TreppenRobo / Mbed OS PrototypV2

Prototyp V2

Dependencies:   PM2_Libary

main.cpp@70:da5754e1514c, 2022-04-27 (annotated)

Committer:
lupomic
Date:
Wed Apr 27 10:15:32 2022 +0200
Branch:
Lupo_2
Revision:
70:da5754e1514c
Parent:
55:8cb262e56efb
Child:
71:e740ef7c7813
start logic

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"
raomen 41:4a4978d1a578 3 #include <cmath>
lupomic 33:70ea029a69e8 4 #include <cstdint>
raomen 41:4a4978d1a578 5 #include <cstdio>
raomen 39:025d1bee1397 6 #include "math.h"
raomen 39:025d1bee1397 7 //*******************************************************************************************************************************************************************
raomen 39:025d1bee1397 8 // Defined Variables in mm coming from Hardware-team. Need to be updated
raomen 55:8cb262e56efb 9 const float wheel_diameter = 30; // diameter of wheel with caterpillar to calculate mm per wheel turn (4)
raomen 55:8cb262e56efb 10 const float arm_length = 118.5; // lenght of arm from pivotpoint to pivotpoint (3)
raomen 55:8cb262e56efb 11 const float dist_arm_attach_distsensor = 20; // distance between pivot point arm on body to start distancesensor on top in horizontal (6)
raomen 55:8cb262e56efb 12 const float dist_distsensors = 200; // distance between the two distancesensors on top of Wall-E (9)
raomen 55:8cb262e56efb 13 const float dist_arm_ground = 51; // distance between pivotpoint arm and ground (5)
raomen 55:8cb262e56efb 14 const float gripper_area_height = 16 ; // Height of Grappler cutout to grapple Stair (8)
raomen 55:8cb262e56efb 15 const float dist_grappleratt_grappler_uk = 33; // distance between pivotpoint Grappler and bottom edge (?)
raomen 41:4a4978d1a578 16
raomen 55:8cb262e56efb 17 const float height_stairs = 100; // height to top of next stairstep in mm
raomen 39:025d1bee1397 18 //***********************************************************************************************************************************************************
raomen 41:4a4978d1a578 19 // declaration of Input - Output pins
pmic 17:c19b471f05cb 20
pmic 24:86f1a63e35a0 21 // user button on nucleo board
pmic 24:86f1a63e35a0 22 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 23 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 24 void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
pmic 24:86f1a63e35a0 25 void user_button_released_fcn();
pmic 6:e1fa1a2d7483 26
pmic 24:86f1a63e35a0 27 // Sharp GP2Y0A41SK0F, 4-40 cm IR Sensor
lupomic 70:da5754e1514c 28 // define variable to store measurement from infrared distancesensor in mm
lupomic 70:da5754e1514c 29 double ir_distance_mm_L = 0.0f;
lupomic 70:da5754e1514c 30 double ir_distance_mm_R = 0.0f;
lupomic 70:da5754e1514c 31 double ir_distance_mm_Lookdown_B = 0.0f;
lupomic 70:da5754e1514c 32 double ir_distance_mm_Lookdown_F = 0.0f;
lupomic 70:da5754e1514c 33
lupomic 70:da5754e1514c 34 AnalogIn ir_analog_in_Distance_L(PC_2);
lupomic 70:da5754e1514c 35 AnalogIn ir_analog_in_Distance_R(PC_3);
lupomic 70:da5754e1514c 36 AnalogIn ir_analog_in_Lookdown_B(PC_5);
lupomic 70:da5754e1514c 37 AnalogIn ir_analog_in_Lookdown_F(PB_1);
lupomic 70:da5754e1514c 38 // create AnalogIn object to read in infrared distance sensor, 0...3.3V are mapped to 0...1
pmic 6:e1fa1a2d7483 39
pmic 24:86f1a63e35a0 40 // 78:1, 100:1, ... Metal Gearmotor 20Dx44L mm 12V CB
pmic 24:86f1a63e35a0 41 DigitalOut enable_motors(PB_15); // create DigitalOut object to enable dc motors
pmic 24:86f1a63e35a0 42 float pwm_period_s = 0.00005f; // define pwm period time in seconds and create FastPWM objects to command dc motors
raomen 48:0ab6b1fd455f 43
lupomic 33:70ea029a69e8 44 //motor pin declaration
raomen 46:eba2263eb626 45 FastPWM pwm_M_right (PB_13); //motor pin decalaration for wheels right side
raomen 46:eba2263eb626 46 FastPWM pwm_M_left (PA_9); //motor pin decalaration for wheels left side
raomen 46:eba2263eb626 47 FastPWM pwm_M_arm (PA_10); //motor pin decalaration for arm
pmic 17:c19b471f05cb 48
lupomic 33:70ea029a69e8 49 //Encoder pin declaration
raomen 46:eba2263eb626 50 EncoderCounter encoder_M_right (PA_6, PC_7); //encoder pin decalaration for wheels right side
