Diff: main.cpp

Branch:

michi

Revision:

41:4a4978d1a578

Parent:

40:e32c57763d92

Child:

42:6e7ab1136354

--- a/main.cpp	Wed Apr 13 09:10:19 2022 +0200
+++ b/main.cpp	Mon Apr 18 11:28:04 2022 +0200
@@ -1,9 +1,24 @@
 #include "mbed.h"
 #include "PM2_Libary.h"
+#include <cmath>
 #include <cstdint>
+#include <cstdio>
+#include "math.h"
 
-// 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
+//*******************************************************************************************************************************************************************
+// 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 (4)
+float arm_length = 118.5; // lenght of arm from pivotpoint to pivotpoint (3)
+float dist_arm_attach_distsensor = 20; // distance between pivot point arm  on body to start distancesensor on top in horizontal (6)
+float dist_distsensors = 200; // distance between the two distancesensors on top of Wall-E (9)
+float dist_arm_ground = 51; // distance between pivotpoint arm and ground (5)
+float gripper_area_height = 16 ; // Height of Grappler cutout to grapple Stair (8)
+float dist_grappleratt_grappler_uk = 33; // distance between pivotpoint Grappler and bottom edge (?)
+
+float height_stairs = 100; // height to top of stairs in mm
+
+//***********************************************************************************************************************************************************
+// declaration of Input - Output pins
 
 // user button on nucleo board
 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)
@@ -11,18 +26,12 @@
 void user_button_pressed_fcn();     // custom functions which gets executed when user button gets pressed and released, definition below
 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. 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 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
-
 float   pwm_period_s = 0.00005f;    // define pwm period time in seconds and create FastPWM objects to command dc motors
 //motor pin declaration
 FastPWM pwm_M_right(PB_13);              
@@ -33,13 +42,15 @@
 EncoderCounter  encoder_M_right(PA_6, PC_7); //encoder pin decalaration for wheels right side
 EncoderCounter  encoder_M_left(PB_6, PB_7); //encoder pin decalaration for wheels left side
 EncoderCounter encoder_M_arm(PA_0, PA_1); //encoder pin decalaration for arm
+//***********************************************************************************************************************************************************
+// Hardware controll functions and setup
 
 // 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 (DC with 100:1 has 256'000 turns for 360°)
+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
@@ -48,28 +59,46 @@
 //Arm Motor
 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
 
-//float max_speed_rps = 0.5f;       not sure if needed          // define maximum speed that the position controller is changig the speed, has to be smaller or equal to kn * max_voltage
 // PositionController positionController_M3(counts_per_turn, kn, max_voltage, pwm_M3, encoder_M3); // default 78.125:1 gear with default contoller parameters
 //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
 float PositionStair    = 0.2;
 float PositionBackOff  = -0.5;
-float degArmStart      = 0.5;
+float degArmStart      = 0.0;
 float degArmLift       = -0.5;
-int ToNextFunction = 0;
-float max_speed_rps = 0.5f;  
+int ToNextFunction = 0;  // current state of the system (which function is beeing executed)
+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
 
 
-int StartPosition(float deg){
+int StartPosition(float deg)
+{
     positionController_M_Arm.setDesiredRotation(deg);
     return NULL;
 }
 
+// calculates the deg which the arm has to take to reach a certain height (the input height will be the height of OK Gripper area)
+double calc_arm_deg_for_height(int height)
+{
+    if ((height - dist_arm_ground - (dist_grappleratt_grappler_uk - gripper_area_height)) > arm_length)
+    {
+        printf("Error in calc_arm_deg_for_height: desireed height is bigger than Wall-E arm lenght."); // error message when desired height is not reachable. 
+    }
+    float height_arm = height - dist_arm_ground - (dist_grappleratt_grappler_uk - gripper_area_height);
+    double deg_arm_rad = asin(height / arm_length); // deg in radians
+    double pi = 2 * acos(0.0); // definiton of pi
+    double deg_arm = deg_arm_rad * 180/pi; // deg in degrees
+    return deg_arm;
+}
 
 //Drives forward into the next step
-int Drive(float dist){
+// calculatioin of acctual distance with wheels is needed
+int Drive(float dist)
+{
 float distance;
 distance=dist;
 positionController_M_right.setDesiredRotation(distance,max_speed_rps);
@@ -79,7 +108,8 @@
 
 //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){
+int LiftUp(float deg)
+{
     int8_t i = 0;         //prov condition variable
     positionController_M_Arm.setDesiredRotation(deg);
     return 0;
@@ -87,36 +117,53 @@
 
 //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){
+double powerx(double base, double pow2)
+{
     double result = -1;
     double power = pow2;
     double basis = base;
     result = 1;
     //handling negative exponents
-    if(power<0){
-        for(double i=1; i<=(power*(-1.0)); i++) {
+    if(power<0)
+    {
+        for(double i=1; i<=(power*(-1.0)); i++) 
+        {
             result *= basis;
         }
         result = 1.0/result;
     }
     //handling positive exponents
-    else{
-    for(double i=1; i<=power; i++){
-    result *= basis;}}
+    else
+    {
+        for(double i=1; i<=power; i++)
+        {
+        result *= basis;
+        }
+    }
     return result;
-    }
+}
 
-double mapping(float adc_value_mV){
+double mapping(float adc_value_mV)
+{
     double distance = 0.0f; //distance in mm
     double infY =360 , supY = 2360; //Window for sensor values
     double voltage_mV = adc_value_mV;
     double p1 = -1.127*powerx(10,-14), p2 = 8.881*powerx(10,-11), p3 = -2.76*powerx(10,-7), p4 = 0.0004262, p5 = -0.3363, p6 = 120.1 ; //faktoren für polynomkurve -> von matlab exportiert
-    if(voltage_mV > infY && voltage_mV < supY){
+    if(voltage_mV > infY && voltage_mV < supY)
+    {
         distance = p1*powerx(voltage_mV,5) + p2*powerx(voltage_mV,4) + p3*powerx(voltage_mV,3) + p4*powerx(voltage_mV,2) + p5*voltage_mV + p6;
     }
     return (distance);
 }
 
+// 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
+
+// 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. 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
+
+
 
 int main(void)
 {
@@ -126,13 +173,13 @@
   
 
 
-    while (true){
+    while (true)
+    {
          enable_motors = 1;
-
          ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f;
         
-
-        switch (ToNextFunction) {
+        switch (ToNextFunction) 
+        {
         case 1: StartPosition(degArmStart);
             printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
              //   ToNextFunction+=1;