TreppenRobo / Mbed OS PrototypV2

Prototyp V2

Dependencies:   PM2_Libary

main.cpp@59:f6c3e42f16c7, 2022-04-20 (annotated)

Committer:
raomen
Date:
Wed Apr 20 11:02:17 2022 +0200
Branch:
michi
Revision:
59:f6c3e42f16c7
Parent:
58:3cd93949a7d7
Child:
60:b2e9958f2298
anpassung Uebersetzung Schnekengetriebe

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 52:adfcbf71be5b 5 #include "mapping.cpp"
raomen 41:4a4978d1a578 6 #include <cstdio>
raomen 39:025d1bee1397 7 #include "math.h"
raomen 39:025d1bee1397 8 //*******************************************************************************************************************************************************************
raomen 39:025d1bee1397 9 // Defined Variables in mm coming from Hardware-team. Need to be updated
raomen 55:8cb262e56efb 10 const float wheel_diameter = 30; // diameter of wheel with caterpillar to calculate mm per wheel turn (4)
raomen 55:8cb262e56efb 11 const float arm_length = 118.5; // lenght of arm from pivotpoint to pivotpoint (3)
raomen 55:8cb262e56efb 12 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 13 const float dist_distsensors = 200; // distance between the two distancesensors on top of Wall-E (9)
raomen 55:8cb262e56efb 14 const float dist_arm_ground = 51; // distance between pivotpoint arm and ground (5)
raomen 55:8cb262e56efb 15 const float gripper_area_height = 16 ; // Height of Grappler cutout to grapple Stair (8)
raomen 55:8cb262e56efb 16 const float dist_grappleratt_grappler_uk = 33; // distance between pivotpoint Grappler and bottom edge (?)
raomen 41:4a4978d1a578 17
raomen 55:8cb262e56efb 18 const float height_stairs = 100; // height to top of next stairstep in mm
raomen 39:025d1bee1397 19 //***********************************************************************************************************************************************************
raomen 41:4a4978d1a578 20 // declaration of Input - Output pins
pmic 17:c19b471f05cb 21
pmic 24:86f1a63e35a0 22 // user button on nucleo board
pmic 24:86f1a63e35a0 23 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 24 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 25 void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
pmic 24:86f1a63e35a0 26 void user_button_released_fcn();
pmic 6:e1fa1a2d7483 27
pmic 24:86f1a63e35a0 28 // Sharp GP2Y0A41SK0F, 4-40 cm IR Sensor
raomen 38:c2663f7dcccb 29 float ir_distance_mV = 0.0f; // define variable to store measurement from infrared distancesensor in mVolt
raomen 55:8cb262e56efb 30 AnalogIn ir_analog_in(PC_3); // create AnalogIn object to read in infrared distance sensor, 0...3.3V are mapped to 0...1
pmic 6:e1fa1a2d7483 31
pmic 24:86f1a63e35a0 32 // 78:1, 100:1, ... Metal Gearmotor 20Dx44L mm 12V CB
pmic 24:86f1a63e35a0 33 DigitalOut enable_motors(PB_15); // create DigitalOut object to enable dc motors
pmic 24:86f1a63e35a0 34 float pwm_period_s = 0.00005f; // define pwm period time in seconds and create FastPWM objects to command dc motors
raomen 48:0ab6b1fd455f 35
lupomic 33:70ea029a69e8 36 //motor pin declaration
raomen 46:eba2263eb626 37 FastPWM pwm_M_right (PB_13); //motor pin decalaration for wheels right side
raomen 46:eba2263eb626 38 FastPWM pwm_M_left (PA_9); //motor pin decalaration for wheels left side
raomen 46:eba2263eb626 39 FastPWM pwm_M_arm (PA_10); //motor pin decalaration for arm
pmic 17:c19b471f05cb 40
lupomic 33:70ea029a69e8 41 //Encoder pin declaration
raomen 46:eba2263eb626 42 EncoderCounter encoder_M_right (PA_6, PC_7); //encoder pin decalaration for wheels right side
raomen 46:eba2263eb626 43 EncoderCounter encoder_M_left (PB_6, PB_7); //encoder pin decalaration for wheels left side
raomen 46:eba2263eb626 44 EncoderCounter encoder_M_arm (PA_0, PA_1); //encoder pin decalaration for arm
