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Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of theRobot by
main.cpp@2:4e082e4c255d, 2014-03-03 (annotated)
- Committer:
- tashworth
- Date:
- Mon Mar 03 22:30:34 2014 +0000
- Revision:
- 2:4e082e4c255d
- Parent:
- 1:fe4a0b47ff25
- Child:
- 3:b7b4780a7f6e
3-3-14
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); |
tashworth | 0:1b64a0cedc5d | 33 | |
tashworth | 0:1b64a0cedc5d | 34 | /************ |
tashworth | 0:1b64a0cedc5d | 35 | Variables for Servos |
tashworth | 0:1b64a0cedc5d | 36 | *************/ |
tashworth | 0:1b64a0cedc5d | 37 | int servoNum, pulseWidth, outputDisabled, posNum; |
tashworth | 0:1b64a0cedc5d | 38 | int currentPosition[7]; |
tashworth | 0:1b64a0cedc5d | 39 | |
tashworth | 0:1b64a0cedc5d | 40 | typedef struct {int arm_action; int base_rotate; int base_arm; |
tashworth | 0:1b64a0cedc5d | 41 | int lil_arm; int big_arm; int claw_arm; |
tashworth | 0:1b64a0cedc5d | 42 | int claw_rotate; int claw_open;} Coord; |
tashworth | 0:1b64a0cedc5d | 43 | |
tashworth | 0:1b64a0cedc5d | 44 | Coord Arm_Table[] = |
tashworth | 0:1b64a0cedc5d | 45 | { |
tashworth | 0:1b64a0cedc5d | 46 | // POSITION ODER: |
tashworth | 0:1b64a0cedc5d | 47 | // base_rotate, base_arm, lil_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open |
tashworth | 0:1b64a0cedc5d | 48 | |
tashworth | 2:4e082e4c255d | 49 | {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position |
tashworth | 2:4e082e4c255d | 50 | {OIL_RIG1, 1500, 1400, 1900, 900, 900, 0, 0}, // point laser at oilrig2 |
tashworth | 2:4e082e4c255d | 51 | {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position |
tashworth | 2:4e082e4c255d | 52 | {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position |
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 | 0:1b64a0cedc5d | 56 | |
tashworth | 0:1b64a0cedc5d | 57 | }; |
tashworth | 0:1b64a0cedc5d | 58 | |
tashworth | 0:1b64a0cedc5d | 59 | int main() { |
tashworth | 0:1b64a0cedc5d | 60 | |
tashworth | 0:1b64a0cedc5d | 61 | /***************** |
tashworth | 0:1b64a0cedc5d | 62 | INITIALIZATIONS |
tashworth | 0:1b64a0cedc5d | 63 | *******************/ |
tashworth | 2:4e082e4c255d | 64 | //pc.baud(115200); |
tashworth | 2:4e082e4c255d | 65 | //Laser Range Finder Initialization |
tashworth | 0:1b64a0cedc5d | 66 | //lrf_baudCalibration(); |
tashworth | 2:4e082e4c255d | 67 | |
tashworth | 2:4e082e4c255d | 68 | //Servo initialization |
tashworth | 0:1b64a0cedc5d | 69 | initServoDriver(); |
tashworth | 2:4e082e4c255d | 70 | servoBegin(); // initiates servos to start position |
tashworth | 2:4e082e4c255d | 71 | ServoOutputDisable = 0; |
tashworth | 2:4e082e4c255d | 72 | |
tashworth | 0:1b64a0cedc5d | 73 | while(1){ |
tashworth | 0:1b64a0cedc5d | 74 | if(pc.readable()){ |
tashworth | 2:4e082e4c255d | 75 | /* |
tashworth | 2:4e082e4c255d | 76 | pc.scanf("%d %d %d", &outputDisabled, &servoNum, &pulseWidth); |
