TreppenRobo
Prototyp V2
Dependencies: PM2_Libary
Diff: main.cpp
- Revision:
- 33:70ea029a69e8
- Parent:
- 32:bf35aeffc374
- Child:
- 34:9f779e91168e
--- a/main.cpp Wed Apr 06 07:44:41 2022 +0000
+++ b/main.cpp Wed Apr 06 12:38:20 2022 +0200
@@ -1,10 +1,6 @@
#include "mbed.h"
#include "PM2_Libary.h"
-
-
-
-
-//
+#include <cstdint>
// 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
@@ -19,183 +15,180 @@
int main_task_period_ms = 50; // define main task period time in ms e.g. 50 ms -> main task runns 20 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
-// led on nucleo board
-DigitalOut user_led(LED1); // create DigitalOut object to command user led
-
-// additional Led
-DigitalOut extra_led(PB_9); // create DigitalOut object to command extra led (do add an aditional resistor, e.g. 220...500 Ohm)
-
-// mechanical button
-DigitalIn mechanical_button(PC_5); // create DigitalIn object to evaluate extra mechanical button, you need to specify the mode for proper usage, see below
-
// Sharp GP2Y0A41SK0F, 4-40 cm IR Sensor
float ir_distance_mV = 0.0f; // define variable to store measurement
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
-FastPWM pwm_M1(PB_13); // motor M1 is used open loop
-FastPWM pwm_M2(PA_9); // motor M2 is closed-loop speed controlled (angle velocity)
-FastPWM pwm_M3(PA_10); // motor M3 is closed-loop position controlled (angle controlled)
+//motor pin declaration
+FastPWM pwm_M_right(PA_9);
+FastPWM pwm_M_left(PB_13);
+FastPWM pwm_M_arm(PA_10);
-EncoderCounter encoder_M1(PA_6, PC_7); // create encoder objects to read in the encoder counter values
-EncoderCounter encoder_M2(PB_6, PB_7);
-EncoderCounter encoder_M3(PA_0, PA_1);
+//Encoder pin declaration
+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
// 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 = 20.0f * 78.125f; // define counts per turn at gearbox end: counts/turn * gearratio
+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 = 40000.0f * 100.0f; // 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 kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1
-// SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear box with default contoller parameters
-SpeedController speedController_M2(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M2, encoder_M2); // parameters adjusted to 100:1 gear
-
-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
-// 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
+//motors for tracks
+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
+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
+//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
-// Futaba Servo S3001 20mm 3kg Analog
-Servo servo_S1(PB_2); // create servo objects
-Servo servo_S2(PC_8);
-float servo_S1_angle = 0; // servo S1 normalized angle
-float servo_S2_angle = 0; // servo S2 normalized angle
-int servo_period_mus = 20000; // define servo period time in mus
+//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
-int servo_counter = 0; // define servo counter, this is an additional variable to make the servos move
-int loops_per_seconds = static_cast<int>(ceilf(1.0f/(0.001f*(float)main_task_period_ms))); // define loops per second
-
-// Groove Ultrasonic Ranger V2.0
-float us_distance_cm = 0.0f; // define variable to store measurement
-RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 17500); // create range finder object (ultra sonic distance sensor), 20 Hz parametrization
-// RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 7000); // create range finder object (ultra sonic distance sensor), 50 Hz parametrization
// 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"
-int main()
+//Platzhalter Variabeln für die Positionierung
+int16_t PositionStair = 20;
+int16_t PositionBackOff = 100;
+int16_t degArmStart = 40;
+int16_t degArmLift = 18;
+int ToNextFunction = 1;
+
+int StartPosition(int16_t deg){
+
+ positionController_M_Arm.setDesiredRotation(deg);
+
+ return NULL;
+}
+//Drives forward into the next step
+int Drive(int16_t dist){
+ int8_t i = 0; //prov condition variable
+
+ int8_t distance = dist; //distance which will be driven in [mm]
+ float factor = 1.0f; //factor for calculating the value in to the float which will be given to the setDesiredRotation function
+ float distanceValue = float(distance)*factor;
+
+ positionController_M_right.setDesiredRotation(distanceValue);
+ positionController_M_left.setDesiredRotation(distanceValue);
+
+ 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(int16_t deg){
+ int8_t rotation = deg;
+ int8_t i = 0; //prov condition variable
+
+ 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){
+ 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++) {
+ result *= basis;
+ }
+ result = 1.0/result;
+ }
+ //handling positive exponents
+ else{
+ for(double i=1; i<=power; i++){
+ result *= basis;}}
+
+ return result;
+ }
+
+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){
+ 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);