raomen 46:eba2263eb626 51 EncoderCounter encoder_M_left (PB_6, PB_7); //encoder pin decalaration for wheels left side
raomen 46:eba2263eb626 52 EncoderCounter encoder_M_arm (PA_0, PA_1); //encoder pin decalaration for arm
raomen 41:4a4978d1a578 53 //***********************************************************************************************************************************************************
raomen 43:7964411b4a6b 54 // Hardware controll Setup and functions (motors and sensors)
pmic 17:c19b471f05cb 55
pmic 30:1e8295770bc1 56 // create SpeedController and PositionController objects, default parametrization is for 78.125:1 gear box
raomen 55:8cb262e56efb 57 const float max_voltage = 12.0f; // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack
raomen 55:8cb262e56efb 58 const float counts_per_turn_wheels = 20.0f * 78.125f; // define counts per turn at gearbox end (counts/turn * gearratio) for wheels
raomen 55:8cb262e56efb 59 const float counts_per_turn_arm = 20.0f * 78.125f * 10.0f; // define counts per turn at gearbox end (counts/turn * gearratio) for arm
raomen 55:8cb262e56efb 60 const float kn = 180.0f / 12.0f; // define motor constant in rpm per V
raomen 55:8cb262e56efb 61 const 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 (DC with 100:1 has 2'000 turns for 360°)
raomen 55:8cb262e56efb 62 const float kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1
raomen 46:eba2263eb626 63
lupomic 33:70ea029a69e8 64 //motors for tracks
lupomic 33:70ea029a69e8 65 PositionController positionController_M_right(counts_per_turn_wheels * k_gear, kn / k_gear, kp * k_gear, max_voltage, pwm_M_right, encoder_M_right); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
lupomic 33:70ea029a69e8 66 PositionController positionController_M_left(counts_per_turn_wheels * k_gear, kn / k_gear, kp * k_gear, max_voltage, pwm_M_left, encoder_M_left); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
lupomic 33:70ea029a69e8 67 //Arm Motor
lupomic 33:70ea029a69e8 68 PositionController positionController_M_Arm(counts_per_turn_arm * k_gear, kn / k_gear, kp * k_gear, max_voltage, pwm_M_arm, encoder_M_arm); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
pmic 17:c19b471f05cb 69
lupomic 33:70ea029a69e8 70 // PositionController positionController_M3(counts_per_turn, kn, max_voltage, pwm_M3, encoder_M3); // default 78.125:1 gear with default contoller parameters
lupomic 33:70ea029a69e8 71 //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
raomen 41:4a4978d1a578 72 //***********************************************************************************************************************************************************
raomen 43:7964411b4a6b 73 // logic functions for basic movement
raomen 41:4a4978d1a578 74
raomen 50:058dc65d0fa4 75 //placeholder variables for prototype testing
raomen 55:8cb262e56efb 76 const int drive_stright_mm = 100; // placeholder for testing drives amount forward
raomen 55:8cb262e56efb 77 const int drive_back_mm = -100; // placeholder for testing drives amount backwards
raomen 55:8cb262e56efb 78 int ToNextFunction = 0; // current state of the system (which function is beeing executed)
lupomic 70:da5754e1514c 79 int state=0;
lupomic 33:70ea029a69e8 80
raomen 46:eba2263eb626 81 // definition important variables
raomen 55:8cb262e56efb 82 const float pi = 2 * acos(0.0); // definiton of pi
raomen 55:8cb262e56efb 83 const float max_speed_rps_wheel = 0.6f; // define maximum speed that the position controller is changig the speed for the wheels, has to be smaller or equal to kn * max_voltage
raomen 55:8cb262e56efb 84 const float max_speed_rps_arm = 0.3f; // define maximum speed that the position controller is changig the speed for the arm, has to be smaller or equal to kn * max_voltage
raomen 55:8cb262e56efb 85 float start_deg_arm = -asin((dist_arm_ground - dist_grappleratt_grappler_uk) / arm_length) * 180.0/pi ; //calculates the starting degree of the arm (gripper has to touch ground in frotn of Wall-E)
raomen 55:8cb262e56efb 86 float current_deg_arm = start_deg_arm; // saves the current degree the arm has.
