TreppenRobo
Prototyp V2
Dependencies: PM2_Libary
Diff: main.cpp
- Revision:
- 6:e1fa1a2d7483
- Parent:
- 4:67506e285ad0
- Child:
- 7:c0f5bb355f41
diff -r 9f955eef2059 -r e1fa1a2d7483 main.cpp
--- a/main.cpp Fri Apr 02 09:33:18 2021 +0200
+++ b/main.cpp Tue Apr 06 08:00:43 2021 +0200
@@ -1,69 +1,91 @@
#include "mbed.h"
#include "platform/mbed_thread.h"
-#include "SDBlockDevice.h"
-#include "FATFileSystem.h"
+#include "string"
+
+/* PM2_Libary */
#include "EncoderCounter.h"
#include "Servo.h"
#include "SpeedController.h"
+// #include "FATFileSystem.h"
+// #include "SDBlockDevice.h"
+
+using namespace std::chrono;
+
+InterruptIn user_button(USER_BUTTON);
+DigitalOut led(LED1);
+BufferedSerial bufferedSerial(USBTX, USBRX);
+char buffer[100];
+
+bool executeMainTask = false;
+Timer user_button_timer, loop_timer;
+int Ts_ms = 2;
+
+/* declaration of custom button functions */
+void button_fall();
+void button_rise();
+
+/* create analog input object */
+AnalogIn analogIn(PC_2);
+float dist = 0.0f;
+
+/* create pwm objects */
+PwmOut pwmOut_m0(PB_13);
+PwmOut pwmOut_m1(PA_9);
+PwmOut pwmOut_m2(PA_10);
+float Ts_pwm = 0.00005f;
+/* create enable dc motor digital out object */
+DigitalOut enable_motors(PB_15);
+/* create encoder read objects */
+EncoderCounter encoderCounter_m0(PA_6, PC_7);
+EncoderCounter encoderCounter_m1(PB_6, PB_7);
+EncoderCounter encoderCounter_m2(PA_0, PA_1);
+/* create speed controller objects, only m0 and m1, m2 is used open-loop */
+SpeedController speedController_m0(1562.5f, 15.0f, 0.1f, 12.0f, pwmOut_m0, encoderCounter_m0);
+SpeedController speedController_m1(1562.5f, 15.0f, 0.1f, 12.0f, pwmOut_m1, encoderCounter_m1);
+
+/* create servo objects */
+Servo servo_0(PB_2);
+Servo servo_1(PC_8);
+Servo servo_2(PC_6); // not used in this example
+int Ts_servo_mus = 20000;
+int servo_desval_0 = 0;
+int servo_desval_1 = 0;
+
+/* create sd object */
+// SDBlockDevice sd(PC_12, PC_11, PC_10, PD_2);
+// FATFileSystem fs("fs", &sd);
int main()
{
-
- DigitalIn user_button(USER_BUTTON);
-
- // initialise PWM
- PwmOut pwm_motor_0(PB_13);
- PwmOut pwm_motor_1(PA_9);
- PwmOut pwm_motor_2(PA_10);
-
- // crete Encoder read objects
- EncoderCounter encoderCounter_0(PA_6, PC_7);
- EncoderCounter encoderCounter_1(PB_6, PB_7);
- EncoderCounter encoderCounter_2(PA_0, PA_1);
-
- // create controller
- SpeedController speedController_0(pwm_motor_0, encoderCounter_0);
- SpeedController speedController_1(pwm_motor_1, encoderCounter_1);
-
- DigitalOut enable_dc_motors(PB_15);
-
- // create servo objects
- Servo servo_0(PB_2);
- Servo servo_1(PC_8);
- Servo servo_2(PC_6);
+ bufferedSerial.set_baud(115200);
- SDBlockDevice sd(PC_12, PC_11, PC_10, PD_2);
- printf("BlockDevice created\r\n");
- FATFileSystem fs("fs", &sd);
-
- // Initialise the digital pin LED1 as an output
- DigitalOut myled(LED1);
+ user_button.fall(&button_fall);
+ user_button.rise(&button_rise);
+ loop_timer.start();
+
+ /* initialize pwm */
+ pwmOut_m0.period(Ts_pwm);
+ pwmOut_m1.period(Ts_pwm);
+ pwmOut_m2.period(Ts_pwm);
+ /* set pwm output zero at the beginning, range: 0...1 -> u_min...u_max */
+ pwmOut_m1.write(0.5f);
+ pwmOut_m0.write(0.5f);
+ pwmOut_m2.write(0.5f);
+ /* enable driver DC motors */
+ enable_motors = 1;
+
+ /* initialize servo */
+ servo_0.Enable(servo_desval_0, Ts_servo_mus); // 1 ms / 20 ms
+ servo_1.Enable(servo_desval_0, Ts_servo_mus);
- // initialise PWM
- pwm_motor_0.period(0.00005f);// 0.05ms 20KHz
- pwm_motor_0.write(0.5f);
- pwm_motor_1.period(0.00005f);// 0.05ms 20KHz
- pwm_motor_1.write(0.5f);
