verBOT / Mbed OS PM2_Example_Summer_School

workshop 1

Dependencies:   PM2_Libary Eigen

Fork of PM2_Example_Summer_School by Kate Huelskamp

main.cpp@46:e5fb4dd7b531, 2022-05-18 (annotated)

Committer:
huels035
Date:
Wed May 18 09:29:01 2022 -0500
Revision:
46:e5fb4dd7b531
Parent:
45:42adc921bc66
Child:
47:31726ce58a6d
Workshop 1 with motor working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 36:8c75783c1eca 1 #include <mbed.h>
pmic 17:c19b471f05cb 2 #include "PM2_Libary.h"
pmic 36:8c75783c1eca 3 #include "Eigen/Dense.h"
pmic 36:8c75783c1eca 4
pmic 36:8c75783c1eca 5 # define M_PI 3.14159265358979323846 // number pi
pmic 6:e1fa1a2d7483 6
huels035 46:e5fb4dd7b531 7
huels035 45:42adc921bc66 8 //Workshop 1
huels035 46:e5fb4dd7b531 9 float ir_distance_mV2cm (float ir_distance_mV);
pmic 24:86f1a63e35a0 10 // logical variable main task
pmic 24:86f1a63e35a0 11 bool do_execute_main_task = false; // this variable will be toggled via the user button (blue button) to or not to execute the main task
pmic 17:c19b471f05cb 12
pmic 24:86f1a63e35a0 13 // user button on nucleo board
pmic 24:86f1a63e35a0 14 Timer user_button_timer; // create Timer object which we use to check if user button was pressed for a certain time (robust against signal bouncing)
pmic 24:86f1a63e35a0 15 InterruptIn user_button(PC_13); // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR)
pmic 24:86f1a63e35a0 16 void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
pmic 24:86f1a63e35a0 17 void user_button_released_fcn();
pmic 6:e1fa1a2d7483 18
pmic 1:93d997d6b232 19 int main()
pmic 23:26b3a25fc637 20 {
pmic 36:8c75783c1eca 21 // while loop gets executed every main_task_period_ms milliseconds
pmic 41:8a63b01edd7e 22 const int main_task_period_ms = 10; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
pmic 36:8c75783c1eca 23 Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms
huels035 46:e5fb4dd7b531 24 //printf("here1");
pmic 40:7e6b7aec3947 25 // a coutner
pmic 40:7e6b7aec3947 26 uint32_t main_task_cntr = 0;
pmic 40:7e6b7aec3947 27
pmic 36:8c75783c1eca 28 // led on nucleo board
pmic 36:8c75783c1eca 29 DigitalOut user_led(LED1); // create DigitalOut object to command user led
pmic 36:8c75783c1eca 30
huels035 46:e5fb4dd7b531 31 DigitalOut enable_motors(PB_15);
huels035 46:e5fb4dd7b531 32 FastPWM pwm_M1(PB_13);
huels035 46:e5fb4dd7b531 33 FastPWM pwm_M2(PA_9);
huels035 46:e5fb4dd7b531 34
huels035 46:e5fb4dd7b531 35 const float pwm_period_s = .00005f;
huels035 46:e5fb4dd7b531 36 pwm_M1.period(pwm_period_s);
huels035 46:e5fb4dd7b531 37 pwm_M2.period(pwm_period_s);
huels035 46:e5fb4dd7b531 38 //pwm_M1.write(0.5f);
huels035 46:e5fb4dd7b531 39
huels035 46:e5fb4dd7b531 40 enable_motors = 1;
huels035 46:e5fb4dd7b531 41
huels035 46:e5fb4dd7b531 42 AnalogIn ir_analog_in(PC_2);
huels035 46:e5fb4dd7b531 43 float ir_distance_mV = 0.0f;
huels035 46:e5fb4dd7b531 44 float ir_distance_cm = 0.0f;
huels035 46:e5fb4dd7b531 45 float distAxisToSensor = 0.12f;
huels035 46:e5fb4dd7b531 46
huels035 46:e5fb4dd7b531 47 //I2C i2c(PB_9, PB_8);
huels035 46:e5fb4dd7b531 48
huels035 46:e5fb4dd7b531 49 //SensorBar light_sensor(i2c, distAxisToSensor);
huels035 46:e5fb4dd7b531 50
pmic 24:86f1a63e35a0 51 // attach button fall and rise functions to user button object
pmic 24:86f1a63e35a0 52 user_button.fall(&user_button_pressed_fcn);
pmic 24:86f1a63e35a0 53 user_button.rise(&user_button_released_fcn);
pmic 17:c19b471f05cb 54
pmic 29:d6f1ccf42a31 55 // start timer
pmic 24:86f1a63e35a0 56 main_task_timer.start();
