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
orion_main.cpp@30:44676e1b38f8, 2018-03-20 (annotated)
- Committer:
- ahmed_lv
- Date:
- Tue Mar 20 05:56:22 2018 +0000
- Revision:
- 30:44676e1b38f8
- Parent:
- 29:a6a812ee83ea
Editted Input Variables to PID
Who changed what in which revision?
User | Revision | Line number | New 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" |
ahmed_lv | 27:2db168d9fb18 | 37 | #include "VL53L0X.h" |
ahmed_lv | 27:2db168d9fb18 | 38 | #define W 0.1 |
harrynguyen | 21:7cd86bea7f83 | 39 | |
harrynguyen | 21:7cd86bea7f83 | 40 | /** |
harrynguyen | 21:7cd86bea7f83 | 41 | * Functions, Threads & General Definitions |
harrynguyen | 21:7cd86bea7f83 | 42 | */ |
harrynguyen | 21:7cd86bea7f83 | 43 | //***************************************************************************** |
ahmed_lv | 27:2db168d9fb18 | 44 | |
ahmed_lv | 27:2db168d9fb18 | 45 | //** Ranging **// |
ahmed_lv | 27:2db168d9fb18 | 46 | I2C ItC_ranging(i2c2_SDA, i2c2_SCL); |
ahmed_lv | 27:2db168d9fb18 | 47 | Timer time_r; |
ahmed_lv | 27:2db168d9fb18 | 48 | |
ahmed_lv | 27:2db168d9fb18 | 49 | DigitalOut xshut1(xs1); |
ahmed_lv | 27:2db168d9fb18 | 50 | DigitalOut xshut2(xs2); |
ahmed_lv | 27:2db168d9fb18 | 51 | DigitalOut xshut3(xs3); |
ahmed_lv | 27:2db168d9fb18 | 52 | DigitalOut xshut4(xs4); |
ahmed_lv | 27:2db168d9fb18 | 53 | DigitalOut xshut5(xs5); |
ahmed_lv | 27:2db168d9fb18 | 54 | |
ahmed_lv | 27:2db168d9fb18 | 55 | VL53L0X sensor1(&ItC_ranging, &time_r); |
ahmed_lv | 27:2db168d9fb18 | 56 | VL53L0X sensor2(&ItC_ranging, &time_r); |
ahmed_lv | 27:2db168d9fb18 | 57 | VL53L0X sensor3(&ItC_ranging, &time_r); |
ahmed_lv | 27:2db168d9fb18 | 58 | VL53L0X sensor4(&ItC_ranging, &time_r); |
ahmed_lv | 27:2db168d9fb18 | 59 | VL53L0X sensor5(&ItC_ranging, &time_r); |
ahmed_lv | 27:2db168d9fb18 | 60 | |
ahmed_lv | 27:2db168d9fb18 | 61 | |
ahmed_lv | 27:2db168d9fb18 | 62 | struct RangeData{ |
ahmed_lv | 27:2db168d9fb18 | 63 | uint16_t exleft, left, front, right, exright;; |
ahmed_lv | 27:2db168d9fb18 | 64 | }; |
ahmed_lv | 27:2db168d9fb18 | 65 | RangeData RangeSensor; |
ahmed_lv | 27:2db168d9fb18 | 66 | |
ahmed_lv | 27:2db168d9fb18 | 67 | |
harrynguyen | 21:7cd86bea7f83 | 68 | //** Drivetrain ** |
harrynguyen | 21:7cd86bea7f83 | 69 | motorDriver drive; //motor drive train |
harrynguyen | 21:7cd86bea7f83 | 70 | odometer odometry; //odometer function |
ahmed_lv | 26:32eaf3c3ac2e | 71 | pidBearing PID_B; //PID control for bearing |
harrynguyen | 21:7cd86bea7f83 | 72 | pidControl PID_L, PID_R; //pidcontroller for left and right motors |
harrynguyen | 21:7cd86bea7f83 | 73 | |
ahmed_lv | 30:44676e1b38f8 | 74 | //**new PID control**/*#LV*/ |
ahmed_lv | 29:a6a812ee83ea | 75 | float bearingToWaypoint, robotFrame, prevError, speedChange; |
ahmed_lv | 29:a6a812ee83ea | 76 | float k3, cmdL, cmdR, Error; |
ahmed_lv | 30:44676e1b38f8 | 77 | //**end of new control **/*#LV*/ |
ahmed_lv | 26:32eaf3c3ac2e | 78 | |
harrynguyen | 21:7cd86bea7f83 | 79 | Timer motorControl_t; |
harrynguyen | 21:7cd86bea7f83 | 80 | float rpm_cmd[2]; //drive motor rpm command |
harrynguyen | 21:7cd86bea7f83 | 81 | float rpm_compensated[2]; //rpm command compensated by acc limit |
harrynguyen | 21:7cd86bea7f83 | 82 | float targetAcceleration = 300.0; //RPM/s acceleration |
harrynguyen | 21:7cd86bea7f83 | 83 | float pwm_cmd[2]; //drive motor pwm command |
harrynguyen | 21:7cd86bea7f83 | 84 | |
harrynguyen | 21:7cd86bea7f83 | 85 | /* THREAD */ |
harrynguyen | 21:7cd86bea7f83 | 86 | void odometry_thread(void const *n); |
harrynguyen | 21:7cd86bea7f83 | 87 | void motorControl_thread(void const *n); |
harrynguyen | 21:7cd86bea7f83 | 88 | /* ** */ |
harrynguyen | 21:7cd86bea7f83 | 89 | //------------- |
harrynguyen | 21:7cd86bea7f83 | 90 | |
harrynguyen | 21:7cd86bea7f83 | 91 | //** Localization ** |
harrynguyen | 21:7cd86bea7f83 | 92 | IMU_BNO055 imu; //Bosch BNO055 IMU wrapper class. For Invensense IMU use IMU_MPU6050 imu; //MPU9150 / MPU6050 wrapper class |
harrynguyen | 21:7cd86bea7f83 | 93 | float imuTime; |
harrynguyen | 21:7cd86bea7f83 | 94 | Localization localization; //localization function |
harrynguyen | 21:7cd86bea7f83 | 95 | |
harrynguyen | 21:7cd86bea7f83 | 96 | /* FUNCTION */ |
harrynguyen | 21:7cd86bea7f83 | 97 | bool imuInit_function(); |
harrynguyen | 21:7cd86bea7f83 | 98 | /* ** */ |
harrynguyen | 21:7cd86bea7f83 | 99 | |
harrynguyen | 21:7cd86bea7f83 | 100 | /* THREAD */ |
