Emaxx Navigation code ported for MBED
Dependencies: BNO055_fusion Emaxx_Navigation_Dynamic_HIL MODSERIAL ServoIn ServoOut Vehicle_Model mbed
Fork of Emaxx_Navigation_Dynamic_HIL by
main.cpp@9:3aa9b689bda5, 2018-04-03 (annotated)
- Committer:
- jdawkins
- Date:
- Tue Apr 03 12:52:52 2018 +0000
- Revision:
- 9:3aa9b689bda5
- Parent:
- 8:9817993e5df7
Publish Code for MIDS
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jdawkins | 0:f8fd381a5b8a | 1 | #include "mbed.h" |
jdawkins | 7:a8c2e9d049e8 | 2 | #include "utilityFunctions.h" |
jdawkins | 0:f8fd381a5b8a | 3 | #include "BNO055.h" |
jdawkins | 0:f8fd381a5b8a | 4 | #include "ServoIn.h" |
jdawkins | 0:f8fd381a5b8a | 5 | #include "ServoOut.h" |
lddevrie | 2:0c9c3c1f3b18 | 6 | #include "MODSERIAL.h" |
jdawkins | 7:a8c2e9d049e8 | 7 | #include "vehicleModel.h" |
jdawkins | 8:9817993e5df7 | 8 | #include "motor_driver.h" |
jdawkins | 0:f8fd381a5b8a | 9 | |
jdawkins | 0:f8fd381a5b8a | 10 | #define MAX_MESSAGE_SIZE 64 |
jdawkins | 0:f8fd381a5b8a | 11 | #define IMU_RATE 100.0 |
jdawkins | 8:9817993e5df7 | 12 | #define LOG_RATE 10.0 |
jdawkins | 0:f8fd381a5b8a | 13 | #define LOOP_RATE 300.0 |
jdawkins | 0:f8fd381a5b8a | 14 | #define CMD_TIMEOUT 1.0 |
jdawkins | 8:9817993e5df7 | 15 | #define GEAR_RATIO (1/2.75) // gear ratio |
jdawkins | 8:9817993e5df7 | 16 | #define WHL_RADIUS 0.036 // Wheel radius (m) |
jdawkins | 8:9817993e5df7 | 17 | #define PI 3.14159 |
jdawkins | 8:9817993e5df7 | 18 | |
jdawkins | 0:f8fd381a5b8a | 19 | // Reference origin is at entrance to hospital point monument |
jdawkins | 0:f8fd381a5b8a | 20 | #define REF_LAT 38.986534 |
jdawkins | 0:f8fd381a5b8a | 21 | #define REF_LON -76.489914 |
jdawkins | 0:f8fd381a5b8a | 22 | #define REF_ALT 1.8 |
jdawkins | 0:f8fd381a5b8a | 23 | #define NUM_LED 28 |
jdawkins | 0:f8fd381a5b8a | 24 | #define LED_CLUSTERS 4 |
jdawkins | 0:f8fd381a5b8a | 25 | #define LED_PER_CLUSTER 12 |
jdawkins | 0:f8fd381a5b8a | 26 | |
jdawkins | 0:f8fd381a5b8a | 27 | #define DIRECT_MODE 0 //command maps to throttle and steer commands normalized |
jdawkins | 0:f8fd381a5b8a | 28 | #define COURSE_MODE 1 //Commands map to heading and speed |
jdawkins | 7:a8c2e9d049e8 | 29 | |
jdawkins | 8:9817993e5df7 | 30 | #define HARDWARE_MODE 0 |
jdawkins | 7:a8c2e9d049e8 | 31 | #define HIL_MODE 1 // commands map to hardware active simulation |
jdawkins | 7:a8c2e9d049e8 | 32 | #define SIL_MODE 2 // commands map to software only simulation |
jdawkins | 0:f8fd381a5b8a | 33 | |
jdawkins | 0:f8fd381a5b8a | 34 | //I2C i2c(p9, p10); // SDA, SCL |
jdawkins | 0:f8fd381a5b8a | 35 | BNO055 imu(p9, p10); |
jdawkins | 0:f8fd381a5b8a | 36 | |
jdawkins | 0:f8fd381a5b8a | 37 | int left; |
jdawkins | 0:f8fd381a5b8a | 38 | |
jdawkins | 0:f8fd381a5b8a | 39 | // Function Prototypes |
jdawkins | 8:9817993e5df7 | 40 | void he_callback(); |
jdawkins | 7:a8c2e9d049e8 | 41 | int parseMessage(char * msg); |
jdawkins | 0:f8fd381a5b8a | 42 | |
jdawkins | 0:f8fd381a5b8a | 43 | // LED Definitions |
jdawkins | 0:f8fd381a5b8a | 44 | DigitalOut rc_LED(LED1); |
jdawkins | 0:f8fd381a5b8a | 45 | DigitalOut armed_LED(LED2); |
jdawkins | 0:f8fd381a5b8a | 46 | DigitalOut auto_LED(LED3); |
jdawkins | 8:9817993e5df7 | 47 | // DigitalOut imu_LED(LED4); |
jdawkins | 8:9817993e5df7 | 48 | DigitalOut hall_LED(LED4); |
jdawkins | 0:f8fd381a5b8a | 49 | |
jdawkins | 0:f8fd381a5b8a | 50 | |
lddevrie | 2:0c9c3c1f3b18 | 51 | // Comms and control object definitions |
jdawkins | 8:9817993e5df7 | 52 | //MODSERIAL pc(p28, p27); // tx, rx for serial USB interface to pc |
jdawkins | 7:a8c2e9d049e8 | 53 | //MODSERIAL xbee(USBTX, USBRX); // tx, rx for Xbee |
lddevrie | 6:f64b1eba4d5e | 54 | |
jdawkins | 7:a8c2e9d049e8 | 55 | MODSERIAL pc(USBTX, USBRX); // tx, rx for serial USB interface to pc |
jdawkins | 7:a8c2e9d049e8 | 56 | MODSERIAL xbee(p28, p27); // tx, rx for Xbee |
jdawkins | 0:f8fd381a5b8a | 57 | ServoIn CH1(p15); |
jdawkins | 0:f8fd381a5b8a | 58 | ServoIn CH2(p16); |
jdawkins | 0:f8fd381a5b8a | 59 | |
jdawkins | 9:3aa9b689bda5 | 60 | InterruptIn he_sensor(p15); |
jdawkins | 9:3aa9b689bda5 | 61 | ServoOut Steer(p20); |
jdawkins | 0:f8fd381a5b8a | 62 | ServoOut Throttle(p21); |
