added normalization and use of keyboard. I tested it and it worked
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver mbed
Fork of theRobot by
main.cpp@3:587441455259, 2014-03-06 (annotated)
- Committer:
- Fairy_Paolina
- Date:
- Thu Mar 06 00:12:56 2014 +0000
- Revision:
- 3:587441455259
- Parent:
- 2:4e082e4c255d
- Child:
- 4:116829a5ae3c
update
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tashworth | 0:1b64a0cedc5d | 1 | #include "mbed.h" |
tashworth | 0:1b64a0cedc5d | 2 | #include "Adafruit_PWMServoDriver.h" |
tashworth | 0:1b64a0cedc5d | 3 | #include "ShapeDetect.h" |
tashworth | 0:1b64a0cedc5d | 4 | |
tashworth | 0:1b64a0cedc5d | 5 | Serial pc(USBTX,USBRX); |
tashworth | 0:1b64a0cedc5d | 6 | Adafruit_PWMServoDriver pwm(p9,p10); |
tashworth | 0:1b64a0cedc5d | 7 | DigitalOut ServoOutputDisable(p8); |
tashworth | 0:1b64a0cedc5d | 8 | extern Serial lrf; |
tashworth | 0:1b64a0cedc5d | 9 | |
tashworth | 0:1b64a0cedc5d | 10 | |
tashworth | 0:1b64a0cedc5d | 11 | |
tashworth | 0:1b64a0cedc5d | 12 | //Servo Positions |
tashworth | 0:1b64a0cedc5d | 13 | #define STORE_POSITION 0 |
tashworth | 0:1b64a0cedc5d | 14 | #define OIL_RIG1 1 |
tashworth | 0:1b64a0cedc5d | 15 | #define OIL_RIG2 2 |
tashworth | 2:4e082e4c255d | 16 | #define OIL_RIG3 3 |
tashworth | 2:4e082e4c255d | 17 | #define IMG_SHAPE_1 4 |
tashworth | 2:4e082e4c255d | 18 | #define IMG_SHAPE_2 5 |
tashworth | 2:4e082e4c255d | 19 | #define IMG_SHAPE_3 6 |
tashworth | 2:4e082e4c255d | 20 | #define GRASP_SHAPE_1 7 |
tashworth | 2:4e082e4c255d | 21 | #define GRASP_SHAPE_2 8 |
tashworth | 2:4e082e4c255d | 22 | #define GRASP_SHAPE_3 9 |
tashworth | 2:4e082e4c255d | 23 | #define INSERT_TOOL_1 10 |
tashworth | 2:4e082e4c255d | 24 | #define INSERT_TOOL_2 11 |
tashworth | 2:4e082e4c255d | 25 | #define INSERT_TOOL_3 11 |
tashworth | 2:4e082e4c255d | 26 | |
tashworth | 0:1b64a0cedc5d | 27 | |
tashworth | 1:fe4a0b47ff25 | 28 | void servoBegin(void); |
tashworth | 0:1b64a0cedc5d | 29 | void initServoDriver(void); |
tashworth | 0:1b64a0cedc5d | 30 | void setServoPulse(uint8_t n, float pulse); |
tashworth | 1:fe4a0b47ff25 | 31 | void setServoPulseNo_delay(uint8_t n, float pulse); |
tashworth | 0:1b64a0cedc5d | 32 | void servoPosition(int set); |
Fairy_Paolina | 3:587441455259 | 33 | int ServoTest(void); |
tashworth | 0:1b64a0cedc5d | 34 | |
tashworth | 0:1b64a0cedc5d | 35 | /************ |
tashworth | 0:1b64a0cedc5d | 36 | Variables for Servos |
tashworth | 0:1b64a0cedc5d | 37 | *************/ |
tashworth | 0:1b64a0cedc5d | 38 | int servoNum, pulseWidth, outputDisabled, posNum; |
tashworth | 0:1b64a0cedc5d | 39 | int currentPosition[7]; |
tashworth | 0:1b64a0cedc5d | 40 | |
tashworth | 0:1b64a0cedc5d | 41 | typedef struct {int arm_action; int base_rotate; int base_arm; |
