Diff: main.cpp

Branch:

michi

Revision:

93:4661e91fdd50

Parent:

92:06c871d9a6ad

Parent:

88:cb8a18fc0391

Child:

94:7cf17f2eaa28

--- a/main.cpp	Mon May 02 15:33:11 2022 +0200
+++ b/main.cpp	Tue May 03 18:39:55 2022 +0200
@@ -33,8 +33,8 @@
 AnalogIn ir_analog_in_Distance_R(PC_3);
 AnalogIn ir_analog_in_Lookdown_B(PC_5);
 AnalogIn ir_analog_in_Lookdown_F(PB_1);
+// create AnalogIn object to read in infrared distance sensor, 0...3.3V are mapped to 0...1
 
-// 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
 float   pwm_period_s = 0.00005f;    // define pwm period time in seconds and create FastPWM objects to command dc motors
@@ -74,6 +74,7 @@
 const int   drive_straight_mm = 200;  // placeholder for testing drives amount forward
 const int   drive_back_mm = -200;    // placeholder for testing drives amount backwards
 int         ToNextFunction = 0;      // current state of the system (which function is beeing executed)
+int         state = 0;
 
 // definition variables for calculations
 const float   pi = 2 * acos(0.0); // definiton of pi
@@ -135,6 +136,17 @@
     float new_partial_rotation = full_rotations - start_deg_arm/360 + end_deg/360;
     return new_partial_rotation;
 }
+
+//calculates position of arm when lift up has ended.
+//RETURN: end_deg = degree which the motor has to turn in order to reach end lift position.
+float calc_pos_end_lift()
+{
+    float end_deg;
+    end_deg = asin((dist_arm_ground-(dist_grappleratt_grappler_uk - dist_arm_attach_OK_griparea))/arm_length) + start_deg_arm;
+    end_deg = end_deg * 180 / pi;
+    return end_deg;
+}
+
 //***********************************************************************************************************************************************************
 // important calculatet constant for Wall-E
 const double deg_up_from_horizon_to_stair = calc_arm_deg_for_height(height_stairs);
@@ -157,19 +169,36 @@
 }
 
 // bring arm in starting position. Height of stairs.
-void set_arm_stair_height()
+
+int set_arm_stair_height()
 {
     float deg = deg_up_from_horizon_to_stair + start_deg_arm;
+    enable_motors = 1;
+    float diff;
+    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
+    if ((0.0 > deg) || (deg > 360.0))
+    {
+        printf("Error in start_position: degree is out of bound for Start Position."); // error when desired reaching point is out of reach.
+        return 2;
+    }
 
     enable_motors = 1;
     positionController_M_Arm.setDesiredRotation(deg / 360.0, max_speed_rps_arm); // command to turn motor to desired deg.
+    diff = deg-(positionController_M_Arm.getRotation() * 360.0);
+    if (diff<=0.3){
+        return 1;
+    }
+    else {
+        return NULL;}
     enable_motors = 0;
 }
 
 //Drives forward into the next step 
 //Prameter:distance in milimeter
-void drive_straight(float distance)
+int drive_straight(float distance)
 {
+    float diff_R;
+    float diff_L;
     float deg_to_turn = wheel_dist_to_deg(distance);
 
     float relativ_turns_rightmotor = turn_relative_deg(deg_to_turn, positionController_M_right.getRotation());
@@ -179,22 +208,39 @@
     positionController_M_right.setDesiredRotation(relativ_turns_rightmotor, max_speed_rps_wheel);
     positionController_M_left.setDesiredRotation(relativ_turns_leftmotor, max_speed_rps_wheel); 
     enable_motors = 0;
+
+
+    diff_R= relativ_turns_rightmotor-positionController_M_right.getRotation();
+    diff_L= relativ_turns_leftmotor-positionController_M_left.getRotation();
+    if ((diff_R<=0.3) && (diff_L<=0.3))
+    {
+        return 1;
+    }
+    else 
+    {
+    return 0;
+    }
+
 }
 