jdawkins | 8:9817993e5df7 | 63 | |
jdawkins | 8:9817993e5df7 | 64 | |
jdawkins | 0:f8fd381a5b8a | 65 | Timer t; // create timer instance |
jdawkins | 0:f8fd381a5b8a | 66 | Ticker log_tick; |
jdawkins | 0:f8fd381a5b8a | 67 | Ticker heartbeat; |
jdawkins | 7:a8c2e9d049e8 | 68 | float t_imu,t_gps,t_cmd,t_sim,t_ctrl; |
jdawkins | 7:a8c2e9d049e8 | 69 | float str_cmd,thr_cmd,str,thr,des_psi,des_spd; // control parameters |
jdawkins | 8:9817993e5df7 | 70 | float psi_err,spd_err, psi_err_i,spd_err_i,speed; // control variables |
jdawkins | 0:f8fd381a5b8a | 71 | float t_hall, dt_hall,t_run,t_stop,t_log; |
lddevrie | 2:0c9c3c1f3b18 | 72 | bool armed, auto_ctrl,auto_ctrl_old,rc_conn; // arming state modes |
lddevrie | 2:0c9c3c1f3b18 | 73 | float wheel_spd; // wheel speed variable |
lddevrie | 2:0c9c3c1f3b18 | 74 | float arm_clock,auto_clock; // timing for arming procedures |
lddevrie | 2:0c9c3c1f3b18 | 75 | bool str_cond,thr_cond,run_ctrl,log_data; // data saving variables? |
lddevrie | 2:0c9c3c1f3b18 | 76 | bool log_imu,log_bno,log_odo,log_mag = false; // data saving variables? |
lddevrie | 2:0c9c3c1f3b18 | 77 | int cmd_mode; // integer to set command mode of controller |
lddevrie | 2:0c9c3c1f3b18 | 78 | float Kp_psi, Kp_spd, Ki_psi, Ki_spd; // controller gains |
lddevrie | 2:0c9c3c1f3b18 | 79 | int led1,led2,led3,led4; // neo-strip variables? |
lddevrie | 2:0c9c3c1f3b18 | 80 | volatile bool newpacket = false; // boolean identifier of new odroid packet |
lddevrie | 4:e27ca0c82814 | 81 | float x0; // initial x-position when in software or hardware in the loop simulation |
lddevrie | 4:e27ca0c82814 | 82 | float y0; // initial y-position when in software or hardware in the loop simulation |
lddevrie | 4:e27ca0c82814 | 83 | int sim_mode = 0; // sets simulation mode, zero by default, 1 for HIL, 2 for SIL |
lddevrie | 4:e27ca0c82814 | 84 | float x = 0.0; // simulation variables |
lddevrie | 4:e27ca0c82814 | 85 | float y = 0.0; // simulation variables |
lddevrie | 4:e27ca0c82814 | 86 | float psi = 0.0; // simulation variables |
lddevrie | 5:d6d8ecd418cf | 87 | float spd = 0.0; // simulation speed |
jdawkins | 8:9817993e5df7 | 88 | float tau = 0.25; // throttle time constant |
jdawkins | 8:9817993e5df7 | 89 | float Kdc = 1; // throttle dc gain |
jdawkins | 8:9817993e5df7 | 90 | float thr_out,thr_out_old; |
jdawkins | 8:9817993e5df7 | 91 | float KpWhl = 0.6; |
jdawkins | 8:9817993e5df7 | 92 | float dz; |
jdawkins | 8:9817993e5df7 | 93 | int reverse; |
lddevrie | 2:0c9c3c1f3b18 | 94 | |
jdawkins | 7:a8c2e9d049e8 | 95 | vehicleModel vm; //create vehicle model object |
jdawkins | 7:a8c2e9d049e8 | 96 | |
jdawkins | 8:9817993e5df7 | 97 | |
lddevrie | 2:0c9c3c1f3b18 | 98 | void rxCallback(MODSERIAL_IRQ_INFO *q) |
lddevrie | 2:0c9c3c1f3b18 | 99 | { |
lddevrie | 2:0c9c3c1f3b18 | 100 | MODSERIAL *serial = q->serial; |
lddevrie | 2:0c9c3c1f3b18 | 101 | if ( serial->rxGetLastChar() == '\n') { |
lddevrie | 2:0c9c3c1f3b18 | 102 | newpacket = true; |
lddevrie | 2:0c9c3c1f3b18 | 103 | } |
lddevrie | 2:0c9c3c1f3b18 | 104 | } |
lddevrie | 2:0c9c3c1f3b18 | 105 | |
jdawkins | 0:f8fd381a5b8a | 106 | |
jdawkins | 0:f8fd381a5b8a | 107 | int main() |
jdawkins | 0:f8fd381a5b8a | 108 | { |
jdawkins | 7:a8c2e9d049e8 | 109 | |
jdawkins | 0:f8fd381a5b8a | 110 | |
lddevrie | 2:0c9c3c1f3b18 | 111 | pc.baud(115200); // set baud rate of serial comm to pc |
jdawkins | 8:9817993e5df7 | 112 | xbee.baud(115200); // set baud rate of serial comm of wireless xbee comms |
jdawkins | 0:f8fd381a5b8a | 113 | Steer.write(1500); //Set Steer PWM to center 1000-2000 range |
jdawkins | 0:f8fd381a5b8a | 114 | Throttle.write(1500); //Set Throttle to Low |
lddevrie | 2:0c9c3c1f3b18 | 115 | |
lddevrie | 2:0c9c3c1f3b18 | 116 | xbee.attach(&rxCallback, MODSERIAL::RxIrq); |
jdawkins | 8:9817993e5df7 | 117 | |
lddevrie | 2:0c9c3c1f3b18 | 118 | |
jdawkins | 9:3aa9b689bda5 | 119 | // he_sensor.rise(&he_callback); // Set wheel speed sensor interrupt |
lddevrie | 2:0c9c3c1f3b18 | 120 | |
lddevrie | 2:0c9c3c1f3b18 | 121 | // initialize necessary float and boolean variables |
jdawkins | 0:f8fd381a5b8a | 122 | left = 0; |