tashworth | 0:1b64a0cedc5d | 42 | int lil_arm; int big_arm; int claw_arm; |
tashworth | 0:1b64a0cedc5d | 43 | int claw_rotate; int claw_open;} Coord; |
tashworth | 0:1b64a0cedc5d | 44 | |
tashworth | 0:1b64a0cedc5d | 45 | Coord Arm_Table[] = |
tashworth | 0:1b64a0cedc5d | 46 | { |
tashworth | 0:1b64a0cedc5d | 47 | // POSITION ODER: |
tashworth | 0:1b64a0cedc5d | 48 | // base_rotate, base_arm, lil_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open |
tashworth | 0:1b64a0cedc5d | 49 | |
tashworth | 2:4e082e4c255d | 50 | {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position |
tashworth | 2:4e082e4c255d | 51 | {OIL_RIG1, 1500, 1400, 1900, 900, 900, 0, 0}, // point laser at oilrig2 |
Fairy_Paolina | 3:587441455259 | 52 | {STORE_POSITION, 2350, 1050, 700, 500, 2350, 0, 0}, // Shape Detect |
tashworth | 2:4e082e4c255d | 53 | {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position |
tashworth | 2:4e082e4c255d | 54 | {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position |
tashworth | 2:4e082e4c255d | 55 | {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position |
tashworth | 2:4e082e4c255d | 56 | {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position |
tashworth | 0:1b64a0cedc5d | 57 | |
tashworth | 0:1b64a0cedc5d | 58 | }; |
tashworth | 0:1b64a0cedc5d | 59 | |
tashworth | 0:1b64a0cedc5d | 60 | int main() { |
tashworth | 0:1b64a0cedc5d | 61 | |
Fairy_Paolina | 3:587441455259 | 62 | |
tashworth | 0:1b64a0cedc5d | 63 | /***************** |
tashworth | 0:1b64a0cedc5d | 64 | INITIALIZATIONS |
tashworth | 0:1b64a0cedc5d | 65 | *******************/ |
tashworth | 2:4e082e4c255d | 66 | //pc.baud(115200); |
tashworth | 2:4e082e4c255d | 67 | //Laser Range Finder Initialization |
tashworth | 0:1b64a0cedc5d | 68 | //lrf_baudCalibration(); |
tashworth | 2:4e082e4c255d | 69 | |
tashworth | 2:4e082e4c255d | 70 | //Servo initialization |
tashworth | 0:1b64a0cedc5d | 71 | initServoDriver(); |
tashworth | 2:4e082e4c255d | 72 | servoBegin(); // initiates servos to start position |
tashworth | 2:4e082e4c255d | 73 | ServoOutputDisable = 0; |
tashworth | 2:4e082e4c255d | 74 | |
tashworth | 0:1b64a0cedc5d | 75 | while(1){ |
Fairy_Paolina | 3:587441455259 | 76 | int instr; |
Fairy_Paolina | 3:587441455259 | 77 | |
Fairy_Paolina | 3:587441455259 | 78 | printf("Set Servo Position = 0, Shape Detect = 1, Oil Rig Detect = 2"); |
Fairy_Paolina | 3:587441455259 | 79 | while(!pc.readable()); |
Fairy_Paolina | 3:587441455259 | 80 | pc.scanf("%d", &instr); |
Fairy_Paolina | 3:587441455259 | 81 | |
Fairy_Paolina | 3:587441455259 | 82 | if(instr == 0){// Servo Control |
Fairy_Paolina | 3:587441455259 | 83 | while(!ServoTest()); |
Fairy_Paolina | 3:587441455259 | 84 | } |
Fairy_Paolina | 3:587441455259 | 85 | else if( instr == 1){// shape detect |
