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@59:f2d7ef0db12b, 2022-05-30 (annotated)

Committer:
eversonrosed
Date:
Mon May 30 09:10:01 2022 +0200
Revision:
59:f2d7ef0db12b
Parent:
58:c9a55b0c3121
Child:
60:85a40e69ced6
delete ToBinary

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
seas726 56:3fce0a9bb6df 8
eversonrosed 58:c9a55b0c3121 9 Robot::Robot() : dist(PB_1), // initialize all of the physical ports
seas726 49:7da71f479dac 10 bit0(PH_1),
seas726 49:7da71f479dac 11 bit1(PC_2),
seas726 49:7da71f479dac 12 bit2(PC_3),
eversonrosed 58:c9a55b0c3121 13 ir_sensor_0(dist, bit0, bit1, bit2, 0), // one IR sensor
seas726 56:3fce0a9bb6df 14 i2c2(PB_9, PB_8), // line sensor
seas726 49:7da71f479dac 15 line_sensor(i2c2),
eversonrosed 58:c9a55b0c3121 16 pwm_M1(PA_9), // motors + encoders
seas726 49:7da71f479dac 17 pwm_M2(PA_8),
seas726 49:7da71f479dac 18 encoder_M1(PA_6, PC_7),
seas726 49:7da71f479dac 19 encoder_M2(PB_6,PB_7)
seas726 49:7da71f479dac 20 {
seas726 49:7da71f479dac 21 // initialize all variables
seas726 49:7da71f479dac 22 wheel_to_robot << -WHEEL_RADIUS / 2.0f, WHEEL_RADIUS / 2.0f,
eversonrosed 58:c9a55b0c3121 23 -WHEEL_RADIUS / DISTANCE_BETWEEN_WHEELS, -WHEEL_RADIUS / DISTANCE_BETWEEN_WHEELS; // transformation matrix
seas726 49:7da71f479dac 24 robot_to_wheel = wheel_to_robot.inverse();
seas726 49:7da71f479dac 25
eversonrosed 58:c9a55b0c3121 26 robot_speed_desired.setZero(); // zero out all speeds
seas726 49:7da71f479dac 27 wheel_speed_desired.setZero();
seas726 49:7da71f479dac 28 wheel_speed_smooth.setZero();
seas726 49:7da71f479dac 29 robot_speed_actual.setZero();
seas726 49:7da71f479dac 30 wheel_speed_actual.setZero();
seas726 49:7da71f479dac 31
seas726 49:7da71f479dac 32 // MOTORS + MOTION
seas726 49:7da71f479dac 33
seas726 49:7da71f479dac 34 // TRAJECTORY PLANNERS
seas726 49:7da71f479dac 35 trajectoryPlanners[0] = new Motion();
seas726 49:7da71f479dac 36 trajectoryPlanners[1] = new Motion();
seas726 49:7da71f479dac 37
seas726 49:7da71f479dac 38 trajectoryPlanners[0]->setProfileVelocity(MAX_MOTOR_VOLTAGE * KN / 60.0f);
seas726 49:7da71f479dac 39 trajectoryPlanners[1]->setProfileVelocity(MAX_MOTOR_VOLTAGE * KN / 60.0f);
seas726 49:7da71f479dac 40 trajectoryPlanners[0]->setProfileAcceleration(10.0f);
seas726 49:7da71f479dac 41 trajectoryPlanners[1]->setProfileAcceleration(10.0f);
seas726 49:7da71f479dac 42 trajectoryPlanners[0]->setProfileDeceleration(10.0f);
seas726 49:7da71f479dac 43 trajectoryPlanners[1]->setProfileDeceleration(10.0f);