harrynguyen | 21:7cd86bea7f83 | 101 | void imu_thread(void const *n); |
harrynguyen | 21:7cd86bea7f83 | 102 | |
harrynguyen | 21:7cd86bea7f83 | 103 | //------------- |
harrynguyen | 21:7cd86bea7f83 | 104 | |
harrynguyen | 21:7cd86bea7f83 | 105 | //** Power Monitor ** |
harrynguyen | 21:7cd86bea7f83 | 106 | BattGuage battery; //Battery fuel gauge wrapper |
harrynguyen | 21:7cd86bea7f83 | 107 | |
harrynguyen | 21:7cd86bea7f83 | 108 | /* THREAD */ |
harrynguyen | 21:7cd86bea7f83 | 109 | |
harrynguyen | 21:7cd86bea7f83 | 110 | /* ** */ |
harrynguyen | 21:7cd86bea7f83 | 111 | //------------- |
harrynguyen | 21:7cd86bea7f83 | 112 | |
harrynguyen | 21:7cd86bea7f83 | 113 | //** Trajectory tracking ** |
harrynguyen | 21:7cd86bea7f83 | 114 | purePursuit purePursuit; |
harrynguyen | 23:6806c3bacf58 | 115 | //kinematics kinematics; |
harrynguyen | 21:7cd86bea7f83 | 116 | |
harrynguyen | 21:7cd86bea7f83 | 117 | float purePursuit_velocity, purePursuit_omega, purePursuit_gamma; |
harrynguyen | 21:7cd86bea7f83 | 118 | //waypoints tored in format: x_coordinate,y_coordinate,speed_%,heading_toFace |
harrynguyen | 21:7cd86bea7f83 | 119 | uint8_t totalWaypoints = 5; |
harrynguyen | 21:7cd86bea7f83 | 120 | //kite pattern 200cm long, 100cm wide |
harrynguyen | 21:7cd86bea7f83 | 121 | int16_t waypoints_set[][4] = { {0,0,90,0}, |
harrynguyen | 21:7cd86bea7f83 | 122 | {100,100,90,0}, |
harrynguyen | 21:7cd86bea7f83 | 123 | {0,200,90,0}, |
harrynguyen | 21:7cd86bea7f83 | 124 | {-100,100,90,0}, |
harrynguyen | 21:7cd86bea7f83 | 125 | {0,0,90,0}, |
harrynguyen | 21:7cd86bea7f83 | 126 | {0,0,90,0}, |
harrynguyen | 21:7cd86bea7f83 | 127 | {0,0,90,0} |
harrynguyen | 21:7cd86bea7f83 | 128 | }; |
harrynguyen | 21:7cd86bea7f83 | 129 | |
harrynguyen | 21:7cd86bea7f83 | 130 | float waypointZone = 300.0; //diameter around desired waypoint, if robot reaches within that zone then waypoint is reached. |
harrynguyen | 21:7cd86bea7f83 | 131 | uint8_t waypointReached_flag = 0; //indicates if the desired waypoint has been reached |
harrynguyen | 21:7cd86bea7f83 | 132 | uint8_t waypointSetFinish_flag = 0; //indicates if the desired waypoint set is over and the robot needs to stop. |
harrynguyen | 21:7cd86bea7f83 | 133 | 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 | 134 | float target_velocity =0.0; //target velocity in mm/s |
harrynguyen | 21:7cd86bea7f83 | 135 | float distanceToWaypoint; //distance from robot to waypoint |
harrynguyen | 21:7cd86bea7f83 | 136 | uint8_t waypoint_index=0; |
harrynguyen | 21:7cd86bea7f83 | 137 | uint8_t go_cmd=0; //make robot run a waypoint set |
harrynguyen | 21:7cd86bea7f83 | 138 | |
harrynguyen | 21:7cd86bea7f83 | 139 | /* THREAD */ |
harrynguyen | 21:7cd86bea7f83 | 140 | void purePursuit_thread(void const *n); |
harrynguyen | 21:7cd86bea7f83 | 141 | void waypointCmd_thread(void const *n); |
harrynguyen | 21:7cd86bea7f83 | 142 | /* ** */ |
harrynguyen | 21:7cd86bea7f83 | 143 | //------------- |
harrynguyen | 21:7cd86bea7f83 | 144 | |
harrynguyen | 21:7cd86bea7f83 | 145 | //** Attitude control ** |
harrynguyen | 21:7cd86bea7f83 | 146 | attitudeControl attitudeControl; |
harrynguyen | 21:7cd86bea7f83 | 147 | |
harrynguyen | 21:7cd86bea7f83 | 148 | float pidAttCntrl_correction[2]; //0-pitch control , 1- roll control |
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 |
ahmed_lv | 27:2db168d9fb18 | 156 | void ranging_thread(void const *n); //ranging VL53L0X |
harrynguyen | 21:7cd86bea7f83 | 157 | /* ** */ |
ahmed_lv | 27:2db168d9fb18 | 158 | |
harrynguyen | 21:7cd86bea7f83 | 159 | //----------------------------------------------------------------------------- |
harrynguyen | 21:7cd86bea7f83 | 160 | |
harrynguyen | 21:7cd86bea7f83 | 161 | |
harrynguyen | 21:7cd86bea7f83 | 162 | int main() |
harrynguyen | 21:7cd86bea7f83 | 163 | { |
harrynguyen | 21:7cd86bea7f83 | 164 | Debug.baud(PC_BAUDRATE); |
harrynguyen | 21:7cd86bea7f83 | 165 | |
harrynguyen | 21:7cd86bea7f83 | 166 | debugLED =1; |
harrynguyen | 21:7cd86bea7f83 | 167 | |
harrynguyen | 21:7cd86bea7f83 | 168 | //wait_ms(5000); |
harrynguyen | 21:7cd86bea7f83 | 169 | |
harrynguyen | 21:7cd86bea7f83 | 170 | Debug.printf("** Starting Virgo v3 Routines *************\n\n"); |
harrynguyen | 21:7cd86bea7f83 | 171 | |
harrynguyen | 21:7cd86bea7f83 | 172 | //** start Hearbeat loop as a thread ** |
harrynguyen | 21:7cd86bea7f83 | 173 | Thread Heartbeat_function(heartbeat_thread, NULL, osPriorityNormal); |