jdawkins | 0:f8fd381a5b8a | 123 | str_cmd = 0; |
jdawkins | 0:f8fd381a5b8a | 124 | str=0; |
jdawkins | 0:f8fd381a5b8a | 125 | thr=0; |
jdawkins | 0:f8fd381a5b8a | 126 | thr_cmd = 0; |
jdawkins | 0:f8fd381a5b8a | 127 | des_psi = 0; |
jdawkins | 0:f8fd381a5b8a | 128 | des_spd = 0; |
jdawkins | 0:f8fd381a5b8a | 129 | psi_err = 0; |
jdawkins | 0:f8fd381a5b8a | 130 | spd_err = 0; |
jdawkins | 0:f8fd381a5b8a | 131 | spd_err_i = 0; |
jdawkins | 0:f8fd381a5b8a | 132 | arm_clock = 0; |
jdawkins | 0:f8fd381a5b8a | 133 | auto_clock = 0; |
jdawkins | 7:a8c2e9d049e8 | 134 | Kp_psi = 1/1.57; |
jdawkins | 8:9817993e5df7 | 135 | Kp_spd = 0.4; |
jdawkins | 8:9817993e5df7 | 136 | Ki_spd = 0.2; |
jdawkins | 8:9817993e5df7 | 137 | dz = 0.2; |
jdawkins | 0:f8fd381a5b8a | 138 | str_cond = false; |
jdawkins | 0:f8fd381a5b8a | 139 | thr_cond = false; |
jdawkins | 0:f8fd381a5b8a | 140 | armed = false; |
jdawkins | 0:f8fd381a5b8a | 141 | rc_conn = false; |
jdawkins | 0:f8fd381a5b8a | 142 | auto_ctrl = false; |
jdawkins | 0:f8fd381a5b8a | 143 | auto_ctrl_old = false; |
jdawkins | 0:f8fd381a5b8a | 144 | run_ctrl = false; |
jdawkins | 0:f8fd381a5b8a | 145 | log_data = false; |
jdawkins | 7:a8c2e9d049e8 | 146 | cmd_mode = 1; |
jdawkins | 8:9817993e5df7 | 147 | reverse = 0; |
jdawkins | 8:9817993e5df7 | 148 | |
jdawkins | 0:f8fd381a5b8a | 149 | |
lddevrie | 2:0c9c3c1f3b18 | 150 | // timer and timing initializations |
jdawkins | 0:f8fd381a5b8a | 151 | t.start(); |
jdawkins | 0:f8fd381a5b8a | 152 | t_imu = t.read(); |
jdawkins | 7:a8c2e9d049e8 | 153 | t_sim = t.read(); |
jdawkins | 7:a8c2e9d049e8 | 154 | t_ctrl = t.read(); |
jdawkins | 7:a8c2e9d049e8 | 155 | t_log = t.read(); |
jdawkins | 0:f8fd381a5b8a | 156 | t_cmd = 0; |
jdawkins | 0:f8fd381a5b8a | 157 | |
lddevrie | 2:0c9c3c1f3b18 | 158 | |
lddevrie | 2:0c9c3c1f3b18 | 159 | rc_LED = 0; // turn off LED 1 to indicate no RC connection |
jdawkins | 8:9817993e5df7 | 160 | // imu_LED = 0; // turn off IMU indicator (LED 4) |
lddevrie | 2:0c9c3c1f3b18 | 161 | |
lddevrie | 4:e27ca0c82814 | 162 | |
lddevrie | 2:0c9c3c1f3b18 | 163 | // procedure to ensure IMU is operating correctly |
jdawkins | 0:f8fd381a5b8a | 164 | if(imu.check()) { |
jdawkins | 0:f8fd381a5b8a | 165 | pc.printf("BNO055 connected\r\n"); |
jdawkins | 0:f8fd381a5b8a | 166 | imu.setmode(OPERATION_MODE_CONFIG); |
jdawkins | 0:f8fd381a5b8a | 167 | imu.SetExternalCrystal(1); |
jdawkins | 0:f8fd381a5b8a | 168 | imu.setmode(OPERATION_MODE_NDOF); //Uses magnetometer |
jdawkins | 0:f8fd381a5b8a | 169 | imu.set_angle_units(RADIANS); |
jdawkins | 0:f8fd381a5b8a | 170 | imu.set_accel_units(MPERSPERS); |
jdawkins | 0:f8fd381a5b8a | 171 | imu.setoutputformat(WINDOWS); |
jdawkins | 0:f8fd381a5b8a | 172 | imu.set_mapping(2); |
jdawkins | 0:f8fd381a5b8a | 173 | |
lddevrie | 2:0c9c3c1f3b18 | 174 | // Blinks light if IMU is not calibrated, stops when calibration is complete |
lddevrie | 4:e27ca0c82814 | 175 | /*while(int(imu.calib) < 0xCF) { |
jdawkins | 0:f8fd381a5b8a | 176 | pc.printf("Calibration = %x.\n\r",imu.calib); |
jdawkins | 0:f8fd381a5b8a | 177 | imu.get_calib(); |
jdawkins | 0:f8fd381a5b8a | 178 | wait(0.5); |
jdawkins | 0:f8fd381a5b8a | 179 | imu_LED = !imu_LED; |
lddevrie | 2:0c9c3c1f3b18 | 180 | } // end while(imu.calib) |
lddevrie | 4:e27ca0c82814 | 181 | */ |
jdawkins | 8:9817993e5df7 | 182 | //imu_LED = 1; // turns on IMU light when calibration is successful |
jdawkins | 0:f8fd381a5b8a | 183 | |
jdawkins | 0:f8fd381a5b8a | 184 | } else { |
lddevrie | 4:e27ca0c82814 | 185 | pc.printf("IMU BNO055 NOT connected\r\n Entering Simulation mode..."); // catch statement if IMU is not connected correctly |
lddevrie | 4:e27ca0c82814 | 186 | |
jdawkins | 8:9817993e5df7 | 187 | //sim_mode = 2; // by default it will go to simulation mode without actuators active (SIL) |
lddevrie | 4:e27ca0c82814 | 188 | |
lddevrie | 4:e27ca0c82814 | 189 | |
lddevrie | 4:e27ca0c82814 | 190 | /* // turn on all lights is IMU is not connected correctly |
jdawkins | 0:f8fd381a5b8a | 191 | rc_LED = 1; |
jdawkins | 0:f8fd381a5b8a | 192 | armed_LED = 1; |
jdawkins | 0:f8fd381a5b8a | 193 | imu_LED = 1; |