raomen 41:4a4978d1a578 45 //***********************************************************************************************************************************************************
raomen 43:7964411b4a6b 46 // Hardware controll Setup and functions (motors and sensors)
pmic 17:c19b471f05cb 47
pmic 30:1e8295770bc1 48 // create SpeedController and PositionController objects, default parametrization is for 78.125:1 gear box
raomen 55:8cb262e56efb 49 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 50 const float counts_per_turn_wheels = 20.0f * 78.125f; // define counts per turn at gearbox end (counts/turn * gearratio) for wheels
raomen 59:f6c3e42f16c7 51 const float counts_per_turn_arm = 20.0f * 78.125f * 20.0f; // define counts per turn at gearbox end (counts/turn * gearratio) for arm
raomen 55:8cb262e56efb 52 const float kn = 180.0f / 12.0f; // define motor constant in rpm per V
raomen 55:8cb262e56efb 53 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 54 const float kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1
raomen 46:eba2263eb626 55
lupomic 33:70ea029a69e8 56 //motors for tracks
lupomic 33:70ea029a69e8 57 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 58 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 59 //Arm Motor
lupomic 33:70ea029a69e8 60 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 61
lupomic 33:70ea029a69e8 62 // 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 63 //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 64 //***********************************************************************************************************************************************************
raomen 43:7964411b4a6b 65 // logic functions for basic movement
raomen 41:4a4978d1a578 66
raomen 50:058dc65d0fa4 67 //placeholder variables for prototype testing
raomen 55:8cb262e56efb 68 const int drive_stright_mm = 100; // placeholder for testing drives amount forward
raomen 55:8cb262e56efb 69 const int drive_back_mm = -100; // placeholder for testing drives amount backwards
raomen 55:8cb262e56efb 70 int ToNextFunction = 0; // current state of the system (which function is beeing executed)
lupomic 33:70ea029a69e8 71
raomen 46:eba2263eb626 72 // definition important variables
raomen 55:8cb262e56efb 73 const float pi = 2 * acos(0.0); // definiton of pi
raomen 55:8cb262e56efb 74 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 75 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 76 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 77 float current_deg_arm = start_deg_arm; // saves the current degree the arm has.
raomen 46:eba2263eb626 78
raomen 47:8963ca9829b9 79 // import functions from file mapping
raomen 52:adfcbf71be5b 80 extern double powerx(double base, double pow2);
raomen 52:adfcbf71be5b 81 extern double mapping (float adc_value_mV);
lupomic 36:6116ce98080d 82
raomen 46:eba2263eb626 83 // 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 84 double calc_arm_deg_for_height(int height_mm)
raomen 40:e32c57763d92 85 {
raomen 51:7d165baaa646 86 float deg_arm;
raomen 46:eba2263eb626 87 if ((height_mm - dist_arm_ground - (dist_grappleratt_grappler_uk - gripper_area_height)) > arm_length) //check if height is reachable
raomen 41:4a4978d1a578 88 {
raomen 43:7964411b4a6b 89 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 90 }
raomen 46:eba2263eb626 91 else
raomen 46:eba2263eb626 92 {
raomen 46:eba2263eb626 93 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 94 deg_arm = asin(height_arm / arm_length) * 180.0/pi; // calculates the absolute degrees which the arm has to reach
raomen 46:eba2263eb626 95 }
raomen 51:7d165baaa646 96 return deg_arm;
raomen 40:e32c57763d92 97 }
raomen 38:c2663f7dcccb 98
raomen 46:eba2263eb626 99 //calculates the deg which the wheels have to turn in order to cover specified distance in mm
raomen 45:8050724fe19b 100 float wheel_dist_to_deg(int distance) // distance has to be in mm.