harrynguyen | 21:7cd86bea7f83 | 174 | Debug.printf("* Hearbeat loop started *\n"); |
harrynguyen | 21:7cd86bea7f83 | 175 | |
harrynguyen | 21:7cd86bea7f83 | 176 | //** start IMU funtion as Thread ** |
harrynguyen | 21:7cd86bea7f83 | 177 | Thread IMU_function(imu_thread, NULL, osPriorityHigh); |
harrynguyen | 21:7cd86bea7f83 | 178 | Debug.printf("* IMU routine started *\n"); |
harrynguyen | 21:7cd86bea7f83 | 179 | |
harrynguyen | 21:7cd86bea7f83 | 180 | //** start OdometryUpdate function as Thread ** |
harrynguyen | 21:7cd86bea7f83 | 181 | Thread Odometry_function(odometry_thread, NULL, osPriorityNormal, 1024); |
harrynguyen | 21:7cd86bea7f83 | 182 | Debug.printf("* Odometry routine started *\n"); |
harrynguyen | 21:7cd86bea7f83 | 183 | |
harrynguyen | 21:7cd86bea7f83 | 184 | //** start MotorControl function as Thread ** |
harrynguyen | 21:7cd86bea7f83 | 185 | Thread MotorControl_function(motorControl_thread, NULL, osPriorityNormal); |
harrynguyen | 21:7cd86bea7f83 | 186 | Debug.printf("* Motor control routine started *\n"); |
harrynguyen | 21:7cd86bea7f83 | 187 | |
harrynguyen | 21:7cd86bea7f83 | 188 | //** start PurePursuit controller as Thread ** |
harrynguyen | 21:7cd86bea7f83 | 189 | Thread PurePursuitUpdate_function(purePursuit_thread, NULL, osPriorityNormal); |
harrynguyen | 21:7cd86bea7f83 | 190 | Debug.printf("* PurePursuit controller routine started *\n"); |
harrynguyen | 21:7cd86bea7f83 | 191 | |
harrynguyen | 21:7cd86bea7f83 | 192 | //** start Waypoint commander function as Thread ** |
harrynguyen | 21:7cd86bea7f83 | 193 | Thread WaypointCmdUpdate_function(waypointCmd_thread, NULL, osPriorityNormal); |
harrynguyen | 21:7cd86bea7f83 | 194 | Debug.printf("* Waypoint commander routine started *\n"); |
harrynguyen | 21:7cd86bea7f83 | 195 | |
ahmed_lv | 27:2db168d9fb18 | 196 | |
ahmed_lv | 27:2db168d9fb18 | 197 | |
ahmed_lv | 27:2db168d9fb18 | 198 | |
ahmed_lv | 28:39d694b0e998 | 199 | /* xshut1 = 0; |
ahmed_lv | 27:2db168d9fb18 | 200 | xshut2 = 0; |
ahmed_lv | 27:2db168d9fb18 | 201 | xshut3 = 0; |
ahmed_lv | 27:2db168d9fb18 | 202 | xshut4 = 0; |
ahmed_lv | 27:2db168d9fb18 | 203 | xshut5 = 0; |
ahmed_lv | 27:2db168d9fb18 | 204 | |
ahmed_lv | 27:2db168d9fb18 | 205 | Thread::wait(W); |
ahmed_lv | 27:2db168d9fb18 | 206 | |
ahmed_lv | 27:2db168d9fb18 | 207 | ///////////////////////// |
ahmed_lv | 27:2db168d9fb18 | 208 | xshut1 = 1; |
ahmed_lv | 27:2db168d9fb18 | 209 | Debug.printf("Sensor 1: \nXSHUT ON\n"); |
ahmed_lv | 27:2db168d9fb18 | 210 | Thread::wait(W); |
ahmed_lv | 27:2db168d9fb18 | 211 | |
ahmed_lv | 27:2db168d9fb18 | 212 | sensor1.init(); |
ahmed_lv | 27:2db168d9fb18 | 213 | Debug.printf("S1 Initialized...\n"); |
ahmed_lv | 27:2db168d9fb18 | 214 | Thread::wait(W); |
ahmed_lv | 27:2db168d9fb18 | 215 | |
ahmed_lv | 27:2db168d9fb18 | 216 | sensor1.setAddress((uint8_t)23); |
ahmed_lv | 27:2db168d9fb18 | 217 | Debug.printf("S1 Address set...\n"); |
ahmed_lv | 27:2db168d9fb18 | 218 | ///////////////////////// |
ahmed_lv | 27:2db168d9fb18 | 219 | xshut2 = 1; |
ahmed_lv | 27:2db168d9fb18 | 220 | Debug.printf("Sensor 2: \nXSHUT ON\n"); |
ahmed_lv | 27:2db168d9fb18 | 221 | Thread::wait(W); |
ahmed_lv | 27:2db168d9fb18 | 222 | |
ahmed_lv | 27:2db168d9fb18 | 223 | sensor2.init(); |
ahmed_lv | 27:2db168d9fb18 | 224 | Debug.printf("S2 Initialized...\n"); |
ahmed_lv | 27:2db168d9fb18 | 225 | Thread::wait(W); |
ahmed_lv | 27:2db168d9fb18 | 226 | |
ahmed_lv | 27:2db168d9fb18 | 227 | sensor2.setAddress((uint8_t)25); |
ahmed_lv | 27:2db168d9fb18 | 228 | Debug.printf("S2 Address set...\n"); |
ahmed_lv | 27:2db168d9fb18 | 229 | ///////////////////////// |
ahmed_lv | 27:2db168d9fb18 | 230 | xshut3 = 1; |
ahmed_lv | 27:2db168d9fb18 | 231 | Debug.printf("Sensor 3: \nXSHUT ON\n"); |
ahmed_lv | 27:2db168d9fb18 | 232 | Thread::wait(W); |
ahmed_lv | 27:2db168d9fb18 | 233 | |
ahmed_lv | 27:2db168d9fb18 | 234 | sensor3.init(); |
ahmed_lv | 27:2db168d9fb18 | 235 | Debug.printf("S3 Initialized...\n"); |
ahmed_lv | 27:2db168d9fb18 | 236 | Thread::wait(W); |
ahmed_lv | 27:2db168d9fb18 | 237 | |
ahmed_lv | 27:2db168d9fb18 | 238 | sensor3.setAddress((uint8_t)27); |
ahmed_lv | 27:2db168d9fb18 | 239 | Debug.printf("S3 Address set...\n"); |
ahmed_lv | 27:2db168d9fb18 | 240 | ///////////////////////// |
ahmed_lv | 27:2db168d9fb18 | 241 | xshut4 = 1; |
ahmed_lv | 27:2db168d9fb18 | 242 | Debug.printf("Sensor 4: \nXSHUT ON\n"); |
