Whose Line is it Anyways / Mbed OS PM2_WLiiA_robot_code

robot code for summer school

Dependencies:   PM2_Libary Eigen

Fork of PM2_Example_Summer_School by Alex Hawkins

Robot_Library/robot.cpp@68:61aad0993a29, 2022-05-30 (annotated)

Committer:
eversonrosed
Date:
Mon May 30 11:13:44 2022 +0200
Revision:
68:61aad0993a29
Parent:
67:90f378806cbe
Child:
70:0e9e3c6223d1
delete error_scale

Who changed what in which revision?

UserRevisionLine numberNew contents of line
seas726 49:7da71f479dac 1 #include "robot.h"
seas726 49:7da71f479dac 2 #include "EncoderCounter.h"
seas726 49:7da71f479dac 3 #include "PeripheralNames.h"
seas726 49:7da71f479dac 4 #include "PinNames.h"
seas726 56:3fce0a9bb6df 5 #include <cstdint>
seas726 49:7da71f479dac 6 #include <cstdio>
seas726 49:7da71f479dac 7
eversonrosed 60:85a40e69ced6 8 Robot::Robot()
eversonrosed 60:85a40e69ced6 9 : dist(PB_1), // initialize all of the physical ports
eversonrosed 60:85a40e69ced6 10 bit0(PH_1), bit1(PC_2), bit2(PC_3),
eversonrosed 60:85a40e69ced6 11 ir_sensor_0(dist, bit0, bit1, bit2, 0), // one IR sensor
eversonrosed 60:85a40e69ced6 12 i2c2(PB_9, PB_8), // line sensor
eversonrosed 60:85a40e69ced6 13 line_sensor(i2c2), pwm_M1(PA_9), // motors + encoders
eversonrosed 60:85a40e69ced6 14 pwm_M2(PA_8), encoder_M1(PA_6, PC_7), encoder_M2(PB_6, PB_7) {
eversonrosed 60:85a40e69ced6 15 // initialize all variables
eversonrosed 60:85a40e69ced6 16 wheel_to_robot << -WHEEL_RADIUS / 2.0f, WHEEL_RADIUS / 2.0f,
eversonrosed 60:85a40e69ced6 17 -WHEEL_RADIUS / DISTANCE_BETWEEN_WHEELS,
eversonrosed 60:85a40e69ced6 18 -WHEEL_RADIUS / DISTANCE_BETWEEN_WHEELS; // transformation matrix
eversonrosed 60:85a40e69ced6 19 robot_to_wheel = wheel_to_robot.inverse();
seas726 56:3fce0a9bb6df 20
eversonrosed 60:85a40e69ced6 21 robot_speed_desired.setZero(); // zero out all speeds
eversonrosed 60:85a40e69ced6 22 wheel_speed_desired.setZero();
eversonrosed 60:85a40e69ced6 23 wheel_speed_smooth.setZero();
eversonrosed 60:85a40e69ced6 24 robot_speed_actual.setZero();
eversonrosed 60:85a40e69ced6 25 wheel_speed_actual.setZero();
eversonrosed 60:85a40e69ced6 26
eversonrosed 60:85a40e69ced6 27 // MOTORS + MOTION
seas726 49:7da71f479dac 28
eversonrosed 60:85a40e69ced6 29 // TRAJECTORY PLANNERS
eversonrosed 60:85a40e69ced6 30 trajectoryPlanners[0] = new Motion();
eversonrosed 60:85a40e69ced6 31 trajectoryPlanners[1] = new Motion();
seas726 49:7da71f479dac 32
eversonrosed 60:85a40e69ced6 33 trajectoryPlanners[0]->setProfileVelocity(MAX_MOTOR_VOLTAGE * KN / 60.0f);
eversonrosed 60:85a40e69ced6 34 trajectoryPlanners[1]->setProfileVelocity(MAX_MOTOR_VOLTAGE * KN / 60.0f);
eversonrosed 60:85a40e69ced6 35 trajectoryPlanners[0]->setProfileAcceleration(10.0f);
eversonrosed 60:85a40e69ced6 36 trajectoryPlanners[1]->setProfileAcceleration(10.0f);
eversonrosed 60:85a40e69ced6 37 trajectoryPlanners[0]->setProfileDeceleration(10.0f);
eversonrosed 60:85a40e69ced6 38 trajectoryPlanners[1]->setProfileDeceleration(10.0f);
seas726 49:7da71f479dac 39
eversonrosed 60:85a40e69ced6 40 // SPEED CONTROLLERS
eversonrosed 60:85a40e69ced6 41 speedControllers[0] = new SpeedController(
