TreppenRobo
first commit
Dependencies: PM2_Libary
Diff: main.cpp
- Branch:
- lupo
- Revision:
- 38:8121e7a79c0b
- Parent:
- 37:05252c4a2d4e
- Child:
- 39:4c5e4ff386da
--- a/main.cpp Mon May 02 14:35:00 2022 +0200
+++ b/main.cpp Mon May 16 16:37:07 2022 +0200
@@ -10,8 +10,8 @@
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 (?)
+const float dist_arm_attach_OK_griparea = 10.5 ; // Height of Grappler cutout to grapple Stair (8) (maybe add 1mm so gripper is a bit over the plate)
+const float dist_grappleratt_grappler_uk = 36.5; // distance between pivotpoint Grappler and bottom edge (?)
const float height_stairs = 100; // height to top of next stairstep in mm
//***********************************************************************************************************************************************************
@@ -31,11 +31,13 @@
float ir_distance_mm_Lookdown_F;
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
+DigitalIn mechanical_button(PC_3);
+
// 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
@@ -52,10 +54,14 @@
//***********************************************************************************************************************************************************
// Hardware controll Setup and functions (motors and sensors)
+//these variables represent relative position NOT absolut
+float startPos = -0.525; //from last lift up position to start position
+float liftPos = -0.555; //from start position to lift up position
+
// 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 * 20.0f; // define counts per turn at gearbox end (counts/turn * gearratio) for arm
+const float counts_per_turn_arm = 20.0f * 78.125f * 19.0f; // 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
@@ -69,39 +75,75 @@
// 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
+// calculations for basic movment and controll
//placeholder variables for prototype testing
-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)
+const int drive_straight_mm = 2; // placeholder for testing drives amount forward
+const int drive_back_mm = -2; // placeholder for testing drives amount backwards
+int ToNextFunction = 0; // current state of the system (which function is beeing executed)
int state=0;
+float desired_pos;
+// definition variables for calculations
+const float pi = 2 * acos(0.0); // definiton of pi
+const float end_pos_lift_deg = 180 + asin((dist_arm_ground-(dist_grappleratt_grappler_uk))/arm_length) * 180 / pi; // calculates the degree which the arm has to have when lift_up has been executed.
+const 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)
+
+// definition of rotation speeds for motors 0 = none 1.0 = max.
+const float max_speed_rps_wheel = 0.7f; // 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 = 0.9f; // define maximum speed that the position controller is changig the speed for the arm, has to be smaller or equal to kn * max_voltage
+
+// 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)
+// PARAM: height_mm = height which OK Gripperarea has to reach.
+// RETURN: deg_arm = absolut Position in deg that the arm has to take.
+float calc_arm_deg_for_height(int height_mm)
+{
+ float height_arm = height_mm - (dist_arm_ground - dist_arm_attach_OK_griparea); // 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;
+}
+
+//calculates the deg which the wheels have to turn in order to cover specified distance in mm
+//PARAM: distance = distance to drive in milimeter
+//RETURN: deg_wheel = degree which the motor has to turn in order to cover distance(mm)
+float wheel_dist_to_deg(int distance)
+{
+ float deg_wheel = distance / (wheel_diameter * pi) * 360;
+ return deg_wheel;
+}
-// 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);
+// increments the Motor for defined degree from the current one
+// PARAM: deg_to_turn = degree to turn the Motor
+// PARAM: current_rotation = the current rotation of the Motor (Motor.getRotation())
+// RETURN: new_turn_rotation = new Rotation value in rotations
+float turn_relative_deg(float deg_to_turn, float current_rotation)
+{
+ float new_turn_rotation = current_rotation + deg_to_turn;
+ return new_turn_rotation;
+}
-// 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)
+// 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_rotation = 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)
{
- 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;
+ int full_rotations;
+ if(current_rotations > 0)
+ {
+ full_rotations = round(current_rotations - 0.5);
+ }
+ else if(current_rotations < 0)
+ {
+ full_rotations = round(current_rotations + 0.5);
+ }
+ else
+ {
+ full_rotations = 0;
+ }
+ float new_partial_rotation = full_rotations - start_deg_arm/360 + end_deg/360;
+ return new_partial_rotation;
}
//calculates position of arm when lift up has ended.
@@ -109,66 +151,85 @@
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 = asin((dist_arm_ground-(dist_grappleratt_grappler_uk-dist_grappleratt_grappler_uk))/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;
+//***********************************************************************************************************************************************************
+// important calculatet constant for Wall-E
+const double deg_up_from_horizon_to_stair = calc_arm_deg_for_height(height_stairs);
+
+// import functions from file mapping
+extern double powerx(double base, double pow2);
+extern double mapping (float adc_value_mV);
+
+//
+//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 nextStepDetection(double distanceCm,double setpointDistance){
+ double distance = distanceCm;
+ double setpoint = setpointDistance;
+ if(distance == 0){
+ return 10; //sensor value is outside the expected range
+ }
+ if((distance <= (setpoint + 1)) && (distance >= (setpoint - 1))){
+ return 3; //the distance to the next step is in ±1cm of the setpoint
+ }
+ if(distance < setpoint){
+ return 0; //the robot is to close to the step to rotate the arm unhindered
+ }
+ if(distance > setpoint){
+ return 1; //the robot is too far away from the next step
+ }
+ else{
+ return 2;
+ }
+
}
+//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_down(float sensor)
-// 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;
+ double d_valueMM = mapping(sensor*1.0e3f*3.3f);
+ if(d_valueMM >= 4) return 0;
+ else if( d_valueMM > 100 ) return 2;
+ else if((d_valueMM < 4)||(d_valueMM==0)) return 1;
+
+ else return 5;
}
// 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;
+ if (desired_pos==0) {
+ desired_pos=turn_relative_deg(startPos, positionController_M_Arm.getRotation());
}
+
+
+ positionController_M_Arm.setDesiredRotation(desired_pos, max_speed_rps_arm); // command to turn motor to desired deg.
