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@49:7da71f479dac, 2022-05-25 (annotated)

Committer:
seas726
Date:
Wed May 25 11:36:19 2022 +0200
Revision:
49:7da71f479dac
Child:
53:bfe5eaefa695
Child:
54:b442660523df
Child:
56:3fce0a9bb6df
speed control new files

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 49:7da71f479dac 5 #include <cstdio>
seas726 49:7da71f479dac 6
seas726 49:7da71f479dac 7 Robot::Robot() : dist(PB_1),
seas726 49:7da71f479dac 8 bit0(PH_1),
seas726 49:7da71f479dac 9 bit1(PC_2),
seas726 49:7da71f479dac 10 bit2(PC_3),
seas726 49:7da71f479dac 11 ir_sensor_0(dist, bit0, bit1, bit2, 0), // one IR sendor
seas726 49:7da71f479dac 12 i2c2(PB_9, PB_8),
seas726 49:7da71f479dac 13 line_sensor(i2c2),
seas726 49:7da71f479dac 14 pwm_M1(PA_9),
seas726 49:7da71f479dac 15 pwm_M2(PA_8),
seas726 49:7da71f479dac 16 encoder_M1(PA_6, PC_7),
seas726 49:7da71f479dac 17 encoder_M2(PB_6,PB_7)
seas726 49:7da71f479dac 18 {
seas726 49:7da71f479dac 19 // initialize all variables
seas726 49:7da71f479dac 20 wheel_to_robot << -WHEEL_RADIUS / 2.0f, WHEEL_RADIUS / 2.0f,
seas726 49:7da71f479dac 21 -WHEEL_RADIUS / DISTANCE_BETWEEN_WHEELS, -WHEEL_RADIUS / DISTANCE_BETWEEN_WHEELS; // transformation matri
seas726 49:7da71f479dac 22 robot_to_wheel = wheel_to_robot.inverse();
seas726 49:7da71f479dac 23
seas726 49:7da71f479dac 24 robot_speed_desired.setZero(); // zero out all speed
seas726 49:7da71f479dac 25 wheel_speed_desired.setZero();
seas726 49:7da71f479dac 26 wheel_speed_smooth.setZero();
seas726 49:7da71f479dac 27 robot_speed_actual.setZero();
seas726 49:7da71f479dac 28 wheel_speed_actual.setZero();
seas726 49:7da71f479dac 29
seas726 49:7da71f479dac 30 // MOTORS + MOTION
seas726 49:7da71f479dac 31
seas726 49:7da71f479dac 32 // TRAJECTORY PLANNERS
seas726 49:7da71f479dac 33 trajectoryPlanners[0] = new Motion();
seas726 49:7da71f479dac 34 trajectoryPlanners[1] = new Motion();
seas726 49:7da71f479dac 35
seas726 49:7da71f479dac 36 trajectoryPlanners[0]->setProfileVelocity(MAX_MOTOR_VOLTAGE * KN / 60.0f);
seas726 49:7da71f479dac 37 trajectoryPlanners[1]->setProfileVelocity(MAX_MOTOR_VOLTAGE * KN / 60.0f);
seas726 49:7da71f479dac 38 trajectoryPlanners[0]->setProfileAcceleration(10.0f);
seas726 49:7da71f479dac 39 trajectoryPlanners[1]->setProfileAcceleration(10.0f);
seas726 49:7da71f479dac 40 trajectoryPlanners[0]->setProfileDeceleration(10.0f);
seas726 49:7da71f479dac 41 trajectoryPlanners[1]->setProfileDeceleration(10.0f);
seas726 49:7da71f479dac 42
seas726 49:7da71f479dac 43 // SPEED CONTROLLERS
seas726 49:7da71f479dac 44 speedControllers[0] = new SpeedController(COUNTS_PER_TURN, KN, MAX_MOTOR_VOLTAGE, pwm_M1, encoder_M1);
seas726 49:7da71f479dac 45 speedControllers[1] = new SpeedController(COUNTS_PER_TURN, KN, MAX_MOTOR_VOLTAGE, pwm_M2, encoder_M2);
seas726 49:7da71f479dac 46
seas726 49:7da71f479dac 47 speedControllers[0]->setSpeedCntrlGain(0.04f); // adjust speedcontroller gains
seas726 49:7da71f479dac 48 speedControllers[1]->setSpeedCntrlGain(0.04f);