tashworth | 0:1b64a0cedc5d | 77 | setServoPulse(servoNum, pulseWidth); |
tashworth | 2:4e082e4c255d | 78 | */ |
tashworth | 2:4e082e4c255d | 79 | pc.scanf("%d", &posNum); |
tashworth | 2:4e082e4c255d | 80 | servoPosition(posNum); |
tashworth | 2:4e082e4c255d | 81 | |
tashworth | 1:fe4a0b47ff25 | 82 | |
tashworth | 0:1b64a0cedc5d | 83 | } |
tashworth | 0:1b64a0cedc5d | 84 | } |
tashworth | 0:1b64a0cedc5d | 85 | |
tashworth | 0:1b64a0cedc5d | 86 | /************************************************** |
tashworth | 0:1b64a0cedc5d | 87 | * FIRST STAGE |
tashworth | 0:1b64a0cedc5d | 88 | * |
tashworth | 0:1b64a0cedc5d | 89 | * - DETERMINE OIL RIG ON FIRE |
tashworth | 0:1b64a0cedc5d | 90 | * - DETERMINE PATH |
tashworth | 0:1b64a0cedc5d | 91 | * |
tashworth | 0:1b64a0cedc5d | 92 | **************************************************/ |
tashworth | 0:1b64a0cedc5d | 93 | |
tashworth | 0:1b64a0cedc5d | 94 | //TODO: EXTEND ARM AND FACE OILRIGS |
tashworth | 0:1b64a0cedc5d | 95 | |
tashworth | 0:1b64a0cedc5d | 96 | //OILRIG 1 DISTANCE READING |
tashworth | 0:1b64a0cedc5d | 97 | |
tashworth | 0:1b64a0cedc5d | 98 | //TODO: ROTATE ARM TO NEXT OIL RIG |
tashworth | 0:1b64a0cedc5d | 99 | |
tashworth | 0:1b64a0cedc5d | 100 | //OILRIG 2 DISTANCE READING |
tashworth | 0:1b64a0cedc5d | 101 | |
tashworth | 0:1b64a0cedc5d | 102 | //ROTATE ARM TO NEXT OIL RIG |
tashworth | 0:1b64a0cedc5d | 103 | |
tashworth | 0:1b64a0cedc5d | 104 | //OILRIG 3 DISTANCE READING |
tashworth | 0:1b64a0cedc5d | 105 | |
tashworth | 0:1b64a0cedc5d | 106 | } |
tashworth | 0:1b64a0cedc5d | 107 | |
tashworth | 0:1b64a0cedc5d | 108 | |
tashworth | 0:1b64a0cedc5d | 109 | |
tashworth | 0:1b64a0cedc5d | 110 | /************ |
tashworth | 0:1b64a0cedc5d | 111 | |
tashworth | 0:1b64a0cedc5d | 112 | Servo Functions |
tashworth | 0:1b64a0cedc5d | 113 | |
tashworth | 0:1b64a0cedc5d | 114 | **************/ |
tashworth | 0:1b64a0cedc5d | 115 | |
tashworth | 0:1b64a0cedc5d | 116 | void setServoPulse(uint8_t n, float pulse) { |
tashworth | 1:fe4a0b47ff25 | 117 | float pulselength = 20000; // 20,000 us per second |
tashworth | 1:fe4a0b47ff25 | 118 | int i = currentPosition[n]; |
tashworth | 1:fe4a0b47ff25 | 119 | pc.printf("\ncurrent position = %d\n", currentPosition[n]); |
tashworth | 1:fe4a0b47ff25 | 120 | int pulse2; |
tashworth | 1:fe4a0b47ff25 | 121 | if(currentPosition[n] < pulse){ |
tashworth | 1:fe4a0b47ff25 | 122 | pc.printf("\ncurrent position < pulse\n"); |
tashworth | 1:fe4a0b47ff25 | 123 | for(i; i < pulse; i++){ |
tashworth | 1:fe4a0b47ff25 | 124 | pulse2 = 4094 * i / pulselength; |
tashworth | 1:fe4a0b47ff25 | 125 | pwm.setPWM(n, 0, pulse2); |
tashworth | 1:fe4a0b47ff25 | 126 | wait_ms(3); |
tashworth | 1:fe4a0b47ff25 | 127 | } |
tashworth | 1:fe4a0b47ff25 | 128 | } else if (currentPosition[n] > pulse) { |
tashworth | 1:fe4a0b47ff25 | 129 | pc.printf("\ncurrent position > pulse\n"); |
tashworth | 1:fe4a0b47ff25 | 130 | for(i; i > pulse; i--){ |
