mobile_robot_tea / Mbed 2 deprecated mobile_robot_lab3_rosserial

lab3

Dependencies:   mbed ros_lib_kinetic hallsensor_software_decoder

main.cpp@6:2c7b0e609713, 2019-03-29 (annotated)

Committer:
bobolee1239
Date:
Fri Mar 29 05:05:23 2019 +0000
Revision:
6:2c7b0e609713
Parent:
5:eec419520d71
Child:
8:82efd1be89ee
fixed ros params (declare in global scope) -- brian;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bobolee1239 3:a308ddde9078 1 // Copyright 2019 Tsung-Han Lee, National Tsing Hua Univeristy Dynamic System and Control Lab, Tommy Cheng, Skyler Chen
bobolee1239 2:ff7641d822df 2 /***************************************************************
bobolee1239 2:ff7641d822df 3 ** MOBILE ROBOT LAB3 GROUP 4 [Vehicle Motion Control]
bobolee1239 2:ff7641d822df 4 **
bobolee1239 2:ff7641d822df 5 ** - Members : Tsung-Han Lee, Tommy, Skyler
bobolee1239 2:ff7641d822df 6 ** - NOTE : Modified from sample code provided
bobolee1239 2:ff7641d822df 7 ** by NTHU Dynamic Systems and Control Lab
bobolee1239 2:ff7641d822df 8 **
bobolee1239 2:ff7641d822df 9 ***************************************************************/
bobolee1239 2:ff7641d822df 10 #include <ros.h>
bobolee1239 2:ff7641d822df 11 #include <geometry_msgs/Twist.h>
bobolee1239 0:1d023e270dfa 12 #include "mbed.h"
bobolee1239 2:ff7641d822df 13 #include "hallsensor_software_decoder.h"
bobolee1239 2:ff7641d822df 14
bobolee1239 2:ff7641d822df 15 #define Ts 0.01
bobolee1239 2:ff7641d822df 16
bobolee1239 2:ff7641d822df 17 Ticker controllerTimer;
bobolee1239 2:ff7641d822df 18
bobolee1239 2:ff7641d822df 19 /* declare pwm pin */
bobolee1239 2:ff7641d822df 20 PwmOut pwm1(D7);
bobolee1239 2:ff7641d822df 21 PwmOut pwm1n(D11);
bobolee1239 2:ff7641d822df 22 PwmOut pwm2(D8);
bobolee1239 2:ff7641d822df 23 PwmOut pwm2n(A3);
bobolee1239 2:ff7641d822df 24
bobolee1239 6:2c7b0e609713 25 /********************* Helper Functions and Structures *******************/
bobolee1239 2:ff7641d822df 26 typedef volatile struct Controller {
bobolee1239 2:ff7641d822df 27 volatile double rpm; // rotation speed in rpm
bobolee1239 2:ff7641d822df 28 volatile double refRPM; // reference rpm
bobolee1239 2:ff7641d822df 29 volatile double piOut; // PI Controller output
bobolee1239 2:ff7641d822df 30 volatile double err; // error
bobolee1239 2:ff7641d822df 31 volatile double ierr; // integration of error
bobolee1239 2:ff7641d822df 32 double kp; // propotinal gain
bobolee1239 2:ff7641d822df 33 double ki; // integrational gain
bobolee1239 2:ff7641d822df 34 } Controller_t;
bobolee1239 2:ff7641d822df 35
bobolee1239 2:ff7641d822df 36 typedef volatile struct Vehicle {
bobolee1239 2:ff7641d822df 37 double r; // radius
bobolee1239 2:ff7641d822df 38 double L; // distance between two wheel
bobolee1239 2:ff7641d822df 39 volatile double V; // forward speed
bobolee1239 2:ff7641d822df 40 volatile double W; // rotation speed
bobolee1239 6:2c7b0e609713 41 volatile double refV; // reference forward speed
bobolee1239 6:2c7b0e609713 42 volatile double refW; // reference rotation speed
bobolee1239 2:ff7641d822df 43 } Vehicle_t;
bobolee1239 2:ff7641d822df 44
bobolee1239 2:ff7641d822df 45 /* Init Structure Instance */
bobolee1239 6:2c7b0e609713 46 Controller_t controller1 = {0.0, 0.0, 0.0, 0.0, 0.0, 0.008, 0.02};
bobolee1239 6:2c7b0e609713 47 Controller_t controller2 = {0.0, 0.0, 0.0, 0.0, 0.0, 0.008, 0.02};
bobolee1239 2:ff7641d822df 48 Vehicle_t car = {0.03, 0.27, 0.0, 0.0, 0.0, 0.0};
bobolee1239 2:ff7641d822df 49
bobolee1239 6:2c7b0e609713 50
bobolee1239 6:2c7b0e609713 51 void initTimer();
bobolee1239 6:2c7b0e609713 52 void initPWM();
bobolee1239 6:2c7b0e609713 53 void controllerTISR();
bobolee1239 6:2c7b0e609713 54 void messageCallback(const geometry_msgs::Twist& recvMsg);
bobolee1239 6:2c7b0e609713 55 /************************************************************************/
bobolee1239 6:2c7b0e609713 56
bobolee1239 6:2c7b0e609713 57 /************************************************************************
bobolee1239 6:2c7b0e609713 58 ** ROS Parameters Must Declare in Global Scope !!!!