seas726 49:7da71f479dac 44
seas726 49:7da71f479dac 45 // SPEED CONTROLLERS
seas726 49:7da71f479dac 46 speedControllers[0] = new SpeedController(COUNTS_PER_TURN, KN, MAX_MOTOR_VOLTAGE, pwm_M1, encoder_M1);
seas726 49:7da71f479dac 47 speedControllers[1] = new SpeedController(COUNTS_PER_TURN, KN, MAX_MOTOR_VOLTAGE, pwm_M2, encoder_M2);
seas726 49:7da71f479dac 48
eversonrosed 58:c9a55b0c3121 49 speedControllers[0]->setSpeedCntrlGain(0.04f); // adjust speed controller gains
seas726 49:7da71f479dac 50 speedControllers[1]->setSpeedCntrlGain(0.04f);
seas726 49:7da71f479dac 51 speedControllers[0]->setMaxAccelerationRPS(999.0f); // adjust max. acceleration for smooth movement
seas726 49:7da71f479dac 52 speedControllers[1]->setMaxAccelerationRPS(999.0f);
seas726 49:7da71f479dac 53
seas726 49:7da71f479dac 54 }
seas726 49:7da71f479dac 55
eversonrosed 54:b442660523df 56 Robot::~Robot()
eversonrosed 54:b442660523df 57 {
eversonrosed 54:b442660523df 58 delete trajectoryPlanners[0];
eversonrosed 54:b442660523df 59 delete trajectoryPlanners[1];
eversonrosed 54:b442660523df 60 delete speedControllers[0];
eversonrosed 54:b442660523df 61 delete speedControllers[1];
eversonrosed 54:b442660523df 62 }
eversonrosed 54:b442660523df 63
seas726 49:7da71f479dac 64 void Robot::Update() {
seas726 49:7da71f479dac 65
seas726 49:7da71f479dac 66 controller.Update();
seas726 49:7da71f479dac 67
seas726 49:7da71f479dac 68 printf("STATE: %d \r\n", state);
seas726 49:7da71f479dac 69 switch (state) {
seas726 49:7da71f479dac 70 case INITIAL:
seas726 49:7da71f479dac 71 Initial();
seas726 49:7da71f479dac 72 break;
seas726 49:7da71f479dac 73 case IDLE:
seas726 49:7da71f479dac 74 Idle();
seas726 49:7da71f479dac 75 break;
seas726 49:7da71f479dac 76 case FOLLOWING_LINE:
seas726 49:7da71f479dac 77 FollowingLine();
seas726 49:7da71f479dac 78 break;
seas726 49:7da71f479dac 79 case RIGHT_TURN_90:
seas726 56:3fce0a9bb6df 80 RightTurn_90();
seas726 49:7da71f479dac 81 break;
seas726 49:7da71f479dac 82 case LEFT_TURN_90:
seas726 56:3fce0a9bb6df 83 LeftTurn_90();
seas726 49:7da71f479dac 84 break;
seas726 49:7da71f479dac 85 default: state = IDLE; // on default, stop the car
seas726 49:7da71f479dac 86 }
seas726 49:7da71f479dac 87 }
seas726 49:7da71f479dac 88
seas726 49:7da71f479dac 89 void Robot::Initial()
seas726 49:7da71f479dac 90 {
seas726 49:7da71f479dac 91 printf("Initial State\n"); // TODO: REMOVE PRINT
seas726 49:7da71f479dac 92 // initialize the robot.