- pwm_motor_2.period(0.00005f);// 0.05ms 20KHz
- pwm_motor_2.write(0.5f);
-
- // initialise and test Servo
- servo_0.Enable(1000, 20000); // 1 ms / 20 ms
- servo_1.Enable(1000, 20000);
- int servo_desval_0 = 0;
- int servo_desval_1 = 0;
-
- /* input your stuff here */
- AnalogIn analogIn(PC_2);
- float dist = 0.0f;
-
/*
+ // example code for sd card, not tested from pmic, 02.04.2021
printf("Test writing... ");
FILE* fp = fopen("/fs/data.csv", "w");
fprintf(fp, "test %.5f\r\n",1.23);
fclose(fp);
printf("done\r\n");
-
+
printf("Test reading... ");
// read from SD card
fp = fopen("/fs/data.csv", "r");
@@ -78,51 +100,75 @@
printf("Reading failed!\n");
}
*/
-
- // enable driver DC motors
- enable_dc_motors = 1;
-
+
while (true) {
-
- if(!user_button) {
- // LED off, set speedController speed, pwm2, position servo
- myled = 0;
-
- speedController_0.setDesiredSpeed( 60.0f);
- speedController_1.setDesiredSpeed(-120.0f);
- pwm_motor_2.write(0.7f);
-
+
+ loop_timer.reset();
+
+ /* ------------- start hacking ------------- -------------*/
+
+ if (executeMainTask) {
+
+ /* read analog input */
+ dist = analogIn.read() * 3.3f;
+
+ speedController_m0.setDesiredSpeedRPS( 1.0f);
+ speedController_m1.setDesiredSpeedRPS(-2.0f);
+ pwmOut_m2.write(0.75f);
+
servo_0.SetPosition(servo_desval_0);
servo_1.SetPosition(servo_desval_1);
- if(servo_desval_0 < 10000) servo_desval_0 += 100;
- if(servo_desval_1 < 10000) servo_desval_1 += 100;
+ if (servo_desval_0 < 10000)
+ servo_desval_0 += 100;
+ if (servo_desval_1 < 10000)
+ servo_desval_1 += 100;
+
+ /* visual feedback that the main task is executed */
+ led = !led;
+
+ /* write output via serial buffer */
+ int act_buffer_length = snprintf (buffer, 100,
+ "%3.6e, %3.6e; \r\n",
+ speedController_m0.getSpeedRPM(),
+ speedController_m1.getSpeedRPM());
+ bufferedSerial.write(buffer, act_buffer_length);
- dist = analogIn.read()*3.3f;
-
} else {
- // LED on, reset speedController speed, pwm2, position servo
- myled = 1;
-
- speedController_0.setDesiredSpeed(0.0f);
- speedController_1.setDesiredSpeed(0.0f);
- pwm_motor_2.write(0.5f);
+
+ dist = 0.0f;
- servo_desval_0 = 0.0f;
- servo_desval_1 = 0.0f;
+ speedController_m0.setDesiredSpeedRPS(0.0f);
+ speedController_m1.setDesiredSpeedRPS(0.0f);
+ pwmOut_m2.write(0.5f);
+
+ servo_desval_0 = 0;
+ servo_desval_1 = 0;
servo_0.SetPosition(servo_desval_0);
servo_1.SetPosition(servo_desval_1);
-
- dist = analogIn.read()*3.3f;
+ dist = analogIn.read() * 3.3f;
+
+ led = 0;
}
-
- // printf("speedLeft: %f, speedRight: %f\r\n",controller.getSpeedLeft(), controller.getSpeedRight());
- // printf("counter1 = %d counter2 = %d counter3 = %d\r\n", encoderCounter_0.read(), encoderCounter_1.read(), encoderCounter_2.read());
- printf("speedController_0 = %d speedController_1 = %d encoderCounter_2 = %d measured value in mV: %d\r\n", static_cast<int>(speedController_0.getSpeed()*1000.0f),
- static_cast<int>(speedController_1.getSpeed()*1000.0f),
- encoderCounter_2.read(),
- (static_cast<int>(dist * 1e3)));
-
- thread_sleep_for(500);
+
+ /* ------------- stop hacking ------------- -------------*/
+
+ int T_loop_ms = duration_cast<milliseconds>(loop_timer.elapsed_time()).count();
+ int dT_loop_ms = Ts_ms - T_loop_ms;
+ thread_sleep_for(dT_loop_ms);
}
}
+
+void button_fall()
+{
+ user_button_timer.reset();
+ user_button_timer.start();
+}
+
+void button_rise()
+{
+ int t_button_ms = duration_cast<milliseconds>(user_button_timer.elapsed_time()).count();
+ user_button_timer.stop();
+ if (t_button_ms > 1)
+ executeMainTask = !executeMainTask;
+}
\ No newline at end of file