eversonrosed 60:85a40e69ced6 42 COUNTS_PER_TURN, KN, MAX_MOTOR_VOLTAGE, pwm_M1, encoder_M1);
eversonrosed 60:85a40e69ced6 43 speedControllers[1] = new SpeedController(
eversonrosed 60:85a40e69ced6 44 COUNTS_PER_TURN, KN, MAX_MOTOR_VOLTAGE, pwm_M2, encoder_M2);
seas726 49:7da71f479dac 45
eversonrosed 60:85a40e69ced6 46 speedControllers[0]->setSpeedCntrlGain(
eversonrosed 60:85a40e69ced6 47 0.04f); // adjust speed controller gains
eversonrosed 60:85a40e69ced6 48 speedControllers[1]->setSpeedCntrlGain(0.04f);
eversonrosed 60:85a40e69ced6 49 speedControllers[0]->setMaxAccelerationRPS(
eversonrosed 60:85a40e69ced6 50 999.0f); // adjust max. acceleration for smooth movement
eversonrosed 60:85a40e69ced6 51 speedControllers[1]->setMaxAccelerationRPS(999.0f);
seas726 49:7da71f479dac 52 }
seas726 49:7da71f479dac 53
eversonrosed 60:85a40e69ced6 54 Robot::~Robot() {
eversonrosed 60:85a40e69ced6 55 delete trajectoryPlanners[0];
eversonrosed 60:85a40e69ced6 56 delete trajectoryPlanners[1];
eversonrosed 60:85a40e69ced6 57 delete speedControllers[0];
eversonrosed 60:85a40e69ced6 58 delete speedControllers[1];
eversonrosed 54:b442660523df 59 }
eversonrosed 54:b442660523df 60
seas726 49:7da71f479dac 61 void Robot::Update() {
seas726 49:7da71f479dac 62
eversonrosed 60:85a40e69ced6 63 controller.Update();
eversonrosed 67:90f378806cbe 64
eversonrosed 67:90f378806cbe 65 wheel_speed_actual << speedControllers[0]->getSpeedRPS(), speedControllers[1]->getSpeedRPS();
eversonrosed 67:90f378806cbe 66 robot_speed_actual = wheel_to_robot * wheel_speed_actual;
seas726 49:7da71f479dac 67
eversonrosed 60:85a40e69ced6 68 printf("STATE: %d \r\n", state);
eversonrosed 60:85a40e69ced6 69 switch (state) {
eversonrosed 60:85a40e69ced6 70 case INITIAL:
eversonrosed 60:85a40e69ced6 71 Initial();
eversonrosed 60:85a40e69ced6 72 break;
eversonrosed 60:85a40e69ced6 73 case IDLE:
eversonrosed 60:85a40e69ced6 74 Idle();
eversonrosed 60:85a40e69ced6 75 break;
eversonrosed 60:85a40e69ced6 76 case FOLLOWING_LINE:
eversonrosed 60:85a40e69ced6 77 FollowingLine();
eversonrosed 60:85a40e69ced6 78 break;
eversonrosed 60:85a40e69ced6 79 case RIGHT_TURN_90:
eversonrosed 60:85a40e69ced6 80 RightTurn_90();
eversonrosed 60:85a40e69ced6 81 break;
eversonrosed 60:85a40e69ced6 82 case LEFT_TURN_90:
eversonrosed 60:85a40e69ced6 83 LeftTurn_90();
eversonrosed 60:85a40e69ced6 84 break;
eversonrosed 60:85a40e69ced6 85 default:
eversonrosed 60:85a40e69ced6 86 state = IDLE; // on default, stop the car
eversonrosed 60:85a40e69ced6 87 }
eversonrosed 67:90f378806cbe 88
eversonrosed 67:90f378806cbe 89 wheel_speed_desired = robot_to_wheel * robot_speed_desired;
eversonrosed 67:90f378806cbe 90
eversonrosed 67:90f378806cbe 91 // smooth desired wheel_speeds
eversonrosed 67:90f378806cbe 92 trajectoryPlanners[0]->incrementToVelocity(wheel_speed_desired(0) / (2.0f * M_PI), controller.Period());
eversonrosed 67:90f378806cbe 93 trajectoryPlanners[1]->incrementToVelocity(wheel_speed_desired(1) / (2.0f * M_PI), controller.Period());
eversonrosed 67:90f378806cbe 94 wheel_speed_smooth << trajectoryPlanners[0]->getVelocity(), trajectoryPlanners[1]->getVelocity();
eversonrosed 67:90f378806cbe 95