Fairy_Paolina | 3:587441455259 | 86 | //servoPosition(3); |
Fairy_Paolina | 3:587441455259 | 87 | |
Fairy_Paolina | 3:587441455259 | 88 | |
Fairy_Paolina | 3:587441455259 | 89 | } |
Fairy_Paolina | 3:587441455259 | 90 | else if( instr == 2){// oil rig detect |
Fairy_Paolina | 3:587441455259 | 91 | servoPosition(2); |
tashworth | 2:4e082e4c255d | 92 | |
Fairy_Paolina | 3:587441455259 | 93 | } |
Fairy_Paolina | 3:587441455259 | 94 | |
Fairy_Paolina | 3:587441455259 | 95 | }// End Main while |
tashworth | 0:1b64a0cedc5d | 96 | } |
tashworth | 0:1b64a0cedc5d | 97 | |
tashworth | 0:1b64a0cedc5d | 98 | /************************************************** |
tashworth | 0:1b64a0cedc5d | 99 | * FIRST STAGE |
tashworth | 0:1b64a0cedc5d | 100 | * |
tashworth | 0:1b64a0cedc5d | 101 | * - DETERMINE OIL RIG ON FIRE |
tashworth | 0:1b64a0cedc5d | 102 | * - DETERMINE PATH |
tashworth | 0:1b64a0cedc5d | 103 | * |
tashworth | 0:1b64a0cedc5d | 104 | **************************************************/ |
tashworth | 0:1b64a0cedc5d | 105 | |
tashworth | 0:1b64a0cedc5d | 106 | //TODO: EXTEND ARM AND FACE OILRIGS |
tashworth | 0:1b64a0cedc5d | 107 | |
tashworth | 0:1b64a0cedc5d | 108 | //OILRIG 1 DISTANCE READING |
tashworth | 0:1b64a0cedc5d | 109 | |
tashworth | 0:1b64a0cedc5d | 110 | //TODO: ROTATE ARM TO NEXT OIL RIG |
tashworth | 0:1b64a0cedc5d | 111 | |
tashworth | 0:1b64a0cedc5d | 112 | //OILRIG 2 DISTANCE READING |
tashworth | 0:1b64a0cedc5d | 113 | |
tashworth | 0:1b64a0cedc5d | 114 | //ROTATE ARM TO NEXT OIL RIG |
tashworth | 0:1b64a0cedc5d | 115 | |
tashworth | 0:1b64a0cedc5d | 116 | //OILRIG 3 DISTANCE READING |
tashworth | 0:1b64a0cedc5d | 117 | |
Fairy_Paolina | 3:587441455259 | 118 | |
tashworth | 0:1b64a0cedc5d | 119 | |
tashworth | 0:1b64a0cedc5d | 120 | |
tashworth | 0:1b64a0cedc5d | 121 | |
tashworth | 0:1b64a0cedc5d | 122 | /************ |
tashworth | 0:1b64a0cedc5d | 123 | |
tashworth | 0:1b64a0cedc5d | 124 | Servo Functions |
tashworth | 0:1b64a0cedc5d | 125 | |
tashworth | 0:1b64a0cedc5d | 126 | **************/ |
tashworth | 0:1b64a0cedc5d | 127 | |
tashworth | 0:1b64a0cedc5d | 128 | void setServoPulse(uint8_t n, float pulse) { |
tashworth | 1:fe4a0b47ff25 | 129 | float pulselength = 20000; // 20,000 us per second |
Fairy_Paolina | 3:587441455259 | 130 | int i = currentPosition[n], pstart; |
tashworth | 1:fe4a0b47ff25 | 131 | pc.printf("\ncurrent position = %d\n", currentPosition[n]); |
Fairy_Paolina | 3:587441455259 | 132 | int pulse2, pulse1; |
Fairy_Paolina | 3:587441455259 | 133 | |
Fairy_Paolina | 3:587441455259 | 134 | // Set when to start the pulse for the different servos |
Fairy_Paolina | 3:587441455259 | 135 | // and normalize values |
Fairy_Paolina | 3:587441455259 | 136 | if(n < 2){ |
