TreppenRobo
Prototyp V2
Dependencies: PM2_Libary
Diff: main.cpp
- Branch:
- michi
- Revision:
- 46:eba2263eb626
- Parent:
- 45:8050724fe19b
- Child:
- 47:8963ca9829b9
- Child:
- 50:058dc65d0fa4
--- a/main.cpp Mon Apr 18 16:02:10 2022 +0200
+++ b/main.cpp Tue Apr 19 18:36:19 2022 +0200
@@ -6,15 +6,15 @@
#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 (?)
+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
+float height_stairs = 100; // height to top of next stairstep in mm
//***********************************************************************************************************************************************************
// declaration of Input - Output pins
@@ -32,24 +32,25 @@
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 = 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
+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
@@ -63,49 +64,51 @@
// logic functions for basic movement
//Platzhalter Variabeln für die Positionierung
-int drive_stright_mm = 100;
-int PositionBackOff = -100;
-float degArmStart = 0.0;
-float degArmLift = -0.5;
-int ToNextFunction = 0; // current state of the system (which function is beeing executed)
-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
-double start_deg_arm = asin((dist_arm_ground - dist_grappleratt_grappler_uk) / arm_length); //calculates the starting degree of the arm (gripper has to touch ground in frotn of Wall-E)
-double current_deg_arm = start_deg_arm; // saves the current degree the arm has.
+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)
-// 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)
+// 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.
+
+// 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)
+ 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.
}
- float height_arm = height_mm - dist_arm_ground - (dist_grappleratt_grappler_uk - gripper_area_height);
- float deg_arm_rad = asin(height_arm / arm_length); // deg in radians
- float pi = 2 * acos(0.0); // definiton of pi
- float deg_arm = deg_arm_rad * 180.0/pi; // deg in degrees
- return deg_arm;
+ 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 distnace in mm
+//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 pi = 2 * acos(0.0); // definiton of pi
float deg_wheel = distance * 360 /(wheel_diameter * pi);
return deg_wheel;
}
-// bring arme in starting position height of stairs.
+// bring arm in starting position. Height of stairs.
int start_position()
{
- float 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
+ 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.
+ 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;
+ current_deg_arm = positionController_M_Arm.getRotation() * 360.0;
return NULL;
}
@@ -113,18 +116,18 @@
// calculatioin of acctual distance with wheels is needed
int drive_straight(float distance)
{
- double deg_to_turn = wheel_dist_to_deg(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
-//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 lift_up(float deg)
+int lift_up()
{
- int8_t i = 0; //prov condition variable
- positionController_M_Arm.setDesiredRotation(deg / 360.0, max_speed_rps_arm);
+ 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;
}
//***********************************************************************************************************************************************************
@@ -133,7 +136,7 @@
int check_start()
{
- return 0;
+ return NULL;
}
//pow function is here so we dont have to use the math.h library ************* unnecessary math.h is used any way ***************
@@ -169,7 +172,7 @@
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
+ 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 fuer 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;
@@ -177,9 +180,6 @@
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
@@ -187,9 +187,9 @@
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);
+ // attach button fall and rise functions to user button object
+ user_button.fall(&user_button_pressed_fcn);
+ user_button.rise(&user_button_released_fcn);
while (true)
{
@@ -198,36 +198,38 @@
switch (ToNextFunction)
{
- case 0:
+ case 0:
break;
+
case 1:
start_position();
- printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
- // ToNextFunction+=1;
- break;
+ printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
+ break;
+
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());
- // ToNextFunction+=1;
- break;
+ positionController_M_right.getRotation(),positionController_M_left.getRotation());
+ break;
+
case 3:
- lift_up(degArmLift);
- // ToNextFunction+=1;
- printf("Case 3: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
- break;
+ lift_up();
+ printf("Case 3: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
+ break;
+
case 4:
- drive_straight(PositionBackOff);
+ 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;
+ positionController_M_right.getRotation(),positionController_M_left.getRotation());
+ break;
+
case 5:
- lift_up(degArmStart);
- printf("Case 5: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
- // ToNextFunction = 0;
- break;
- default: ;
+ 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)