eversonrosed 67:90f378806cbe 96 // command speedController objects
eversonrosed 67:90f378806cbe 97 speedControllers[0]->setDesiredSpeedRPS(wheel_speed_smooth(0));
eversonrosed 67:90f378806cbe 98 speedControllers[1]->setDesiredSpeedRPS(wheel_speed_smooth(1));
seas726 49:7da71f479dac 99 }
seas726 49:7da71f479dac 100
eversonrosed 60:85a40e69ced6 101 void Robot::Initial() {
eversonrosed 60:85a40e69ced6 102 printf("Initial State\n"); // TODO: REMOVE PRINT
eversonrosed 60:85a40e69ced6 103 // initialize the robot.
eversonrosed 60:85a40e69ced6 104 // enable_motors = 1;
eversonrosed 60:85a40e69ced6 105 // motors_enabled = false;
eversonrosed 60:85a40e69ced6 106 robot_speed_desired(0) = 0.0f; // set speed and rotational velocity to zero
eversonrosed 60:85a40e69ced6 107 robot_speed_desired(1) = 0.0f;
seas726 49:7da71f479dac 108
eversonrosed 60:85a40e69ced6 109 if (controller.GetTurnedOn()) // check to see if blue button is toggled
eversonrosed 60:85a40e69ced6 110 {
eversonrosed 60:85a40e69ced6 111 state = FOLLOWING_LINE;
eversonrosed 60:85a40e69ced6 112 }
seas726 49:7da71f479dac 113 }
seas726 49:7da71f479dac 114
eversonrosed 60:85a40e69ced6 115 void Robot::Idle() {
eversonrosed 60:85a40e69ced6 116 printf("Idle\n"); // TODO: REMOVE PRINT
eversonrosed 60:85a40e69ced6 117 robot_speed_desired(0) = 0.0f; // set speed and rotational velocity to zero
eversonrosed 60:85a40e69ced6 118 robot_speed_desired(1) = 0.0f;
seas726 49:7da71f479dac 119 }
seas726 49:7da71f479dac 120
seas726 56:3fce0a9bb6df 121 void Robot::FollowingLine() // Updates once per cycle.
seas726 49:7da71f479dac 122 {
eversonrosed 60:85a40e69ced6 123 if (!controller.GetTurnedOn()) {
eversonrosed 60:85a40e69ced6 124 state = IDLE;
eversonrosed 60:85a40e69ced6 125 return;
eversonrosed 60:85a40e69ced6 126 }
seas726 56:3fce0a9bb6df 127
eversonrosed 60:85a40e69ced6 128 printf("FollowingLine\n"); // TODO: REMOVE PRINT
eversonrosed 60:85a40e69ced6 129 printf("%d", line_sensor.getRaw()); // print raw line sensor data
eversonrosed 60:85a40e69ced6 130 uint8_t binary_sensor_data =
eversonrosed 60:85a40e69ced6 131 line_sensor.getRaw(); // convert line sensor data into binary
eversonrosed 60:85a40e69ced6 132 // representation of it
eversonrosed 60:85a40e69ced6 133
eversonrosed 60:85a40e69ced6 134 // if(IsSharpTurn(binary_sensor_data)) { return; } // check if the sensor
eversonrosed 60:85a40e69ced6 135 // reads in any sharp turns. if so, exit the PID movement and turn sharply.
eversonrosed 60:85a40e69ced6 136 // first test PID movement. it is possible that PID movement works just as
eversonrosed 60:85a40e69ced6 137 // well.
eversonrosed 60:85a40e69ced6 138
eversonrosed 60:85a40e69ced6 139 PID_Move(binary_sensor_data); // move the robot smoothly with error
eversonrosed 60:85a40e69ced6 140 // calculation and stuff?
seas726 56:3fce0a9bb6df 141 }
seas726 56:3fce0a9bb6df 142
eversonrosed 60:85a40e69ced6 143 void Robot::RightTurn_90() {
eversonrosed 60:85a40e69ced6 144 // count encoder values and turn until the motor has rotated ~ 90 degrees
eversonrosed 60:85a40e69ced6 145 // im actually not sure if we need this, try testing with just the PID system
