TreppenRobo
first commit
Dependencies: PM2_Libary
Diff: main.cpp
- Branch:
- lupo
- Revision:
- 37:05252c4a2d4e
- Parent:
- 36:a48b21a9635c
- Child:
- 38:8121e7a79c0b
--- a/main.cpp Wed Apr 13 09:40:06 2022 +0200
+++ b/main.cpp Mon May 02 14:35:00 2022 +0200
@@ -1,12 +1,21 @@
#include "mbed.h"
#include "PM2_Libary.h"
#include <cstdint>
-#include "sensor.cpp"
-
+#include <cstdio>
+#include "math.h"
+//*******************************************************************************************************************************************************************
+// Defined Variables in mm coming from Hardware-team. Need to be updated
+const float wheel_diameter = 30; // diameter of wheel with caterpillar to calculate mm per wheel turn (4)
+const float arm_length = 118.5; // lenght of arm from pivotpoint to pivotpoint (3)
+const float dist_arm_attach_distsensor = 20; // distance between pivot point arm on body to start distancesensor on top in horizontal (6)
+const float dist_distsensors = 200; // distance between the two distancesensors on top of Wall-E (9)
+const float dist_arm_ground = 51; // distance between pivotpoint arm and ground (5)
+const float gripper_area_height = 16 ; // Height of Grappler cutout to grapple Stair (8)
+const 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
+const 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)
@@ -14,37 +23,42 @@
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
+// define variable to store measurement from infrared distancesensor in mm
+float ir_distance_mm_L;
+float ir_distance_mm_R;
+float ir_distance_mm_Lookdown_B;
+float ir_distance_mm_Lookdown_F;
-// 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
-
-
+AnalogIn ir_analog_in_Distance_L(PC_2);
+AnalogIn ir_analog_in_Distance_R(PC_3);
+AnalogIn ir_analog_in_Lookdown_B(PC_5);
+AnalogIn ir_analog_in_Lookdown_F(PB_1);
+// 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
-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
+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 * 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
//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
@@ -52,122 +66,283 @@
//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
-
+//***********************************************************************************************************************************************************
+// logic functions for basic movement
-// 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"
+//placeholder variables for prototype testing
-//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;
+const int drive_stright_mm = 500; // 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;
-int StartPosition(float deg){
+// definition important variables
+const float pi = 2 * acos(0.0); // definiton of pi
+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)
+// import functions from file mapping
+extern double powerx(double base, double pow2);
+extern double mapping (float adc_value_mV);
- positionController_M_Arm.setDesiredRotation(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)
+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
+ {
+ 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.)
+ 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;
+//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;
}
-//Drives forward into the next step
-int Drive(float dist){
+
+// 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;
+}
-float distance;
+// 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;
+}
-distance=dist;
+// bring arm in starting position. Height of stairs.
+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
+ 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.
+ return 2;
+ }
+
+ enable_motors = 1;
+ positionController_M_Arm.setDesiredRotation(deg / 360.0, max_speed_rps_arm); // command to turn motor to desired deg.