seas726 49:7da71f479dac 93 // enable_motors = 1;
seas726 49:7da71f479dac 94 // motors_enabled = false;
seas726 49:7da71f479dac 95 robot_speed_desired(0) = 0.0f; // set speed and rotational velocity to zero
seas726 49:7da71f479dac 96 robot_speed_desired(1) = 0.0f;
seas726 49:7da71f479dac 97
seas726 49:7da71f479dac 98 if(controller.GetTurnedOn()) // check to see if blue button is toggled
seas726 49:7da71f479dac 99 {
seas726 49:7da71f479dac 100 state = FOLLOWING_LINE;
seas726 49:7da71f479dac 101 }
seas726 49:7da71f479dac 102 }
seas726 49:7da71f479dac 103
seas726 49:7da71f479dac 104 void Robot::Idle()
seas726 49:7da71f479dac 105 {
seas726 49:7da71f479dac 106 printf("Idle\n"); // TODO: REMOVE PRINT
seas726 49:7da71f479dac 107 robot_speed_desired(0) = 0.0f; // set speed and rotational velocity to zero
seas726 49:7da71f479dac 108 robot_speed_desired(1) = 0.0f;
seas726 49:7da71f479dac 109 }
seas726 49:7da71f479dac 110
seas726 56:3fce0a9bb6df 111 void Robot::FollowingLine() // Updates once per cycle.
seas726 49:7da71f479dac 112 {
seas726 56:3fce0a9bb6df 113 if(!controller.GetTurnedOn())
seas726 56:3fce0a9bb6df 114 {
seas726 56:3fce0a9bb6df 115 state = IDLE;
seas726 56:3fce0a9bb6df 116 return;
seas726 56:3fce0a9bb6df 117 }
seas726 56:3fce0a9bb6df 118
seas726 49:7da71f479dac 119 printf("FollowingLine\n"); // TODO: REMOVE PRINT
seas726 56:3fce0a9bb6df 120 printf("%d", line_sensor.getRaw()); // print raw line sensor data
eversonrosed 59:f2d7ef0db12b 121 uint8_t binary_sensor_data = line_sensor.getRaw(); // convert line sensor data into binary representation of it
seas726 56:3fce0a9bb6df 122
seas726 56:3fce0a9bb6df 123 // if(IsSharpTurn(binary_sensor_data)) { return; } // check if the sensor reads in any sharp turns. if so, exit the PID movement and turn sharply.
seas726 56:3fce0a9bb6df 124 // first test PID movement. it is possible that PID movement works just as well.
seas726 56:3fce0a9bb6df 125
seas726 56:3fce0a9bb6df 126 PID_Move(binary_sensor_data); // move the robot smoothly with error calculation and stuff?
seas726 56:3fce0a9bb6df 127 }
seas726 56:3fce0a9bb6df 128
seas726 56:3fce0a9bb6df 129 void Robot::RightTurn_90()
seas726 56:3fce0a9bb6df 130 {
seas726 56:3fce0a9bb6df 131 // count encoder values and turn until the motor has rotated ~ 90 degrees
seas726 56:3fce0a9bb6df 132 // im actually not sure if we need this, try testing with just the PID system first
seas726 56:3fce0a9bb6df 133 }
seas726 56:3fce0a9bb6df 134
seas726 56:3fce0a9bb6df 135 void Robot::LeftTurn_90()
seas726 56:3fce0a9bb6df 136 {
seas726 56:3fce0a9bb6df 137 // count encoder values and turn until the motor has rotated ~ 90 degrees
seas726 56:3fce0a9bb6df 138 // im actually not sure if we need this, try testing with just the PID system first
seas726 56:3fce0a9bb6df 139 }
seas726 56:3fce0a9bb6df 140
seas726 56:3fce0a9bb6df 141 void Robot::PID_Move (std::uint8_t s_binary) // for following smooth lines ONLY
seas726 56:3fce0a9bb6df 142 {
seas726 56:3fce0a9bb6df 143
seas726 56:3fce0a9bb6df 144 int errval = 0;