jdawkins | 0:f8fd381a5b8a | 194 | auto_LED = 1; |
jdawkins | 0:f8fd381a5b8a | 195 | while(1) { |
lddevrie | 2:0c9c3c1f3b18 | 196 | // blink all lights if IMU is not connected correctly |
jdawkins | 0:f8fd381a5b8a | 197 | rc_LED = !rc_LED; |
jdawkins | 0:f8fd381a5b8a | 198 | armed_LED = !armed_LED; |
jdawkins | 0:f8fd381a5b8a | 199 | imu_LED = !imu_LED; |
jdawkins | 0:f8fd381a5b8a | 200 | auto_LED = !auto_LED; |
lddevrie | 2:0c9c3c1f3b18 | 201 | |
jdawkins | 0:f8fd381a5b8a | 202 | wait(0.5); |
lddevrie | 2:0c9c3c1f3b18 | 203 | } // end while(1) {blink if IMU is not connected} |
lddevrie | 4:e27ca0c82814 | 204 | */ |
lddevrie | 4:e27ca0c82814 | 205 | |
lddevrie | 2:0c9c3c1f3b18 | 206 | } // end if(imu.check) |
jdawkins | 0:f8fd381a5b8a | 207 | |
lddevrie | 4:e27ca0c82814 | 208 | |
lddevrie | 2:0c9c3c1f3b18 | 209 | // int colors[4] = {ORANGE,YELLOW,GREEN,CYAN}; |
lddevrie | 2:0c9c3c1f3b18 | 210 | |
lddevrie | 2:0c9c3c1f3b18 | 211 | pc.printf("Emaxx Navigation Program\r\n"); // print indication that calibration is good and nav program is running |
lddevrie | 2:0c9c3c1f3b18 | 212 | |
lddevrie | 2:0c9c3c1f3b18 | 213 | |
jdawkins | 0:f8fd381a5b8a | 214 | while(1) { |
jdawkins | 0:f8fd381a5b8a | 215 | |
lddevrie | 2:0c9c3c1f3b18 | 216 | // check for servo pulse from either channel of receiver module |
jdawkins | 0:f8fd381a5b8a | 217 | if(CH1.servoPulse == 0 || CH2.servoPulse == 0) { //RC Reciever must be connected For Car to be armed |
jdawkins | 0:f8fd381a5b8a | 218 | rc_conn = false; |
jdawkins | 0:f8fd381a5b8a | 219 | } else { |
jdawkins | 0:f8fd381a5b8a | 220 | rc_conn = true; |
lddevrie | 2:0c9c3c1f3b18 | 221 | } // end if(Channels connected) |
lddevrie | 2:0c9c3c1f3b18 | 222 | |
jdawkins | 9:3aa9b689bda5 | 223 | // pc.printf("Str %d Thr %d\r\n",CH1.servoPulse,CH2.servoPulse); |
lddevrie | 2:0c9c3c1f3b18 | 224 | // turn on RC led if transmitter is connected |
jdawkins | 0:f8fd381a5b8a | 225 | rc_LED = rc_conn; |
jdawkins | 0:f8fd381a5b8a | 226 | auto_LED = auto_ctrl; |
jdawkins | 0:f8fd381a5b8a | 227 | armed_LED = armed; |
lddevrie | 2:0c9c3c1f3b18 | 228 | |
jdawkins | 0:f8fd381a5b8a | 229 | str_cond = (CH1.servoPulse > 1800); // If steering is full right |
jdawkins | 0:f8fd381a5b8a | 230 | thr_cond = abs(CH2.servoPulse-1500)<100; // If throttle is near zero |
jdawkins | 0:f8fd381a5b8a | 231 | |
jdawkins | 8:9817993e5df7 | 232 | if(t.read()-auto_clock > 1) { //Auto control timeout if no commands recevied after 1 seconds |
lddevrie | 2:0c9c3c1f3b18 | 233 | auto_ctrl = false; |
lddevrie | 2:0c9c3c1f3b18 | 234 | } // end if(t.read()-autoclock>3) timeout procedure |
lddevrie | 2:0c9c3c1f3b18 | 235 | |
lddevrie | 2:0c9c3c1f3b18 | 236 | |
lddevrie | 2:0c9c3c1f3b18 | 237 | |
lddevrie | 2:0c9c3c1f3b18 | 238 | |
lddevrie | 2:0c9c3c1f3b18 | 239 | if(newpacket) { // if xbee port receives a complete message, parse it |
lddevrie | 5:d6d8ecd418cf | 240 | char buf[MAX_MESSAGE_SIZE]; // create buffer for message |
lddevrie | 4:e27ca0c82814 | 241 | |
lddevrie | 2:0c9c3c1f3b18 | 242 | // reads from modserial port buffer, stores characters into string "buf" |
lddevrie | 2:0c9c3c1f3b18 | 243 | int i = 0; |
lddevrie | 2:0c9c3c1f3b18 | 244 | if(xbee.rxBufferGetCount()>0) { |
lddevrie | 2:0c9c3c1f3b18 | 245 | char c = xbee.getc(); |
lddevrie | 2:0c9c3c1f3b18 | 246 | if(c=='$') { |
lddevrie | 2:0c9c3c1f3b18 | 247 | buf[i] = c; |
lddevrie | 2:0c9c3c1f3b18 | 248 | i++; |
lddevrie | 2:0c9c3c1f3b18 | 249 | while(1) { |
lddevrie | 2:0c9c3c1f3b18 | 250 | buf[i] = xbee.getc(); |
lddevrie | 2:0c9c3c1f3b18 | 251 | if(buf[i]=='\n') { |
lddevrie | 2:0c9c3c1f3b18 | 252 | break; |
lddevrie | 2:0c9c3c1f3b18 | 253 | } |
lddevrie | 2:0c9c3c1f3b18 | 254 | i++; |
lddevrie | 2:0c9c3c1f3b18 | 255 | } |
lddevrie | 2:0c9c3c1f3b18 | 256 | } |
lddevrie | 5:d6d8ecd418cf | 257 | } // end if xbee.rxBufferGetCount |
lddevrie | 2:0c9c3c1f3b18 | 258 | xbee.rxBufferFlush();// empty receive buffer |
jdawkins | 9:3aa9b689bda5 | 259 | pc.printf("%s",buf); // print message to PC |
lddevrie | 2:0c9c3c1f3b18 | 260 | parseMessage(buf); |
lddevrie | 5:d6d8ecd418cf | 261 | newpacket = false; // reset packet flag |
lddevrie | 2:0c9c3c1f3b18 | 262 | } // end if(newpacket) |
