TreppenRobo / Mbed OS PrototypV2

Prototyp V2

Dependencies:   PM2_Libary

main.cpp@32:bf35aeffc374, 2022-04-06 (annotated)

Committer:
lupomic
Date:
Wed Apr 06 07:44:41 2022 +0000
Revision:
32:bf35aeffc374
Parent:
31:24081337c9ed
Child:
33:70ea029a69e8
First Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 1:93d997d6b232 1 #include "mbed.h"
pmic 17:c19b471f05cb 2 #include "PM2_Libary.h"
pmic 6:e1fa1a2d7483 3
lupomic 32:bf35aeffc374 4
lupomic 32:bf35aeffc374 5
lupomic 32:bf35aeffc374 6
lupomic 31:24081337c9ed 7 //
lupomic 31:24081337c9ed 8
pmic 24:86f1a63e35a0 9 // logical variable main task
pmic 24:86f1a63e35a0 10 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
pmic 17:c19b471f05cb 11
pmic 24:86f1a63e35a0 12 // user button on nucleo board
pmic 24:86f1a63e35a0 13 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)
pmic 24:86f1a63e35a0 14 InterruptIn user_button(PC_13); // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR)
pmic 24:86f1a63e35a0 15 void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
pmic 24:86f1a63e35a0 16 void user_button_released_fcn();
pmic 6:e1fa1a2d7483 17
pmic 24:86f1a63e35a0 18 // while loop gets executed every main_task_period_ms milliseconds
pmic 24:86f1a63e35a0 19 int main_task_period_ms = 50; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
pmic 24:86f1a63e35a0 20 Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms
pmic 6:e1fa1a2d7483 21
pmic 24:86f1a63e35a0 22 // led on nucleo board
pmic 24:86f1a63e35a0 23 DigitalOut user_led(LED1); // create DigitalOut object to command user led
pmic 17:c19b471f05cb 24
pmic 24:86f1a63e35a0 25 // additional Led
pmic 24:86f1a63e35a0 26 DigitalOut extra_led(PB_9); // create DigitalOut object to command extra led (do add an aditional resistor, e.g. 220...500 Ohm)
pmic 17:c19b471f05cb 27
pmic 24:86f1a63e35a0 28 // mechanical button
pmic 24:86f1a63e35a0 29 DigitalIn mechanical_button(PC_5); // create DigitalIn object to evaluate extra mechanical button, you need to specify the mode for proper usage, see below
pmic 24:86f1a63e35a0 30
pmic 24:86f1a63e35a0 31 // Sharp GP2Y0A41SK0F, 4-40 cm IR Sensor
pmic 24:86f1a63e35a0 32 float ir_distance_mV = 0.0f; // define variable to store measurement
pmic 24:86f1a63e35a0 33 AnalogIn ir_analog_in(PC_2); // create AnalogIn object to read in infrared distance sensor, 0...3.3V are mapped to 0...1
pmic 6:e1fa1a2d7483 34
pmic 24:86f1a63e35a0 35 // 78:1, 100:1, ... Metal Gearmotor 20Dx44L mm 12V CB
pmic 24:86f1a63e35a0 36 DigitalOut enable_motors(PB_15); // create DigitalOut object to enable dc motors
pmic 17:c19b471f05cb 37
pmic 24:86f1a63e35a0 38 float pwm_period_s = 0.00005f; // define pwm period time in seconds and create FastPWM objects to command dc motors
pmic 24:86f1a63e35a0 39 FastPWM pwm_M1(PB_13); // motor M1 is used open loop
pmic 30:1e8295770bc1 40 FastPWM pwm_M2(PA_9); // motor M2 is closed-loop speed controlled (angle velocity)
pmic 30:1e8295770bc1 41 FastPWM pwm_M3(PA_10); // motor M3 is closed-loop position controlled (angle controlled)
pmic 17:c19b471f05cb 42
pmic 30:1e8295770bc1 43 EncoderCounter encoder_M1(PA_6, PC_7); // create encoder objects to read in the encoder counter values
pmic 17:c19b471f05cb 44 EncoderCounter encoder_M2(PB_6, PB_7);
pmic 17:c19b471f05cb 45 EncoderCounter encoder_M3(PA_0, PA_1);
