samco
init
Diff: main.cpp
- Revision:
- 4:4ea0f6305fa3
- Parent:
- 3:bb074b1d26fe
--- a/main.cpp Wed Jan 29 03:02:47 2020 +0000
+++ b/main.cpp Thu Jan 30 00:00:40 2020 +0000
@@ -1,3 +1,4 @@
+//헤더파일 선언
#include "mbed.h"
#include "mavlink.h"
#include "motordriver.h"
@@ -6,6 +7,7 @@
#include "IncrementalEncoder.h"
#include "VL53L1X.h"
+//모빌리티 상태 정의 (정지,앞,백,왼쪽,오른쪽)
#define FRONT 1
#define NORMAL 0
#define BACK 2
@@ -13,16 +15,16 @@
#define RIGHT 4
DigitalOut led (LED2);
-//SERIAL
-//Serial pc(USBTX, USBRX,115200);
+
+//Xbee (Serial)선언
RawSerial xbee(PC_10, PC_11, 115200);
-//Thread
+//Thread 선언 (read, write)
Thread thread;
Thread thread2;
-Mutex mutex;
+//Mutex mutex;
-// OF MAVLINK
+// MAVLINK 관련 함수 선언
char buf[MAVLINK_MAX_PACKET_LEN];
mavlink_message_t message;
@@ -34,25 +36,27 @@
mavlink_joystick_t joystick;
unsigned len = 0;
-
+//MAVLINK ID 선언
uint8_t system_id = 10;
uint8_t component_id = 15;
-//Motordriver , RC MAP
+//Motor 선언 (Motordriver)
Motor motor_left(PA_9,PA_8,PB_15,1);
Motor motor_right(PC_9,PC_6,PC_8,1);
-//pwm
+
+//joystick 값 선언
float joystick_percent_x = 0;
float joystick_percent_y = 0;
+//Input (0~1024) Output (-0.3~0.3)
Map map_x (0, 1024, -0.3, 0.3);
Map map_y (0, 1024, -0.3, 0.3);
-//Encoder
+//Encoder 선언(IncrementalEncoder)
IncrementalEncoder right_encoder(PD_2);
IncrementalEncoder left_encoder(PC_4);
-//tof
+//tof 선언
VL53L1X tof1 (PB_9, PB_8);
/////////////////////////////////////////////
@@ -61,6 +65,8 @@
int write_data (char *data)
{
}
+
+//Xbee(Serial)로 값을 내보내기
void write_data(char* buf, unsigned int len)
{
for(int i = 0; i<len; i++) {
@@ -68,9 +74,12 @@
}
}
+//heartbeat(Mavlik) 속성 설정
void heartbeat_info()
{
+ //Thread 주기 설정
Thread::wait(2000);
+
heartbeat.type = 0;
heartbeat.mode = 1;
@@ -80,31 +89,36 @@
write_data(buf, len);
}
+//motor (Mavlink) 속성 설정
mavlink_motor_t motor;
void Motor_message_send()
{
Thread::wait(500);
motor.encoder_left = (uint16_t)left_encoder.readTotal();
motor.encoder_right = (uint16_t)right_encoder.readTotal();
-
+
mavlink_msg_motor_encode (system_id, component_id, &message, &motor);
len = mavlink_msg_to_send_buffer((uint8_t*)buf, &message);
-
+
write_data(buf, len);
}
+
+//pwm (Mavlink) 속성 설정
mavlink_pwm_t pwm;
void pwm_message_send()
{
Thread::wait(500);
-
+
pwm.motor_left_pwm = (uint16_t)joystick_percent_x;
pwm.motor_right_pwm = (uint16_t)joystick_percent_y;
-
+
mavlink_msg_pwm_encode (system_id, component_id, &message, &pwm);
len=mavlink_msg_to_send_buffer((uint8_t*)buf, &message);
- write_data(buf,len);
+
+ write_data(buf,len);
}
+//write보낼 (heartbeat,motor,pwm) message send (loop)
void write_message()
{
while(1) {
@@ -117,102 +131,123 @@
/////////////////////////////////
////////////read/////////////////
/////////////////////////////////
+
+//물체감지 함수
void object_detection()
{
+ //Tof 거리값 read
uint16_t distance = tof1.getDistance();
-
- if(distance < 400)
- {
+
+ //물체감지 후 정지
+ if(distance < 400) {
motor_left.speed (0);
motor_right.speed(0);
}
}
+
+//Encoder (왼쪽,오른쪽) 계산 : 초기상태 정지
int state = NORMAL;
float sens = 1;
void speedGap()
{
int gap = (right_encoder.readTotal()) - (left_encoder.readTotal());
-
+
//left over
- if (gap > 0 && sens < 1.5)
- {
+ if (gap > 0 && sens < 1.5) {
sens -= 0.01;
}
- if (gap < 0 && sens > 0.5)
- {
