TreppenRobo
Workshop 2
Dependencies: PM2_Libary
Diff: main.cpp
- Revision:
- 24:86f1a63e35a0
- Parent:
- 23:26b3a25fc637
- Child:
- 25:ea1d6e27c895
--- a/main.cpp Mon Mar 14 08:31:15 2022 +0000
+++ b/main.cpp Mon Mar 14 15:26:35 2022 +0100
@@ -1,192 +1,191 @@
#include "mbed.h"
#include "PM2_Libary.h"
-InterruptIn user_button(PC_13);
-DigitalOut led(LED1);
-
+// logical variable main task
+bool do_execute_main_task = false; // this variable will be toggled via the user button (blue button) to or not to execute the main task
-bool do_execute_main = false;
-Timer user_button_timer, loop_timer;
-int loop_period_ms = 50;
-
+// user button on nucleo board
+Timer user_button_timer; // create Timer object which we use to check if user button was pressed for a certain time (robust against signal bouncing)
+InterruptIn user_button(PC_13); // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR)
+void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
+void user_button_released_fcn();
-/* declaration of custom button functions */
-void button_fall();
-void button_rise();
+// while loop gets executed every main_task_period_ms milliseconds
+int main_task_period_ms = 50; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
+Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms
+// led on nucleo board
+DigitalOut user_led(LED1); // create DigitalOut object to command user led
-// SHARP GP2Y0A21Y IR Sensor
-/* create analog input object */
-AnalogIn analog_in(PC_2);
-float dist_ir_sensor = 0.0f;
+// additional Led
+DigitalOut extra_led(PB_9); // create DigitalOut object to command extra led (do add an aditional resistor, e.g. 220...500 Ohm)
+// mechanical button
+DigitalIn mechanical_button(PC_5); // create DigitalIn object to evaluate extra mechanical button, you need to specify the mode for proper usage, see below
+
+// Sharp GP2Y0A41SK0F, 4-40 cm IR Sensor
+float ir_distance_mV = 0.0f; // define variable to store measurement
+AnalogIn ir_analog_in(PC_2); // create AnalogIn object to read in infrared distance sensor, 0...3.3V are mapped to 0...1
-// 78:1 Metal Gearmotor 20Dx43L mm 12V CB
-/* create enable dc motor digital out object */
-DigitalOut enable_motors(PB_15);
+// 78:1, 100:1, ... Metal Gearmotor 20Dx44L mm 12V CB
+DigitalOut enable_motors(PB_15); // create DigitalOut object to enable dc motors
-/* create pwm objects */
-FastPWM pwm_M1(PB_13);
-FastPWM pwm_M2(PA_9);
-FastPWM pwm_M3(PA_10);
-float pwm_period_s = 0.00005f;
+float pwm_period_s = 0.00005f; // define pwm period time in seconds and create FastPWM objects to command dc motors
+FastPWM pwm_M1(PB_13); // motor M1 is used open loop
+FastPWM pwm_M2(PA_9); // motor M2 is speed controlled
+FastPWM pwm_M3(PA_10); // motor M3 is position controlled (angle controlled)
-/* create encoder read objects */
-EncoderCounter encoder_M1(PA_6, PC_7);
+EncoderCounter encoder_M1(PA_6, PC_7); // create encoder read objects
EncoderCounter encoder_M2(PB_6, PB_7);
EncoderCounter encoder_M3(PA_0, PA_1);
-/* create speed and position controller objects, default parametrization is for 78.125:1 gear */
-float max_voltage = 12.0f; // adjust this to 6.0f if only one batterypack is used
-float counts_per_turn = 20.0f * 78.125f; // counts/turn * gearratio
-float kn = 180.0f / 12.0f; // motor constant (RPM/V)
+// create SpeedController and PositionController controller objects, default parametrization is for 78.125:1 gear box
+float max_voltage = 12.0f; // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack
+float counts_per_turn = 20.0f * 78.125f; // define counts per turn at gearbox end: counts/turn * gearratio
+float kn = 180.0f / 12.0f; // define motor constant in rpm per V
+// float k_gear = 25.0f / 78.125f; // define additional ratio in case you are using a dc motor with a different gear box, e.g. 25:1
+// float kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1
-float k_gear = 25.0f / 78.125f; // in case you are using a dc motor with a different gear box
-float kp = 0.1f; // this is the default speed controller gain for gear box 78.125:1
-
-SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear with default contoller parameters
+SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear box with default contoller parameters
// SpeedController speedController_M2(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M2, encoder_M2); // parameters adjusted to 25:1 gear
+float max_speed_rps = 0.5f; // define maximum speed that the position controller is changig the speed, has to be smaller or equal to kn * max_voltage
PositionController positionController_M3(counts_per_turn, kn, max_voltage, pwm_M3, encoder_M3); // default 78.125:1 gear with default contoller parameters