jdawkins | 9:3aa9b689bda5 | 263 | |
jdawkins | 8:9817993e5df7 | 264 | float cdt = t.read()-t_ctrl; |
jdawkins | 8:9817993e5df7 | 265 | t_ctrl = t.read(); |
jdawkins | 0:f8fd381a5b8a | 266 | |
jdawkins | 0:f8fd381a5b8a | 267 | |
lddevrie | 5:d6d8ecd418cf | 268 | if(!rc_conn) { // Is System Armed, system armed if RC not connected |
lddevrie | 2:0c9c3c1f3b18 | 269 | // printf("auto control: %d, clock %f\r\n",auto_ctrl, t.read()-auto_clock); |
jdawkins | 8:9817993e5df7 | 270 | if(auto_ctrl) { |
jdawkins | 7:a8c2e9d049e8 | 271 | |
jdawkins | 8:9817993e5df7 | 272 | |
lddevrie | 2:0c9c3c1f3b18 | 273 | switch (cmd_mode) { |
jdawkins | 0:f8fd381a5b8a | 274 | case DIRECT_MODE: { |
jdawkins | 8:9817993e5df7 | 275 | |
jdawkins | 8:9817993e5df7 | 276 | str = -str_cmd; |
jdawkins | 8:9817993e5df7 | 277 | |
jdawkins | 8:9817993e5df7 | 278 | des_spd = thr_cmd; |
jdawkins | 8:9817993e5df7 | 279 | spd_err = des_spd - speed; |
jdawkins | 8:9817993e5df7 | 280 | spd_err_i += spd_err*cdt; |
jdawkins | 8:9817993e5df7 | 281 | |
jdawkins | 8:9817993e5df7 | 282 | // saturate integral term |
jdawkins | 8:9817993e5df7 | 283 | if(spd_err_i> 1) { |
jdawkins | 8:9817993e5df7 | 284 | spd_err_i = 1; |
jdawkins | 8:9817993e5df7 | 285 | } |
jdawkins | 8:9817993e5df7 | 286 | if(spd_err<-1) { |
jdawkins | 8:9817993e5df7 | 287 | spd_err_i = -1; |
jdawkins | 8:9817993e5df7 | 288 | } |
jdawkins | 8:9817993e5df7 | 289 | |
jdawkins | 8:9817993e5df7 | 290 | thr = Kp_spd*(des_spd-speed) + Ki_spd*spd_err_i; |
jdawkins | 8:9817993e5df7 | 291 | |
jdawkins | 8:9817993e5df7 | 292 | if(des_spd > 0.02){ |
jdawkins | 8:9817993e5df7 | 293 | thr = thr + dz; |
jdawkins | 8:9817993e5df7 | 294 | } |
jdawkins | 8:9817993e5df7 | 295 | else if(des_spd < -0.02){ |
jdawkins | 8:9817993e5df7 | 296 | // speed has no sign figure out how to make it track direction using accel perhaps. |
jdawkins | 8:9817993e5df7 | 297 | thr = -(dz+0.2); |
jdawkins | 8:9817993e5df7 | 298 | //thr = 0.3*des_spd; |
jdawkins | 8:9817993e5df7 | 299 | }else { |
jdawkins | 8:9817993e5df7 | 300 | thr = 0; |
jdawkins | 8:9817993e5df7 | 301 | spd_err_i = 0; |
jdawkins | 8:9817993e5df7 | 302 | } |
jdawkins | 8:9817993e5df7 | 303 | //thr = thr_cmd; |
jdawkins | 8:9817993e5df7 | 304 | // pc.printf("des_spd %.3f, Spd %.3f Thr_cmd %.3f rev %d\r\n",des_spd,reverse*speed,thr,reverse); |
lddevrie | 2:0c9c3c1f3b18 | 305 | // xbee.printf("Psi Err: %.3f Spd Err %.3f, Str Cmd %.3f Thr_cmd %.3f\r\n",psi_err,spd_err,str,thr); |
jdawkins | 0:f8fd381a5b8a | 306 | break; |
lddevrie | 2:0c9c3c1f3b18 | 307 | } // end direct mode case |
jdawkins | 0:f8fd381a5b8a | 308 | case COURSE_MODE: { |
lddevrie | 2:0c9c3c1f3b18 | 309 | |
jdawkins | 7:a8c2e9d049e8 | 310 | thr = Kp_spd*spd_err + Ki_spd*spd_err_i*cdt; |
lddevrie | 2:0c9c3c1f3b18 | 311 | |
lddevrie | 2:0c9c3c1f3b18 | 312 | if (thr >= 1.0) { |
jdawkins | 0:f8fd381a5b8a | 313 | thr = 1.0; |
jdawkins | 7:a8c2e9d049e8 | 314 | spd_err_i = 0.0; // Reset Integral If Saturated |
lddevrie | 2:0c9c3c1f3b18 | 315 | } // end if thr>=1.0 |
lddevrie | 5:d6d8ecd418cf | 316 | if (thr < 0.0) { |
lddevrie | 5:d6d8ecd418cf | 317 | thr = 0.0; |
jdawkins | 7:a8c2e9d049e8 | 318 | spd_err_i = 0.0; // Reset Integral If Saturated |
lddevrie | 2:0c9c3c1f3b18 | 319 | } // end iff thr<0 |
jdawkins | 0:f8fd381a5b8a | 320 | |
jdawkins | 8:9817993e5df7 | 321 | |
jdawkins | 8:9817993e5df7 | 322 | // pc.printf("Psi Err: %.3f, Str Cmd %.3f, Spd Err %.3f, Kp %.3f, Thr_cmd %.3f rev %d\r\n",psi_err,str,spd_err,Kp_spd,thr,reverse); |
jdawkins | 8:9817993e5df7 | 323 | |
jdawkins | 0:f8fd381a5b8a | 324 | break; |
jdawkins | 0:f8fd381a5b8a | 325 | |
lddevrie | 2:0c9c3c1f3b18 | 326 | } // end COURSE_MODE case |
lddevrie | 2:0c9c3c1f3b18 | 327 | default: { |
jdawkins | 0:f8fd381a5b8a | 328 | break; |
lddevrie | 2:0c9c3c1f3b18 | 329 | } // end default status in switch |
lddevrie | 2:0c9c3c1f3b18 | 330 | |
lddevrie | 2:0c9c3c1f3b18 | 331 | } // end switch(cmd_mode) |
jdawkins | 7:a8c2e9d049e8 | 332 | str = saturateCmd(str); |
jdawkins | 8:9817993e5df7 | 333 | |
lddevrie | 4:e27ca0c82814 | 334 | } else { // goes with if auto_ctrl, manual control mode |