ahmed_lv | 27:2db168d9fb18 | 243 | Thread::wait(W); |
ahmed_lv | 27:2db168d9fb18 | 244 | |
ahmed_lv | 27:2db168d9fb18 | 245 | sensor4.init(); |
ahmed_lv | 27:2db168d9fb18 | 246 | Debug.printf("S4 Initialized...\n"); |
ahmed_lv | 27:2db168d9fb18 | 247 | Thread::wait(W); |
ahmed_lv | 27:2db168d9fb18 | 248 | |
ahmed_lv | 27:2db168d9fb18 | 249 | sensor4.setAddress((uint8_t)29); |
ahmed_lv | 27:2db168d9fb18 | 250 | Debug.printf("S4 Address set...\n"); |
ahmed_lv | 27:2db168d9fb18 | 251 | ///////////////////////// |
ahmed_lv | 27:2db168d9fb18 | 252 | xshut5 = 1; |
ahmed_lv | 27:2db168d9fb18 | 253 | Debug.printf("Sensor 5: \nXSHUT ON\n"); |
ahmed_lv | 27:2db168d9fb18 | 254 | Thread::wait(W); |
ahmed_lv | 27:2db168d9fb18 | 255 | |
ahmed_lv | 27:2db168d9fb18 | 256 | sensor5.init(); |
ahmed_lv | 27:2db168d9fb18 | 257 | Debug.printf("S5 Initialized...\n"); |
ahmed_lv | 27:2db168d9fb18 | 258 | Thread::wait(W); |
ahmed_lv | 27:2db168d9fb18 | 259 | |
ahmed_lv | 27:2db168d9fb18 | 260 | sensor5.setAddress((uint8_t)22); |
ahmed_lv | 27:2db168d9fb18 | 261 | Debug.printf("S5 Address set...\n"); |
ahmed_lv | 27:2db168d9fb18 | 262 | |
ahmed_lv | 27:2db168d9fb18 | 263 | ///////////////////////// |
ahmed_lv | 27:2db168d9fb18 | 264 | sensor1.startContinuous(); |
ahmed_lv | 27:2db168d9fb18 | 265 | sensor2.startContinuous(); |
ahmed_lv | 27:2db168d9fb18 | 266 | sensor3.startContinuous(); |
ahmed_lv | 27:2db168d9fb18 | 267 | sensor4.startContinuous(); |
ahmed_lv | 27:2db168d9fb18 | 268 | sensor5.startContinuous(); |
ahmed_lv | 27:2db168d9fb18 | 269 | //** start Ranging funtion as Thread ** |
ahmed_lv | 27:2db168d9fb18 | 270 | Thread Ranging_function(ranging_thread, NULL, osPriorityNormal); |
ahmed_lv | 28:39d694b0e998 | 271 | Debug.printf("* Ranging routine started *\n"); */ |
ahmed_lv | 27:2db168d9fb18 | 272 | |
ahmed_lv | 27:2db168d9fb18 | 273 | |
ahmed_lv | 27:2db168d9fb18 | 274 | |
harrynguyen | 21:7cd86bea7f83 | 275 | //** start Debug print loop as a thread ** |
harrynguyen | 21:7cd86bea7f83 | 276 | Thread PrintLoop_function(print_thread, NULL, osPriorityNormal, 1024); |
harrynguyen | 21:7cd86bea7f83 | 277 | Debug.printf("* Print loop started *\n\n\n"); |
harrynguyen | 21:7cd86bea7f83 | 278 | |
harrynguyen | 21:7cd86bea7f83 | 279 | Debug.printf(" ***** \e[5mWAIT UNTIL IMU IS STABILIZED\e[0;m *****\n"); |
harrynguyen | 21:7cd86bea7f83 | 280 | |
harrynguyen | 21:7cd86bea7f83 | 281 | while(1) { |
harrynguyen | 21:7cd86bea7f83 | 282 | |
harrynguyen | 21:7cd86bea7f83 | 283 | } |
harrynguyen | 21:7cd86bea7f83 | 284 | } |
harrynguyen | 21:7cd86bea7f83 | 285 | |
harrynguyen | 21:7cd86bea7f83 | 286 | /** |
harrynguyen | 21:7cd86bea7f83 | 287 | * heartbeat loop as an individual thread |
harrynguyen | 21:7cd86bea7f83 | 288 | */ |
harrynguyen | 21:7cd86bea7f83 | 289 | void heartbeat_thread(void const *n) |
harrynguyen | 21:7cd86bea7f83 | 290 | { |
harrynguyen | 21:7cd86bea7f83 | 291 | while(true) { |
harrynguyen | 21:7cd86bea7f83 | 292 | if(imu.imu_stabilized[0] ==1) { |
harrynguyen | 21:7cd86bea7f83 | 293 | debugLED = !debugLED; |
harrynguyen | 21:7cd86bea7f83 | 294 | Thread::wait(Hearbeat_RateMS-50); |
harrynguyen | 21:7cd86bea7f83 | 295 | debugLED = !debugLED; |
harrynguyen | 21:7cd86bea7f83 | 296 | Thread::wait(50); |
harrynguyen | 21:7cd86bea7f83 | 297 | } else |
harrynguyen | 21:7cd86bea7f83 | 298 | debugLED = 1; |
harrynguyen | 21:7cd86bea7f83 | 299 | } |
harrynguyen | 21:7cd86bea7f83 | 300 | } |
harrynguyen | 21:7cd86bea7f83 | 301 | |
harrynguyen | 21:7cd86bea7f83 | 302 | /** |
harrynguyen | 21:7cd86bea7f83 | 303 | * imu initialization function |
harrynguyen | 21:7cd86bea7f83 | 304 | */ |
harrynguyen | 21:7cd86bea7f83 | 305 | bool imuInit_function() |
harrynguyen | 21:7cd86bea7f83 | 306 | { |
harrynguyen | 21:7cd86bea7f83 | 307 | return (imu.imuInit()); |
harrynguyen | 21:7cd86bea7f83 | 308 | } |
harrynguyen | 21:7cd86bea7f83 | 309 | |
harrynguyen | 21:7cd86bea7f83 | 310 | /** |
harrynguyen | 21:7cd86bea7f83 | 311 | * imu update loop as an individual thread |
harrynguyen | 21:7cd86bea7f83 | 312 | */ |
harrynguyen | 21:7cd86bea7f83 | 313 | void imu_thread(void const *n) |
harrynguyen | 21:7cd86bea7f83 | 314 | { |
harrynguyen | 21:7cd86bea7f83 | 315 | bool init_status = imuInit_function(); |
harrynguyen | 21:7cd86bea7f83 | 316 | Thread::wait(100); |
harrynguyen | 21:7cd86bea7f83 | 317 | |
harrynguyen | 21:7cd86bea7f83 | 318 | while(init_status) { |