// PositionController positionController_M3(counts_per_turn * k_gear, kn / k_gear, kp * k_gear, max_voltage, pwm_M3, encoder_M3); // parameters adjusted to 25:1 gear, we need a different speed controller gain here
-float max_speed_rps = 0.5f; // has to be smaller or equal to kn * max_voltage
-
// Futaba Servo S3001 20mm 3kg Analog
-/* create servo objects */
-Servo servo_S1(PB_2);
+Servo servo_S1(PB_2); // create servo objects
Servo servo_S2(PC_8);
-int servo_position_S1_mus = 0;
-int servo_position_S2_mus = 0;
-int servo_period_mus = 20000;
-int servo_counter = 0;
-int loops_per_second = static_cast<int>(ceilf(1.0f/(0.001f*(float)loop_period_ms)));
+int servo_pos_S1_mus = 0; // servo S1 position, the desired position gets commanded as a time
+int servo_pos_S2_mus = 0; // servo S2 position
+int servo_period_mus = 20000; // define servo period time in mus
+int servo_counter = 0; // define servo counter, this is an additional variable to make the servos move
+int loops_per_second = static_cast<int>(ceilf(1.0f/(0.001f*(float)main_task_period_ms))); // define loops per second
// Groove Ultrasonic Ranger V2.0
-// https://ch.rs-online.com/web/p/entwicklungstools-sensorik/1743238/?cm_mmc=CH-PLA-DS3A-_-google-_-CSS_CH_DE_Raspberry_Pi_%26_Arduino_und_Entwicklungstools_Whoop-_-(CH:Whoop!)+Entwicklungstools+Sensorik-_-1743238&matchtype=&pla-306637898829&gclid=Cj0KCQjwpdqDBhCSARIsAEUJ0hOLQOOaw_2-Ob03u4YGwXthQPeSyjaazFqNuMkTIT8Ie18B1pD7P9AaAn18EALw_wcB&gclsrc=aw.ds
-/* create range finder object (ultra sonic distance sensor) */
-// RangeFinder range_finder(PB_12, 5782.0f, 0.02f, 17500); // 1/loop_period_ms = 20 Hz parametrization
-RangeFinder range_finder(PB_12, 5782.0f, 0.02f, 7000); // 1/loop_period_ms = 50 Hz parametrization
-float dist_us_sensor = 0.0f;
+float us_distance_cm = 0.0f; // define variable to store measurement
+RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 17500);
+// RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 7000); // create range finder object (ultra sonic distance sensor), 1/main_task_period_ms = 20 Hz parametrization
-
-// LSM9DS1 IMU
-// create imu comunication objects, carefull: not all PES boards have an imu (chip shortage)
-// LSM9DS1 imu(PC_9, PA_8); // if you want to be able to use the imu you need to #include "LSM9DS1_i2c.h"
+// LSM9DS1 IMU, carefull: not all PES boards have an imu (chip shortage)
+// LSM9DS1 imu(PC_9, PA_8); // create LSM9DS1 comunication object, if you want to be able to use the imu you need to #include "LSM9DS1_i2c.h"
int main()
{
- /* attach button fall and rise functions */
- user_button.fall(&button_fall);
- user_button.rise(&button_rise);
+ // attach button fall and rise functions to user button object
+ user_button.fall(&user_button_pressed_fcn);
+ user_button.rise(&user_button_released_fcn);
- /* start loop_timer */
- loop_timer.start();
+ // start timers
+ user_button_timer.start();
+ main_task_timer.start();
- /* enable hardwaredriver dc motors: 0 -> disabled, 1 -> enabled */
+ // set pullup mode: add resistor between pin and 3.3 V, so that there is a defined potential
+ mechanical_button.mode(PullUp);
+
+ // enable hardwaredriver dc motors: 0 -> disabled, 1 -> enabled
enable_motors = 1;
- /* initialize pwm for motor M1*/
- pwm_M1.period(pwm_period_s);
- /* set pwm output zero at the beginning, range: 0...1 -> u_min...u_max , 0.5 -> 0 V */
+ // motor M1 is used open-loop, we need to initialize the pwm and set pwm output to zero at the beginning, range: 0...1 -> u_min...u_max: 0.5 -> 0 V
+ pwm_M1.period(pwm_period_s);
pwm_M1.write(0.5);
- /* enable servos, you can also disable them */
- servo_S1.Enable(servo_position_S1_mus, servo_period_mus);
- servo_S2.Enable(servo_position_S2_mus, servo_period_mus);
+ // enable servos, you can also disable them at any point in your program if you don't want your servos to become warm
+ servo_S1.Enable(servo_pos_S1_mus, servo_period_mus);
+ servo_S2.Enable(servo_pos_S2_mus, servo_period_mus);
- while (true) {
-
- loop_timer.reset();
+ while (true) { // this loop will run forever
- if (do_execute_main) {
+ main_task_timer.reset();
- /* read analog input */
- dist_ir_sensor = analog_in.read() * 3.3f;
+ if (do_execute_main_task) {
- /* write output voltage to motor M1 */
- pwm_M1.write(0.75);
+ // read analog input
+ ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f;
- /* set a desired speed for speed controlled dc motors M2 */
- speedController_M2.setDesiredSpeedRPS(0.5f);
-
- /* set a desired rotation for position controlled dc motors M3 */
- positionController_M3.setDesiredRotation(1.5f, max_speed_rps);
-
+ // command dc motors if mechanical button is pressed
