Diff: main.cpp

Revision:

20:7138ab2f93f7

Parent:

18:c1cd11db47ed

Child:

22:b7cca3089dfe

--- a/main.cpp	Sun May 15 19:14:06 2016 +0000
+++ b/main.cpp	Sat Jul 16 19:17:08 2016 +0000
@@ -4,22 +4,23 @@
 #include "CarPWM.h"
 #include "receiver.h"
 #include "Motor.h"
+#include "rtos.h"
 
-#define PI 3.141592653589793238462
-#define Ts 0.02                         // Seconds
+#define PI 3.141593
+#define Ts 0.02                         // Controller period(Seconds)
 #define PWM_PERIOD 13.5                 // ms
 #define INITIAL_P 0.452531214933414
 #define INITIAL_I 5.45748932024049
 #define INITIAL_D 0.000233453623255507
 #define INITIAL_N 51.0605584484153
-#define BRAKE_CONSTANT 40
-#define BRAKE_WAIT 0.3
-#define END_THRESH 4
-#define START_THRESH 10
+#define END_THRESH 4                    //For magnetometer calibration
+#define START_THRESH 10                 //For magnetometer calibration
 #define MINIMUM_VELOCITY 15
-#define GYRO_PERIOD 5000                //us
-#define LED_ON 0
-#define LED_OFF 1
+#define MINIMUM_CURVE_VELOCITY 19
+#define ERROR_THRESH    PI/5
+#define GYRO_PERIOD 15000               //us
+#define RGB_LED_ON 0                    //active Low
+#define RGB_LED_OFF 1                   //active Low
 
 #define MIN -1.5
 #define MAX 1.5
@@ -34,59 +35,19 @@
     AQUA,
     WHITE};
 
-void turn_leds_off(DigitalOut& red, DigitalOut& green, DigitalOut& blue)
-{
-    red = LED_OFF;
-    green = LED_OFF;
-    blue = LED_OFF;
-}
 
-void set_leds_color(int color, DigitalOut& red, DigitalOut& green, DigitalOut& blue)
-{
-    turn_leds_off(red, green, blue);
-
-    switch(color)
-    {
-        case RED:
-            red = LED_ON;               
-            break;
-        case GREEN:
-            green = LED_ON;
-            break;
-        case BLUE:
-            blue = LED_ON;
-            break;
-        case PURPLE:
-            red = LED_ON;
-            blue = LED_ON;
-            break;
-        case YELLOW:
-            red = LED_ON;
-            green = LED_ON;
-            break;
-        case AQUA:
-            blue = LED_ON;
-            green = LED_ON;
-            break;
-        case WHITE:
-            red = LED_ON;
-            green = LED_ON;
-            blue = LED_ON;
-            break;
-        default:
-            break;
-    }
-}
-
-Serial ser(USBTX, USBRX);    // Initialize Serial port
+//Control Objetcs
 PwmOut servo(PTD3);         // Servo connected to pin PTD3
 Motor motor;
 FXOS8700Q_mag mag(PTE25,PTE24,FXOS8700CQ_SLAVE_ADDR1);
 FXOS8700Q_acc acc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1);
 FXAS21002 gyro(PTE25,PTE24);
+//Leds Objects
 DigitalOut red_led(LED_RED);
 DigitalOut green_led(LED_GREEN);
 DigitalOut blue_led(LED_BLUE);
+DigitalOut main_led(PTD2);
+//Protocol Objects
 Receiver rcv;
 EthernetInterface eth;
 
@@ -98,18 +59,29 @@
 void control();
 Ticker controller_ticker;
 
-// Magnetometer variables and functions
+// Motor and servo variables
+float saved_velocity = 0;
+bool brake = false;
+
+// Magnetometer/Gyro variables and functions
 float max_x=0, max_y=0, min_x=0, min_y=0,x,y;
 MotionSensorDataUnits mag_data;
 MotionSensorDataCounts mag_raw;
 float processMagAngle();
+float gyro_reference = 0;
 void magCal();
 
 // Protocol
 void readProtocol();
+int contp = 0; // for debug only
+
+// NXP RGB_LEDs control
+void set_leds_color(int color);
+void turn_leds_off();
 
 int main(){
     // Initializing sensors:
+    main_led = 1;
     acc.enable();
     gyro.gyro_config(MODE_1);
     initializeController();
@@ -117,19 +89,22 @@
     // Set initial control configurations
     motor.setVelocity(0);
     