raomen 45:8050724fe19b 101 {
raomen 45:8050724fe19b 102 float deg_wheel = distance * 360 /(wheel_diameter * pi);
raomen 45:8050724fe19b 103 return deg_wheel;
raomen 45:8050724fe19b 104 }
raomen 45:8050724fe19b 105
raomen 58:3cd93949a7d7 106 // increments the Motor for defined degree from the current one
raomen 58:3cd93949a7d7 107 // PARAM: deg_to_turn = degree to turn the Motor
raomen 58:3cd93949a7d7 108 // PARAM: current_full_rotation = the current rotation of the Motor (Motor.getRotation())
raomen 58:3cd93949a7d7 109 // RETURN: new Rotation value in rotations
raomen 57:79732e5818d7 110 float turn_relative_deg(float deg_to_turn, float current_full_rotation)
raomen 57:79732e5818d7 111 {
raomen 57:79732e5818d7 112 float current_deg = current_full_rotation * 360;
raomen 58:3cd93949a7d7 113 float new_turn_rotation = (current_deg - deg_to_turn) / 360.0;
raomen 57:79732e5818d7 114 return new_turn_rotation;
raomen 57:79732e5818d7 115 }
raomen 57:79732e5818d7 116
raomen 58:3cd93949a7d7 117 // sets the Motor to a specified degree in one rotation
raomen 58:3cd93949a7d7 118 // PARAM: end_deg = new position of the arm in degree 0 <= value >=360
raomen 58:3cd93949a7d7 119 // PARAM: current_full_rotation = the current rotation of the Motor (Motor.getRotation())
raomen 58:3cd93949a7d7 120 // RETURN: new Rotation value in rotations
raomen 58:3cd93949a7d7 121 float turn_to_abs_in_deg(float end_deg, float current_full_rotation)
raomen 58:3cd93949a7d7 122 {
raomen 58:3cd93949a7d7 123
raomen 58:3cd93949a7d7 124 return NULL;
raomen 58:3cd93949a7d7 125 }
raomen 58:3cd93949a7d7 126
raomen 46:eba2263eb626 127 // bring arm in starting position. Height of stairs.
raomen 42:6e7ab1136354 128 int start_position()
raomen 42:6e7ab1136354 129 {
raomen 46:eba2263eb626 130 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 131 float deg = deg_up_from_horizon + start_deg_arm;
raomen 43:7964411b4a6b 132 if ((0.0 > deg) || (deg > 360.0))
raomen 42:6e7ab1136354 133 {
raomen 46:eba2263eb626 134 printf("Error in start_position: degree is out of bound for Start Position."); // error when desired reaching point is out of reach.
raomen 42:6e7ab1136354 135 }
raomen 45:8050724fe19b 136 positionController_M_Arm.setDesiredRotation(deg / 360.0, max_speed_rps_arm); // command to turn motor to desired deg.
raomen 50:058dc65d0fa4 137 current_deg_arm = positionController_M_Arm.getRotation() * 360.0; //write new position to variable
raomen 42:6e7ab1136354 138 return NULL;
raomen 42:6e7ab1136354 139 }
raomen 42:6e7ab1136354 140
raomen 55:8cb262e56efb 141 //Drives forward into the next step
raomen 55:8cb262e56efb 142 //Prameter:distance in milimeter
raomen 43:7964411b4a6b 143 int drive_straight(float distance)
raomen 40:e32c57763d92 144 {
raomen 46:eba2263eb626 145 float deg_to_turn = wheel_dist_to_deg(distance);
raomen 58:3cd93949a7d7 146 float relativ_deg_to_turn_right = turn_relative_deg(deg_to_turn, positionController_M_right.getRotation());
raomen 58:3cd93949a7d7 147 float relativ_deg_to_turn_left = turn_relative_deg(deg_to_turn, positionController_M_left.getRotation());
raomen 58:3cd93949a7d7 148 positionController_M_right.setDesiredRotation(relativ_deg_to_turn_right / 360.0, max_speed_rps_wheel);
raomen 58:3cd93949a7d7 149 positionController_M_left.setDesiredRotation(relativ_deg_to_turn_left / 360.0, max_speed_rps_wheel);
raomen 45:8050724fe19b 150 return NULL;
lupomic 33:70ea029a69e8 151 }
lupomic 33:70ea029a69e8 152
lupomic 33:70ea029a69e8 153 //only turns the arm until the robot is on the next step
raomen 46:eba2263eb626 154 int lift_up()
raomen 40:e32c57763d92 155 {
raomen 46:eba2263eb626 156 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 157
raomen 46:eba2263eb626 158 positionController_M_Arm.setDesiredRotation(0, max_speed_rps_arm);
raomen 45:8050724fe19b 159 return NULL;
lupomic 33:70ea029a69e8 160 }
raomen 43:7964411b4a6b 161 //***********************************************************************************************************************************************************
