eLab Team / Mbed 2 deprecated myRobot

Working version without LEDs

Dependencies:   mbed WS2812

Voici le dernier schéma de cablage (version du 08/02/2020)

https://os.mbed.com/media/uploads/max_ence/schemarobot_fev2020.pdf

CreabotLib/CreaBot.h@1:69b5d8f0ba9c, 2020-05-30 (annotated)

Committer:
elab
Date:
Sat May 30 09:31:57 2020 +0000
Revision:
1:69b5d8f0ba9c
Parent:
0:0e577ce96b2f 
pour eLab;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elab 0:0e577ce96b2f 1
elab 0:0e577ce96b2f 2 #ifndef CREABOT_H
elab 0:0e577ce96b2f 3 #define CREABOT_H
elab 0:0e577ce96b2f 4
elab 0:0e577ce96b2f 5 #include "mbed.h"
elab 0:0e577ce96b2f 6 #include "motor.h"
elab 0:0e577ce96b2f 7
elab 0:0e577ce96b2f 8 #define MAX_SPEED 30 //cm per second
elab 0:0e577ce96b2f 9 #define DEFAULT_SPEED 2 //cm per second
elab 0:0e577ce96b2f 10 #define PI 3.141592f
elab 0:0e577ce96b2f 11 #define DEPTH_FIFO 256
elab 0:0e577ce96b2f 12
elab 0:0e577ce96b2f 13 typedef enum {FORWARD, BACKWARD, ROTATE, LEFT, RIGHT, IDLE} cmdbot_t;
elab 0:0e577ce96b2f 14 class CommandBot {
elab 0:0e577ce96b2f 15 public:
elab 0:0e577ce96b2f 16 cmdbot_t command;
elab 0:0e577ce96b2f 17 float angle;
elab 0:0e577ce96b2f 18 float cm;
elab 0:0e577ce96b2f 19
elab 0:0e577ce96b2f 20 void add_command(cmdbot_t cmd, float p1, float p2) {command = cmd; switch (command) {case FORWARD:;case BACKWARD: cm=p1; angle=0; break; case ROTATE: angle = p1; break; case LEFT: case RIGHT: angle = p1; cm=p2;break; case IDLE:break; default: break;}};
elab 0:0e577ce96b2f 21 };
elab 0:0e577ce96b2f 22
elab 0:0e577ce96b2f 23 class MyFifoCmd {
elab 0:0e577ce96b2f 24
elab 0:0e577ce96b2f 25 public:
elab 0:0e577ce96b2f 26 MyFifoCmd() {start = end = size = 0;cmd_idle.command = IDLE;cmd_idle.angle=0;cmd_idle.cm=0;};
elab 0:0e577ce96b2f 27 void empty() {start=end=size=0;};
elab 0:0e577ce96b2f 28 CommandBot *put() {if(size<DEPTH_FIFO) {int old_end = end;end++;if(end==DEPTH_FIFO)end=0;size++;return &cmd[old_end];} else return NULL;};
elab 0:0e577ce96b2f 29 CommandBot *get() {if(size>0) {int old_start = start; start++;if(start==DEPTH_FIFO)start=0; size--; return &cmd[old_start];} else return NULL;}
elab 0:0e577ce96b2f 30 int getSize() {return size;}
elab 0:0e577ce96b2f 31 private:
elab 0:0e577ce96b2f 32 int start, end, size;
elab 0:0e577ce96b2f 33 CommandBot cmd[DEPTH_FIFO];
elab 0:0e577ce96b2f 34 CommandBot cmd_idle;
elab 0:0e577ce96b2f 35 };
elab 0:0e577ce96b2f 36
elab 0:0e577ce96b2f 37
elab 0:0e577ce96b2f 38 /** Asynchronous Control of 2 motors part of a robot
elab 0:0e577ce96b2f 39 *
elab 0:0e577ce96b2f 40 * Example:
elab 0:0e577ce96b2f 41 * @code
elab 0:0e577ce96b2f 42 * // --- Define the Four PINs & Time of movement used for Motor drive -----
elab 0:0e577ce96b2f 43 * Motor motorLeft(PA_12, PB_0, PB_1, PB_6); // Declare first the 2 motors (to avoid to have an object with 8 pins to create)
elab 0:0e577ce96b2f 44 * Motor motorRight(PA_5,PA_4,PA_3,PA_1);
elab 0:0e577ce96b2f 45 * Creabot mybot(&motorLeft, &motorRight, 10.0f,13.0f); // insert the motors and indicate wheel diameter and distance between wheels
