_cmd[1]);
harrynguyen 21:7cd86bea7f83 377
harrynguyen 21:7cd86bea7f83 378
harrynguyen 21:7cd86bea7f83 379 }
harrynguyen 21:7cd86bea7f83 380
harrynguyen 21:7cd86bea7f83 381 motorControl_t.reset();
harrynguyen 21:7cd86bea7f83 382
harrynguyen 21:7cd86bea7f83 383 Thread::wait(motorControl_UpdatePeriodMS);
harrynguyen 21:7cd86bea7f83 384 }
harrynguyen 21:7cd86bea7f83 385 }
harrynguyen 21:7cd86bea7f83 386
harrynguyen 21:7cd86bea7f83 387 /**
harrynguyen 21:7cd86bea7f83 388 * purepursuit loop as an individual thread
harrynguyen 21:7cd86bea7f83 389 */
harrynguyen 21:7cd86bea7f83 390 void purePursuit_thread(void const *n)
harrynguyen 21:7cd86bea7f83 391 {
harrynguyen 21:7cd86bea7f83 392 while(true) {
harrynguyen 21:7cd86bea7f83 393 if(imu.imu_stabilized[0] ==1) {
harrynguyen 21:7cd86bea7f83 394 //purePursuit.GenVGW(&purePursuit_velocity, &purePursuit_gamma, &purePursuit_omega, target_waypoint, 400.0, localization.position, DEG_TO_RAD(imu.Pose[2]));
harrynguyen 21:7cd86bea7f83 395 purePursuit.GenVGW(&purePursuit_velocity, &purePursuit_gamma, &purePursuit_omega, target_waypoint, target_velocity, localization.position, DEG_TO_RAD(imu.Pose[2]));
harrynguyen 21:7cd86bea7f83 396
harrynguyen 21:7cd86bea7f83 397 if(purePursuit.robotFrame_targetDistance <= waypointZone)
harrynguyen 21:7cd86bea7f83 398 waypointReached_flag = 1;
harrynguyen 21:7cd86bea7f83 399 else
harrynguyen 21:7cd86bea7f83 400 waypointReached_flag = 0;
harrynguyen 21:7cd86bea7f83 401 }
harrynguyen 21:7cd86bea7f83 402 Thread::wait(imu_UpdatePeriodMS);
harrynguyen 21:7cd86bea7f83 403 }
harrynguyen 21:7cd86bea7f83 404 }
harrynguyen 21:7cd86bea7f83 405
harrynguyen 21:7cd86bea7f83 406 /**
harrynguyen 21:7cd86bea7f83 407 * waypoint tracking loop as individual thread
harrynguyen 21:7cd86bea7f83 408 */
harrynguyen 21:7cd86bea7f83 409 void waypointCmd_thread(void const *n)
harrynguyen 21:7cd86bea7f83 410 {
harrynguyen 21:7cd86bea7f83 411 while(true) {
harrynguyen 21:7cd86bea7f83 412 //if((imu.imu_stabilized[0] ==1) && (go_cmd == 1)) {
harrynguyen 21:7cd86bea7f83 413 if(imu.imu_stabilized[0] ==1) {
harrynguyen 21:7cd86bea7f83 414 if(waypoint_index > totalWaypoints) {
harrynguyen 21:7cd86bea7f83 415 target_velocity = 0.0; //stop the robot
harrynguyen 21:7cd86bea7f83 416 waypointSetFinish_flag = 1;
harrynguyen 21:7cd86bea7f83 417 }
harrynguyen 21:7cd86bea7f83 418
harrynguyen 21:7cd86bea7f83 419 if(waypointReached_flag == 1 && waypointSetFinish_flag == 0) {
harrynguyen 21:7cd86bea7f83 420 target_waypoint[0] = waypoints_set[waypoint_index][0] * 10.0; //convert coordinate from centimeters to millimeters
harrynguyen 21:7cd86bea7f83 421 target_waypoint[1] = waypoints_set[waypoint_index][1] * 10.0; //convert coordinate from centimeters to millimeters