-    // Protocol parameters
+    // Protocol initialization
+    
     printf("Initializing Ethernet!\r\n");
-    set_leds_color(RED, red_led, green_led, blue_led);
+    set_leds_color(RED);
     eth.init(RECEIVER_IFACE_ADDR, RECEIVER_NETMASK_ADDR, RECEIVER_GATEWAY_ADDR);
     eth.connect();
     printf("Protocol initialized! \r\n");
-    set_leds_color(BLUE, red_led, green_led, blue_led);
+    set_leds_color(BLUE);
     rcv.set_socket();
     gyro.start_measure(GYRO_PERIOD);
+    main_led = 0;
     controller_ticker.attach(&control,Ts);
     //main loop
     while(1){
         readProtocol();
+      //  printf("%f \r\n",gyro.get_angle());
     }
 }
 void control(){
@@ -139,77 +114,109 @@
     if(!rcv.receive())
         return;
     char msg = rcv.get_msg();
-    printf("Message received!");
+    //printf("Message received!");
+    //contp++;
+    //printf(" %d \r\n",contp);
     switch(msg)
     {
         case NONE:
-            //ser.printf("sending red signal to led\r\n");  
-            set_leds_color(BLACK,red_led,green_led,blue_led);          
-            printf("NONE\r\n");
-            wait(1);
             break;          
         case BRAKE:
-            //ser.printf("sending green signal to led\r\n");
-            set_leds_color(YELLOW,red_led,green_led,blue_led);
-            motor.stopJogging();
-            printf("BRAKE\r\n");
-            motor.brakeMotor();
+            //printf("BRAKE ");
+            float intensity, b_wait;
+            rcv.get_brake(&intensity,&b_wait);
+            if(!brake){
+                set_leds_color(YELLOW);
+                motor.stopJogging();
+               // printf("BRAKE\r\n");
+                setServoPWM(0,servo);
+                //reference = 0;
+                controller_ticker.detach();
+                motor.brakeMotor(intensity,b_wait);
+                controller_ticker.attach(&control,Ts);
+                saved_velocity = 0;
+                brake = true;
+                }
+            break;
+        case GYRO_ZERO:
+            gyro.stop_measure();
+            wait(0.05);
+            gyro.start_measure(GYRO_PERIOD);
+            break;
+        case ANG_SET:
+            set_leds_color(PURPLE);
+            //printf("ANG_SET\r\n");
+            gyro_reference = gyro.get_angle();
+            initializeController();
             break;
         case ANG_RST:
-            //ser.printf("sending blue signal to led\r\n");
-            set_leds_color(PURPLE,red_led,green_led,blue_led);
-            printf("ANG_RST\r\n");
-            gyro.stop_measure();
-            printf("Stopped gyro\r\n");
-            gyro.start_measure(GYRO_PERIOD);
-            printf("Starting Gyro\r\n");
+            //printf("ANG_RST\r\n");
+            gyro_reference = 0;
+            set_leds_color(PURPLE);
             initializeController();
             break;
-        case ANG_REF:
-            set_leds_color(GREEN,red_led,green_led,blue_led);
-            reference = rcv.get_ang_ref() - processMagAngle();
-            printf("New reference: %f \n\r",reference*180/PI);
+        case MAG_ANG_REF:
+            set_leds_color(BLUE);
+            reference = rcv.get_mag_ang_ref() - processMagAngle();
+            //printf("New reference: %f \n\r",reference*180/PI);
             if(reference > PI)
                 reference = reference - 2*PI;
             else if(reference < -PI)
                 reference = reference + 2*PI;  
             break;
-        case CAM_ANG_REF:
-            set_leds_color(RED,red_led,green_led,blue_led);
-            reference = rcv.get_cam_ang_ref();
-            printf("New reference: %f \n\r",reference*180/PI); 
+        case ABS_ANG_REF:
+            set_leds_color(GREEN);
+            reference = rcv.get_abs_ang_ref();
+            //printf("New reference: %f \n\r",reference*180/PI);
+            if(reference > PI)
+                reference = reference - 2*PI;
+            else if(reference < -PI)
+                reference = reference + 2*PI;  
+            break;
+        case REL_ANG_REF:
+            set_leds_color(RED);
+            reference = rcv.get_rel_ang_ref() + gyro.get_angle()*PI/180;
+            //printf("New reference: %f \n\r",reference*180/PI); 
+            if(reference > PI)
+                reference = reference - 2*PI;
+            else if(reference < -PI)
+                reference = reference + 2*PI;
             break;
         case GND_VEL:
-            set_leds_color(AQUA,red_led,green_led,blue_led);
-            float vel = rcv.get_gnd_vel();
-            motor.setVelocity(vel);      
-            printf("GND_VEL = %f\r\n", vel);
+            set_leds_color(AQUA);
+            saved_velocity = rcv.get_gnd_vel();
+            //printf("GND_VEL");
+            if(saved_velocity > 0){
+                motor.setVelocity(saved_velocity);      
+                if(abs(saved_velocity) > MINIMUM_VELOCITY)
+                    brake = false;
+                //printf("GND_VEL = %f\r\n", saved_velocity);
+            }
             break;
         case JOG_VEL:
-            set_leds_color(WHITE,red_led,green_led,blue_led);
+            set_leds_color(WHITE);
             float p, r;
             rcv.get_jog_vel(&p,&r);
-            printf("Joggin with period %f and duty cycle %f\r\n",p,r);
+            //printf("Joggin with period %f and duty cycle %f\r\n",p,r);
             if(p == 0 || r == 0)
                 motor.stopJogging();
             else
                 motor.startJogging(r,p);
             break;
         case PID_PARAMS:
-            set_leds_color(RED,red_led,green_led,blue_led);
-            float ar[4];
-            rcv.get_pid_params(ar);
-            P = ar[0];
-            I = ar[1];
-            D = ar[2];
-            N = ar[3];
-            printf("PID_PARAMS | kp=%f, ki=%f, kd=%f, n=%f\r\n", 
-                ar[0], ar[1], ar[2], ar[3]);
+            set_leds_color(WHITE);
+            float arr[4];
+            rcv.get_pid_params(arr);
+            P = arr[0];
+            I = arr[1];
+            D = arr[2];
+            N = arr[3];
+           // printf("PID_PARAMS | kp=%f, ki=%f, kd=%f, n=%f\r\n", 
+           //     arr[0], arr[1], arr[2], arr[3]);
 