raomen 46:eba2263eb626 87
raomen 47:8963ca9829b9 88 // import functions from file mapping
raomen 52:adfcbf71be5b 89 extern double powerx(double base, double pow2);
raomen 52:adfcbf71be5b 90 extern double mapping (float adc_value_mV);
lupomic 36:6116ce98080d 91
raomen 46:eba2263eb626 92 // calculates the deg which the arm has to take to reach a certain height (the input height has to be the height of OK Gripper area)
raomen 42:6e7ab1136354 93 double calc_arm_deg_for_height(int height_mm)
raomen 40:e32c57763d92 94 {
raomen 51:7d165baaa646 95 float deg_arm;
raomen 46:eba2263eb626 96 if ((height_mm - dist_arm_ground - (dist_grappleratt_grappler_uk - gripper_area_height)) > arm_length) //check if height is reachable
raomen 41:4a4978d1a578 97 {
raomen 43:7964411b4a6b 98 printf("Error in calc_arm_deg_for_height: desired height is bigger than Wall-E arm lenght."); // error message when desired height is not reachable.
raomen 41:4a4978d1a578 99 }
raomen 46:eba2263eb626 100 else
raomen 46:eba2263eb626 101 {
raomen 46:eba2263eb626 102 float height_arm = height_mm - dist_arm_ground - (dist_grappleratt_grappler_uk - gripper_area_height); // calculates the height which only the arm has to cover (- attachement height (arm to robot) etc.)
raomen 51:7d165baaa646 103 deg_arm = asin(height_arm / arm_length) * 180.0/pi; // calculates the absolute degrees which the arm has to reach
raomen 46:eba2263eb626 104 }
raomen 51:7d165baaa646 105 return deg_arm;
raomen 40:e32c57763d92 106 }
raomen 38:c2663f7dcccb 107
raomen 46:eba2263eb626 108 //calculates the deg which the wheels have to turn in order to cover specified distance in mm
raomen 45:8050724fe19b 109 float wheel_dist_to_deg(int distance) // distance has to be in mm.
raomen 45:8050724fe19b 110 {
raomen 45:8050724fe19b 111 float deg_wheel = distance * 360 /(wheel_diameter * pi);
raomen 45:8050724fe19b 112 return deg_wheel;
raomen 45:8050724fe19b 113 }
raomen 45:8050724fe19b 114
raomen 46:eba2263eb626 115 // bring arm in starting position. Height of stairs.
raomen 42:6e7ab1136354 116 int start_position()
raomen 42:6e7ab1136354 117 {
lupomic 70:da5754e1514c 118 float diff;
raomen 46:eba2263eb626 119 double deg_up_from_horizon = calc_arm_deg_for_height(height_stairs); //deg which arm motor has to turn to in order to grab stair. starting from horizontal position
raomen 45:8050724fe19b 120 float deg = deg_up_from_horizon + start_deg_arm;
raomen 43:7964411b4a6b 121 if ((0.0 > deg) || (deg > 360.0))
raomen 42:6e7ab1136354 122 {
raomen 46:eba2263eb626 123 printf("Error in start_position: degree is out of bound for Start Position."); // error when desired reaching point is out of reach.
lupomic 70:da5754e1514c 124 return 2;
raomen 42:6e7ab1136354 125 }
raomen 45:8050724fe19b 126 positionController_M_Arm.setDesiredRotation(deg / 360.0, max_speed_rps_arm); // command to turn motor to desired deg.
