Diff: main.cpp

Revision:

47:8963ca9829b9

Parent:

36:6116ce98080d

Parent:

46:eba2263eb626

Child:

48:0ab6b1fd455f

--- a/main.cpp	Tue Apr 19 15:04:52 2022 +0200
+++ b/main.cpp	Tue Apr 19 18:45:43 2022 +0200
@@ -1,10 +1,23 @@
 #include "mbed.h"
 #include "PM2_Libary.h"
+#include <cmath>
 #include <cstdint>
 #include "mapping.cpp"
+#include <cstdio>
+#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 (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 (?)
 
-// 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
+float height_stairs = 100; // height to top of next stairstep 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)
@@ -12,37 +25,33 @@
 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. 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
-
 // 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
-
 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);              
-FastPWM pwm_M_left(PA_9);
-FastPWM pwm_M_arm(PA_10);
+FastPWM pwm_M_right (PB_13);    //motor pin decalaration for wheels right side         
+FastPWM pwm_M_left  (PA_9);     //motor pin decalaration for wheels left side 
+FastPWM pwm_M_arm   (PA_10);    //motor pin decalaration for arm 
 
 //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
+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 Setup and functions (motors and sensors)
 
 // 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 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
+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    = 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 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
 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
@@ -50,114 +59,147 @@
 //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"
+//***********************************************************************************************************************************************************
+// logic functions for basic movement
 
 //Platzhalter Variabeln für die Positionierung
-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;  
+int     drive_stright_mm = 100; // placeholder for testing drives amount forward
+int     drive_back_mm = -100; // placeholder for testing drives amount backwards
+int     ToNextFunction = 0;  // current state of the system (which function is beeing executed)
 
+// definition important variables
+float   pi = 2 * acos(0.0); // definiton of pi
+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
+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
+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)
+float   current_deg_arm = start_deg_arm; // saves the current degree the arm has.
+
+// import functions from file mapping
 extern double powerx(double base, double pow2);
 extern double mapping (float adc_value_mV);
 
-int StartPosition(float deg){
+// 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)
+double calc_arm_deg_for_height(int height_mm)
+{
+    if ((height_mm - dist_arm_ground - (dist_grappleratt_grappler_uk - gripper_area_height)) > arm_length) //check if height is reachable
+    {
+        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. 
+    }
+    else 
+    {
+        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.)
+        float deg_arm = asin(height_arm / arm_length) * 180.0/pi; // calculates the absolute degrees which the arm has to reach
+        return deg_arm;
+    }
+    return NULL; // <------ maybe error testing necessary (value deg_arm might not be returned)
+}
+
+//calculates the deg which the wheels have to turn in order to cover specified distance in mm
+float wheel_dist_to_deg(int distance) // distance has to be in mm.
+{
+    float deg_wheel = distance * 360 /(wheel_diameter * pi);
+    return deg_wheel;
+}
 
-    positionController_M_Arm.setDesiredRotation(deg);
+// bring arm in starting position. Height of stairs.
+int start_position()
+{
+    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
+    float deg = deg_up_from_horizon + start_deg_arm;
+    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.
+    }
+    positionController_M_Arm.setDesiredRotation(deg / 360.0, max_speed_rps_arm); // command to turn motor to desired deg.
+    current_deg_arm = positionController_M_Arm.getRotation() * 360.0;
+    return NULL;
+}
+
+//Drives forward into the next step
+// calculatioin of acctual distance with wheels is needed
+int drive_straight(float distance)
+{
+    float deg_to_turn = wheel_dist_to_deg(distance);
+    positionController_M_right.setDesiredRotation(deg_to_turn / 360.0, max_speed_rps_wheel);
+    positionController_M_left.setDesiredRotation(deg_to_turn / 360.0, max_speed_rps_wheel);
+    return NULL;   
+}
+
+//only turns the arm until the robot is on the next step
+int lift_up()
+{
+    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
+    
+    positionController_M_Arm.setDesiredRotation(0, max_speed_rps_arm);
+    return NULL;
+}
+//***********************************************************************************************************************************************************
+
+//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()
+{
 
     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;   
-}
-//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);
-        
-    
-    return 0;
-}
-
-
-
+// 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)
 {
     // attach button fall and rise functions to user button object
-user_button.fall(&user_button_pressed_fcn);
-user_button.rise(&user_button_released_fcn);
-
- printf("Power of%3.3f\n", powerx(2, 2));
-
-    while (true){
-         enable_motors = 1;
+    user_button.fall(&user_button_pressed_fcn);
+    user_button.rise(&user_button_released_fcn);
 
-         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);
+    while (true)
+    {
+        enable_motors = 1;
+        ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f;
         
+        switch (ToNextFunction) 
+        {
+            case 0:
+            break;
 
-       switch (ToNextFunction) {
-        case 1: StartPosition(degArmStart);
+            case 1: 
+            start_position();
             printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
-             //   ToNextFunction+=1;
             break;
-        case 2: Drive(PositionStair);
-           printf("Case 2: Position Right(rot): %3.3f;    Position Left (rot): %3.3f\n",
-           positionController_M_right.getRotation(),positionController_M_left.getRotation());
-            // ToNextFunction+=1;
+
+            case 2: 
+            drive_straight(drive_stright_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: LiftUp(degArmLift);
-            //  ToNextFunction+=1;
+
+            case 3: 
+            lift_up();
             printf("Case 3: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
-             break;
-        case 4: Drive(PositionBackOff);
+            break;
+
+            case 4: 
+            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());
-            //   ToNextFunction+=1;
             break;
-        case 5: LiftUp(degArmStart);
-                printf("Case 5: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
-            //  ToNextFunction = 0;
+
+            case 5: 
+            lift_up();
+            printf("Case 5: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
+            ToNextFunction = 0;
             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();
         thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
-    return 0;
+        return 0;
 }
 
 
@@ -167,10 +209,13 @@
     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) {
-       ToNextFunction += 1;}
-       }
\ No newline at end of file
+    if (user_button_elapsed_time_ms > 200) 
+    {
+       ToNextFunction += 1;
+    }
+}
\ No newline at end of file