harrynguyen 21:7cd86bea7f83 422 target_velocity = waypoints_set[waypoint_index][2] * (driveTrain_maxV/100.0); //convert speed from percentage to mm/s
harrynguyen 21:7cd86bea7f83 423 waypoint_index++;
harrynguyen 21:7cd86bea7f83 424 }
harrynguyen 21:7cd86bea7f83 425 }
harrynguyen 21:7cd86bea7f83 426 Thread::wait(100); //waypoint update doesnt need to be very fast, 10Hz is more than sufficient
harrynguyen 21:7cd86bea7f83 427 }
harrynguyen 21:7cd86bea7f83 428 }
harrynguyen 21:7cd86bea7f83 429
harrynguyen 21:7cd86bea7f83 430
harrynguyen 21:7cd86bea7f83 431
harrynguyen 21:7cd86bea7f83 432
harrynguyen 21:7cd86bea7f83 433
harrynguyen 21:7cd86bea7f83 434
harrynguyen 21:7cd86bea7f83 435
harrynguyen 21:7cd86bea7f83 436 /**
harrynguyen 21:7cd86bea7f83 437 * Debug data print loop as an individual thread
harrynguyen 21:7cd86bea7f83 438 */
harrynguyen 21:7cd86bea7f83 439 #define print_lines 15 //number of info lines being printed on screen
harrynguyen 21:7cd86bea7f83 440 void print_thread(void const *n)
harrynguyen 21:7cd86bea7f83 441 {
harrynguyen 21:7cd86bea7f83 442 //clear 14 lines while going up, these are the initilization lines printed on screen
harrynguyen 21:7cd86bea7f83 443 for(int l=14; l>0; l--) {
harrynguyen 21:7cd86bea7f83 444 Debug.printf("\e[1A"); //go up 1 line
harrynguyen 21:7cd86bea7f83 445 Debug.printf("\e[K"); //clear line
harrynguyen 21:7cd86bea7f83 446 }
harrynguyen 21:7cd86bea7f83 447
harrynguyen 21:7cd86bea7f83 448 Debug.printf("************ VIRGO v3: Status Monitor *************\n\n");
harrynguyen 21:7cd86bea7f83 449 for(int l=print_lines; l>0; l--) Debug.printf("\n");
harrynguyen 21:7cd86bea7f83 450 Debug.printf("\n===================================================");
harrynguyen 21:7cd86bea7f83 451 Debug.printf("\e[1A"); //go up 1 line
harrynguyen 21:7cd86bea7f83 452
harrynguyen 21:7cd86bea7f83 453 while(true) {
harrynguyen 21:7cd86bea7f83 454 //move cursor up # of lines printed to create a static display and clear the first line
harrynguyen 21:7cd86bea7f83 455 for(int l=print_lines; l>0; l--) Debug.printf("\e[1A");
harrynguyen 21:7cd86bea7f83 456 Debug.printf("\e[K");
harrynguyen 21:7cd86bea7f83 457
harrynguyen 21:7cd86bea7f83 458 Debug.printf("Elapsed time: %.2f s\n\e[K", imuTime); //
harrynguyen 21:7cd86bea7f83 459 Debug.printf("Position: %.2f , %.2f\n\e[K", localization.position[0], localization.position[1]); //
harrynguyen 21:7cd86bea7f83 460 Debug.printf("Orientation (X-Y-Z): (%.2f , %.2f , %.2f)\n\e[K", imu.Pose[0], imu.Pose[1], imu.Pose[2]);
harrynguyen 21:7cd86bea7f83 461 Debug.printf("Calib Status : %d, %d \n\e[K", imu.imu_stabilized[0], imu.imu_stabilized[1]);
harrynguyen 21:7cd86bea7f83 462 Debug.printf("Calib Status (M-A-G-S-O): (%d , %d , %d , %d , %d)\n\e[K", imu.calib_stat[0], imu.calib_stat[1], imu.calib_stat[2], imu.calib_stat[3], imu.calib_stat[4]);