+
+ diff = deg-(positionController_M_Arm.getRotation() * 360.0);
+ if (diff<=0.3){
+ return 1;
+ }
+ else {
+ return NULL;}
- positionController_M_right.setDesiredRotation(distance,max_speed_rps);
- positionController_M_left.setDesiredRotation(distance,max_speed_rps);
+ enable_motors = 0;
+
+}
+
+//Drives forward into the next step
+//Prameter:distance in milimeter
+int drive_straight(float distance)
+{
+ float diff_R;
+ float diff_L;
+ float deg_to_turn = wheel_dist_to_deg(distance);
+ 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());
+ ;
+ 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;
- return 0;
+ diff_R= fabs(relativ_turns_rightmotor-positionController_M_right.getRotation());
+ diff_L= fabs(relativ_turns_leftmotor-positionController_M_left.getRotation());
+
+ printf("Case 2: Position Left(rot): %3.3f Position Right (rot): %3.3f Desired Rotation Left:%3.3f Desired Rotation Right;%3.3f Diff L:%3.3f Diff R:%3.3f \n",
+ positionController_M_left.getRotation(),positionController_M_right.getRotation(),relativ_turns_leftmotor, relativ_turns_rightmotor, diff_L, diff_R );
+ if ((diff_R<=0.01) && (diff_L<=0.01))
+ {
+ return 1;
+ }
+ else
+ {
+ 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
+int lift_up()
+{
+ 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());
+
+ enable_motors = 1;
+ positionController_M_Arm.setDesiredRotation(relativ_turns_arm , max_speed_rps_arm);
+ enable_motors = 0;
- positionController_M_Arm.setDesiredRotation(deg);
-
+ diff=relativ_turns_arm-positionController_M_Arm.getRotation();
+ if(diff<=0.01)
+ { return 1;
+ }
+ else
+ { return 0;
+ }
- return 0;
+
+}
+//***********************************************************************************************************************************************************
+
+int NextStep (float){
+ return 1;
}
+//simple check if there is an object in proximity
+//returns 0 if there is NO object present
+//returns 1 if there is an object present
+//returns 2 if the distance isn't in the expected range
+
+uint8_t StepDetection(double distance){
+ double d_valueMM = distance;
+ if(d_valueMM >= 4) return 0;
+ if(d_valueMM < 4) return 1;
+ 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.
+void check_start()
+{
+
+}
+
+// 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);
-
+ user_button.fall(&user_button_pressed_fcn);
+ user_button.rise(&user_button_released_fcn);
+
+
+ while (true)
+ {
+ enable_motors = 1;
+ ir_distance_mm_L= mapping(ir_analog_in_Distance_L.read()*1.0e3f * 3.3f);
+ ir_distance_mm_R= mapping(ir_analog_in_Distance_R.read()*1.0e3f * 3.3f);
+ ir_distance_mm_Lookdown_B= mapping(ir_analog_in_Lookdown_B.read()*1.0e3f * 3.3f);
+ ir_distance_mm_Lookdown_F= mapping(ir_analog_in_Lookdown_F.read()*1.0e3f * 3.3f);
- while (true){
- enable_motors = 1;
+ switch (ToNextFunction)
+ {
- 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));
+ case 1:
+ set_arm_stair_height();
+ printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
+ if (state==1){
+ ToNextFunction += 1;
+ }
+ break;
- //printf("IR sensor (mV): %3.3f\n", ir_distance_mV);
-
+ case 2:
+ state=NextStep(ir_analog_in_Distance_L);
+ if (state==1){
+ ToNextFunction = 0;
+ }
- switch (ToNextFunction) {
- case 1: StartPosition(degArmStart);
- printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
- // ToNextFunction+=1;
+ case 3:
+ state=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());
+ if (state==1){
+ ToNextFunction = 0;
+ }
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;
- break;
- case 3: LiftUp(degArmLift);
- // ToNextFunction+=1;
+
+ case 4:
+ state=lift_up();
printf("Case 3: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
- break;
- case 4: Drive(PositionBackOff);
+ if ((state==1)&&(StepDetection(ir_distance_mm_Lookdown_B))&&StepDetection(ir_distance_mm_Lookdown_F)){
+ ToNextFunction += 1;
+ }
+
+
+ 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());
- // ToNextFunction+=1;
+ positionController_M_right.getRotation(),positionController_M_left.getRotation());
+ if ((state==1)&&(StepDetection(ir_distance_mm_Lookdown_B)!=1)){
+ ToNextFunction += 1;
+ }
break;
- case 5: LiftUp(degArmStart);
- printf("Case 5: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
- // ToNextFunction = 0;
+
+ case 6:
+ state=lift_up();
+ printf("Case 5: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
+ if (state==1){
+ ToNextFunction = 1;
+ }
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;
}
+
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) {
- ToNextFunction += 1;}
- }
\ No newline at end of file
+ if (user_button_elapsed_time_ms > 200)
+ {
+ ToNextFunction = 3;
+ }
+}
\ No newline at end of file