pmic 6:e1fa1a2d7483 57
pmic 24:86f1a63e35a0 58 while (true) { // this loop will run forever
pmic 6:e1fa1a2d7483 59
pmic 24:86f1a63e35a0 60 main_task_timer.reset();
huels035 46:e5fb4dd7b531 61 //ir_distance_mV = ir_analog_in.read()* 3.3f * 1.0e3f;
huels035 46:e5fb4dd7b531 62
huels035 46:e5fb4dd7b531 63 //ir_distance_cm = ir_distance_mV2cm(ir_distance_mV);
pmic 40:7e6b7aec3947 64
pmic 17:c19b471f05cb 65
huels035 46:e5fb4dd7b531 66 //pwm_M1.write(.75f);
huels035 46:e5fb4dd7b531 67 if (do_execute_main_task) {
huels035 46:e5fb4dd7b531 68 pwm_M1.write(.75f);
pmic 1:93d997d6b232 69 } else {
huels035 46:e5fb4dd7b531 70 pwm_M1.write(.5f);
huels035 46:e5fb4dd7b531 71 }
huels035 46:e5fb4dd7b531 72
pmic 6:e1fa1a2d7483 73
pmic 41:8a63b01edd7e 74 // user_led is switching its state every second
pmic 41:8a63b01edd7e 75 if ( (main_task_cntr%(1000 / main_task_period_ms) == 0) && (main_task_cntr!=0) ) {
pmic 40:7e6b7aec3947 76 user_led = !user_led;
pmic 40:7e6b7aec3947 77 }
pmic 40:7e6b7aec3947 78 main_task_cntr++;
huels035 46:e5fb4dd7b531 79 //printf("%f \r\n", light_sensor.getAngleRad());
huels035 46:e5fb4dd7b531 80 //printf("IR sensor (mV): %f \r\n", ir_distance_mV);
huels035 46:e5fb4dd7b531 81 //printf("IR sensor (cm): %f \r\n", ir_distance_cm);
huels035 46:e5fb4dd7b531 82
huels035 46:e5fb4dd7b531 83
huels035 46:e5fb4dd7b531 84
pmic 40:7e6b7aec3947 85
pmic 24:86f1a63e35a0 86 // do only output via serial what's really necessary (this makes your code slow)
pmic 41:8a63b01edd7e 87 /*
pmic 41:8a63b01edd7e 88 printf("IR sensor (mV): %3.3f, IR sensor (cm): %3.3f, SensorBar angle (rad): %3.3f, Speed M1 (rps) %3.3f, Position M2 (rot): %3.3f\r\n",
pmic 24:86f1a63e35a0 89 ir_distance_mV,
pmic 41:8a63b01edd7e 90 ir_distance_cm,
pmic 40:7e6b7aec3947 91 sensor_bar_avgAngleRad,
pmic 40:7e6b7aec3947 92 speedController_M1.getSpeedRPS(),
pmic 40:7e6b7aec3947 93 positionController_M2.getRotation());
pmic 41:8a63b01edd7e 94 */
pmic 17:c19b471f05cb 95
pmic 24:86f1a63e35a0 96 // read timer and make the main thread sleep for the remaining time span (non blocking)
pmic 24:86f1a63e35a0 97 int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();
pmic 24:86f1a63e35a0 98 thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
pmic 1:93d997d6b232 99 }
pmic 1:93d997d6b232 100 }
pmic 6:e1fa1a2d7483 101
pmic 24:86f1a63e35a0 102 void user_button_pressed_fcn()
pmic 25:ea1d6e27c895 103 {
pmic 26:28693b369945 104 user_button_timer.start();
pmic 6:e1fa1a2d7483 105 user_button_timer.reset();
pmic 6:e1fa1a2d7483 106 }
pmic 6:e1fa1a2d7483 107
pmic 24:86f1a63e35a0 108 void user_button_released_fcn()
pmic 6:e1fa1a2d7483 109 {
pmic 24:86f1a63e35a0 110 // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
pmic 24:86f1a63e35a0 111 int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 112 user_button_timer.stop();
pmic 24:86f1a63e35a0 113 if (user_button_elapsed_time_ms > 200) {
pmic 24:86f1a63e35a0 114 do_execute_main_task = !do_execute_main_task;
pmic 8:9bb806a7f585 115 }
huels035 46:e5fb4dd7b531 116 }
huels035 46:e5fb4dd7b531 117
huels035 46:e5fb4dd7b531 118 float ir_distance_mV2cm (float ir_distance_mV)
huels035 46:e5fb4dd7b531 119 {
huels035 46:e5fb4dd7b531 120
huels035 46:e5fb4dd7b531 121 // Coefficients (with 95% confidence bounds):
huels035 46:e5fb4dd7b531 122 static float a = 0.8255; //(-4.031, 5.682)
huels035 46:e5fb4dd7b531 123 static float c = 1.463e+04; //(1.224e+04, 1.702e+04)
huels035 46:e5fb4dd7b531 124 float f1 = c/(ir_distance_mV + 1) + a;
huels035 46:e5fb4dd7b531 125 return f1;
pmic 6:e1fa1a2d7483 126 }