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Push for Students
Dependencies: BNO055_fusion Madpulse ServoIn ServoOut mavlink_emaxx mbed
Fork of Madpulse_Control_Fall2017 by
madpulse_ctrl.cpp
- Committer:
- jdawkins
- Date:
- 2017-11-14
- Revision:
- 0:daea75c21ac1
- Child:
- 1:f4c9926fb4c9
File content as of revision 0:daea75c21ac1:
#include "madpulse.h" #define BUFFER_SIZE 1024 #define FIVE_HZ_LOOP 5.0 #define LOG_LOOP_FREQ 25.0 // Four messages are taking turns logging, it should be about 25Hz overall #define CTRL_LOOP_FREQ 100.0 #define MAIN_LOOP_FREQ 300.0 #define LOG_IMU 1 #define LOG_MAG 2 #define LOG_EUL 3 #define LOG_ODO 4 #define VEH_ID 1 #define PI (3.14159) // Instantiate Serial Ports Serial pc(USBTX, USBRX, 115200); // USB UART Terminal Serial xbee(p13,p14,115200); // Instantiate Class Objects BNO055 imu(p9,p10); // BNO055 Class Object I2C(SDL,SCL) ServoIn CH1(p15); // Read RC Servo Channel 1 (steering) Pin 15 ServoIn CH2(p16); // Read RC Servo Channel 2 (Throttle) Pin 16 InterruptIn wheel_irq(p17); // Attach Interrupt for Wheel Encoder Pin 17 ServoOut Steer(p21); // Steer command object on Pin 21 goes to steering servo ServoOut Throttle(p22); // Throttle command object on Pin 22 goes to esc Ticker ctrl_ticker; // Create Instance of Madpulse class which manages low level vehicle functions and exposes a set of methods for // controlling the vehicle MadPulse mp(VEH_ID,&xbee,&imu,&CH1,&CH2,&wheel_irq,&Steer,&Throttle); // Control Gains float Kp_spd = 0.06; float Ki_spd = 0.05; float Kp_psi = 0.65; float Kd_psi = 0.1; float L = 0.01; float psi_est,psi_est_old; float spd_err,spd_err_i; float spd,des_spd; float dist; Timer t; // Create Timer int log_it; // Iterator for Spacing logging of different messages uint8_t buf[BUFFER_SIZE]; float t_start,t_log,t_ctrl,t_5hz,t_run; // Create timer variables float dt; float str,thr,wheel_spd; float wrapTo2pi(float ang); float wrapTopi(float ang); bool rc_conn,auto_flag; void initializeControl(){ printf("Initialize Control\r\n"); t_run = t.read(); } void stopControl(){ printf("Stop Control\r\n"); } void readRCSignal(){ if(CH1.servoPulse == 0 || CH2.servoPulse == 0) { //RC Reciever must be connected For Car to be armed rc_conn = false; } else { rc_conn = true; } // end if(Channels connected) if( (abs(CH1.servoPulse-1500) > 200) || (abs(CH2.servoPulse-1500) > 200)){ auto_flag = 0; } } void readKeyboard(){ if(xbee.readable()) { char c = xbee.getc(); if(c == 'H' || c == 'h') { xbee.printf("Command List...\r\n"); xbee.printf("d - set open loop duty cycle\r\n"); xbee.printf("r - run open loop control with current duty cycle\r\n"); xbee.printf("h - display this prompt and exit\r\n"); xbee.printf("t - set duration of test\r\n\n\n"); xbee.printf("Enter Command\r\n"); } if(c == 'R' || c == 'r') { auto_flag = true; initializeControl(); } if(c == 'S' || c == 's') { auto_flag = false; } if(c == 'T' || c == 't') { } } } void controlLoop(){ dt = t.read()-t_ctrl; if(auto_flag){ // If vehicle is in Auto Mode float des_psi = 0; spd = mp.getFreq()/27.8119; //str = -Kp_psi*wrapTopi(des_psi-wrapTopi(mp.euler.yaw)); str = 0.001; if(t.read()-t_run < 10){ des_spd = 1.5; spd_err = des_spd-spd; spd_err_i += spd_err*dt; // spd_err_d = (spd - spd_old)/dt; thr = Kp_spd*spd_err + Ki_spd*spd_err_i + 0.04; // thr = 0.04; }else{ thr = 0.0; } }else{ str = ((CH1.servoPulse-1500.0)/600.0); // Convert Pulse to Normalized Command +/- 1 thr = ((CH2.servoPulse-1500.0)/600.0); // Convert Pulse to Normalized Command +/- 1 } t_ctrl = t.read(); } int main() { log_it = 0; auto_mode = 0; // Default Steering and Throttle commands to neutral Steer.write(1500); // Write Steering Pulse Throttle.write(1500); t.start(); t_start = t.read(); t_log = t.read(); t_ctrl = t.read(); t_5hz = t.read(); while(1) { auto_LED = auto_flag; dwm_LED = rc_conn; readKeyboard(); // Check for Input from Keyboard over xbee // check for servo pulse from either channel of receiver module readRCSignal(); if(t.read()-t_5hz > (1.0/FIVE_HZ_LOOP)) { // 5 Hz loop intended for debugging print statements // xbee.printf("Auto Cond: %f , %f \r\n",abs(CH1.servoPulse-1500),abs(CH2.servoPulse-1500)); t_5hz = t.read(); } if(t.read()-t_ctrl > (1.0/CTRL_LOOP_FREQ)) { // 100 Hz loop for calling control loop controlLoop(); t_ctrl = t.read(); } if(t.read()-t_log > (1.0/LOG_LOOP_FREQ)) { // Faster loop for logging data for plotting and analysis mp.getAccel(); mp.getGyro(); // xbee.printf("$IMU,%.3f, %.3f, %.3f, %.3f, %.3f, %.3f\r\n", mp.accel.x,mp.accel.y,mp.accel.z,mp.gyro.x,mp.gyro.y,mp.gyro.z); mp.getMag(); //xbee.printf("$MAG,%.1f, %.1f, %.1f\r\n",mp.mag.x,mp.mag.y,mp.mag.z); mp.getEuler(); // xbee.printf("$RPY,%.3f, %.3f, %.3f\r\n", mp.euler.roll,mp.euler.pitch,wrapTo2pi(mp.euler.yaw)); mp.getSpeed(); xbee.printf("%.3f,%d,%.3f,%.3f,%.3f\r\n",t.read()-t_run,mp.getCounts(),spd,thr,str); t_log = t.read(); } if(rc_conn) { // str = ((CH1.servoPulse-1500.0)/600.0); // Convert Pulse to Normalized Command +/- 1 // thr = ((CH2.servoPulse-1500.0)/600.0); // Convert Pulse to Normalized Command +/- 1 mp.setSteer(str); mp.setThrottle(thr); } else { Steer.write(1500); // Write Steering Pulse Throttle.write(1500); // mp.setSteer(str); // mp.setThrottle(thr); } wait(1.0/MAIN_LOOP_FREQ); } // End While 1 Loop } // End Main Function float wrapTo2pi(float ang) { if(ang > 2*PI) { ang = ang - 2*PI; } if(ang < 0) { ang = ang + 2*PI; } return ang; } float wrapTopi(float ang) { if(ang > PI) { ang = ang - 2*PI; } if(ang < -PI) { ang = ang + 2*PI; } return ang; }