lddevrie | 2:0c9c3c1f3b18 | 335 | |
jdawkins | 0:f8fd381a5b8a | 336 | Steer.write((int)((str*500.0)+1500.0)); // Write Steering Pulse |
jdawkins | 0:f8fd381a5b8a | 337 | Throttle.write(1500); //Write Throttle Pulse |
jdawkins | 0:f8fd381a5b8a | 338 | |
lddevrie | 2:0c9c3c1f3b18 | 339 | } // end else |
lddevrie | 2:0c9c3c1f3b18 | 340 | |
lddevrie | 2:0c9c3c1f3b18 | 341 | } else { // goes with if !rc_conn |
lddevrie | 5:d6d8ecd418cf | 342 | |
lddevrie | 5:d6d8ecd418cf | 343 | // for manual driving |
jdawkins | 0:f8fd381a5b8a | 344 | auto_ctrl = false; |
jdawkins | 0:f8fd381a5b8a | 345 | armed_LED = 0; //Turn off armed LED indicator |
jdawkins | 0:f8fd381a5b8a | 346 | str = ((CH1.servoPulse-1500.0)/500.0); // Convert Pulse to Normalized Command +/- 1 |
jdawkins | 0:f8fd381a5b8a | 347 | thr = ((CH2.servoPulse-1500.0)/500.0); // Convert Pulse to Normalized Command +/- 1 |
jdawkins | 8:9817993e5df7 | 348 | |
lddevrie | 5:d6d8ecd418cf | 349 | if(sim_mode<2) { // if hardware is active send command to servo and throttle |
jdawkins | 8:9817993e5df7 | 350 | //Steer.write((int)((str*500.0)+1500.0)); // Write Steering Pulse |
jdawkins | 8:9817993e5df7 | 351 | // Throttle.write((int)((thr*500.0)+1500.0)); //Write Throttle Pulse |
lddevrie | 5:d6d8ecd418cf | 352 | } |
lddevrie | 2:0c9c3c1f3b18 | 353 | |
jdawkins | 0:f8fd381a5b8a | 354 | }/// end else armed |
jdawkins | 0:f8fd381a5b8a | 355 | |
jdawkins | 8:9817993e5df7 | 356 | float thr_dot = -(1/tau)*thr_out + (Kdc/tau)*thr; // first order filter for throttle |
jdawkins | 8:9817993e5df7 | 357 | thr_out = thr_out_old + thr_dot*cdt; |
jdawkins | 9:3aa9b689bda5 | 358 | thr_out_old = thr_out;// |
jdawkins | 9:3aa9b689bda5 | 359 | |
jdawkins | 8:9817993e5df7 | 360 | Steer.write((int)((str*500.0)+1500.0)); // Write Steering Pulse |
jdawkins | 8:9817993e5df7 | 361 | mot_control(thr); |
jdawkins | 9:3aa9b689bda5 | 362 | pc.printf("crrl cmd: %f %f\r\n",str,thr); |
jdawkins | 8:9817993e5df7 | 363 | |
jdawkins | 9:3aa9b689bda5 | 364 | |
jdawkins | 9:3aa9b689bda5 | 365 | |
lddevrie | 4:e27ca0c82814 | 366 | float dt = t.read()-t_imu; |
lddevrie | 4:e27ca0c82814 | 367 | if(dt > (1/IMU_RATE)) { |
jdawkins | 7:a8c2e9d049e8 | 368 | imu.get_angles(); |
jdawkins | 7:a8c2e9d049e8 | 369 | imu.get_accel(); |
jdawkins | 7:a8c2e9d049e8 | 370 | imu.get_gyro(); |
jdawkins | 7:a8c2e9d049e8 | 371 | imu.get_lia(); |
jdawkins | 8:9817993e5df7 | 372 | |
lddevrie | 4:e27ca0c82814 | 373 | float tic = t.read(); |
jdawkins | 7:a8c2e9d049e8 | 374 | t_imu = t.read(); |
lddevrie | 4:e27ca0c82814 | 375 | |
jdawkins | 8:9817993e5df7 | 376 | // ******************************************* |
jdawkins | 8:9817993e5df7 | 377 | // Get Sensor Data |
jdawkins | 8:9817993e5df7 | 378 | // ******************************************* |
jdawkins | 8:9817993e5df7 | 379 | // Compute speed from hall effect sensor |
jdawkins | 8:9817993e5df7 | 380 | if(t.read()-t_hall < 0.2) { |
jdawkins | 8:9817993e5df7 | 381 | speed = 0.5*WHL_RADIUS*GEAR_RATIO*(2*PI)/(dt_hall); // inches/sec |
jdawkins | 8:9817993e5df7 | 382 | } else { |
jdawkins | 8:9817993e5df7 | 383 | speed = 0; |
jdawkins | 7:a8c2e9d049e8 | 384 | } |
jdawkins | 8:9817993e5df7 | 385 | |
jdawkins | 8:9817993e5df7 | 386 | if(abs(speed) <0.01){ |
jdawkins | 8:9817993e5df7 | 387 | if(imu.accel.x < -0.5 && thr_out < -0.05){ |
jdawkins | 8:9817993e5df7 | 388 | reverse = -1; |
jdawkins | 8:9817993e5df7 | 389 | }else{ |
jdawkins | 8:9817993e5df7 | 390 | reverse = 1; |
jdawkins | 8:9817993e5df7 | 391 | } |
jdawkins | 8:9817993e5df7 | 392 | } |
jdawkins | 8:9817993e5df7 | 393 | |
jdawkins | 8:9817993e5df7 | 394 | } |
jdawkins | 8:9817993e5df7 | 395 | |
jdawkins | 7:a8c2e9d049e8 | 396 | if(t.read()-t_log > (1/LOG_RATE)) { |
jdawkins | 8:9817993e5df7 | 397 | |
jdawkins | 9:3aa9b689bda5 | 398 | |
lddevrie | 4:e27ca0c82814 | 399 | xbee.printf("$IMU,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",imu.lia.x,imu.lia.y,imu.lia.z,imu.gyro.x,imu.gyro.y,imu.gyro.z,imu.euler.roll,imu.euler.pitch,wrapToPi(imu.euler.yaw)); |
jdawkins | 8:9817993e5df7 | 400 | // xbee.printf("Thr in %.3f Thr_out %.3f\r\n",thr,thr_out); |