harrynguyen | 21:7cd86bea7f83 | 319 | imu.imuUpdate(); |
harrynguyen | 21:7cd86bea7f83 | 320 | |
harrynguyen | 21:7cd86bea7f83 | 321 | //Usage: |
harrynguyen | 21:7cd86bea7f83 | 322 | //imu.Pose[0, 1, 2]; //euler x, y, z |
harrynguyen | 21:7cd86bea7f83 | 323 | //imu.AngVel[0, 1, 2]; //AngVel x, y, z |
harrynguyen | 21:7cd86bea7f83 | 324 | //imu.LinAcc[0, 1, 2]; //LinAcc x, y, z |
harrynguyen | 21:7cd86bea7f83 | 325 | //imu.Quat[0, 1, 2, 3]; //Quaternion w, x, y, z |
harrynguyen | 21:7cd86bea7f83 | 326 | |
harrynguyen | 21:7cd86bea7f83 | 327 | imuTime = imu.time_s; |
harrynguyen | 21:7cd86bea7f83 | 328 | |
harrynguyen | 21:7cd86bea7f83 | 329 | Thread::wait(imu_UpdatePeriodMS); |
harrynguyen | 21:7cd86bea7f83 | 330 | } |
harrynguyen | 21:7cd86bea7f83 | 331 | } |
harrynguyen | 21:7cd86bea7f83 | 332 | |
ahmed_lv | 27:2db168d9fb18 | 333 | |
ahmed_lv | 27:2db168d9fb18 | 334 | /** |
ahmed_lv | 27:2db168d9fb18 | 335 | * Ranging sensor loop as an individual thread |
ahmed_lv | 27:2db168d9fb18 | 336 | */ |
ahmed_lv | 27:2db168d9fb18 | 337 | |
ahmed_lv | 27:2db168d9fb18 | 338 | void ranging_thread(void const *n) |
ahmed_lv | 27:2db168d9fb18 | 339 | { |
ahmed_lv | 27:2db168d9fb18 | 340 | |
ahmed_lv | 27:2db168d9fb18 | 341 | |
ahmed_lv | 27:2db168d9fb18 | 342 | |
ahmed_lv | 27:2db168d9fb18 | 343 | |
ahmed_lv | 27:2db168d9fb18 | 344 | while(1) |
ahmed_lv | 27:2db168d9fb18 | 345 | { |
ahmed_lv | 27:2db168d9fb18 | 346 | if(imu.imu_stabilized[1] ==1){ |
ahmed_lv | 27:2db168d9fb18 | 347 | RangeSensor.exleft = sensor1.readRangeContinuousMillimeters(); |
ahmed_lv | 27:2db168d9fb18 | 348 | RangeSensor.left = sensor2.readRangeContinuousMillimeters(); |
ahmed_lv | 27:2db168d9fb18 | 349 | RangeSensor.front = sensor3.readRangeContinuousMillimeters(); |
ahmed_lv | 27:2db168d9fb18 | 350 | RangeSensor.right = sensor4.readRangeContinuousMillimeters(); |
ahmed_lv | 27:2db168d9fb18 | 351 | RangeSensor.exright = sensor5.readRangeContinuousMillimeters(); |
ahmed_lv | 27:2db168d9fb18 | 352 | //debugprint.printf("in ranging %u \n\e[K", RangeSensor.left); |
ahmed_lv | 27:2db168d9fb18 | 353 | } |
ahmed_lv | 27:2db168d9fb18 | 354 | Thread::wait(1.0); |
ahmed_lv | 27:2db168d9fb18 | 355 | |
ahmed_lv | 27:2db168d9fb18 | 356 | } |
ahmed_lv | 27:2db168d9fb18 | 357 | } |
ahmed_lv | 27:2db168d9fb18 | 358 | |
ahmed_lv | 27:2db168d9fb18 | 359 | |
harrynguyen | 21:7cd86bea7f83 | 360 | /** |
harrynguyen | 21:7cd86bea7f83 | 361 | * odometry update loop as an individual thread |
harrynguyen | 21:7cd86bea7f83 | 362 | */ |
harrynguyen | 21:7cd86bea7f83 | 363 | void odometry_thread(void const *n) |
harrynguyen | 21:7cd86bea7f83 | 364 | { |
harrynguyen | 21:7cd86bea7f83 | 365 | odometry.init(); |
harrynguyen | 21:7cd86bea7f83 | 366 | Thread::wait(50); |
harrynguyen | 21:7cd86bea7f83 | 367 | |
harrynguyen | 21:7cd86bea7f83 | 368 | while(true) { |
harrynguyen | 21:7cd86bea7f83 | 369 | odometry.update(); |
harrynguyen | 21:7cd86bea7f83 | 370 | |
harrynguyen | 21:7cd86bea7f83 | 371 | //Usage: |
harrynguyen | 21:7cd86bea7f83 | 372 | //odometer.revolutions[0, 1]; //revolutions left, right |
harrynguyen | 21:7cd86bea7f83 | 373 | //odometer.rpm[0, 1]; //rpm left, right |
harrynguyen | 21:7cd86bea7f83 | 374 | |
harrynguyen | 21:7cd86bea7f83 | 375 | localization.updatePosition(DEG_TO_RAD(imu.Pose[2]), odometry.revolutions); |
harrynguyen | 21:7cd86bea7f83 | 376 | |
harrynguyen | 21:7cd86bea7f83 | 377 | //Usage: |
harrynguyen | 21:7cd86bea7f83 | 378 | //localization.position[0, 1] //x, y |
harrynguyen | 21:7cd86bea7f83 | 379 | |
harrynguyen | 21:7cd86bea7f83 | 380 | Thread::wait(odometry_UpdatePeriodMS); |
harrynguyen | 21:7cd86bea7f83 | 381 | } |
harrynguyen | 21:7cd86bea7f83 | 382 | } |
harrynguyen | 21:7cd86bea7f83 | 383 | |
harrynguyen | 21:7cd86bea7f83 | 384 | /**/ |
harrynguyen | 21:7cd86bea7f83 | 385 | float rpm_smc = 500; |
harrynguyen | 21:7cd86bea7f83 | 386 | float ref_dtheta = 0; |
harrynguyen | 21:7cd86bea7f83 | 387 | float ref_theta = 0; |
harrynguyen | 21:7cd86bea7f83 | 388 | |
harrynguyen | 21:7cd86bea7f83 | 389 | float ref_dgamma = 0; |
harrynguyen | 21:7cd86bea7f83 | 390 | float ref_gamma = 0; |
harrynguyen | 21:7cd86bea7f83 | 391 | |
harrynguyen | 21:7cd86bea7f83 | 392 | float ref_beta = DEG_TO_RAD(0.0); |
harrynguyen | 21:7cd86bea7f83 | 393 | float ref_dbeta = 0; |
harrynguyen | 21:7cd86bea7f83 | 394 | |
harrynguyen | 21:7cd86bea7f83 | 395 | float u1, u2; |
harrynguyen | 21:7cd86bea7f83 | 396 | /**/ |