harrynguyen 21:7cd86bea7f83 463
harrynguyen 21:7cd86bea7f83 464 //Debug.printf("Battery Status: %3.2f%%, %1.2fV\n\e[K", battery.getSOC(), battery.getVcell());
harrynguyen 21:7cd86bea7f83 465
harrynguyen 21:7cd86bea7f83 466 Debug.printf("Waypoint Tracking: waypointReached %d, waypointSetFinish %d waypointIndex %d\n\e[K", waypointReached_flag, waypointSetFinish_flag, waypoint_index);
harrynguyen 21:7cd86bea7f83 467 Debug.printf("Waypoint Tracking: distanceToWaypoint %.1f, purePursuit_headingE %.1f \n\e[K", purePursuit.robotFrame_targetDistance, RAD_TO_DEG(purePursuit.purePursuit_headingE));
harrynguyen 21:7cd86bea7f83 468 Debug.printf("Waypoint being tracked (X,Y): %.2f, %.2f\n\e[K", target_waypoint[0], target_waypoint[1]);
harrynguyen 21:7cd86bea7f83 469
harrynguyen 21:7cd86bea7f83 470 Debug.printf("SMC: ref_beta %.2f, ref_dbeta %.3f\n\e[K", RAD_TO_DEG(ref_beta), RAD_TO_DEG(ref_dbeta));
harrynguyen 21:7cd86bea7f83 471 Debug.printf("SMC: ref_gamma %.2f, ref_dgamma %.3f\n\e[K", RAD_TO_DEG(ref_gamma), RAD_TO_DEG(ref_dgamma));
harrynguyen 21:7cd86bea7f83 472 Debug.printf("SMC: ref_theta %.2f, ref_dtheta %.3f\n\e[K", RAD_TO_DEG(ref_theta), RAD_TO_DEG(ref_dtheta));
harrynguyen 21:7cd86bea7f83 473 Debug.printf("SMC: u1*tc %.2f rpm, u2*tc %.2f rpm\n\e[K", u1*0.005*60/(2*M_PI), u2*0.005*60/(2*M_PI));
harrynguyen 21:7cd86bea7f83 474
harrynguyen 21:7cd86bea7f83 475 Debug.printf("Compensated RPM (L,R): %.1f, %.1f\n\e[K", rpm_compensated[0], rpm_compensated[1]);
harrynguyen 21:7cd86bea7f83 476 //Debug.printf("Computed PWM (L,R): %.1f, %.1f\n\e[K", pwm_cmd[0]*100.0, pwm_cmd[1]*100.0);
harrynguyen 21:7cd86bea7f83 477 Debug.printf("Measured RPM (L,R): %.1f, %.1f\n\e[K", odometry.rpm[0], odometry.rpm[1]);
harrynguyen 21:7cd86bea7f83 478 //Debug.printf("Measured Revolutions (L,R): %.1f, %.1f\n\e[K", odometry.revolutions[0], odometry.revolutions[1]);
harrynguyen 21:7cd86bea7f83 479
harrynguyen 21:7cd86bea7f83 480 //Debug.printf("PID_L: P %0.3f, I %0.3f, D %0.3f, Ff %0.3f, Summ %0.3f\n\e[K", PID_L.PIDFf_terms[0], PID_L.PIDFf_terms[1], PID_L.PIDFf_terms[2], PID_L.PIDFf_terms[3], PID_L.Summ_term);
harrynguyen 21:7cd86bea7f83 481 //Debug.printf("PID_R: P %0.3f, I %0.3f, D %0.3f, Ff %0.3f, Summ %0.3f\n\e[K", PID_R.PIDFf_terms[0], PID_R.PIDFf_terms[1], PID_R.PIDFf_terms[2], PID_R.PIDFf_terms[3], PID_R.Summ_term);
harrynguyen 21:7cd86bea7f83 482
harrynguyen 23:6806c3bacf58 483
harrynguyen 21:7cd86bea7f83 484 //Debug.printf("Comm Status: %d\n\e[K", comm_status[0]);
harrynguyen 21:7cd86bea7f83 485
harrynguyen 21:7cd86bea7f83 486 Thread::wait(PrintLoop_PeriodMS);
harrynguyen 21:7cd86bea7f83 487 }
harrynguyen 21:7cd86bea7f83 488 }