Fairy_Paolina | 3:587441455259 | 137 | pstart = 0;// need to change this to match the different servos |
Fairy_Paolina | 3:587441455259 | 138 | pulse1= pulse + 500; |
Fairy_Paolina | 3:587441455259 | 139 | } |
Fairy_Paolina | 3:587441455259 | 140 | else{ |
Fairy_Paolina | 3:587441455259 | 141 | pstart = 0; |
Fairy_Paolina | 3:587441455259 | 142 | pulse1=pulse+500; |
Fairy_Paolina | 3:587441455259 | 143 | } |
Fairy_Paolina | 3:587441455259 | 144 | |
tashworth | 1:fe4a0b47ff25 | 145 | if(currentPosition[n] < pulse){ |
tashworth | 1:fe4a0b47ff25 | 146 | pc.printf("\ncurrent position < pulse\n"); |
Fairy_Paolina | 3:587441455259 | 147 | for(i; i < pulse1; i++){ |
tashworth | 1:fe4a0b47ff25 | 148 | pulse2 = 4094 * i / pulselength; |
Fairy_Paolina | 3:587441455259 | 149 | pwm.setPWM(n, pstart, pulse2); |
tashworth | 1:fe4a0b47ff25 | 150 | wait_ms(3); |
tashworth | 1:fe4a0b47ff25 | 151 | } |
tashworth | 1:fe4a0b47ff25 | 152 | } else if (currentPosition[n] > pulse) { |
tashworth | 1:fe4a0b47ff25 | 153 | pc.printf("\ncurrent position > pulse\n"); |
Fairy_Paolina | 3:587441455259 | 154 | for(i; i > pulse1; i--){ |
tashworth | 1:fe4a0b47ff25 | 155 | pulse2 = 4094 * i / pulselength; |
Fairy_Paolina | 3:587441455259 | 156 | pwm.setPWM(n, pstart, pulse2); |
tashworth | 1:fe4a0b47ff25 | 157 | wait_ms(3); |
tashworth | 1:fe4a0b47ff25 | 158 | } |
tashworth | 1:fe4a0b47ff25 | 159 | } |
tashworth | 1:fe4a0b47ff25 | 160 | currentPosition[n] = i; |
tashworth | 1:fe4a0b47ff25 | 161 | pc.printf("\nending position = %d\n\n", i); |
tashworth | 0:1b64a0cedc5d | 162 | } |
tashworth | 0:1b64a0cedc5d | 163 | |
tashworth | 0:1b64a0cedc5d | 164 | void initServoDriver(void) { |
tashworth | 0:1b64a0cedc5d | 165 | pwm.begin(); |
tashworth | 0:1b64a0cedc5d | 166 | //pwm.setPWMFreq(100); //This dosen't work well because of uncertain clock speed. Use setPrescale(). |
tashworth | 0:1b64a0cedc5d | 167 | pwm.setPrescale(140); //This value is decided for 20ms interval. |
tashworth | 0:1b64a0cedc5d | 168 | pwm.setI2Cfreq(400000); //400kHz |
tashworth | 1:fe4a0b47ff25 | 169 | |
tashworth | 0:1b64a0cedc5d | 170 | } |
tashworth | 0:1b64a0cedc5d | 171 | |
tashworth | 1:fe4a0b47ff25 | 172 | void servoBegin(void){ |
tashworth | 1:fe4a0b47ff25 | 173 | setServoPulseNo_delay(0, 900); |
tashworth | 1:fe4a0b47ff25 | 174 | setServoPulseNo_delay(1, 500); |
tashworth | 1:fe4a0b47ff25 | 175 | setServoPulseNo_delay(2, 600); |
tashworth | 1:fe4a0b47ff25 | 176 | setServoPulseNo_delay(3, 2450); |
tashworth | 1:fe4a0b47ff25 | 177 | setServoPulseNo_delay(4, 2450); |
tashworth | 1:fe4a0b47ff25 | 178 | setServoPulseNo_delay(5, 0); |
tashworth | 1:fe4a0b47ff25 | 179 | setServoPulseNo_delay(6, 0); |
tashworth | 1:fe4a0b47ff25 | 180 | } |
tashworth | 0:1b64a0cedc5d | 181 | |
