Diff: main.cpp

Revision:

39:025d1bee1397

Parent:

34:9f779e91168e

Child:

40:e32c57763d92

--- a/main.cpp	Sun Apr 10 19:40:59 2022 +0200
+++ b/main.cpp	Mon Apr 18 10:09:39 2022 +0200
@@ -1,6 +1,27 @@
 #include "mbed.h"
 #include "PM2_Libary.h"
 #include <cstdint>
+#include "math.h"
+
+//*******************************************************************************************************************************************************************
+//
+
+// Defined Variables in mm coming from Hardware-team. Need to be updated
+float wheel_diameter = 30; // diameter of wheel with caterpillar to calculate mm per wheel turn
+float arm_length = 118.5; // lenght of arm from pivotpoint to pivotpoint
+float dist_arm_attach_distsensor = 20; // distance between pivot point arm  on body to start distancesensor on top in horizontal 
+float dist_distsensors = 200; // distance between the two distancesensors on top of Wall-E
+float dist_arm_ground = 51; // distance between pivotpoint arm and ground
+float height_stairs = 100; // height to top of stairs in mm
+float dist_grappleratt_grappler_uk = 33; // distance between pivotpoint Grappler and bottom edge
+
+int gripper_height_mm()
+{
+    
+    return NULL;
+}
+
+//***********************************************************************************************************************************************************
 
 // 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
@@ -12,15 +33,14 @@
 void user_button_released_fcn();
 
 // while loop gets executed every main_task_period_ms milliseconds
-int main_task_period_ms = 30;   // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
+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
 Timer main_task_timer;          // create Timer object which we use to run the main task every main task period time in ms
 
 // Sharp GP2Y0A41SK0F, 4-40 cm IR Sensor
-float ir_distance_mV = 0.0f;    // define variable to store measurement
+float ir_distance_mV = 0.0f;    // define variable to store measurement from infrared distancesensor in mVolt
 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, 100:1, ... Metal Gearmotor 20Dx44L mm 12V CB
 DigitalOut enable_motors(PB_15);    // create DigitalOut object to enable dc motors
 
@@ -37,10 +57,10 @@
 
 // create SpeedController and PositionController 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_wheels = 2000.0f * 100.0f;    // define counts per turn at gearbox end (counts/turn * gearratio) for wheels
-float counts_per_turn_arm = 2000.0f * 100.0f;      // define counts per turn at gearbox end (counts/turn * gearratio) for arm
+float counts_per_turn_wheels = 20.0f * 78.125f;    // define counts per turn at gearbox end (counts/turn * gearratio) for wheels
+float counts_per_turn_arm = 20.0f * 78.125f * 10.0f;      // define counts per turn at gearbox end (counts/turn * gearratio) for arm
 float kn = 180.0f / 12.0f;                  // define motor constant in rpm per V
-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
+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°)
 float kp = 0.1f;                            // define custom kp, this is the default speed controller gain for gear box 78.125:1
 
 //motors for tracks
@@ -54,49 +74,39 @@
 //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
 
 
-// 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"
-
-//Platzhalter Variabeln für die Positionierung
+//Platzhalter Variabeln für die Positionierung sobald wie möglich löschen
 float PositionStair    = 0.2;
 float PositionBackOff  = -0.5;
 float degArmStart      = 0.5;
 float degArmLift       = -0.5;
 int ToNextFunction = 0;
-float max_speed_rps = 0.5f;  
+float max_speed_rps = 0.5f;
+
 
-int StartPosition(float deg){
-
-    positionController_M_Arm.setDesiredRotation(deg);
-
+int StartPosition(){
+    positionController_M_Arm.setDesiredRotation(1.0/360.0*45.0,0.5);
     return NULL;
 }
-//Drives forward into the next step
-int Drive(float dist){
-
-float distance;
-
-distance=dist;
 
 
-    positionController_M_right.setDesiredRotation(distance,max_speed_rps);
-    positionController_M_left.setDesiredRotation(distance,max_speed_rps);
-
-
-    return 0;   
+//Drives forward into the next step
+// calculatioin of acctual distance with wheels is needed
+int Drive(float dist){
+float distance;
+distance=dist;
+positionController_M_right.setDesiredRotation(distance,max_speed_rps);
+positionController_M_left.setDesiredRotation(distance,max_speed_rps);
+return 0;   
 }
 
 //only turns the arm until the robot is on the next step
 //not yet clear if the motor controler function drives to a absolute poition or if it drives the given distance relative to the current position
 int LiftUp(float deg){
-
     int8_t i = 0;         //prov condition variable
-    
-        positionController_M_Arm.setDesiredRotation(deg);
-        
-    
+    positionController_M_Arm.setDesiredRotation(deg);
     return 0;
 }
+
 //pow function is here so we dont have to use the math.h library
 //it takes 2 arguments the base can be any negative or positive floating point number the power has to be a hos to be an "integer" defined as a double
 double powerx(double base, double pow2){
@@ -115,7 +125,6 @@
     else{
     for(double i=1; i<=power; i++){
     result *= basis;}}
-
     return result;
     }
 
@@ -131,6 +140,8 @@
 }
 
 
+
+
 int main(void)
 {
     // attach button fall and rise functions to user button object
@@ -144,14 +155,9 @@
 
          ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f;
         
-        // printf("test pow function 2 ^ 2 %lf\n",powerx(2,2));
-         //printf("test mapping function %f\n", mapping(ir_distance_mV));
 
-         //printf("IR sensor (mV): %3.3f\n", ir_distance_mV);
-        
-
-       switch (ToNextFunction) {
-        case 1: StartPosition(degArmStart);
+        switch (ToNextFunction) {
+        case 1: StartPosition();
             printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
              //   ToNextFunction+=1;
             break;
@@ -175,9 +181,6 @@
             break;  
             default:  ;
         } 
-
-    
-    
     }
        // 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();