harrynguyen | 21:7cd86bea7f83 | 397 | /** |
harrynguyen | 21:7cd86bea7f83 | 398 | * motor control loop as an individual thread |
harrynguyen | 21:7cd86bea7f83 | 399 | */ |
harrynguyen | 21:7cd86bea7f83 | 400 | void motorControl_thread(void const *n) |
harrynguyen | 21:7cd86bea7f83 | 401 | { |
harrynguyen | 21:7cd86bea7f83 | 402 | motorControl_t.start(); |
harrynguyen | 21:7cd86bea7f83 | 403 | |
harrynguyen | 21:7cd86bea7f83 | 404 | float pitch_th, pitch_om, yaw_th, yaw_om; |
harrynguyen | 21:7cd86bea7f83 | 405 | float wheelTh_l, wheelTh_r, wheelOm_l, wheelOm_r; |
harrynguyen | 21:7cd86bea7f83 | 406 | float W_l, W_r; |
harrynguyen | 21:7cd86bea7f83 | 407 | |
harrynguyen | 21:7cd86bea7f83 | 408 | while(true) { |
harrynguyen | 21:7cd86bea7f83 | 409 | |
harrynguyen | 21:7cd86bea7f83 | 410 | //if((imu.imu_stabilized[1] ==1) && (go_cmd == 1)) { |
harrynguyen | 21:7cd86bea7f83 | 411 | if(imu.imu_stabilized[1] ==1) { |
harrynguyen | 21:7cd86bea7f83 | 412 | |
ahmed_lv | 30:44676e1b38f8 | 413 | /*#LV*/ |
ahmed_lv | 29:a6a812ee83ea | 414 | PID_B.setSpeedChange( &W_l, &W_r, &speedChange, &Error, |
ahmed_lv | 29:a6a812ee83ea | 415 | target_waypoint, |
ahmed_lv | 29:a6a812ee83ea | 416 | localization.position, |
ahmed_lv | 29:a6a812ee83ea | 417 | imu.Pose[2], |
ahmed_lv | 29:a6a812ee83ea | 418 | &robotFrame, |
ahmed_lv | 29:a6a812ee83ea | 419 | waypoints_set[waypoint_index - 2][0], waypoints_set[waypoint_index - 2][1], |
ahmed_lv | 29:a6a812ee83ea | 420 | &k3, |
ahmed_lv | 29:a6a812ee83ea | 421 | 3.5 ); //new controller |
ahmed_lv | 30:44676e1b38f8 | 422 | /*#LV*/ |
harrynguyen | 21:7cd86bea7f83 | 423 | |
harrynguyen | 21:7cd86bea7f83 | 424 | |
harrynguyen | 21:7cd86bea7f83 | 425 | if(waypointSetFinish_flag == 0) { |
harrynguyen | 25:3a82f868c101 | 426 | rpm_cmd[0]=W_l*60/(2*M_PI)*(-1.0); |
harrynguyen | 25:3a82f868c101 | 427 | rpm_cmd[1]=W_r*60/(2*M_PI)*(-1.0); |
harrynguyen | 25:3a82f868c101 | 428 | // rpm_cmd[0]=-800; |
harrynguyen | 25:3a82f868c101 | 429 | // rpm_cmd[1]=-800; |
harrynguyen | 21:7cd86bea7f83 | 430 | |
harrynguyen | 21:7cd86bea7f83 | 431 | if( (generalFunctions::abs_f(rpm_cmd[0]) < 500.0) && (generalFunctions::abs_f(rpm_cmd[0]) > 100.0) ) |
harrynguyen | 21:7cd86bea7f83 | 432 | rpm_cmd[0] = 475.0*generalFunctions::sign_f(rpm_cmd[0]); |
harrynguyen | 21:7cd86bea7f83 | 433 | else if(generalFunctions::abs_f(rpm_cmd[0]) <= 100.0) |
harrynguyen | 21:7cd86bea7f83 | 434 | rpm_cmd[0] = 0; |
harrynguyen | 21:7cd86bea7f83 | 435 | |
harrynguyen | 21:7cd86bea7f83 | 436 | if( (generalFunctions::abs_f(rpm_cmd[1]) < 500.0) && (generalFunctions::abs_f(rpm_cmd[1]) > 100.0) ) |
harrynguyen | 21:7cd86bea7f83 | 437 | rpm_cmd[1] = 475.0*generalFunctions::sign_f(rpm_cmd[1]); |
harrynguyen | 21:7cd86bea7f83 | 438 | else if(generalFunctions::abs_f(rpm_cmd[1]) <= 100.0) |
harrynguyen | 21:7cd86bea7f83 | 439 | rpm_cmd[1] = 0; |
harrynguyen | 21:7cd86bea7f83 | 440 | |
harrynguyen | 21:7cd86bea7f83 | 441 | rpm_compensated[0]=PID_L.processAcc(rpm_cmd[0], targetAcceleration, motorControl_t.read()); |
harrynguyen | 21:7cd86bea7f83 | 442 | rpm_compensated[1]=PID_R.processAcc(rpm_cmd[1], targetAcceleration, motorControl_t.read()); |
harrynguyen | 21:7cd86bea7f83 | 443 | |
harrynguyen | 21:7cd86bea7f83 | 444 | //rpm_compensated[0]= rpm_cmd[0]; |
harrynguyen | 21:7cd86bea7f83 | 445 | //rpm_compensated[1]= rpm_cmd[1]; |
harrynguyen | 21:7cd86bea7f83 | 446 | |
harrynguyen | 21:7cd86bea7f83 | 447 | } else { |
harrynguyen | 21:7cd86bea7f83 | 448 | rpm_cmd[0]=0; |
harrynguyen | 21:7cd86bea7f83 | 449 | rpm_cmd[1]=0; |
harrynguyen | 21:7cd86bea7f83 | 450 | |
harrynguyen | 21:7cd86bea7f83 | 451 | rpm_compensated[0]=PID_L.processAcc(rpm_cmd[0], 225.0, motorControl_t.read()); |
harrynguyen | 21:7cd86bea7f83 | 452 | rpm_compensated[1]=PID_R.processAcc(rpm_cmd[1], 225.0, motorControl_t.read()); |
harrynguyen | 21:7cd86bea7f83 | 453 | } |
harrynguyen | 21:7cd86bea7f83 | 454 | |
harrynguyen | 21:7cd86bea7f83 | 455 | pwm_cmd[0]=PID_L.calcOutput(rpm_compensated[0], odometry.rpm[0], motorControl_t.read()); |
harrynguyen | 21:7cd86bea7f83 | 456 | pwm_cmd[1]=PID_R.calcOutput(rpm_compensated[1], odometry.rpm[1], motorControl_t.read()); |
harrynguyen | 21:7cd86bea7f83 | 457 | |
harrynguyen | 21:7cd86bea7f83 | 458 | drive.setPWM_L(pwm_cmd[0]); |
harrynguyen | 21:7cd86bea7f83 | 459 | drive.setPWM_R(pwm_cmd[1]); |
ahmed_lv | 26:32eaf3c3ac2e | 460 | |