raomen 50:058dc65d0fa4 127 current_deg_arm = positionController_M_Arm.getRotation() * 360.0; //write new position to variable
lupomic 70:da5754e1514c 128 diff = deg-current_deg_arm;
lupomic 70:da5754e1514c 129 if (diff<=0.3){
lupomic 70:da5754e1514c 130 return 1;
lupomic 70:da5754e1514c 131 }
lupomic 70:da5754e1514c 132 else {
lupomic 70:da5754e1514c 133 return NULL;}
lupomic 70:da5754e1514c 134
lupomic 70:da5754e1514c 135
raomen 42:6e7ab1136354 136 }
raomen 42:6e7ab1136354 137
raomen 55:8cb262e56efb 138 //Drives forward into the next step
raomen 55:8cb262e56efb 139 //Prameter:distance in milimeter
raomen 43:7964411b4a6b 140 int drive_straight(float distance)
raomen 40:e32c57763d92 141 {
lupomic 70:da5754e1514c 142 float diff_R;
lupomic 70:da5754e1514c 143 float diff_L;
raomen 46:eba2263eb626 144 float deg_to_turn = wheel_dist_to_deg(distance);
raomen 45:8050724fe19b 145 positionController_M_right.setDesiredRotation(deg_to_turn / 360.0, max_speed_rps_wheel);
raomen 45:8050724fe19b 146 positionController_M_left.setDesiredRotation(deg_to_turn / 360.0, max_speed_rps_wheel);
lupomic 70:da5754e1514c 147
lupomic 70:da5754e1514c 148
lupomic 70:da5754e1514c 149 diff_R= deg_to_turn-(positionController_M_right.getRotation()*360);
lupomic 70:da5754e1514c 150 diff_L= deg_to_turn-(positionController_M_left.getRotation()*360);
lupomic 70:da5754e1514c 151 if (diff_R<=0.3&&diff_L<=0.3){
lupomic 70:da5754e1514c 152 return 1;
lupomic 70:da5754e1514c 153 }
lupomic 70:da5754e1514c 154 else {
lupomic 70:da5754e1514c 155 return 0;
lupomic 70:da5754e1514c 156 }
lupomic 33:70ea029a69e8 157 }
lupomic 33:70ea029a69e8 158
lupomic 33:70ea029a69e8 159 //only turns the arm until the robot is on the next step
raomen 46:eba2263eb626 160 int lift_up()
raomen 40:e32c57763d92 161 {
lupomic 70:da5754e1514c 162 float diff;
raomen 46:eba2263eb626 163 float position_lift_end_deg = asin((-dist_arm_ground - (dist_grappleratt_grappler_uk-gripper_area_height)) / arm_length) - 90; // calculates the degree which has to be reached in order to get on top of next step
raomen 46:eba2263eb626 164
raomen 46:eba2263eb626 165 positionController_M_Arm.setDesiredRotation(0, max_speed_rps_arm);
raomen 45:8050724fe19b 166 return NULL;
lupomic 33:70ea029a69e8 167 }
raomen 43:7964411b4a6b 168 //***********************************************************************************************************************************************************
raomen 38:c2663f7dcccb 169
lupomic 70:da5754e1514c 170 int ground (float){
lupomic 70:da5754e1514c 171 return 1;
lupomic 70:da5754e1514c 172 }
lupomic 70:da5754e1514c 173 //simple check if there is an object in proximity
lupomic 70:da5754e1514c 174 //returns 0 if there is NO object present
lupomic 70:da5754e1514c 175 //returns 1 if there is an object present
lupomic 70:da5754e1514c 176 //returns 2 if the distance isn't in the expected range
lupomic 70:da5754e1514c 177
lupomic 70:da5754e1514c 178 uint8_t StepDetection(double distance){
lupomic 70:da5754e1514c 179 double d_valueMM = distance;
lupomic 70:da5754e1514c 180 if(d_valueMM >= 4) return 0;
lupomic 70:da5754e1514c 181 if(d_valueMM < 4) return 1;
lupomic 70:da5754e1514c 182 if(d_valueMM < 0 || d_valueMM > 100 ) return 2;
lupomic 70:da5754e1514c 183 else return 2;
lupomic 70:da5754e1514c 184 }
raomen 43:7964411b4a6b 185 //Function which checks if sensors and motors have been wired correctly and the expectet results will happen. otherwise Wall-E will show with armmovement.
raomen 43:7964411b4a6b 186 int check_start()
raomen 43:7964411b4a6b 187 {
raomen 43:7964411b4a6b 188
raomen 46:eba2263eb626 189 return NULL;
raomen 43:7964411b4a6b 190 }
raomen 43:7964411b4a6b 191
raomen 41:4a4978d1a578 192 // while loop gets executed every main_task_period_ms milliseconds
raomen 41:4a4978d1a578 193 int main_task_period_ms = 30; // define main task period time in ms e.g. 30 ms -> main task runns ~33,33 times per second
raomen 41:4a4978d1a578 194 Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms
raomen 43:7964411b4a6b 195 //***********************************************************************************************************************************************************