-            wait(1);
             break;
         case MAG_CALIB:
-            set_leds_color(BLUE,red_led,green_led,blue_led);
+            set_leds_color(BLUE);
             printf("MAG_CALIB\r\n");
             float mag[4];
             rcv.get_mag_calib(mag);
@@ -217,10 +224,17 @@
             max_y=mag[3];
             min_x=mag[0];
             min_y=mag[2];
-            printf(" max_x = %f, max_y= %f, min_x= %f, min_y= %f\r\n",mag[1],mag[3],mag[0],mag[2]);
+            //printf(" max_x = %f, max_y= %f, min_x= %f, min_y= %f\r\n",mag[1],mag[3],mag[0],mag[2]);
+            break;
+        case LED_ON:
+            set_leds_color(BLACK);
+            main_led = 1;
+            break;
+        case LED_OFF:
+            set_leds_color(BLACK);
+            main_led = 0;
             break;
         default:
-            printf("nothing understood\r\n");
             //ser.printf("unknown command!\r\n");
     }
 }
@@ -240,7 +254,7 @@
 /* PID controller for angular position */
 void controlAnglePID(float P, float I, float D, float N){ 
     /* Getting error */
-    float feedback = gyro.get_angle();
+    float feedback = gyro.get_angle() - gyro_reference;
     e[1] = e[0];
     e[0] = reference - (feedback*PI/180);
     if(e[0] > PI)
@@ -264,6 +278,13 @@
     /** Controller **/ 
     u = up[0] + ud[0] + ui[0];
     setServoPWM(u*100/(PI/8), servo);
+    if(abs(e[0]) >= ERROR_THRESH && motor.getVelocity() > MINIMUM_CURVE_VELOCITY){
+        saved_velocity = motor.getVelocity();
+        motor.setVelocity(MINIMUM_CURVE_VELOCITY);
+        }
+    else if(abs(e[0]) < ERROR_THRESH && motor.getVelocity() != saved_velocity){
+        motor.setVelocity(saved_velocity);
+        }
 }
 /* Brake function, braking while the gyroscope is still integrating will cause considerably error in the measurement. */
 /* Function to normalize the magnetometer reading */
@@ -295,7 +316,7 @@
 
 /* Function to transform the magnetometer reading in angle(rad/s).*/
 float processMagAngle(){
-    printf("starting ProcessMagAngle()\n\r");
+   // printf("starting ProcessMagAngle()\n\r");
     float mag_lpf = 0;
     Timer t1;
     for(int i = 0; i<20; i++){
@@ -312,6 +333,49 @@
         wait(0.015);
         }
    // wait(20*0.01);
-    printf("Finished ProcessMagAngle() %d \n\r",t1.read_us());
+   // printf("Finished ProcessMagAngle() %d \n\r",t1.read_us());
     return mag_lpf/20;
+}
+void turn_leds_off()
+{
+    red_led = RGB_LED_OFF;
+    green_led = RGB_LED_OFF;
+    blue_led = RGB_LED_OFF;
+}
+
+void set_leds_color(int color)
+{
+    turn_leds_off();
+
+    switch(color)
+    {
+        case RED:
+            red_led = RGB_LED_ON;               
+            break;
+        case GREEN:
+            green_led = RGB_LED_ON;
+            break;
+        case BLUE:
+            blue_led = RGB_LED_ON;
+            break;
+        case PURPLE:
+            red_led = RGB_LED_ON;
+            blue_led = RGB_LED_ON;
+            break;
+        case YELLOW:
+            red_led = RGB_LED_ON;
+            green_led = RGB_LED_ON;
+            break;
+        case AQUA:
+            blue_led = RGB_LED_ON;
+            green_led = RGB_LED_ON;
+            break;
+        case WHITE:
+            red_led = RGB_LED_ON;
+            green_led = RGB_LED_ON;
+            blue_led = RGB_LED_ON;
+            break;
+        default:
+            break;
+    }
 }
\ No newline at end of file