pmic 17:c19b471f05cb 46
pmic 30:1e8295770bc1 47 // create SpeedController and PositionController objects, default parametrization is for 78.125:1 gear box
pmic 24:86f1a63e35a0 48 float max_voltage = 12.0f; // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack
pmic 24:86f1a63e35a0 49 float counts_per_turn = 20.0f * 78.125f; // define counts per turn at gearbox end: counts/turn * gearratio
pmic 25:ea1d6e27c895 50 float kn = 180.0f / 12.0f; // define motor constant in rpm per V
pmic 30:1e8295770bc1 51 float k_gear = 100.0f / 78.125f; // define additional ratio in case you are using a dc motor with a different gear box, e.g. 100:1
pmic 30:1e8295770bc1 52 float kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1
pmic 6:e1fa1a2d7483 53
pmic 30:1e8295770bc1 54 // SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear box with default contoller parameters
pmic 30:1e8295770bc1 55 SpeedController speedController_M2(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M2, encoder_M2); // parameters adjusted to 100:1 gear
pmic 17:c19b471f05cb 56
pmic 24:86f1a63e35a0 57 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
pmic 30:1e8295770bc1 58 // PositionController positionController_M3(counts_per_turn, kn, max_voltage, pwm_M3, encoder_M3); // default 78.125:1 gear with default contoller parameters
pmic 30:1e8295770bc1 59 PositionController positionController_M3(counts_per_turn * k_gear, kn / k_gear, kp * k_gear, max_voltage, pwm_M3, encoder_M3); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
pmic 17:c19b471f05cb 60
pmic 17:c19b471f05cb 61 // Futaba Servo S3001 20mm 3kg Analog
pmic 24:86f1a63e35a0 62 Servo servo_S1(PB_2); // create servo objects
pmic 10:c5d85e35758c 63 Servo servo_S2(PC_8);
pmic 30:1e8295770bc1 64 float servo_S1_angle = 0; // servo S1 normalized angle
pmic 30:1e8295770bc1 65 float servo_S2_angle = 0; // servo S2 normalized angle
pmic 24:86f1a63e35a0 66 int servo_period_mus = 20000; // define servo period time in mus
pmic 17:c19b471f05cb 67
pmic 24:86f1a63e35a0 68 int servo_counter = 0; // define servo counter, this is an additional variable to make the servos move
pmic 30:1e8295770bc1 69 int loops_per_seconds = static_cast<int>(ceilf(1.0f/(0.001f*(float)main_task_period_ms))); // define loops per second
pmic 1:93d997d6b232 70
pmic 11:af0f165f8761 71 // Groove Ultrasonic Ranger V2.0
pmic 24:86f1a63e35a0 72 float us_distance_cm = 0.0f; // define variable to store measurement
pmic 30:1e8295770bc1 73 RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 17500); // create range finder object (ultra sonic distance sensor), 20 Hz parametrization
pmic 30:1e8295770bc1 74 // RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 7000); // create range finder object (ultra sonic distance sensor), 50 Hz parametrization
pmic 17:c19b471f05cb 75
pmic 24:86f1a63e35a0 76 // LSM9DS1 IMU, carefull: not all PES boards have an imu (chip shortage)
pmic 25:ea1d6e27c895 77 // 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"
pmic 20:7e7325edcf5c 78
pmic 1:93d997d6b232 79 int main()
pmic 23:26b3a25fc637 80 {
pmic 24:86f1a63e35a0 81 // attach button fall and rise functions to user button object
pmic 24:86f1a63e35a0 82 user_button.fall(&user_button_pressed_fcn);
pmic 24:86f1a63e35a0 83 user_button.rise(&user_button_released_fcn);
pmic 17:c19b471f05cb 84