eversonrosed 60:85a40e69ced6 146 // first
seas726 56:3fce0a9bb6df 147 }
seas726 56:3fce0a9bb6df 148
eversonrosed 60:85a40e69ced6 149 void Robot::LeftTurn_90() {
eversonrosed 60:85a40e69ced6 150 // count encoder values and turn until the motor has rotated ~ 90 degrees
eversonrosed 60:85a40e69ced6 151 // im actually not sure if we need this, try testing with just the PID system
eversonrosed 60:85a40e69ced6 152 // first
seas726 56:3fce0a9bb6df 153 }
seas726 56:3fce0a9bb6df 154
eversonrosed 60:85a40e69ced6 155 void Robot::PID_Move(std::uint8_t s_binary) // for following smooth lines ONLY
seas726 56:3fce0a9bb6df 156 {
seas726 56:3fce0a9bb6df 157
eversonrosed 60:85a40e69ced6 158 float errval = 0;
seas726 56:3fce0a9bb6df 159
eversonrosed 60:85a40e69ced6 160 if (s_binary & 0b00000001)
eversonrosed 60:85a40e69ced6 161 errval += error_angles[3];
eversonrosed 60:85a40e69ced6 162 else if (s_binary & 0b00000010)
eversonrosed 60:85a40e69ced6 163 errval += error_angles[2];
eversonrosed 60:85a40e69ced6 164 else if (s_binary & 0b00000100)
eversonrosed 60:85a40e69ced6 165 errval += error_angles[1];
eversonrosed 60:85a40e69ced6 166 else if (s_binary & 0b00001000)
eversonrosed 60:85a40e69ced6 167 errval += error_angles[0];
seas726 49:7da71f479dac 168
eversonrosed 60:85a40e69ced6 169 if (s_binary & 0b10000000)
eversonrosed 60:85a40e69ced6 170 errval -= error_angles[3];
eversonrosed 60:85a40e69ced6 171 else if (s_binary & 0b01000000)
eversonrosed 60:85a40e69ced6 172 errval -= error_angles[2];
eversonrosed 60:85a40e69ced6 173 else if (s_binary & 0b00100000)
eversonrosed 60:85a40e69ced6 174 errval -= error_angles[1];
eversonrosed 60:85a40e69ced6 175 else if (s_binary & 0b00010000)
eversonrosed 60:85a40e69ced6 176 errval -= error_angles[0];
seas726 56:3fce0a9bb6df 177
eversonrosed 60:85a40e69ced6 178 float dt = controller.Period();
eversonrosed 60:85a40e69ced6 179
eversonrosed 60:85a40e69ced6 180 integral_error += dt * errval;
seas726 49:7da71f479dac 181
eversonrosed 60:85a40e69ced6 182 float integral_term = integral_error / t_int;
eversonrosed 60:85a40e69ced6 183 float derivative_term = t_deriv * (errval - previous_error_value) / dt;
seas726 49:7da71f479dac 184
eversonrosed 68:61aad0993a29 185 float control_input = k_prop * (errval + integral_term + derivative_term);
eversonrosed 60:85a40e69ced6 186
eversonrosed 60:85a40e69ced6 187 robot_speed_desired(0) = TRANSLATIONAL_VELOCITY;
eversonrosed 60:85a40e69ced6 188 robot_speed_desired(1) = ROTATIONAL_VELOCITY * control_input;
eversonrosed 60:85a40e69ced6 189 previous_error_value = errval;
eversonrosed 60:85a40e69ced6 190
eversonrosed 60:85a40e69ced6 191 // Delay total_error/2. not exactly sure why.
seas726 56:3fce0a9bb6df 192 }
seas726 56:3fce0a9bb6df 193
eversonrosed 60:85a40e69ced6 194 bool Robot::IsSharpTurn(int binary_sensor_data) {
eversonrosed 60:85a40e69ced6 195 return binary_sensor_data & 0b11110000 || binary_sensor_data & 0b00001111;
seas726 56:3fce0a9bb6df 196 }
seas726 56:3fce0a9bb6df 197
eversonrosed 60:85a40e69ced6 198 void Robot::PID_Delay(int ms) {
eversonrosed 60:85a40e69ced6 199 // add in delay ?
eversonrosed 60:85a40e69ced6 200 // implement
seas726 56:3fce0a9bb6df 201 }