+ if (gap < 0 && sens > 0.5) {
sens += 0.01;
}
-
+
}
+
+//GCS로 부터 joystick값 (0~1024)을 받은후 (-0.3,0.3)의 pwm로 변환 후 motordriver 전송 -> 'mobility move'
mavlink_joystick_t local_joystick;
-
void rc_move()
{
local_joystick = joystick;
+
joystick_percent_x = map_x.Calculate(local_joystick.joystick_x);
joystick_percent_y = map_y.Calculate(local_joystick.joystick_y);
-
+
+ //button 클릭 시 모빌리티 정지
if ( local_joystick.joystick_click == 0 ) {
motor_left.speed (0);
motor_right.speed (0);
}
- //move forward/back
+ //joystick 중립상태
if( joystick_percent_y >= -0.1 && joystick_percent_y <= 0.1 && joystick_percent_x >= -0.1 && joystick_percent_x <=0.1) {
motor_left.speed (0);
motor_right.speed (0);
state = NORMAL;
}
+ //forward and right
else if ( joystick_percent_x > 0.1 && joystick_percent_y > 0.1) {
motor_left.speed (joystick_percent_y+joystick_percent_x);
motor_right.speed (joystick_percent_y*sens);
- }
+ }
+
+ //forward and left
else if (joystick_percent_x < -0.1 && joystick_percent_y >0.1) {
motor_left.speed (joystick_percent_y);
motor_right.speed ((joystick_percent_y +(-1*joystick_percent_x))*sens);
- }
+ }
+
+ //left and back
else if (joystick_percent_x < -0.1 && joystick_percent_y < -0.1) {
motor_left.speed (joystick_percent_y );
motor_right.speed ((joystick_percent_y + joystick_percent_x)*sens);
- }
+ }
+
+ //forward and back
else if (joystick_percent_x > 0.1 && joystick_percent_y < - 0.1) {
motor_left.speed ((joystick_percent_y - joystick_percent_x));
motor_right.speed (joystick_percent_y*sens);
- }
- //forward,backward
+ }
+
+ //forward
else if (joystick_percent_x < 0.1 && joystick_percent_x >-0.1 && joystick_percent_y>0.1) {
motor_left.speed (joystick_percent_y);
motor_right.speed (joystick_percent_y*sens);
state = BACK;
- }
+ }
+
+ //back
else if (joystick_percent_x < 0.1 && joystick_percent_x >-0.1 && joystick_percent_y < -0.1) {
motor_left.speed (joystick_percent_y);
motor_right.speed (joystick_percent_y*sens);
state = FRONT;
- }
+ }
+
+ //left
else if (joystick_percent_y < 0.1 && joystick_percent_y > -0.1 && joystick_percent_x < -0.1) {
motor_right.speed(-joystick_percent_x*sens);
state = LEFT;
- }
+ }
+
+ //right
else if (joystick_percent_y < 0.1 && joystick_percent_y > -0.1 && joystick_percent_x > 0.1) {
motor_left.speed(joystick_percent_x);
state = RIGHT;
}
-
- if(state == FRONT)
- {
+
+ //앞으로 움직일 때 encoder 차이값 계산, 물체감지 작동
+ if(state == FRONT) {
speedGap();
object_detection();
}
- else if(state == BACK || state == LEFT || state == RIGHT)
- {
+
+ //앞으로 움직이지 않을 때 encoder 값 실시간 reset
+ else if(state == BACK || state == LEFT || state == RIGHT) {
left_encoder.reset();
right_encoder.reset();
}
-
-
}
+
+//Xbee (Serial)로 받은 mavlink 데이터 처리
void read_data()
{
led = 1;
@@ -220,13 +255,16 @@
while(1) {
if(xbee.readable()) {
-
+
+ //xbee 데이터 read
uint8_t c = xbee.getc();
msgReceived = mavlink_parse_char(MAVLINK_COMM_1, c, &r_message, &r_status);
if(msgReceived > 0) {
led = 0;
+
+ //id 검사
if (r_message.sysid == 60|| r_message.sysid == 62) {
switch (r_message.msgid) {
case 3: { //JOYSTICK
@@ -235,7 +273,7 @@
break;
}
}
- }
+ }
}
} else {
led = 1;
@@ -248,7 +286,9 @@
//tof i2c setting
tof1.begin();
tof1.setDistanceMode();
-
+
+ //write part thread start
thread.start(write_message);
+ //read part (while)
read_data();
}