tashworth | 1:fe4a0b47ff25 | 182 | void setServoPulseNo_delay(uint8_t n, float pulse) { |
tashworth | 1:fe4a0b47ff25 | 183 | float pulselength = 20000; // 20,000 us per second |
tashworth | 1:fe4a0b47ff25 | 184 | currentPosition[n] = pulse; |
tashworth | 1:fe4a0b47ff25 | 185 | pulse = 4094 * pulse / pulselength; |
tashworth | 1:fe4a0b47ff25 | 186 | pwm.setPWM(n, 0, pulse); |
tashworth | 1:fe4a0b47ff25 | 187 | } |
tashworth | 0:1b64a0cedc5d | 188 | |
tashworth | 0:1b64a0cedc5d | 189 | void servoPosition(int set){ |
tashworth | 0:1b64a0cedc5d | 190 | //moves to current position |
tashworth | 2:4e082e4c255d | 191 | setServoPulse(0, Arm_Table[set].base_rotate); |
tashworth | 1:fe4a0b47ff25 | 192 | setServoPulse(1, Arm_Table[set].base_arm); |
tashworth | 0:1b64a0cedc5d | 193 | setServoPulse(2, Arm_Table[set].lil_arm); |
tashworth | 0:1b64a0cedc5d | 194 | setServoPulse(3, Arm_Table[set].big_arm); |
tashworth | 0:1b64a0cedc5d | 195 | setServoPulse(4, Arm_Table[set].claw_arm); |
tashworth | 0:1b64a0cedc5d | 196 | setServoPulse(5, Arm_Table[set].claw_rotate); |
tashworth | 0:1b64a0cedc5d | 197 | setServoPulse(6, Arm_Table[set].claw_open); |
tashworth | 0:1b64a0cedc5d | 198 | } |
tashworth | 0:1b64a0cedc5d | 199 | |
Fairy_Paolina | 3:587441455259 | 200 | int ServoTest(void){ |
Fairy_Paolina | 3:587441455259 | 201 | int num, delta=50; // Change Delta to change increment size |
Fairy_Paolina | 3:587441455259 | 202 | static int move[7]={900, 500, 600, 2450, 2450, 0, 0}; |
Fairy_Paolina | 3:587441455259 | 203 | |
Fairy_Paolina | 3:587441455259 | 204 | if(pc.readable()){ |
Fairy_Paolina | 3:587441455259 | 205 | num=pc.getc(); |
Fairy_Paolina | 3:587441455259 | 206 | |
Fairy_Paolina | 3:587441455259 | 207 | if(num == 'a' || num == 'z'){ |
Fairy_Paolina | 3:587441455259 | 208 | if(move[0]>2650)move[0]=2700; |
Fairy_Paolina | 3:587441455259 | 209 | else if(move[0] < 550) move[0]=500; |
Fairy_Paolina | 3:587441455259 | 210 | |
Fairy_Paolina | 3:587441455259 | 211 | if(num=='a')setServoPulse(0, (move[0]+=delta)); |
Fairy_Paolina | 3:587441455259 | 212 | else setServoPulse(0, (move[0]-=delta)); |
Fairy_Paolina | 3:587441455259 | 213 | } |
Fairy_Paolina | 3:587441455259 | 214 | else if(num == 's' || num == 'x'){ |
Fairy_Paolina | 3:587441455259 | 215 | if(move[1]> 2650)move[1]=2700; |
Fairy_Paolina | 3:587441455259 | 216 | else if(move[1] < 550) move[1]=500; |
Fairy_Paolina | 3:587441455259 | 217 | |
Fairy_Paolina | 3:587441455259 | 218 | if(num=='s')setServoPulse(1, (move[1]+=delta)); |
Fairy_Paolina | 3:587441455259 | 219 | else setServoPulse(1, (move[1]-=delta)); |
Fairy_Paolina | 3:587441455259 | 220 | } |
Fairy_Paolina | 3:587441455259 | 221 | else if(num == 'd' || num == 'c'){ |
Fairy_Paolina | 3:587441455259 | 222 | if(move[2]> 2650)move[2]=2700; |