+ if (mechanical_button) {
+ pwm_M1.write(0.75); // write output voltage to motor M1
+ speedController_M2.setDesiredSpeedRPS(0.5f); // set a desired speed for speed controlled dc motors M2
+ positionController_M3.setDesiredRotation(1.5f, max_speed_rps); // set a desired rotation for position controlled dc motors M3
+ } else {
+ pwm_M1.write(0.5);
+ speedController_M2.setDesiredSpeedRPS(0.0f);
+ positionController_M3.setDesiredRotation(0.0f, max_speed_rps);
+ }
- /* command servo position via output time, this needs to be calibrated */
- servo_S1.SetPosition(servo_position_S1_mus);
- servo_S2.SetPosition(servo_position_S2_mus);
- if (servo_position_S1_mus <= servo_period_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
- servo_position_S1_mus += 100;
+ // command servo position, this needs to be calibrated
+ servo_S1.SetPosition(servo_pos_S1_mus);
+ servo_S2.SetPosition(servo_pos_S2_mus);
+ if (servo_pos_S1_mus <= servo_period_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
+ servo_pos_S1_mus += 100;
}
- if (servo_position_S2_mus <= servo_period_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
- servo_position_S2_mus += 100;
+ if (servo_pos_S2_mus <= servo_period_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
+ servo_pos_S2_mus += 100;
}
servo_counter++;
- /* read ultra sonic distance sensor */
- dist_us_sensor = range_finder.read_cm();
+ // read ultra sonic distance sensor
+ us_distance_cm = us_range_finder.read_cm();
- /* visual feedback that the main task is executed */
- led = !led;
+ // visual feedback that the main task is executed
+ extra_led = 1;
} else {
- dist_ir_sensor = 0.0f;
+ ir_distance_mV = 0.0f;
pwm_M1.write(0.5);
speedController_M2.setDesiredSpeedRPS(0.0f);
positionController_M3.setDesiredRotation(0.0f, max_speed_rps);
- servo_position_S1_mus = 0;
- servo_position_S2_mus = 0;
- servo_S1.SetPosition(servo_position_S1_mus);
- servo_S2.SetPosition(servo_position_S2_mus);
+ servo_pos_S1_mus = 0;
+ servo_pos_S2_mus = 0;
+ servo_S1.SetPosition(servo_pos_S1_mus);
+ servo_S2.SetPosition(servo_pos_S2_mus);
- dist_us_sensor = 0.0f;
+ us_distance_cm = 0.0f;
- led = 0;
+ extra_led = 0;
}
- /* do only output via serial what's really necessary (this makes your code slow)*/
- printf("%3.3f, %3d, %3.3f, %3.3f, %3d, %3d, %3.3f;\r\n",
- dist_ir_sensor * 1e3,
+ user_led = !user_led;
+
+ // do only output via serial what's really necessary (this makes your code slow)
+ printf("IR sensor (mV): %3.3f, Encoder M1: %3d, Speed M2 (rps) %3.3f, Position M3 (rot): %3.3f, Servo S1 position (ms): %3d, Servo S2 position (ms): %3d, US sensor (cm): %3.3f\r\n",
+ ir_distance_mV,
encoder_M1.read(),
speedController_M2.getSpeedRPS(),
positionController_M3.getRotation(),
- servo_position_S1_mus,
- servo_position_S2_mus,
- dist_us_sensor);
+ servo_pos_S1_mus,
+ servo_pos_S2_mus,
+ us_distance_cm);
- /* read out the imu, the actual frames of the sensor reading needs to be figured out */
- /*
- imu.updateGyro();
- imu.updateAcc();
- imu.updateMag();
- printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f\r\n", imu.readGyroX(), imu.readGyroY(), imu.readGyroZ(),
- imu.readAccX(), imu.readAccY(), imu.readAccZ(), imu.readMagX(), imu.readMagY(), imu.readMagZ());
- */
+ // read out the imu, the actual frames of the sensor reading needs to be figured out
+ // imu.updateGyro();
+ // imu.updateAcc();
+ // imu.updateMag();
+ // printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f\r\n", imu.readGyroX(), imu.readGyroY(), imu.readGyroZ(),
+ // imu.readAccX(), imu.readAccY(), imu.readAccZ(), imu.readMagX(), imu.readMagY(), imu.readMagZ());
- /* ------------- stop hacking ----------------------------------------*/
-
- int loop_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(loop_timer.elapsed_time()).count();
- thread_sleep_for(loop_period_ms - loop_time_ms);
+ // read timer and make the main thread sleep for the remaining time span (non blocking)
+ int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();
+ thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
}
}
-void button_fall()
-{
+void user_button_pressed_fcn()
+{
user_button_timer.reset();
- user_button_timer.start();
}
-void button_rise()
+void user_button_released_fcn()
{
- int user_button_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
+ // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
+ int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
user_button_timer.stop();
- if (user_button_time_ms > 200) {
- do_execute_main = !do_execute_main;
+ if (user_button_elapsed_time_ms > 200) {
+ do_execute_main_task = !do_execute_main_task;
}
}
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