jdawkins | 8:9817993e5df7 | 401 | xbee.printf("$ODO,%.2f,%.2f,%.2f\r\n",speed,thr_out,str); |
jdawkins | 8:9817993e5df7 | 402 | //pc.printf("$ODO,%.2f,%.2f,%.2f\r\n",speed,thr_out,str); |
jdawkins | 8:9817993e5df7 | 403 | |
jdawkins | 7:a8c2e9d049e8 | 404 | t_log = t.read(); |
jdawkins | 7:a8c2e9d049e8 | 405 | } |
lddevrie | 4:e27ca0c82814 | 406 | |
jdawkins | 8:9817993e5df7 | 407 | wait(1/LOOP_RATE); |
jdawkins | 8:9817993e5df7 | 408 | // status_LED=!status_LED; |
jdawkins | 8:9817993e5df7 | 409 | auto_ctrl_old = auto_ctrl; |
lddevrie | 4:e27ca0c82814 | 410 | |
jdawkins | 9:3aa9b689bda5 | 411 | } /*else { // else condition implies a simulation mode is enabled |
lddevrie | 4:e27ca0c82814 | 412 | |
jdawkins | 8:9817993e5df7 | 413 | float dt = t.read()-t_imu; |
jdawkins | 8:9817993e5df7 | 414 | if(dt > (1/IMU_RATE)) { |
jdawkins | 0:f8fd381a5b8a | 415 | |
jdawkins | 8:9817993e5df7 | 416 | float tic = t.read(); |
lddevrie | 5:d6d8ecd418cf | 417 | |
lddevrie | 5:d6d8ecd418cf | 418 | |
jdawkins | 8:9817993e5df7 | 419 | x = x + spd*cos(psi)*dt; // self-propelled particle kinematics |
jdawkins | 8:9817993e5df7 | 420 | y = y + spd*sin(psi)*dt; // self-propelled particle kinematics |
jdawkins | 8:9817993e5df7 | 421 | psi = psi + str*dt; // turn rate kinematics |
jdawkins | 8:9817993e5df7 | 422 | float drag = 0.0; |
jdawkins | 8:9817993e5df7 | 423 | if(spd>1) { |
jdawkins | 8:9817993e5df7 | 424 | drag = 0.0059*spd*spd; // based on drag on a cat sized object |
jdawkins | 8:9817993e5df7 | 425 | } else { |
jdawkins | 8:9817993e5df7 | 426 | drag = 0.0059*spd; |
jdawkins | 8:9817993e5df7 | 427 | } |
jdawkins | 8:9817993e5df7 | 428 | spd = spd + (thr-drag)*dt; // give throttle offset |
jdawkins | 0:f8fd381a5b8a | 429 | |
jdawkins | 8:9817993e5df7 | 430 | xbee.printf("$SIM,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",x,y,spd*cos(psi),spd*sin(psi),wrapToPi(psi)); |
jdawkins | 8:9817993e5df7 | 431 | pc.printf("$SIM,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",x,y,spd*cos(psi),spd*sin(psi),wrapToPi(psi),thr,des_spd,spd,str); |
jdawkins | 8:9817993e5df7 | 432 | t_imu = t.read(); |
jdawkins | 8:9817993e5df7 | 433 | } // end if dt |
lddevrie | 4:e27ca0c82814 | 434 | |
lddevrie | 4:e27ca0c82814 | 435 | |
jdawkins | 8:9817993e5df7 | 436 | } // end if sim_mode */ |
jdawkins | 0:f8fd381a5b8a | 437 | |
jdawkins | 0:f8fd381a5b8a | 438 | |
lddevrie | 4:e27ca0c82814 | 439 | } // end while(1) |
lddevrie | 2:0c9c3c1f3b18 | 440 | |
lddevrie | 4:e27ca0c82814 | 441 | } // end main |
jdawkins | 0:f8fd381a5b8a | 442 | |
jdawkins | 8:9817993e5df7 | 443 | |
jdawkins | 8:9817993e5df7 | 444 | |
jdawkins | 8:9817993e5df7 | 445 | void he_callback() |
jdawkins | 8:9817993e5df7 | 446 | { |
jdawkins | 8:9817993e5df7 | 447 | // Hall effect speed sensor callback |
jdawkins | 8:9817993e5df7 | 448 | hall_LED = !hall_LED; |
jdawkins | 8:9817993e5df7 | 449 | |
jdawkins | 8:9817993e5df7 | 450 | dt_hall = t.read()-t_hall; |
jdawkins | 8:9817993e5df7 | 451 | t_hall = t.read(); |
jdawkins | 8:9817993e5df7 | 452 | } // end void he_callback |
jdawkins | 8:9817993e5df7 | 453 | |
jdawkins | 8:9817993e5df7 | 454 | |
jdawkins | 8:9817993e5df7 | 455 | |
jdawkins | 7:a8c2e9d049e8 | 456 | int parseMessage(char * msg) |
lddevrie | 2:0c9c3c1f3b18 | 457 | { |
jdawkins | 0:f8fd381a5b8a | 458 | |
lddevrie | 2:0c9c3c1f3b18 | 459 | if(!strncmp(msg, "$CMD", 4)) { |
jdawkins | 0:f8fd381a5b8a | 460 | int arg1; |
jdawkins | 0:f8fd381a5b8a | 461 | float arg2,arg3; |
jdawkins | 0:f8fd381a5b8a | 462 | |
jdawkins | 0:f8fd381a5b8a | 463 | sscanf(msg,"$CMD,%d,%f,%f\n",&arg1,&arg2,&arg3); |
jdawkins | 0:f8fd381a5b8a | 464 | cmd_mode = arg1; |
jdawkins | 0:f8fd381a5b8a | 465 | auto_clock = t.read(); |
lddevrie | 2:0c9c3c1f3b18 | 466 | switch (cmd_mode) { |
jdawkins | 0:f8fd381a5b8a | 467 | case DIRECT_MODE: { |
jdawkins | 0:f8fd381a5b8a | 468 | auto_ctrl = true; |
jdawkins | 0:f8fd381a5b8a | 469 | str_cmd = arg2; |
jdawkins | 0:f8fd381a5b8a | 470 | thr_cmd = arg3; |
jdawkins | 0:f8fd381a5b8a | 471 | } |
jdawkins | 0:f8fd381a5b8a | 472 | case COURSE_MODE: { |
jdawkins | 0:f8fd381a5b8a | 473 | auto_ctrl = true; |
jdawkins | 0:f8fd381a5b8a | 474 | des_psi = arg2; |