harrynguyen | 21:7cd86bea7f83 | 461 | |
harrynguyen | 21:7cd86bea7f83 | 462 | } |
harrynguyen | 21:7cd86bea7f83 | 463 | |
harrynguyen | 21:7cd86bea7f83 | 464 | motorControl_t.reset(); |
harrynguyen | 21:7cd86bea7f83 | 465 | |
harrynguyen | 21:7cd86bea7f83 | 466 | Thread::wait(motorControl_UpdatePeriodMS); |
harrynguyen | 21:7cd86bea7f83 | 467 | } |
harrynguyen | 21:7cd86bea7f83 | 468 | } |
harrynguyen | 21:7cd86bea7f83 | 469 | |
harrynguyen | 21:7cd86bea7f83 | 470 | /** |
harrynguyen | 21:7cd86bea7f83 | 471 | * purepursuit loop as an individual thread |
harrynguyen | 21:7cd86bea7f83 | 472 | */ |
harrynguyen | 21:7cd86bea7f83 | 473 | void purePursuit_thread(void const *n) |
harrynguyen | 21:7cd86bea7f83 | 474 | { |
harrynguyen | 21:7cd86bea7f83 | 475 | while(true) { |
harrynguyen | 21:7cd86bea7f83 | 476 | if(imu.imu_stabilized[0] ==1) { |
harrynguyen | 21:7cd86bea7f83 | 477 | //purePursuit.GenVGW(&purePursuit_velocity, &purePursuit_gamma, &purePursuit_omega, target_waypoint, 400.0, localization.position, DEG_TO_RAD(imu.Pose[2])); |
ahmed_lv | 29:a6a812ee83ea | 478 | // purePursuit.GenVGW(&purePursuit_velocity, &purePursuit_gamma, &purePursuit_omega, target_waypoint, target_velocity, localization.position, DEG_TO_RAD(imu.Pose[2])); |
ahmed_lv | 29:a6a812ee83ea | 479 | // |
ahmed_lv | 29:a6a812ee83ea | 480 | // if(purePursuit.robotFrame_targetDistance <= waypointZone) |
ahmed_lv | 29:a6a812ee83ea | 481 | // waypointReached_flag = 1; |
ahmed_lv | 29:a6a812ee83ea | 482 | // else |
ahmed_lv | 29:a6a812ee83ea | 483 | // waypointReached_flag = 0; |
harrynguyen | 21:7cd86bea7f83 | 484 | |
ahmed_lv | 30:44676e1b38f8 | 485 | /*#LV*/ |
ahmed_lv | 29:a6a812ee83ea | 486 | PID_B.findRobotFrameDistance(target_waypoint, localization.position, &robotFrame); |
ahmed_lv | 29:a6a812ee83ea | 487 | |
ahmed_lv | 29:a6a812ee83ea | 488 | if(robotFrame <= waypointZone) |
harrynguyen | 21:7cd86bea7f83 | 489 | waypointReached_flag = 1; |
harrynguyen | 21:7cd86bea7f83 | 490 | else |
ahmed_lv | 29:a6a812ee83ea | 491 | waypointReached_flag = 0; |
ahmed_lv | 30:44676e1b38f8 | 492 | /*#LV*/ |
ahmed_lv | 29:a6a812ee83ea | 493 | |
harrynguyen | 21:7cd86bea7f83 | 494 | } |
harrynguyen | 21:7cd86bea7f83 | 495 | Thread::wait(imu_UpdatePeriodMS); |
harrynguyen | 21:7cd86bea7f83 | 496 | } |
harrynguyen | 21:7cd86bea7f83 | 497 | } |
harrynguyen | 21:7cd86bea7f83 | 498 | |
harrynguyen | 21:7cd86bea7f83 | 499 | /** |
harrynguyen | 21:7cd86bea7f83 | 500 | * waypoint tracking loop as individual thread |
harrynguyen | 21:7cd86bea7f83 | 501 | */ |
harrynguyen | 21:7cd86bea7f83 | 502 | void waypointCmd_thread(void const *n) |
harrynguyen | 21:7cd86bea7f83 | 503 | { |
harrynguyen | 21:7cd86bea7f83 | 504 | while(true) { |
harrynguyen | 21:7cd86bea7f83 | 505 | //if((imu.imu_stabilized[0] ==1) && (go_cmd == 1)) { |
harrynguyen | 21:7cd86bea7f83 | 506 | if(imu.imu_stabilized[0] ==1) { |
harrynguyen | 21:7cd86bea7f83 | 507 | if(waypoint_index > totalWaypoints) { |
harrynguyen | 21:7cd86bea7f83 | 508 | target_velocity = 0.0; //stop the robot |
harrynguyen | 21:7cd86bea7f83 | 509 | waypointSetFinish_flag = 1; |
harrynguyen | 21:7cd86bea7f83 | 510 | } |
harrynguyen | 21:7cd86bea7f83 | 511 | |
harrynguyen | 21:7cd86bea7f83 | 512 | if(waypointReached_flag == 1 && waypointSetFinish_flag == 0) { |
harrynguyen | 21:7cd86bea7f83 | 513 | target_waypoint[0] = waypoints_set[waypoint_index][0] * 10.0; //convert coordinate from centimeters to millimeters |
harrynguyen | 21:7cd86bea7f83 | 514 | target_waypoint[1] = waypoints_set[waypoint_index][1] * 10.0; //convert coordinate from centimeters to millimeters |
harrynguyen | 21:7cd86bea7f83 | 515 | target_velocity = waypoints_set[waypoint_index][2] * (driveTrain_maxV/100.0); //convert speed from percentage to mm/s |
harrynguyen | 21:7cd86bea7f83 | 516 | waypoint_index++; |
harrynguyen | 21:7cd86bea7f83 | 517 | } |
harrynguyen | 21:7cd86bea7f83 | 518 | } |
harrynguyen | 21:7cd86bea7f83 | 519 | Thread::wait(100); //waypoint update doesnt need to be very fast, 10Hz is more than sufficient |
harrynguyen | 21:7cd86bea7f83 | 520 | } |
harrynguyen | 21:7cd86bea7f83 | 521 | } |
harrynguyen | 21:7cd86bea7f83 | 522 | |
harrynguyen | 21:7cd86bea7f83 | 523 | |
harrynguyen | 21:7cd86bea7f83 | 524 | |
harrynguyen | 21:7cd86bea7f83 | 525 | |
harrynguyen | 21:7cd86bea7f83 | 526 | |
harrynguyen | 21:7cd86bea7f83 | 527 | |
harrynguyen | 21:7cd86bea7f83 | 528 | |