seas726 56:3fce0a9bb6df 145
seas726 56:3fce0a9bb6df 146 if (s_binary&0b00000001)
seas726 56:3fce0a9bb6df 147 errval += 3;
seas726 56:3fce0a9bb6df 148 else if (s_binary&0b00000010)
seas726 56:3fce0a9bb6df 149 errval += 2;
seas726 56:3fce0a9bb6df 150 else if (s_binary&0b00000100)
seas726 56:3fce0a9bb6df 151 errval += 1;
seas726 56:3fce0a9bb6df 152 else if (s_binary&0b00001000)
seas726 56:3fce0a9bb6df 153 errval += 0;
seas726 56:3fce0a9bb6df 154
seas726 56:3fce0a9bb6df 155 if (s_binary&0b10000000)
seas726 56:3fce0a9bb6df 156 errval -= 3;
seas726 56:3fce0a9bb6df 157 else if (s_binary&0b01000000)
seas726 56:3fce0a9bb6df 158 errval -= 2;
seas726 56:3fce0a9bb6df 159 else if (s_binary&0b00100000)
seas726 56:3fce0a9bb6df 160 errval -= 1;
seas726 56:3fce0a9bb6df 161 else if (s_binary&0b00010000)
seas726 56:3fce0a9bb6df 162 errval -= 0;
seas726 49:7da71f479dac 163
seas726 56:3fce0a9bb6df 164 int principle_error = kP * errval;
eversonrosed 58:c9a55b0c3121 165 integral_error = kI * (integral_error + errval);
seas726 56:3fce0a9bb6df 166 int derivative_error = kD * (errval - previous_error_value);
seas726 56:3fce0a9bb6df 167
eversonrosed 58:c9a55b0c3121 168 int total_error = (principle_error + integral_error + derivative_error) / 10; // TODO: find out why we divide by 10
seas726 49:7da71f479dac 169
seas726 56:3fce0a9bb6df 170 if(total_error > 0)
seas726 56:3fce0a9bb6df 171 { // call this every frame until it does not need it? set rotational velocity relative to the calculated error?
seas726 56:3fce0a9bb6df 172 // go slightly right
seas726 56:3fce0a9bb6df 173 robot_speed_desired(0) = TRANSLATIONAL_VELOCITY; // forward velocity
eversonrosed 58:c9a55b0c3121 174 robot_speed_desired(1) = ROTATIONAL_VELOCITY; // rotational velocity
seas726 56:3fce0a9bb6df 175 }
seas726 56:3fce0a9bb6df 176 else if(total_error < 0)
seas726 56:3fce0a9bb6df 177 {
seas726 56:3fce0a9bb6df 178 // go slightly left
seas726 56:3fce0a9bb6df 179 robot_speed_desired(0) = TRANSLATIONAL_VELOCITY; // forward velocity
eversonrosed 58:c9a55b0c3121 180 robot_speed_desired(1) = -ROTATIONAL_VELOCITY; // rotational velocity
seas726 56:3fce0a9bb6df 181 }
seas726 56:3fce0a9bb6df 182 else
seas726 56:3fce0a9bb6df 183 {
seas726 56:3fce0a9bb6df 184 robot_speed_desired(0) = TRANSLATIONAL_VELOCITY; // forward velocity
eversonrosed 58:c9a55b0c3121 185 robot_speed_desired(1) = 0.0f; // rotational velocity
seas726 56:3fce0a9bb6df 186 }
seas726 49:7da71f479dac 187
seas726 56:3fce0a9bb6df 188 // Delay total_error/2. not exactly sure why.
seas726 56:3fce0a9bb6df 189 }
seas726 56:3fce0a9bb6df 190
seas726 56:3fce0a9bb6df 191 bool Robot::IsSharpTurn(int binary_sensor_data)
seas726 56:3fce0a9bb6df 192 {
seas726 56:3fce0a9bb6df 193 return binary_sensor_data&0b11110000 || binary_sensor_data&0b00001111;
seas726 56:3fce0a9bb6df 194 }
seas726 56:3fce0a9bb6df 195
seas726 56:3fce0a9bb6df 196 void Robot::PID_Delay(int ms)
seas726 56:3fce0a9bb6df 197 {
seas726 56:3fce0a9bb6df 198 // add in delay ?
eversonrosed 58:c9a55b0c3121 199 // implement
seas726 56:3fce0a9bb6df 200 }