jdawkins | 0:f8fd381a5b8a | 475 | des_spd = arg3; |
jdawkins | 0:f8fd381a5b8a | 476 | } |
lddevrie | 2:0c9c3c1f3b18 | 477 | default: { |
lddevrie | 2:0c9c3c1f3b18 | 478 | } |
jdawkins | 0:f8fd381a5b8a | 479 | } |
jdawkins | 8:9817993e5df7 | 480 | return 1; |
jdawkins | 0:f8fd381a5b8a | 481 | } //emd of $CMD |
lddevrie | 2:0c9c3c1f3b18 | 482 | |
lddevrie | 2:0c9c3c1f3b18 | 483 | if(!strncmp(msg, "$PRM", 4)) { |
jdawkins | 0:f8fd381a5b8a | 484 | float arg1,arg2,arg3; |
jdawkins | 0:f8fd381a5b8a | 485 | int type; |
lddevrie | 2:0c9c3c1f3b18 | 486 | // __disable_irq(); // disable interrupts |
jdawkins | 0:f8fd381a5b8a | 487 | sscanf(msg,"$PRM,%d,%f,%f,%f",&type,&arg1,&arg2,&arg3); |
lddevrie | 2:0c9c3c1f3b18 | 488 | // __enable_irq(); // enable interrupts |
lddevrie | 2:0c9c3c1f3b18 | 489 | |
lddevrie | 2:0c9c3c1f3b18 | 490 | switch(type) { |
lddevrie | 2:0c9c3c1f3b18 | 491 | case 1: { // sets PID gains on heading and speed controller |
lddevrie | 2:0c9c3c1f3b18 | 492 | //pc.printf("%s\n",msg); |
jdawkins | 0:f8fd381a5b8a | 493 | Kp_psi = arg1; |
jdawkins | 0:f8fd381a5b8a | 494 | Kp_spd = arg2; |
lddevrie | 2:0c9c3c1f3b18 | 495 | Ki_spd = arg3; |
lddevrie | 4:e27ca0c82814 | 496 | |
lddevrie | 2:0c9c3c1f3b18 | 497 | pc.printf("Params Received: %f %f %f\n",arg1,arg2,arg3); |
lddevrie | 2:0c9c3c1f3b18 | 498 | //xbee.printf("Params Recieved: %f %f %f\r\n",arg1,arg2,arg3); |
jdawkins | 0:f8fd381a5b8a | 499 | break; |
jdawkins | 0:f8fd381a5b8a | 500 | } |
lddevrie | 2:0c9c3c1f3b18 | 501 | case 2: { // sets origin of local reference frame |
lddevrie | 4:e27ca0c82814 | 502 | |
lddevrie | 2:0c9c3c1f3b18 | 503 | //pc.printf("%s\n",msg); |
jdawkins | 0:f8fd381a5b8a | 504 | |
jdawkins | 0:f8fd381a5b8a | 505 | float ref_lat = arg1; |
jdawkins | 0:f8fd381a5b8a | 506 | float ref_lon = arg2; |
jdawkins | 0:f8fd381a5b8a | 507 | float ref_alt = arg3; |
jdawkins | 8:9817993e5df7 | 508 | // gps.setRefPoint(ref_lat,ref_lon,ref_alt); |
lddevrie | 4:e27ca0c82814 | 509 | |
lddevrie | 2:0c9c3c1f3b18 | 510 | pc.printf("Params Received: %f %f %f\n",arg1,arg2,arg3); |
lddevrie | 2:0c9c3c1f3b18 | 511 | //xbee.printf("Params Recieved: %f %f %f\r\n",arg1,arg2,arg3); |
lddevrie | 4:e27ca0c82814 | 512 | |
jdawkins | 0:f8fd381a5b8a | 513 | break; |
lddevrie | 2:0c9c3c1f3b18 | 514 | } |
lddevrie | 2:0c9c3c1f3b18 | 515 | default: { |
lddevrie | 2:0c9c3c1f3b18 | 516 | } |
jdawkins | 8:9817993e5df7 | 517 | |
jdawkins | 0:f8fd381a5b8a | 518 | } |
jdawkins | 7:a8c2e9d049e8 | 519 | return 1; |
lddevrie | 2:0c9c3c1f3b18 | 520 | } // end of $PRM |
lddevrie | 2:0c9c3c1f3b18 | 521 | |
lddevrie | 4:e27ca0c82814 | 522 | if(!strncmp(msg, "$SIM", 4)) { |
lddevrie | 4:e27ca0c82814 | 523 | int arg1; |
lddevrie | 4:e27ca0c82814 | 524 | float arg2,arg3,arg4; |
lddevrie | 4:e27ca0c82814 | 525 | sscanf(msg,"$SIM,%d,%f,%f,%f\n",&arg1,&arg2,&arg3,&arg4); |
lddevrie | 4:e27ca0c82814 | 526 | sim_mode = arg1; // sets whether in hardware in the loop or software in the loop (actuators active or not during simulation) |
jdawkins | 7:a8c2e9d049e8 | 527 | switch (sim_mode) { |
lddevrie | 4:e27ca0c82814 | 528 | case HIL_MODE: { |
lddevrie | 4:e27ca0c82814 | 529 | auto_ctrl = true; |
lddevrie | 4:e27ca0c82814 | 530 | x = arg2; |
lddevrie | 4:e27ca0c82814 | 531 | y = arg3; |
lddevrie | 4:e27ca0c82814 | 532 | psi = arg4; |
jdawkins | 7:a8c2e9d049e8 | 533 | vm.initialize(x,y,psi); |
lddevrie | 4:e27ca0c82814 | 534 | } |
lddevrie | 4:e27ca0c82814 | 535 | case SIL_MODE: { |
lddevrie | 4:e27ca0c82814 | 536 | auto_ctrl = true; |
lddevrie | 4:e27ca0c82814 | 537 | x = arg2; |
lddevrie | 4:e27ca0c82814 | 538 | y = arg3; |
lddevrie | 4:e27ca0c82814 | 539 | psi = arg4; |
jdawkins | 7:a8c2e9d049e8 | 540 | vm.initialize(x,y,psi); |
jdawkins | 8:9817993e5df7 | 541 | |
lddevrie | 4:e27ca0c82814 | 542 | } |
lddevrie | 4:e27ca0c82814 | 543 | default: { |
lddevrie | 4:e27ca0c82814 | 544 | } |
lddevrie | 4:e27ca0c82814 | 545 | } |
jdawkins | 7:a8c2e9d049e8 | 546 | return 1; |
lddevrie | 4:e27ca0c82814 | 547 | } //emd of $SIM |
jdawkins | 7:a8c2e9d049e8 | 548 | return 0; |
jdawkins | 0:f8fd381a5b8a | 549 | |
jdawkins | 0:f8fd381a5b8a | 550 | } |