Fairy_Paolina | 3:587441455259 | 223 | else if(move[2] < 550) move[2]=500; |
Fairy_Paolina | 3:587441455259 | 224 | |
Fairy_Paolina | 3:587441455259 | 225 | if(num=='d')setServoPulse(2, (move[2]+=delta)); |
Fairy_Paolina | 3:587441455259 | 226 | else setServoPulse(2, (move[2]-=delta)); |
Fairy_Paolina | 3:587441455259 | 227 | } |
Fairy_Paolina | 3:587441455259 | 228 | else if(num == 'f' || num == 'v'){ |
Fairy_Paolina | 3:587441455259 | 229 | if(move[3]> 2650)move[3]=2700; |
Fairy_Paolina | 3:587441455259 | 230 | else if(move[3] < 550) move[3]=500; |
Fairy_Paolina | 3:587441455259 | 231 | |
Fairy_Paolina | 3:587441455259 | 232 | if(num=='f')setServoPulse(3, (move[3]+=delta)); |
Fairy_Paolina | 3:587441455259 | 233 | else setServoPulse(3, (move[3]-=delta)); |
Fairy_Paolina | 3:587441455259 | 234 | } |
Fairy_Paolina | 3:587441455259 | 235 | else if(num == 'g' || num == 'b'){ |
Fairy_Paolina | 3:587441455259 | 236 | if(move[4]> 2650)move[4]=2700; |
Fairy_Paolina | 3:587441455259 | 237 | else if(move[4] < 550) move[4]=500; |
Fairy_Paolina | 3:587441455259 | 238 | |
Fairy_Paolina | 3:587441455259 | 239 | if(num=='g')setServoPulse(4, (move[4]+=delta)); |
Fairy_Paolina | 3:587441455259 | 240 | else setServoPulse(4, (move[4]-=delta)); |
Fairy_Paolina | 3:587441455259 | 241 | } |
Fairy_Paolina | 3:587441455259 | 242 | else if(num == 'h' || num == 'n'){ |
Fairy_Paolina | 3:587441455259 | 243 | if(move[5]> 2650)move[5]=2700; |
Fairy_Paolina | 3:587441455259 | 244 | else if(move[5] < 550) move[5]=500; |
Fairy_Paolina | 3:587441455259 | 245 | |
Fairy_Paolina | 3:587441455259 | 246 | if(num=='h')setServoPulse(5, (move[5]+=delta)); |
Fairy_Paolina | 3:587441455259 | 247 | else setServoPulse(5, (move[5]-=delta)); |
Fairy_Paolina | 3:587441455259 | 248 | } |
Fairy_Paolina | 3:587441455259 | 249 | else if(num == 'j' || num == 'n'){ |
Fairy_Paolina | 3:587441455259 | 250 | if(move[6]> 2650)move[6]=2700; |
Fairy_Paolina | 3:587441455259 | 251 | else if(move[6] < 550) move[6]=500; |
Fairy_Paolina | 3:587441455259 | 252 | |
Fairy_Paolina | 3:587441455259 | 253 | if(num=='j')setServoPulse(6, (move[6]+=delta)); |
Fairy_Paolina | 3:587441455259 | 254 | else setServoPulse(6, (move[6]-=delta)); |
Fairy_Paolina | 3:587441455259 | 255 | } |
Fairy_Paolina | 3:587441455259 | 256 | else if(num== 'e') return 1; |
Fairy_Paolina | 3:587441455259 | 257 | |
Fairy_Paolina | 3:587441455259 | 258 | pc.printf("0\t 1\t 2\t 3 \t4 \t 5 \t 6\t type e to end\n\r"); |
Fairy_Paolina | 3:587441455259 | 259 | pc.printf("%d\t %d\t %d\t %d \t%d \t %d \t %d\n\r",move[0],move[1], move[2], move[3],move[4],move[5],move[6]); |
Fairy_Paolina | 3:587441455259 | 260 | } |
Fairy_Paolina | 3:587441455259 | 261 | return 0; |
Fairy_Paolina | 3:587441455259 | 262 | } |
tashworth | 0:1b64a0cedc5d | 263 |