harrynguyen | 21:7cd86bea7f83 | 529 | /** |
harrynguyen | 21:7cd86bea7f83 | 530 | * Debug data print loop as an individual thread |
harrynguyen | 21:7cd86bea7f83 | 531 | */ |
harrynguyen | 21:7cd86bea7f83 | 532 | #define print_lines 15 //number of info lines being printed on screen |
harrynguyen | 21:7cd86bea7f83 | 533 | void print_thread(void const *n) |
harrynguyen | 21:7cd86bea7f83 | 534 | { |
harrynguyen | 21:7cd86bea7f83 | 535 | //clear 14 lines while going up, these are the initilization lines printed on screen |
harrynguyen | 21:7cd86bea7f83 | 536 | for(int l=14; l>0; l--) { |
harrynguyen | 21:7cd86bea7f83 | 537 | Debug.printf("\e[1A"); //go up 1 line |
harrynguyen | 21:7cd86bea7f83 | 538 | Debug.printf("\e[K"); //clear line |
harrynguyen | 21:7cd86bea7f83 | 539 | } |
harrynguyen | 21:7cd86bea7f83 | 540 | |
harrynguyen | 21:7cd86bea7f83 | 541 | Debug.printf("************ VIRGO v3: Status Monitor *************\n\n"); |
harrynguyen | 21:7cd86bea7f83 | 542 | for(int l=print_lines; l>0; l--) Debug.printf("\n"); |
harrynguyen | 21:7cd86bea7f83 | 543 | Debug.printf("\n==================================================="); |
harrynguyen | 21:7cd86bea7f83 | 544 | Debug.printf("\e[1A"); //go up 1 line |
harrynguyen | 21:7cd86bea7f83 | 545 | |
harrynguyen | 21:7cd86bea7f83 | 546 | while(true) { |
harrynguyen | 21:7cd86bea7f83 | 547 | //move cursor up # of lines printed to create a static display and clear the first line |
harrynguyen | 21:7cd86bea7f83 | 548 | for(int l=print_lines; l>0; l--) Debug.printf("\e[1A"); |
harrynguyen | 21:7cd86bea7f83 | 549 | Debug.printf("\e[K"); |
harrynguyen | 21:7cd86bea7f83 | 550 | |
harrynguyen | 21:7cd86bea7f83 | 551 | Debug.printf("Elapsed time: %.2f s\n\e[K", imuTime); // |
harrynguyen | 21:7cd86bea7f83 | 552 | Debug.printf("Position: %.2f , %.2f\n\e[K", localization.position[0], localization.position[1]); // |
harrynguyen | 21:7cd86bea7f83 | 553 | Debug.printf("Orientation (X-Y-Z): (%.2f , %.2f , %.2f)\n\e[K", imu.Pose[0], imu.Pose[1], imu.Pose[2]); |
harrynguyen | 21:7cd86bea7f83 | 554 | Debug.printf("Calib Status : %d, %d \n\e[K", imu.imu_stabilized[0], imu.imu_stabilized[1]); |
harrynguyen | 21:7cd86bea7f83 | 555 | 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 | 556 | |
ahmed_lv | 28:39d694b0e998 | 557 | // Debug.printf("Battery Status: %3.2f%%, %1.2fV\n\e[K", battery.getSOC(), battery.getVcell()); |
harrynguyen | 21:7cd86bea7f83 | 558 | Debug.printf("Waypoint Tracking: waypointReached %d, waypointSetFinish %d waypointIndex %d\n\e[K", waypointReached_flag, waypointSetFinish_flag, waypoint_index); |
ahmed_lv | 26:32eaf3c3ac2e | 559 | Debug.printf("Waypoint Tracking: distanceToWaypoint %.1f, BearingToWaypoint %.4f \n\e[K", purePursuit.robotFrame_targetDistance, bearingToWaypoint); |
ahmed_lv | 29:a6a812ee83ea | 560 | Debug.printf("Waypoint Tracking: Rotate %.3f, Change in Speed %.3f, k3 %.3f \n\e[K", Error, speedChange, k3); |
harrynguyen | 21:7cd86bea7f83 | 561 | Debug.printf("Waypoint being tracked (X,Y): %.2f, %.2f\n\e[K", target_waypoint[0], target_waypoint[1]); |
ahmed_lv | 28:39d694b0e998 | 562 | // Debug.printf("Ranging: %u, %u, %u, %u, %u \n\e[K", RangeSensor.exleft, RangeSensor.left, RangeSensor.front, RangeSensor.right, RangeSensor.exright); |
ahmed_lv | 26:32eaf3c3ac2e | 563 | |
harrynguyen | 21:7cd86bea7f83 | 564 | |
harrynguyen | 21:7cd86bea7f83 | 565 | Debug.printf("Compensated RPM (L,R): %.1f, %.1f\n\e[K", rpm_compensated[0], rpm_compensated[1]); |
harrynguyen | 21:7cd86bea7f83 | 566 | //Debug.printf("Computed PWM (L,R): %.1f, %.1f\n\e[K", pwm_cmd[0]*100.0, pwm_cmd[1]*100.0); |
harrynguyen | 21:7cd86bea7f83 | 567 | Debug.printf("Measured RPM (L,R): %.1f, %.1f\n\e[K", odometry.rpm[0], odometry.rpm[1]); |
ahmed_lv | 28:39d694b0e998 | 568 | Debug.printf("Measured Revolutions (L,R): %.1f, %.1f\n\e[K", odometry.revolutions[0], odometry.revolutions[1]); |
harrynguyen | 21:7cd86bea7f83 | 569 | |
harrynguyen | 21:7cd86bea7f83 | 570 | //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 | 571 | //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 | 572 | |
harrynguyen | 23:6806c3bacf58 | 573 | |
harrynguyen | 21:7cd86bea7f83 | 574 | //Debug.printf("Comm Status: %d\n\e[K", comm_status[0]); |
harrynguyen | 21:7cd86bea7f83 | 575 | |
harrynguyen | 21:7cd86bea7f83 | 576 | Thread::wait(PrintLoop_PeriodMS); |
harrynguyen | 21:7cd86bea7f83 | 577 | } |
harrynguyen | 21:7cd86bea7f83 | 578 | } |