tashworth | 1:fe4a0b47ff25 | 131 | pulse2 = 4094 * i / pulselength; |
tashworth | 1:fe4a0b47ff25 | 132 | pwm.setPWM(n, 0, pulse2); |
tashworth | 1:fe4a0b47ff25 | 133 | wait_ms(3); |
tashworth | 1:fe4a0b47ff25 | 134 | } |
tashworth | 1:fe4a0b47ff25 | 135 | } |
tashworth | 1:fe4a0b47ff25 | 136 | currentPosition[n] = i; |
tashworth | 1:fe4a0b47ff25 | 137 | pc.printf("\nending position = %d\n\n", i); |
tashworth | 0:1b64a0cedc5d | 138 | } |
tashworth | 0:1b64a0cedc5d | 139 | |
tashworth | 0:1b64a0cedc5d | 140 | void initServoDriver(void) { |
tashworth | 0:1b64a0cedc5d | 141 | pwm.begin(); |
tashworth | 0:1b64a0cedc5d | 142 | //pwm.setPWMFreq(100); //This dosen't work well because of uncertain clock speed. Use setPrescale(). |
tashworth | 0:1b64a0cedc5d | 143 | pwm.setPrescale(140); //This value is decided for 20ms interval. |
tashworth | 0:1b64a0cedc5d | 144 | pwm.setI2Cfreq(400000); //400kHz |
tashworth | 1:fe4a0b47ff25 | 145 | |
tashworth | 0:1b64a0cedc5d | 146 | } |
tashworth | 0:1b64a0cedc5d | 147 | |
tashworth | 1:fe4a0b47ff25 | 148 | void servoBegin(void){ |
tashworth | 1:fe4a0b47ff25 | 149 | setServoPulseNo_delay(0, 900); |
tashworth | 1:fe4a0b47ff25 | 150 | setServoPulseNo_delay(1, 500); |
tashworth | 1:fe4a0b47ff25 | 151 | setServoPulseNo_delay(2, 600); |
tashworth | 1:fe4a0b47ff25 | 152 | setServoPulseNo_delay(3, 2450); |
tashworth | 1:fe4a0b47ff25 | 153 | setServoPulseNo_delay(4, 2450); |
tashworth | 1:fe4a0b47ff25 | 154 | setServoPulseNo_delay(5, 0); |
tashworth | 1:fe4a0b47ff25 | 155 | setServoPulseNo_delay(6, 0); |
tashworth | 1:fe4a0b47ff25 | 156 | } |
tashworth | 0:1b64a0cedc5d | 157 | |
tashworth | 1:fe4a0b47ff25 | 158 | void setServoPulseNo_delay(uint8_t n, float pulse) { |
tashworth | 1:fe4a0b47ff25 | 159 | float pulselength = 20000; // 20,000 us per second |
tashworth | 1:fe4a0b47ff25 | 160 | currentPosition[n] = pulse; |
tashworth | 1:fe4a0b47ff25 | 161 | pulse = 4094 * pulse / pulselength; |
tashworth | 1:fe4a0b47ff25 | 162 | pwm.setPWM(n, 0, pulse); |
tashworth | 1:fe4a0b47ff25 | 163 | } |
tashworth | 0:1b64a0cedc5d | 164 | |
tashworth | 0:1b64a0cedc5d | 165 | void servoPosition(int set){ |
tashworth | 0:1b64a0cedc5d | 166 | //moves to current position |
tashworth | 2:4e082e4c255d | 167 | setServoPulse(0, Arm_Table[set].base_rotate); |
tashworth | 1:fe4a0b47ff25 | 168 | setServoPulse(1, Arm_Table[set].base_arm); |
tashworth | 0:1b64a0cedc5d | 169 | setServoPulse(2, Arm_Table[set].lil_arm); |
tashworth | 0:1b64a0cedc5d | 170 | setServoPulse(3, Arm_Table[set].big_arm); |
tashworth | 0:1b64a0cedc5d | 171 | setServoPulse(4, Arm_Table[set].claw_arm); |
tashworth | 0:1b64a0cedc5d | 172 | setServoPulse(5, Arm_Table[set].claw_rotate); |
tashworth | 0:1b64a0cedc5d | 173 | setServoPulse(6, Arm_Table[set].claw_open); |
tashworth | 0:1b64a0cedc5d | 174 | } |
tashworth | 0:1b64a0cedc5d | 175 | |
tashworth | 0:1b64a0cedc5d | 176 | |
tashworth | 0:1b64a0cedc5d | 177 |