elab 0:0e577ce96b2f 46 *
elab 0:0e577ce96b2f 47 * int main() {
elab 0:0e577ce96b2f 48 *
elab 0:0e577ce96b2f 49 * mybot.setSpeed(12.5); // 12.5cm/s
elab 0:0e577ce96b2f 50 * mybot.move(FORWARD,10); // Go forward of 10cm
elab 0:0e577ce96b2f 51 * mybot.waitEndMove(); // Wait end of Move
elab 0:0e577ce96b2f 52 * mybot.move(ROTATE,90); // Start rotation of 90° around the center between wheels (two wheels running in same direction at same speed)
elab 0:0e577ce96b2f 53 * mybot.move(BACKWARD,40); // Stop immediately the rotation and go backward of 40cm
elab 0:0e577ce96b2f 54 * mybot.waitEndMove(); // Wait end of Backward
elab 0:0e577ce96b2f 55 * mybot.moveAndWait(LEFT,60); // Move Left of 60° in circle, center being the left wheel (off). Wait end of move
elab 0:0e577ce96b2f 56 * mybot.waitEndMove(); // Not needed, as already waited...
elab 0:0e577ce96b2f 57 * mybot.moveAndWait(RIGHT,45, 33); // Move Right of 45°, center being at 33cm of the right wheel. Right wheel moving slower and on a shorter distance than left one.
elab 0:0e577ce96b2f 58 * mybot.moveAndWait(ROTATE,90);
elab 0:0e577ce96b2f 59 * mybot.move(ROTATE,-90); // Opposite direction.
elab 0:0e577ce96b2f 60 * mybot.waitEndMove(60); // with watchdog => if after 60s the move is not ended, continue the execution
elab 0:0e577ce96b2f 61 * mybot.stopMove(); // Stop the movement before end...
elab 0:0e577ce96b2f 62 *
elab 0:0e577ce96b2f 63 * // Same with a fifo of command, opposite to the move, receiving a new command will not stop the current execution, but the bot will store it.
elab 0:0e577ce96b2f 64 * mybot.fifo(FORWARD,10); // Already starting...
elab 0:0e577ce96b2f 65 * mybot.fifo(BACKWARD,10); // will wait end of previous command to go
elab 0:0e577ce96b2f 66 * mybot.fifo(ROTATE,120.0);
elab 0:0e577ce96b2f 67 * mybot.fifo(LEFT, 30, 120);
elab 0:0e577ce96b2f 68 * mybot.fifo(RIGHT, 25);
elab 0:0e577ce96b2f 69 * mybot.waitEndMove(100000); // wait until fifo end... can flush anytime with stopMove...
elab 0:0e577ce96b2f 70 * mybot.stopMove(); // before end... Flush the fifo and remove all instructions…
elab 0:0e577ce96b2f 71 *
elab 0:0e577ce96b2f 72 * while(1) {
elab 0:0e577ce96b2f 73 * };
elab 0:0e577ce96b2f 74 * }
elab 0:0e577ce96b2f 75 * @endcode
elab 0:0e577ce96b2f 76 */
elab 0:0e577ce96b2f 77 class Creabot {
elab 0:0e577ce96b2f 78 public:
elab 0:0e577ce96b2f 79 /** Create a Creabot object to synchronize 2 motors
elab 0:0e577ce96b2f 80 *
elab 0:0e577ce96b2f 81 * @param left Motor object declared before corresponding to left motor of the Creabot
elab 0:0e577ce96b2f 82 * @param right Motor object declared before corresponding to right motor of the Creabot
elab 0:0e577ce96b2f 83 * @param diameter_wheel_cm diameter in cm of the wheels (both supposed to be at same diameter)
elab 0:0e577ce96b2f 84 * @param distance_wheel_cm distance in cm between center of left wheel and center of right wheel
elab 0:0e577ce96b2f 85 */