raomen 38:c2663f7dcccb 162
raomen 43:7964411b4a6b 163 //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 164 int check_start()
raomen 43:7964411b4a6b 165 {
raomen 43:7964411b4a6b 166
raomen 46:eba2263eb626 167 return NULL;
raomen 43:7964411b4a6b 168 }
raomen 43:7964411b4a6b 169
raomen 41:4a4978d1a578 170 // while loop gets executed every main_task_period_ms milliseconds
raomen 41:4a4978d1a578 171 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 172 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 173 //***********************************************************************************************************************************************************
raomen 39:025d1bee1397 174
lupomic 33:70ea029a69e8 175 int main(void)
pmic 23:26b3a25fc637 176 {
raomen 46:eba2263eb626 177 // attach button fall and rise functions to user button object
raomen 46:eba2263eb626 178 user_button.fall(&user_button_pressed_fcn);
raomen 46:eba2263eb626 179 user_button.rise(&user_button_released_fcn);
lupomic 34:9f779e91168e 180
raomen 40:e32c57763d92 181 while (true)
raomen 40:e32c57763d92 182 {
raomen 45:8050724fe19b 183 enable_motors = 1;
raomen 45:8050724fe19b 184 ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f;
lupomic 33:70ea029a69e8 185
raomen 40:e32c57763d92 186 switch (ToNextFunction)
raomen 40:e32c57763d92 187 {
raomen 46:eba2263eb626 188
raomen 45:8050724fe19b 189 case 1:
raomen 45:8050724fe19b 190 start_position();
raomen 46:eba2263eb626 191 printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
raomen 46:eba2263eb626 192 break;
raomen 46:eba2263eb626 193
raomen 45:8050724fe19b 194 case 2:
raomen 45:8050724fe19b 195 drive_straight(drive_stright_mm);
raomen 45:8050724fe19b 196 printf("Case 2: Position Right(rot): %3.3f; Position Left (rot): %3.3f\n",
raomen 46:eba2263eb626 197 positionController_M_right.getRotation(),positionController_M_left.getRotation());
raomen 46:eba2263eb626 198 break;
raomen 46:eba2263eb626 199
raomen 45:8050724fe19b 200 case 3:
raomen 46:eba2263eb626 201 lift_up();
raomen 46:eba2263eb626 202 printf("Case 3: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
raomen 46:eba2263eb626 203 break;
raomen 46:eba2263eb626 204
raomen 45:8050724fe19b 205 case 4:
raomen 46:eba2263eb626 206 drive_straight(drive_back_mm);
lupomic 34:9f779e91168e 207 printf("Case 4: Position Right(rot): %3.3f; Position Left (rot): %3.3f\n",
raomen 46:eba2263eb626 208 positionController_M_right.getRotation(),positionController_M_left.getRotation());
raomen 46:eba2263eb626 209 break;
raomen 46:eba2263eb626 210
raomen 45:8050724fe19b 211 case 5:
raomen 46:eba2263eb626 212 lift_up();
raomen 46:eba2263eb626 213 printf("Case 5: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
raomen 46:eba2263eb626 214 ToNextFunction = 0;
raomen 46:eba2263eb626 215 break;
raomen 46:eba2263eb626 216
raomen 46:eba2263eb626 217 default: ;
lupomic 33:70ea029a69e8 218 }
lupomic 33:70ea029a69e8 219 }
lupomic 33:70ea029a69e8 220 // read timer and make the main thread sleep for the remaining time span (non blocking)
pmic 24:86f1a63e35a0 221 int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();
pmic 24:86f1a63e35a0 222 thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
raomen 47:8963ca9829b9 223 return 0;
pmic 1:93d997d6b232 224 }
pmic 6:e1fa1a2d7483 225
lupomic 33:70ea029a69e8 226
pmic 24:86f1a63e35a0 227 void user_button_pressed_fcn()
pmic 25:ea1d6e27c895 228 {
pmic 26:28693b369945 229 user_button_timer.start();
pmic 6:e1fa1a2d7483 230 user_button_timer.reset();
pmic 6:e1fa1a2d7483 231 }
pmic 6:e1fa1a2d7483 232
raomen 43:7964411b4a6b 233 void user_button_released_fcn()
raomen 43:7964411b4a6b 234 {
pmic 24:86f1a63e35a0 235 // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
pmic 24:86f1a63e35a0 236 int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 237 user_button_timer.stop();
raomen 43:7964411b4a6b 238 if (user_button_elapsed_time_ms > 200)
raomen 43:7964411b4a6b 239 {
raomen 43:7964411b4a6b 240 ToNextFunction += 1;
raomen 43:7964411b4a6b 241 }
raomen 43:7964411b4a6b 242 }