TreppenRobo
Prototyp V2
Dependencies: PM2_Libary
Diff: main.cpp
- Branch:
- Lupo_2
- Revision:
- 71:e740ef7c7813
- Parent:
- 70:da5754e1514c
- Parent:
- 68:e3fc5ed0bc0e
- Child:
- 86:56b35f01e4d4
--- a/main.cpp Wed Apr 27 10:15:32 2022 +0200
+++ b/main.cpp Wed Apr 27 11:08:49 2022 +0200
@@ -1,6 +1,5 @@
#include "mbed.h"
#include "PM2_Libary.h"
-#include <cmath>
#include <cstdint>
#include <cstdio>
#include "math.h"
@@ -56,7 +55,7 @@
// create SpeedController and PositionController objects, default parametrization is for 78.125:1 gear box
const float max_voltage = 12.0f; // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack
const float counts_per_turn_wheels = 20.0f * 78.125f; // define counts per turn at gearbox end (counts/turn * gearratio) for wheels
-const float counts_per_turn_arm = 20.0f * 78.125f * 10.0f; // define counts per turn at gearbox end (counts/turn * gearratio) for arm
+const float counts_per_turn_arm = 20.0f * 78.125f * 20.0f; // define counts per turn at gearbox end (counts/turn * gearratio) for arm
const float kn = 180.0f / 12.0f; // define motor constant in rpm per V
const 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°)
const float kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1
@@ -73,24 +72,24 @@
// logic functions for basic movement
//placeholder variables for prototype testing
+
const int drive_stright_mm = 100; // placeholder for testing drives amount forward
const int drive_back_mm = -100; // placeholder for testing drives amount backwards
int ToNextFunction = 0; // current state of the system (which function is beeing executed)
int state=0;
+
// definition important variables
const float pi = 2 * acos(0.0); // definiton of pi
-const 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
+const float max_speed_rps_wheel = 0.5f; // define maximum speed that the position controller is changig the speed for the wheels, has to be smaller or equal to kn * max_voltage
const 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.
-
+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)
// import functions from file mapping
extern double powerx(double base, double pow2);
extern double mapping (float adc_value_mV);
// 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)
+float calc_arm_deg_for_height(int height_mm)
{
float deg_arm;
if ((height_mm - dist_arm_ground - (dist_grappleratt_grappler_uk - gripper_area_height)) > arm_length) //check if height is reachable
@@ -105,15 +104,48 @@
return deg_arm;
}
+//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-gripper_area_height))/arm_length) + start_deg_arm;
+ end_deg = end_deg * 180 / pi;
+ return end_deg;
+}
+
//calculates the deg which the wheels have to turn in order to cover specified distance in mm
+//RETURN: deg_wheel = degree which the motor has to turn in order to cover distance(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;
}
+// increments the Motor for defined degree from the current one
+// PARAM: deg_to_turn = degree to turn the Motor
+// PARAM: current_full_rotation = the current rotation of the Motor (Motor.getRotation())
+// RETURN: new Rotation value in rotations
+float turn_relative_deg(float deg_to_turn, float current_full_rotation)
+{
+ float current_rotations = current_full_rotation;
+ float new_turn_rotation = current_rotations - deg_to_turn/360.0;
+ return new_turn_rotation;
+}
+
+// sets the Motor to a specified degree in one rotation
+// PARAM: end_deg = new position of the arm in degree 0 <= value >=360
+// PARAM: current_rotations = the current rotation of the Motor (Motor.getRotation())
+// RETURN: new_partial_rotation = new deg value in rotations
+float turn_absolut_deg(float end_deg, float current_rotations)
+{
+ int full_rotations = current_rotations;
+ float new_partial_rotation = current_rotations - start_deg_arm/360;
+ return new_partial_rotation;
+}
+
// bring arm in starting position. Height of stairs.
-int start_position()
+int set_arm_stair_height()
{
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
@@ -123,9 +155,11 @@
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.
- current_deg_arm = positionController_M_Arm.getRotation() * 360.0; //write new position to variable
- diff = deg-current_deg_arm;
+
+ diff = deg-(positionController_M_Arm.getRotation() * 360.0);
if (diff<=0.3){
return 1;
}
@@ -133,6 +167,8 @@
return NULL;}
+ enable_motors = 0;
+
}
//Drives forward into the next step
@@ -142,16 +178,22 @@
float diff_R;
float diff_L;
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);
+ float relativ_turns_rightmotor = turn_relative_deg(deg_to_turn, positionController_M_right.getRotation());
+ float relativ_turns_leftmotor = turn_relative_deg(deg_to_turn, positionController_M_left.getRotation());
-
- diff_R= deg_to_turn-(positionController_M_right.getRotation()*360);
- diff_L= deg_to_turn-(positionController_M_left.getRotation()*360);
- if (diff_R<=0.3&&diff_L<=0.3){
+ enable_motors = 1;
+ 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 {
+ else
+ {
return 0;
}
}
@@ -161,9 +203,21 @@
{
float diff;
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
+ float relativ_turns_arm = turn_absolut_deg(position_lift_end_deg, positionController_M_Arm.getRotation());
- positionController_M_Arm.setDesiredRotation(0, max_speed_rps_arm);
- return NULL;
+ enable_motors = 1;
+ positionController_M_Arm.setDesiredRotation(relativ_turns_arm , max_speed_rps_arm);
+ enable_motors = 0;
+
+ diff=relativ_turns_arm-positionController_M_Arm.getRotation();
+ if(diff<=0.3)
+ { return 1;
+ }
+ else
+ { return 0;
+ }
+
+
}
//***********************************************************************************************************************************************************
@@ -177,16 +231,16 @@
uint8_t StepDetection(double distance){
double d_valueMM = distance;
- if(d_valueMM >= 4) return 0;
+ if(d_valueMM >= 4) return 0;
if(d_valueMM < 4) return 1;
- if(d_valueMM < 0 || d_valueMM > 100 ) return 2;
- else return 2;
+ if(d_valueMM <= 0 || d_valueMM > 100 ) return 2;
+ else return 2;
+
}
//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()
+void check_start()
{
-
- return NULL;
+
}
// while loop gets executed every main_task_period_ms milliseconds
@@ -203,14 +257,13 @@
while (true)
{
- enable_motors = 1;
-
+
switch (ToNextFunction)
{
case 1:
- start_position();
+ set_arm_stair_height();
printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
if (state==1){
ToNextFunction += 1;
@@ -235,16 +288,16 @@
case 4:
state=lift_up();
printf("Case 3: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
- if (state==1){
+ if ((state==1)&&(ground(ir_distance_mm_Lookdown_B))&&ground(ir_distance_mm_Lookdown_F)){
ToNextFunction += 1;
}
- break;
+
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){
+ if ((state==1)&&(ground(ir_distance_mm_Lookdown_B)!=1)){
ToNextFunction += 1;
}
break;
@@ -267,6 +320,7 @@
}
+
void user_button_pressed_fcn()
{
user_button_timer.start();