elab 0:0e577ce96b2f 86 Creabot(Motor *left, Motor *right, float diameter_wheel_cm, float distance_wheel_cm);
elab 0:0e577ce96b2f 87 int getStatus();
elab 0:0e577ce96b2f 88 void setSpeed(float cm_per_second);
elab 0:0e577ce96b2f 89 void waitEndMove();
elab 0:0e577ce96b2f 90 void waitEndMove(uint32_t delay_us); // watchdog
elab 0:0e577ce96b2f 91 void setCallBack(void (*callback)(int status));
elab 0:0e577ce96b2f 92 void moveAndWait(cmdbot_t moveType, float angle_or_cm);
elab 0:0e577ce96b2f 93 void moveAndWait(cmdbot_t moveType, float angle, float cm);
elab 0:0e577ce96b2f 94 void move(cmdbot_t moveType, float angle_or_cm);
elab 0:0e577ce96b2f 95 void move(cmdbot_t moveType, float angle, float cm);
elab 0:0e577ce96b2f 96 void fifo(cmdbot_t moveType, float angle_or_cm);
elab 0:0e577ce96b2f 97 void fifo(cmdbot_t moveType, float angle, float cm);
elab 0:0e577ce96b2f 98 void flushFifo();
elab 0:0e577ce96b2f 99 int moveInFifo();
elab 0:0e577ce96b2f 100 void executeFifo();
elab 0:0e577ce96b2f 101 void stopMove();
elab 0:0e577ce96b2f 102
elab 0:0e577ce96b2f 103 private:
elab 0:0e577ce96b2f 104 void moveForward(float cm);
elab 0:0e577ce96b2f 105 void moveBackward(float cm);
elab 0:0e577ce96b2f 106 void rotate(float angle);
elab 0:0e577ce96b2f 107 void moveRight(float angle);
elab 0:0e577ce96b2f 108 void moveRight(float angle, float center_cm);
elab 0:0e577ce96b2f 109 void moveLeft(float angle);
elab 0:0e577ce96b2f 110 void moveLeft(float angle, float center_cm);
elab 0:0e577ce96b2f 111 void callBackLeft();
elab 0:0e577ce96b2f 112 void callBackRight();
elab 0:0e577ce96b2f 113 void callBack();
elab 0:0e577ce96b2f 114 uint32_t computeSpeed(Motor *motor, float cm_per_second);
elab 0:0e577ce96b2f 115 void setSpeedLeft(float cm_per_second);
elab 0:0e577ce96b2f 116 void setSpeedRight(float cm_per_second);
elab 0:0e577ce96b2f 117
elab 0:0e577ce96b2f 118 void (*extCallBack)(int status);
elab 0:0e577ce96b2f 119 void moveMotorLeft(MotorDir dir, float angle);
elab 0:0e577ce96b2f 120 void moveMotorRight(MotorDir dir, float angle);
elab 0:0e577ce96b2f 121 void executeCommand(CommandBot *cmd);
elab 0:0e577ce96b2f 122
elab 0:0e577ce96b2f 123
elab 0:0e577ce96b2f 124 Motor *motor_left;
elab 0:0e577ce96b2f 125 Motor *motor_right;
elab 0:0e577ce96b2f 126 float diameter_wheel;
elab 0:0e577ce96b2f 127 float distance_wheel;
elab 0:0e577ce96b2f 128 float perimeter_wheel;
elab 0:0e577ce96b2f 129 float perimeter_bot;
elab 0:0e577ce96b2f 130 float degree_wheel_per_cm;
elab 0:0e577ce96b2f 131 float degree_bot_per_cm;
elab 0:0e577ce96b2f 132 float ratio_wheel_bot;
elab 0:0e577ce96b2f 133 float current_speed;
elab 0:0e577ce96b2f 134 int status;
elab 0:0e577ce96b2f 135 bool callLeft;
elab 0:0e577ce96b2f 136 bool callRight;
elab 0:0e577ce96b2f 137 bool endMove;
elab 0:0e577ce96b2f 138 MyFifoCmd fifoBot;
elab 0:0e577ce96b2f 139 CommandBot current_cmd;
elab 0:0e577ce96b2f 140 Ticker botTicker;
elab 0:0e577ce96b2f 141 bool executingFifo;
elab 0:0e577ce96b2f 142 };
elab 0:0e577ce96b2f 143
elab 0:0e577ce96b2f 144 #endif