bobolee1239 6:2c7b0e609713 59 ************************************************************************/
bobolee1239 6:2c7b0e609713 60 ros::NodeHandle nh;
bobolee1239 6:2c7b0e609713 61 geometry_msgs::Twist vel_msg;
bobolee1239 6:2c7b0e609713 62
bobolee1239 6:2c7b0e609713 63 ros::Publisher pub("feedback_Vel", &vel_msg);
bobolee1239 6:2c7b0e609713 64 ros::Subscriber<geometry_msgs::Twist> sub("cmd_vel", &messageCallback);
bobolee1239 6:2c7b0e609713 65
bobolee1239 6:2c7b0e609713 66 /************************************************************************/
bobolee1239 6:2c7b0e609713 67 /** SERIAL DEBUG
bobolee1239 6:2c7b0e609713 68 ************************************************************************/
bobolee1239 6:2c7b0e609713 69 //Serial pc(USBTX, USBRX);
bobolee1239 6:2c7b0e609713 70
bobolee1239 2:ff7641d822df 71 int main(int argc, char* argv[]) {
bobolee1239 6:2c7b0e609713 72 /* SERIAL DEBUG */
bobolee1239 6:2c7b0e609713 73 // pc.baud(115200);
bobolee1239 6:2c7b0e609713 74
bobolee1239 2:ff7641d822df 75 initTimer();
bobolee1239 2:ff7641d822df 76 initPWM();
bobolee1239 2:ff7641d822df 77 init_CN();
bobolee1239 0:1d023e270dfa 78
bobolee1239 2:ff7641d822df 79 nh.initNode();
bobolee1239 2:ff7641d822df 80 nh.subscribe(sub);
bobolee1239 2:ff7641d822df 81 nh.advertise(pub);
bobolee1239 2:ff7641d822df 82
bobolee1239 2:ff7641d822df 83 while (1) {
bobolee1239 2:ff7641d822df 84 /*************************
bobolee1239 2:ff7641d822df 85 ** 1. 2pi/60 = 0.1047197551
bobolee1239 2:ff7641d822df 86 ** 2. 2pi/60/2 = 0.05235987756
bobolee1239 2:ff7641d822df 87 **************************/
bobolee1239 2:ff7641d822df 88 car.V = (controller1.rpm + controller2.rpm) * car.r * 0.05235987756;
bobolee1239 2:ff7641d822df 89 car.W = -1.0 * car.r * (controller1.rpm - controller2.rpm) / car.L * 0.1047197551;
bobolee1239 2:ff7641d822df 90
bobolee1239 2:ff7641d822df 91 vel_msg.linear.x = car.V;
bobolee1239 2:ff7641d822df 92 vel_msg.angular.z = car.W;
bobolee1239 2:ff7641d822df 93
bobolee1239 2:ff7641d822df 94 pub.publish(&vel_msg);
bobolee1239 2:ff7641d822df 95
bobolee1239 2:ff7641d822df 96 nh.spinOnce();
bobolee1239 2:ff7641d822df 97
bobolee1239 2:ff7641d822df 98 wait_ms(100);
bobolee1239 0:1d023e270dfa 99 }
bobolee1239 0:1d023e270dfa 100 }
bobolee1239 2:ff7641d822df 101
bobolee1239 2:ff7641d822df 102 void initTimer() {
bobolee1239 2:ff7641d822df 103 controllerTimer.attach_us(&controllerTISR, 10000.0);
bobolee1239 2:ff7641d822df 104 }
bobolee1239 2:ff7641d822df 105
bobolee1239 2:ff7641d822df 106 void initPWM() {
bobolee1239 2:ff7641d822df 107 pwm1.period_us(50);
bobolee1239 2:ff7641d822df 108 pwm1.write(0.5);
bobolee1239 2:ff7641d822df 109 TIM1->CCER |= 0x4;
bobolee1239 2:ff7641d822df 110
bobolee1239 2:ff7641d822df 111 pwm2.period_us(50);
bobolee1239 2:ff7641d822df 112 pwm2.write(0.5);
bobolee1239 2:ff7641d822df 113 TIM1->CCER |= 0x40;
bobolee1239 2:ff7641d822df 114 }
bobolee1239 2:ff7641d822df 115
bobolee1239 2:ff7641d822df 116 void controllerTISR() {
bobolee1239 2:ff7641d822df 117 // 60.0 / 2pi = 9.549296586
bobolee1239 2:ff7641d822df 118 controller1.refRPM = (car.refV/car.r - car.L*car.refW/2.0/car.r) / 9.549296586;
bobolee1239 2:ff7641d822df 119 controller2.refRPM = (car.refV/car.r + car.L*car.refW/2.0/car.r) / 9.549296586;
bobolee1239 2:ff7641d822df 120