raomen 39:025d1bee1397 196
lupomic 33:70ea029a69e8 197 int main(void)
pmic 23:26b3a25fc637 198 {
raomen 46:eba2263eb626 199 // attach button fall and rise functions to user button object
raomen 46:eba2263eb626 200 user_button.fall(&user_button_pressed_fcn);
lupomic 70:da5754e1514c 201
lupomic 70:da5754e1514c 202
lupomic 34:9f779e91168e 203
raomen 40:e32c57763d92 204 while (true)
raomen 40:e32c57763d92 205 {
raomen 45:8050724fe19b 206 enable_motors = 1;
lupomic 70:da5754e1514c 207
lupomic 33:70ea029a69e8 208
raomen 40:e32c57763d92 209 switch (ToNextFunction)
raomen 40:e32c57763d92 210 {
raomen 46:eba2263eb626 211
raomen 45:8050724fe19b 212 case 1:
raomen 45:8050724fe19b 213 start_position();
raomen 46:eba2263eb626 214 printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
lupomic 70:da5754e1514c 215 if (state==1){
lupomic 70:da5754e1514c 216 ToNextFunction += 1;
lupomic 70:da5754e1514c 217 }
raomen 46:eba2263eb626 218 break;
raomen 46:eba2263eb626 219
lupomic 70:da5754e1514c 220 case 2:
lupomic 70:da5754e1514c 221 state=StepDetection(ir_analog_in_Distance_L);
lupomic 70:da5754e1514c 222 if (state==1){
lupomic 70:da5754e1514c 223 ToNextFunction += 1;
lupomic 70:da5754e1514c 224 }
lupomic 70:da5754e1514c 225
lupomic 70:da5754e1514c 226 case 3:
lupomic 70:da5754e1514c 227 state=drive_straight(drive_stright_mm);
raomen 45:8050724fe19b 228 printf("Case 2: Position Right(rot): %3.3f; Position Left (rot): %3.3f\n",
raomen 46:eba2263eb626 229 positionController_M_right.getRotation(),positionController_M_left.getRotation());
lupomic 70:da5754e1514c 230 if (state==1){
lupomic 70:da5754e1514c 231 ToNextFunction += 1;
lupomic 70:da5754e1514c 232 }
raomen 46:eba2263eb626 233 break;
raomen 46:eba2263eb626 234
raomen 45:8050724fe19b 235 case 4:
lupomic 70:da5754e1514c 236 state=lift_up();
lupomic 70:da5754e1514c 237 printf("Case 3: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
lupomic 70:da5754e1514c 238 if (state==1){
lupomic 70:da5754e1514c 239 ToNextFunction += 1;
lupomic 70:da5754e1514c 240 }
raomen 46:eba2263eb626 241 break;
raomen 46:eba2263eb626 242
raomen 45:8050724fe19b 243 case 5:
lupomic 70:da5754e1514c 244 state=drive_straight(drive_back_mm);
lupomic 70:da5754e1514c 245 printf("Case 4: Position Right(rot): %3.3f; Position Left (rot): %3.3f\n",
lupomic 70:da5754e1514c 246 positionController_M_right.getRotation(),positionController_M_left.getRotation());
lupomic 70:da5754e1514c 247 if (state==1){
lupomic 70:da5754e1514c 248 ToNextFunction += 1;
lupomic 70:da5754e1514c 249 }
lupomic 70:da5754e1514c 250 break;
lupomic 70:da5754e1514c 251
lupomic 70:da5754e1514c 252 case 6:
lupomic 70:da5754e1514c 253 state=lift_up();
raomen 46:eba2263eb626 254 printf("Case 5: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
lupomic 70:da5754e1514c 255 if (state==1){
lupomic 70:da5754e1514c 256 ToNextFunction = 1;
lupomic 70:da5754e1514c 257 }
raomen 46:eba2263eb626 258 break;
raomen 46:eba2263eb626 259
raomen 46:eba2263eb626 260 default: ;
lupomic 33:70ea029a69e8 261 }
lupomic 33:70ea029a69e8 262 }
lupomic 33:70ea029a69e8 263 // read timer and make the main thread sleep for the remaining time span (non blocking)
pmic 24:86f1a63e35a0 264 int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();
pmic 24:86f1a63e35a0 265 thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
raomen 47:8963ca9829b9 266 return 0;
pmic 1:93d997d6b232 267 }
pmic 6:e1fa1a2d7483 268
lupomic 33:70ea029a69e8 269
pmic 24:86f1a63e35a0 270 void user_button_pressed_fcn()
pmic 25:ea1d6e27c895 271 {
pmic 26:28693b369945 272 user_button_timer.start();
pmic 6:e1fa1a2d7483 273 user_button_timer.reset();
pmic 6:e1fa1a2d7483 274 }
pmic 6:e1fa1a2d7483 275
raomen 43:7964411b4a6b 276 void user_button_released_fcn()
raomen 43:7964411b4a6b 277 {
pmic 24:86f1a63e35a0 278 // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
pmic 24:86f1a63e35a0 279 int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 280 user_button_timer.stop();
raomen 43:7964411b4a6b 281 if (user_button_elapsed_time_ms > 200)
raomen 43:7964411b4a6b 282 {
lupomic 70:da5754e1514c 283 ToNextFunction = 1;
raomen 43:7964411b4a6b 284 }
raomen 43:7964411b4a6b 285 }