pmic 29:d6f1ccf42a31 85 // start timer
pmic 24:86f1a63e35a0 86 main_task_timer.start();
pmic 6:e1fa1a2d7483 87
pmic 24:86f1a63e35a0 88 // set pullup mode: add resistor between pin and 3.3 V, so that there is a defined potential
pmic 24:86f1a63e35a0 89 mechanical_button.mode(PullUp);
pmic 24:86f1a63e35a0 90
pmic 24:86f1a63e35a0 91 // enable hardwaredriver dc motors: 0 -> disabled, 1 -> enabled
pmic 10:c5d85e35758c 92 enable_motors = 1;
pmic 17:c19b471f05cb 93
pmic 24:86f1a63e35a0 94 // 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
pmic 25:ea1d6e27c895 95 pwm_M1.period(pwm_period_s);
pmic 30:1e8295770bc1 96 pwm_M1.write(0.5f);
pmic 9:f10b974d01e0 97
pmic 24:86f1a63e35a0 98 // enable servos, you can also disable them at any point in your program if you don't want your servos to become warm
pmic 30:1e8295770bc1 99 servo_S1.Enable(servo_S1_angle, servo_period_mus);
pmic 30:1e8295770bc1 100 servo_S2.Enable(servo_S2_angle, servo_period_mus);
pmic 6:e1fa1a2d7483 101
pmic 24:86f1a63e35a0 102 while (true) { // this loop will run forever
pmic 6:e1fa1a2d7483 103
pmic 24:86f1a63e35a0 104 main_task_timer.reset();
pmic 6:e1fa1a2d7483 105
pmic 24:86f1a63e35a0 106 if (do_execute_main_task) {
pmic 17:c19b471f05cb 107
pmic 24:86f1a63e35a0 108 // read analog input
pmic 24:86f1a63e35a0 109 ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f;
pmic 6:e1fa1a2d7483 110
pmic 24:86f1a63e35a0 111 // command dc motors if mechanical button is pressed
pmic 29:d6f1ccf42a31 112 if (mechanical_button.read()) {
pmic 30:1e8295770bc1 113 pwm_M1.write(0.75f); // write output voltage to motor M1
pmic 24:86f1a63e35a0 114 speedController_M2.setDesiredSpeedRPS(0.5f); // set a desired speed for speed controlled dc motors M2
pmic 24:86f1a63e35a0 115 positionController_M3.setDesiredRotation(1.5f, max_speed_rps); // set a desired rotation for position controlled dc motors M3
pmic 24:86f1a63e35a0 116 } else {
pmic 30:1e8295770bc1 117 pwm_M1.write(0.5f);
pmic 24:86f1a63e35a0 118 speedController_M2.setDesiredSpeedRPS(0.0f);
pmic 24:86f1a63e35a0 119 positionController_M3.setDesiredRotation(0.0f, max_speed_rps);
pmic 24:86f1a63e35a0 120 }
pmic 6:e1fa1a2d7483 121
pmic 30:1e8295770bc1 122 // check if servos are enabled
pmic 30:1e8295770bc1 123 if (!servo_S1.isEnabled()) servo_S1.Enable(servo_S1_angle, servo_period_mus);
pmic 30:1e8295770bc1 124 if (!servo_S2.isEnabled()) servo_S2.Enable(servo_S2_angle, servo_period_mus);
pmic 24:86f1a63e35a0 125 // command servo position, this needs to be calibrated
pmic 30:1e8295770bc1 126 servo_S1.SetPosition(servo_S1_angle);
pmic 30:1e8295770bc1 127 if (servo_S1_angle <= 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) {
pmic 30:1e8295770bc1 128 servo_S1_angle += 0.01f;
pmic 8:9bb806a7f585 129 }
pmic 30:1e8295770bc1 130 servo_S2.SetPosition(servo_S2_angle);
pmic 30:1e8295770bc1 131 if (servo_S2_angle <= 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) {
pmic 30:1e8295770bc1 132 servo_S2_angle += 0.01f;
pmic 8:9bb806a7f585 133 }
pmic 10:c5d85e35758c 134 servo_counter++;
pmic 6:e1fa1a2d7483 135
pmic 24:86f1a63e35a0 136 // read ultra sonic distance sensor
pmic 24:86f1a63e35a0 137 us_distance_cm = us_range_finder.read_cm();
pmic 11:af0f165f8761 138
pmic 24:86f1a63e35a0 139 // visual feedback that the main task is executed