bobolee1239 6:2c7b0e609713 121 // pc.printf("%.2f, %.2f", controller1.refRPM, controller2.refRPM);
bobolee1239 6:2c7b0e609713 122
bobolee1239 2:ff7641d822df 123 /********* MOTOR 1 ******************/
bobolee1239 2:ff7641d822df 124 // 100/48*60/56 = 2.232142857
bobolee1239 2:ff7641d822df 125 controller1.rpm = (double)wheelState1.numStateChange * 2.232142857;
bobolee1239 2:ff7641d822df 126 wheelState1.numStateChange = 0;
bobolee1239 2:ff7641d822df 127
bobolee1239 2:ff7641d822df 128 controller1.err = controller1.refRPM - controller1.rpm;
bobolee1239 2:ff7641d822df 129 controller1.ierr += Ts*controller1.err;
bobolee1239 2:ff7641d822df 130
bobolee1239 2:ff7641d822df 131 if (controller1.ierr > 50.0) {
bobolee1239 2:ff7641d822df 132 controller1.ierr = 50.0;
bobolee1239 2:ff7641d822df 133 } else if (controller1.ierr < -50.0) {
bobolee1239 2:ff7641d822df 134 controller1.ierr = -50.0;
bobolee1239 2:ff7641d822df 135 }
bobolee1239 2:ff7641d822df 136 controller1.piOut = controller1.kp*controller1.err + controller1.ki*controller1.ierr;
bobolee1239 2:ff7641d822df 137
bobolee1239 2:ff7641d822df 138 if (controller1.piOut > 0.5) {
bobolee1239 2:ff7641d822df 139 controller1.piOut = 0.5;
bobolee1239 2:ff7641d822df 140 } else if (controller1.piOut < -0.5) {
bobolee1239 2:ff7641d822df 141 controller1.piOut = -0.5;
bobolee1239 2:ff7641d822df 142 }
bobolee1239 2:ff7641d822df 143
bobolee1239 2:ff7641d822df 144 pwm1.write(controller1.piOut + 0.5);
bobolee1239 2:ff7641d822df 145 TIM1->CCER |= 0x4;
bobolee1239 2:ff7641d822df 146
bobolee1239 2:ff7641d822df 147 /********* MOTOR 2 ******************/
bobolee1239 2:ff7641d822df 148 // 100/48*60/56 = 2.232142857
bobolee1239 2:ff7641d822df 149 controller2.rpm = (double)wheelState2.numStateChange * 2.232142857;
bobolee1239 2:ff7641d822df 150 wheelState2.numStateChange = 0;
bobolee1239 2:ff7641d822df 151
bobolee1239 2:ff7641d822df 152 controller2.err = controller2.refRPM - controller2.rpm;
bobolee1239 2:ff7641d822df 153 controller2.ierr += Ts*controller2.err;
bobolee1239 2:ff7641d822df 154
bobolee1239 2:ff7641d822df 155 if (controller2.ierr > 50.0) {
bobolee1239 2:ff7641d822df 156 controller2.ierr = 50.0;
bobolee1239 2:ff7641d822df 157 } else if (controller2.ierr < -50.0) {
bobolee1239 2:ff7641d822df 158 controller2.ierr = -50.0;
bobolee1239 2:ff7641d822df 159 }
bobolee1239 6:2c7b0e609713 160 controller2.piOut = -(controller2.kp*controller2.err + controller2.ki*controller2.ierr);
bobolee1239 2:ff7641d822df 161
bobolee1239 2:ff7641d822df 162 if (controller2.piOut > 0.5) {
bobolee1239 2:ff7641d822df 163 controller2.piOut = 0.5;
bobolee1239 2:ff7641d822df 164 } else if (controller2.piOut < -0.5) {
bobolee1239 2:ff7641d822df 165 controller2.piOut = -0.5;
bobolee1239 2:ff7641d822df 166 }
bobolee1239 2:ff7641d822df 167
bobolee1239 6:2c7b0e609713 168 pwm2.write(controller2.piOut + 0.5);
bobolee1239 2:ff7641d822df 169 TIM1->CCER |= 0x40;
bobolee1239 2:ff7641d822df 170 }
bobolee1239 2:ff7641d822df 171
bobolee1239 2:ff7641d822df 172 void messageCallback(const geometry_msgs::Twist& recvMsg) {
bobolee1239 6:2c7b0e609713 173 // pc.printf("receiving message ...\n");
bobolee1239 2:ff7641d822df 174 car.refV = 0.25 * recvMsg.linear.x;
bobolee1239 2:ff7641d822df 175 car.refW = recvMsg.angular.z;
bobolee1239 2:ff7641d822df 176 }