seas726 49:7da71f479dac 49 speedControllers[0]->setMaxAccelerationRPS(999.0f); // adjust max. acceleration for smooth movement
seas726 49:7da71f479dac 50 speedControllers[1]->setMaxAccelerationRPS(999.0f);
seas726 49:7da71f479dac 51
seas726 49:7da71f479dac 52 }
seas726 49:7da71f479dac 53
seas726 49:7da71f479dac 54 void Robot::Update() {
seas726 49:7da71f479dac 55
seas726 49:7da71f479dac 56 controller.Update();
seas726 49:7da71f479dac 57
seas726 49:7da71f479dac 58 printf("STATE: %d \r\n", state);
seas726 49:7da71f479dac 59 switch (state) {
seas726 49:7da71f479dac 60 case INITIAL:
seas726 49:7da71f479dac 61 Initial();
seas726 49:7da71f479dac 62 break;
seas726 49:7da71f479dac 63 case IDLE:
seas726 49:7da71f479dac 64 Idle();
seas726 49:7da71f479dac 65 break;
seas726 49:7da71f479dac 66 case FOLLOWING_LINE:
seas726 49:7da71f479dac 67 FollowingLine();
seas726 49:7da71f479dac 68 break;
seas726 49:7da71f479dac 69 case RIGHT_TURN_90:
seas726 49:7da71f479dac 70 RightTurn();
seas726 49:7da71f479dac 71 break;
seas726 49:7da71f479dac 72 case LEFT_TURN_90:
seas726 49:7da71f479dac 73 LeftTurn();
seas726 49:7da71f479dac 74 break;
seas726 49:7da71f479dac 75 default: state = IDLE; // on default, stop the car
seas726 49:7da71f479dac 76 }
seas726 49:7da71f479dac 77 }
seas726 49:7da71f479dac 78
seas726 49:7da71f479dac 79 void Robot::Initial()
seas726 49:7da71f479dac 80 {
seas726 49:7da71f479dac 81 printf("Initial State\n"); // TODO: REMOVE PRINT
seas726 49:7da71f479dac 82 // initialize the robot.
seas726 49:7da71f479dac 83 // enable_motors = 1;
seas726 49:7da71f479dac 84 // motors_enabled = false;
seas726 49:7da71f479dac 85 robot_speed_desired(0) = 0.0f; // set speed and rotational velocity to zero
seas726 49:7da71f479dac 86 robot_speed_desired(1) = 0.0f;
seas726 49:7da71f479dac 87
seas726 49:7da71f479dac 88 if(controller.GetTurnedOn()) // check to see if blue button is toggled
seas726 49:7da71f479dac 89 {
seas726 49:7da71f479dac 90 state = FOLLOWING_LINE;
seas726 49:7da71f479dac 91 }
seas726 49:7da71f479dac 92 }
seas726 49:7da71f479dac 93
seas726 49:7da71f479dac 94 void Robot::Idle()
seas726 49:7da71f479dac 95 {
seas726 49:7da71f479dac 96 printf("Idle\n"); // TODO: REMOVE PRINT
seas726 49:7da71f479dac 97 robot_speed_desired(0) = 0.0f; // set speed and rotational velocity to zero
seas726 49:7da71f479dac 98 robot_speed_desired(1) = 0.0f;
seas726 49:7da71f479dac 99 }
seas726 49:7da71f479dac 100
seas726 49:7da71f479dac 101 void Robot::FollowingLine()
seas726 49:7da71f479dac 102 {
seas726 49:7da71f479dac 103 printf("FollowingLine\n"); // TODO: REMOVE PRINT
seas726 49:7da71f479dac 104 robot_speed_desired(0) = TRANSLATIONAL_VELOCITY;
seas726 49:7da71f479dac 105 robot_speed_desired(1) = 0.0f; // set
seas726 49:7da71f479dac 106
seas726 49:7da71f479dac 107 printf("%d", line_sensor.getRaw());
seas726 49:7da71f479dac 108
seas726 49:7da71f479dac 109
seas726 49:7da71f479dac 110 // somehow make veloity relative to the angle of the line?
seas726 49:7da71f479dac 111
seas726 49:7da71f479dac 112 }
seas726 49:7da71f479dac 113
seas726 49:7da71f479dac 114
seas726 49:7da71f479dac 115