pmic 24:86f1a63e35a0 140 extra_led = 1;
pmic 9:f10b974d01e0 141
pmic 1:93d997d6b232 142 } else {
pmic 6:e1fa1a2d7483 143
pmic 24:86f1a63e35a0 144 ir_distance_mV = 0.0f;
pmic 1:93d997d6b232 145
pmic 30:1e8295770bc1 146 pwm_M1.write(0.5f);
pmic 17:c19b471f05cb 147 speedController_M2.setDesiredSpeedRPS(0.0f);
pmic 17:c19b471f05cb 148 positionController_M3.setDesiredRotation(0.0f, max_speed_rps);
pmic 6:e1fa1a2d7483 149
pmic 30:1e8295770bc1 150 servo_S1_angle = 0;
pmic 30:1e8295770bc1 151 servo_S2_angle = 0;
pmic 30:1e8295770bc1 152 // servo_S1.SetPosition(servo_S1_angle);
pmic 30:1e8295770bc1 153 // servo_S2.SetPosition(servo_S2_angle);
pmic 30:1e8295770bc1 154 if (servo_S1.isEnabled()) servo_S1.Disable();
pmic 30:1e8295770bc1 155 if (servo_S2.isEnabled()) servo_S2.Disable();
pmic 17:c19b471f05cb 156
pmic 24:86f1a63e35a0 157 us_distance_cm = 0.0f;
pmic 6:e1fa1a2d7483 158
pmic 24:86f1a63e35a0 159 extra_led = 0;
pmic 1:93d997d6b232 160 }
pmic 6:e1fa1a2d7483 161
pmic 24:86f1a63e35a0 162 user_led = !user_led;
pmic 24:86f1a63e35a0 163
pmic 24:86f1a63e35a0 164 // do only output via serial what's really necessary (this makes your code slow)
pmic 30:1e8295770bc1 165 printf("IR sensor (mV): %3.3f, Encoder M1: %3d, Speed M2 (rps) %3.3f, Position M3 (rot): %3.3f, Servo S1 angle (normalized): %3.3f, Servo S2 angle (normalized): %3.3f, US sensor (cm): %3.3f\r\n",
pmic 24:86f1a63e35a0 166 ir_distance_mV,
pmic 17:c19b471f05cb 167 encoder_M1.read(),
pmic 17:c19b471f05cb 168 speedController_M2.getSpeedRPS(),
pmic 17:c19b471f05cb 169 positionController_M3.getRotation(),
pmic 30:1e8295770bc1 170 servo_S1_angle,
pmic 30:1e8295770bc1 171 servo_S2_angle,
pmic 24:86f1a63e35a0 172 us_distance_cm);
pmic 6:e1fa1a2d7483 173
pmic 24:86f1a63e35a0 174 // read out the imu, the actual frames of the sensor reading needs to be figured out
pmic 24:86f1a63e35a0 175 // imu.updateGyro();
pmic 24:86f1a63e35a0 176 // imu.updateAcc();
pmic 24:86f1a63e35a0 177 // imu.updateMag();
pmic 24:86f1a63e35a0 178 // printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f\r\n", imu.readGyroX(), imu.readGyroY(), imu.readGyroZ(),
pmic 24:86f1a63e35a0 179 // imu.readAccX(), imu.readAccY(), imu.readAccZ(), imu.readMagX(), imu.readMagY(), imu.readMagZ());
pmic 17:c19b471f05cb 180
pmic 24:86f1a63e35a0 181 // read timer and make the main thread sleep for the remaining time span (non blocking)
pmic 24:86f1a63e35a0 182 int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();
pmic 24:86f1a63e35a0 183 thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
pmic 1:93d997d6b232 184 }
pmic 1:93d997d6b232 185 }
pmic 6:e1fa1a2d7483 186
pmic 24:86f1a63e35a0 187 void user_button_pressed_fcn()
pmic 25:ea1d6e27c895 188 {
pmic 26:28693b369945 189 user_button_timer.start();
pmic 6:e1fa1a2d7483 190 user_button_timer.reset();
pmic 6:e1fa1a2d7483 191 }
pmic 6:e1fa1a2d7483 192
pmic 24:86f1a63e35a0 193 void user_button_released_fcn()
pmic 6:e1fa1a2d7483 194 {
pmic 24:86f1a63e35a0 195 // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
pmic 24:86f1a63e35a0 196 int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 197 user_button_timer.stop();
pmic 24:86f1a63e35a0 198 if (user_button_elapsed_time_ms > 200) {
pmic 24:86f1a63e35a0 199 do_execute_main_task = !do_execute_main_task;
pmic 8:9bb806a7f585 200 }
pmic 6:e1fa1a2d7483 201 }