+}
+
+
+int main(void)
{
// attach button fall and rise functions to user button object
- user_button.fall(&user_button_pressed_fcn);
- user_button.rise(&user_button_released_fcn);
-
- // start timer
- main_task_timer.start();
-
- // set pullup mode: add resistor between pin and 3.3 V, so that there is a defined potential
- mechanical_button.mode(PullUp);
+user_button.fall(&user_button_pressed_fcn);
+ user_button.rise(&user_button_released_fcn);
+
- // enable hardwaredriver dc motors: 0 -> disabled, 1 -> enabled
- enable_motors = 1;
-
- // motor M1 is used open-loop, we need to initialize the pwm and set pwm output to zero at the beginning, range: 0...1 -> u_min...u_max: 0.5 -> 0 V
- pwm_M1.period(pwm_period_s);
- pwm_M1.write(0.5f);
-
- // enable servos, you can also disable them at any point in your program if you don't want your servos to become warm
- servo_S1.Enable(servo_S1_angle, servo_period_mus);
- servo_S2.Enable(servo_S2_angle, servo_period_mus);
- while (true) { // this loop will run forever
-
- main_task_timer.reset();
-
- if (do_execute_main_task) {
-
- // read analog input
- ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f;
+ while (true){
+ 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));
- // command dc motors if mechanical button is pressed
- if (mechanical_button.read()) {
- pwm_M1.write(0.75f); // write output voltage to motor M1
- speedController_M2.setDesiredSpeedRPS(0.5f); // set a desired speed for speed controlled dc motors M2
- positionController_M3.setDesiredRotation(1.5f, max_speed_rps); // set a desired rotation for position controlled dc motors M3
- } else {
- pwm_M1.write(0.5f);
- speedController_M2.setDesiredSpeedRPS(0.0f);
- positionController_M3.setDesiredRotation(0.0f, max_speed_rps);
- }
+ printf("IR sensor (mV): %3.3f\n", ir_distance_mV);
+
- // check if servos are enabled
- if (!servo_S1.isEnabled()) servo_S1.Enable(servo_S1_angle, servo_period_mus);
- if (!servo_S2.isEnabled()) servo_S2.Enable(servo_S2_angle, servo_period_mus);
- // command servo position, this needs to be calibrated
- servo_S1.SetPosition(servo_S1_angle);
- if (servo_S1_angle <= 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) {
- servo_S1_angle += 0.01f;
- }
- servo_S2.SetPosition(servo_S2_angle);
- if (servo_S2_angle <= 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) {
- servo_S2_angle += 0.01f;
- }
- servo_counter++;
-
- // read ultra sonic distance sensor
- us_distance_cm = us_range_finder.read_cm();
-
- // visual feedback that the main task is executed
- extra_led = 1;
-
- } else {
-
- ir_distance_mV = 0.0f;
-
- pwm_M1.write(0.5f);
- speedController_M2.setDesiredSpeedRPS(0.0f);
- positionController_M3.setDesiredRotation(0.0f, max_speed_rps);
+ switch (ToNextFunction) {
+ case 1: StartPosition(degArmStart);
+ printf("a");
+ // ToNextFunction+=1;
+ break;
+ case 2: Drive(PositionStair);
+ printf("b");
+ // ToNextFunction+=1;
+ break;
+ case 3:// LiftUp(degArmLift);
+ // ToNextFunction+=1;
+ printf("c");
+ break;
+ case 4: Drive(PositionBackOff);
+ printf("d");
+ // ToNextFunction+=1;
+ break;
+ case 5: LiftUp(degArmStart);
+ printf("d");
+ // ToNextFunction = 0;
+ break;
+ }
- servo_S1_angle = 0;
- servo_S2_angle = 0;
- // servo_S1.SetPosition(servo_S1_angle);
- // servo_S2.SetPosition(servo_S2_angle);
- if (servo_S1.isEnabled()) servo_S1.Disable();
- if (servo_S2.isEnabled()) servo_S2.Disable();
-
- us_distance_cm = 0.0f;
-
- extra_led = 0;
- }
-
- user_led = !user_led;
-
- // do only output via serial what's really necessary (this makes your code slow)
- printf("IR sensor (mV): %3.3f, Encoder M1: %3d, Speed M2 (rps) %3.3f, Position M3 (rot): %3.3f, Servo S1 angle (normalized): %3.3f, Servo S2 angle (normalized): %3.3f, US sensor (cm): %3.3f\r\n",
- ir_distance_mV,
- encoder_M1.read(),
- speedController_M2.getSpeedRPS(),
- positionController_M3.getRotation(),
- servo_S1_angle,
- servo_S2_angle,
- us_distance_cm);
-
- // read out the imu, the actual frames of the sensor reading needs to be figured out
- // imu.updateGyro();
- // imu.updateAcc();
- // imu.updateMag();
- // printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f\r\n", imu.readGyroX(), imu.readGyroY(), imu.readGyroZ(),
- // imu.readAccX(), imu.readAccY(), imu.readAccZ(), imu.readMagX(), imu.readMagY(), imu.readMagZ());
-
- // read timer and make the main thread sleep for the remaining time span (non blocking)
+
+
+ }
+ // 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();
thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
- }
+ return 0;
}
+
void user_button_pressed_fcn()
{
user_button_timer.start();
user_button_timer.reset();
}
-void user_button_released_fcn()
-{
+void user_button_released_fcn() {
// read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
user_button_timer.stop();
if (user_button_elapsed_time_ms > 200) {
- do_execute_main_task = !do_execute_main_task;
- }
-}
\ No newline at end of file
+ ToNextFunction += 1;}
+ }
\ No newline at end of file