 //turns the arm until the robot is on the next step
 void lift_up()
 {
+    float diff;
     float absolut_pos_arm = turn_absolut_deg(end_pos_lift_deg, positionController_M_Arm.getRotation()-1);
+    float position_lift_end_deg = asin((-dist_arm_ground - (dist_grappleratt_grappler_uk )) / arm_length) - 90; // calculates the degree which has to be reached in order to get on top of next step
+    float relativ_turns_arm = turn_absolut_deg(position_lift_end_deg, positionController_M_Arm.getRotation());
     
     enable_motors = 1;
-    positionController_M_Arm.setDesiredRotation(absolut_pos_arm, max_speed_rps_arm);
+    positionController_M_Arm.setDesiredRotation(relativ_turns_arm , max_speed_rps_arm);
     enable_motors = 0;
+
 }
 
 //function to climbe one step up and get in to position to drive in to the next step
 //PARAM: None
 //RETURN: None
-void lift_sequenze()
+int lift_sequenze()
 {
     lift_up();
     if ((StepDetection_down(ir_analog_in_Lookdown_B) == 1) && (StepDetection_down(ir_analog_in_Lookdown_F) == 1))
@@ -203,12 +249,39 @@
         drive_straight(-grip_area_depth - 2);
     }
     set_arm_stair_height();
+
+    positionController_M_Arm.setDesiredRotation(0, max_speed_rps_arm);
+
+    float diff=relativ_turns_arm-positionController_M_Arm.getRotation();
+    if(diff<=0.3)
+    { return 1;
+    }
+    else 
+    { return 0;
+    }  
+    
+
 }
 //***********************************************************************************************************************************************************
 
-//Function which checks if sensors and motors have been wired correctly and the expectet results will happen. otherwise Wall-E will ???.
-void check_start()
-{
+//Function which checks if sensors and motors have been wired correctly and the expectet results will happen. otherwise Wall-E will show with armmovement.
+int check_start();
+int NextStep (float){
+    return 1;
+}
+
+//
+//simple check if there is an object in proximity
+//returns 0 if there is NO object present
+//returns 1 if there is an object present
+//returns 2 if the distance isn't in the expected range
+
+uint8_t StepDetection(double distance){
+    double d_valueMM = distance;
+    if(d_valueMM >= 4) return 0;
+    if(d_valueMM < 4)  return 1;
+    if(d_valueMM <= 0 || d_valueMM > 100 ) return 2;
+    else return 2;
 
 }
 
@@ -223,21 +296,38 @@
     user_button.fall(&user_button_pressed_fcn);
     user_button.rise(&user_button_released_fcn);
 
+
     while (true)
     {
+
+        ir_distance_mm_L= mapping(ir_analog_in_Distance_L.read()*1.0e3f * 3.3f);
+        ir_distance_mm_R= mapping(ir_analog_in_Distance_R.read()*1.0e3f * 3.3f);
+        float ir_distance_mm_Lookdown_B= mapping(ir_analog_in_Lookdown_B.read()*1.0e3f * 3.3f);
+        float ir_distance_mm_Lookdown_F= mapping(ir_analog_in_Lookdown_F.read()*1.0e3f * 3.3f);
+
+
+
         switch (ToNextFunction) 
         {
 
-            case 1: 
+
             set_arm_stair_height();
+
+            printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
+            if (state==1){
+                    ToNextFunction += 1;
+            }
             break;
 
             case 2: 
             drive_straight(drive_straight_mm);
+            printf("Case 2: Position Right(rot): %3.3f;    Position Left (rot): %3.3f\n",
+            positionController_M_right.getRotation(),positionController_M_left.getRotation());
             break;
 
             case 3: 
             lift_sequenze();
+            printf("Case 3: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
             break;
 
             case 4: 
@@ -245,7 +335,17 @@
             ToNextFunction = 0;
             break;
 
-            default:  ;
+            case 5: 
+            state=drive_straight(drive_back_mm);
+            printf("Case 4: Position Right(rot): %3.3f;    Position Left (rot): %3.3f\n",
+            positionController_M_right.getRotation(),positionController_M_left.getRotation());
+            if ((state==1)&&(StepDetection(ir_distance_mm_Lookdown_B)!=1)){
+                    ToNextFunction += 1;
+            }
+            break;
+
+
+        default:  ;
         } 
     }
     // read timer and make the main thread sleep for the remaining time span (non blocking)
@@ -255,6 +355,7 @@
 }
 
 
+
 void user_button_pressed_fcn()
 {
     user_button_timer.start();
@@ -268,6 +369,6 @@
     user_button_timer.stop();
     if (user_button_elapsed_time_ms > 200) 
     {
-       ToNextFunction += 1;
+       ToNextFunction = 3;
     }
 }
\ No newline at end of file