- 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){
+ diff =abs( desired_pos-(positionController_M_Arm.getRotation()));
+ printf("Set arm Position ARM (rot): %3.3f Desired:%3.3f State:%d ToNextfunction:%d Diff:%3.3f\n",
+ positionController_M_Arm.getRotation(), desired_pos, state, ToNextFunction, diff);
+ if (diff<=0.009){
return 1;
}
else {
- return NULL;}
-
-
- enable_motors = 0;
-
+ return NULL;
+}
}
//Drives forward into the next step
@@ -177,21 +238,22 @@
{
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;
+if (desired_pos==0) {
+ desired_pos= wheel_dist_to_deg(distance);
+ float relativ_turns_rightmotor = turn_relative_deg(desired_pos, positionController_M_right.getRotation());
+ float relativ_turns_leftmotor = turn_relative_deg(desired_pos, positionController_M_left.getRotation());
+}
+
+ positionController_M_right.setDesiredRotation(desired_pos, max_speed_rps_wheel);
+ positionController_M_left.setDesiredRotation(desired_pos, max_speed_rps_wheel);
- 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))
+ diff_R= abs(desired_pos-(positionController_M_right.getRotation()));
+ diff_L= abs(desired_pos-(positionController_M_left.getRotation()));
+ printf("Drive Straight Position Right(rot): %3.3f; Position Left (rot): %3.3f Desired: %3.3f Diff:%3.3f State:%d ToNextfunction:%d\n",
+ positionController_M_right.getRotation(),positionController_M_left.getRotation(),desired_pos,diff_L, state, ToNextFunction);
+ if ((diff_R<=0.03) && (diff_L<=0.03))
{
return 1;
}
@@ -201,53 +263,30 @@
}
}
-//only turns the arm until the robot is on the next step
+//turns the arm until the robot is on the next step
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());
+ if (desired_pos==0) {
+ desired_pos = turn_relative_deg(liftPos,positionController_M_Arm.getRotation());
+ }
+
+
- 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<=0.01)
+ positionController_M_Arm.setDesiredRotation(desired_pos, max_speed_rps_arm);
+
+ diff=abs(desired_pos-positionController_M_Arm.getRotation());
+ printf("Lift Up: Position ARM (rot): %3.3f Desired:%3.3f State:%d ToNextfunction:%d\n",positionController_M_Arm.getRotation(),desired_pos, state, ToNextFunction);
+ if(diff<=0.03)
{ return 1;
}
else
{ 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
@@ -258,74 +297,103 @@
// attach button fall and rise functions to user button object
user_button.fall(&user_button_pressed_fcn);
user_button.rise(&user_button_released_fcn);
-
+ mechanical_button.mode(PullDown);
+
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);
+
+
+ if (ToNextFunction>=1||(mechanical_button.read()!=1))
+ {
+ enable_motors=1;
+ }
switch (ToNextFunction)
{
+
+ case 0: while (mechanical_button.read()!=1)
+ {
+ positionController_M_Arm.setDesiredRotation(-1,0.5);
+
+ }
+ if (mechanical_button){
+ positionController_M_Arm.setDesiredRotation(positionController_M_Arm.getRotation());
- case 1:
- set_arm_stair_height();
- printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
- if (state==1){
+ }
+
+
+ break;
+
+ case 1:
+
ToNextFunction += 1;
- }
+ state=0;
+
+
break;
case 2:
- state=NextStep(ir_analog_in_Distance_L);
- if (state==1){
- ToNextFunction = 0;
- }
+ state=nextStepDetection(ir_distance_mm_L,10);
+ printf("distance:%3.3f Output:%d\n", ir_distance_mm_L, nextStepDetection(ir_distance_mm_L,10));
+ if (state==3){
+ ToNextFunction +=1;
+ state=0;
+ }
+ break;
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());
+ state=drive_straight(drive_straight_mm);
+
if (state==1){
- ToNextFunction = 0;
+ ToNextFunction += 1;
+ state=0;
+ desired_pos=0;
+
}
break;
case 4:
state=lift_up();
- printf("Case 3: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
- if ((state==1)&&(StepDetection(ir_distance_mm_Lookdown_B))&&StepDetection(ir_distance_mm_Lookdown_F)){
+
+ if (state==1){
ToNextFunction += 1;
+ state=0;
+ desired_pos=0;
}
-
+ 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)&&(StepDetection(ir_distance_mm_Lookdown_B)!=1)){
+
+ if ((state == 1) && (StepDetection_down(ir_analog_in_Lookdown_B) != 1)){
ToNextFunction += 1;
+ state=0;
+ desired_pos=0;
+
}
break;
case 6:
- state=lift_up();
- printf("Case 5: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
+ state=set_arm_stair_height();
+
if (state==1){
- ToNextFunction = 1;
+ ToNextFunction = 0;
+ state=0;
+ desired_pos=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;
+ // 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;
}
@@ -343,6 +411,6 @@
user_button_timer.stop();
if (user_button_elapsed_time_ms > 200)
{
- ToNextFunction = 3;
+ ToNextFunction =1;
}
}
\ No newline at end of file