Jimmy Maingam
assert1
Dependencies: mbed X_NUCLEO_IHM02A1
Revision 0:6ca63d45f0ee, committed 2018-12-11
- Comitter:
- Coconara
- Date:
- Tue Dec 11 19:12:55 2018 +0000
- Child:
- 1:0690cf83f060
- Commit message:
- asser
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_IHM02A1.lib Tue Dec 11 19:12:55 2018 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/X_NUCLEO_IHM02A1/#ff67801d7cd7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/hardware.cpp Tue Dec 11 19:12:55 2018 +0000
@@ -0,0 +1,254 @@
+#define _POSIX_C_SOURCE 199309L
+#include "mbed.h"
+#include "reglages.h"
+#include "hardware.h"
+#include "DevSPI.h"
+#include "XNucleoIHM02A1.h"
+
+// PWM_MAX est définit dans réglage;
+bool moteurs_arret = false;
+
+
+XNucleoIHM02A1 *x_nucleo_ihm02a1; //Création d'une entité pour la carte de contôle des pas à pas
+L6470_init_t init[L6470DAISYCHAINSIZE] = {
+ /* First Motor. */
+ {
+ 9.0, /* Motor supply voltage in V. */
+ 400, /* Min number of steps per revolution for the motor. */
+ 1.7, /* Max motor phase voltage in A. */
+ 3.06, /* Max motor phase voltage in V. */
+ 300.0, /* Motor initial speed [step/s]. */
+ 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
+ 1500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
+ 992.0, /* Motor maximum speed [step/s]. */
+ 0.0, /* Motor minimum speed [step/s]. */
+ 602.7, /* Motor full-step speed threshold [step/s]. */
+ 3.06, /* Holding kval [V]. */
+ 3.06, /* Constant speed kval [V]. */
+ 3.06, /* Acceleration starting kval [V]. */
+ 3.06, /* Deceleration starting kval [V]. */
+ 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
+ 392.1569e-6, /* Start slope [s/step]. */
+ 643.1372e-6, /* Acceleration final slope [s/step]. */
+ 643.1372e-6, /* Deceleration final slope [s/step]. */
+ 0, /* Thermal compensation factor (range [0, 15]). */
+ 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
+ 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
+ StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
+ 0xFF, /* Alarm conditions enable. */
+ 0x2E88 /* Ic configuration. */
+ },
+
+ /* Second Motor. */
+ {
+ 9.0, /* Motor supply voltage in V. */
+ 400, /* Min number of steps per revolution for the motor. */
+ 1.7, /* Max motor phase voltage in A. */
+ 3.06, /* Max motor phase voltage in V. */
+ 300.0, /* Motor initial speed [step/s]. */
+ 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
+ 1500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
+ 992.0, /* Motor maximum speed [step/s]. */
+ 0.0, /* Motor minimum speed [step/s]. */
+ 602.7, /* Motor full-step speed threshold [step/s]. */
+ 3.06, /* Holding kval [V]. */
+ 3.06, /* Constant speed kval [V]. */
+ 3.06, /* Acceleration starting kval [V]. */
+ 3.06, /* Deceleration starting kval [V]. */
+ 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
+ 392.1569e-6, /* Start slope [s/step]. */
+ 643.1372e-6, /* Acceleration final slope [s/step]. */
+ 643.1372e-6, /* Deceleration final slope [s/step]. */
+ 0, /* Thermal compensation factor (range [0, 15]). */
+ 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
+ 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
+ StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
+ 0xFF, /* Alarm conditions enable. */
+ 0x2E88 /* Ic configuration. */
+ }
+};
+
+L6470 **motors; //Instance des moteurs
+
+DigitalOut led(LED2);
+Serial pc(USBTX, USBRX); // tx, rx
+DevSPI dev_spi(D11, D12, D3);
+
+
+//Connections codeuses
+InterruptIn ENCAL(D6);
+InterruptIn ENCAJ(D5);
+InterruptIn ENCBL(D8);
+InterruptIn ENCBJ(D7);
+
+volatile long encoderValueA = 0; //nombre de tics sur l'encodeur A
+volatile long encoderValueB = 0; //nombre de tics sur l'encodeur B
+
+void init_hardware()
+{
+ pc.baud(115200); //Initialisation de l'USART pc
+
+ /* Initializing Motor Control Expansion Board. */
+ x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
+ motors = x_nucleo_ihm02a1->get_components();
+
+ ENCAL.mode(PullUp); //Initialisation des codeuses
+ ENCAJ.mode(PullUp);
+ ENCBL.mode(PullUp);
+ ENCBJ.mode(PullUp);
+
+ ENCAL.rise(&updateEncoderA);
+ ENCAL.fall(&updateEncoderA);
+ ENCAJ.rise(&updateEncoderA);
+ ENCAJ.fall(&updateEncoderA);
+
+ ENCBL.rise(&updateEncoderB);
+ ENCBL.fall(&updateEncoderB);
+ ENCBJ.rise(&updateEncoderB);
+ ENCBJ.fall(&updateEncoderB);
+
+}
+
+void set_PWM_moteur_D(int PWM)
+{
+ if (!moteurs_arret) {
+ if (PWM > PWM_MAX) {
+ motors[0]->prepare_run(StepperMotor::BWD, PWM_MAX); //BWD = backward , FWD = forward , la vitesse doit etre positive
+ } else if (PWM <-PWM_MAX) {
+ motors[0]->prepare_run(StepperMotor::FWD, PWM_MAX);
+ } else if (PWM > 0) {
+ motors[0]->prepare_run(StepperMotor::BWD, PWM);
+ } else if (PWM < 0) {
+ motors[0]->prepare_run(StepperMotor::FWD, -PWM);
+ } else if (PWM == 0) {
+ motors[0]->prepare_run(StepperMotor::BWD, 0);
+ }
+ } else {
+ motors[0]->prepare_hard_hiz(); //mode haute impédence pour pouvoir déplacer le robot à la main
+ }
+ x_nucleo_ihm02a1->perform_prepared_actions();
+}
+
+void set_PWM_moteur_G(int PWM)
+{
+
+ if (!moteurs_arret) {
+ if (PWM > PWM_MAX) {
+ motors[1]->prepare_run(StepperMotor::FWD, PWM_MAX);
+ } else if (PWM <-PWM_MAX) {
+ motors[1]->prepare_run(StepperMotor::BWD, PWM_MAX);
+ } else if (PWM > 0) {
+ motors[1]->prepare_run(StepperMotor::FWD, PWM);
+ } else if (PWM < 0) {
+ motors[1]->prepare_run(StepperMotor::BWD, -PWM);
+ } else if (PWM == 0) {
+ motors[1]->prepare_run(StepperMotor::BWD, 0);
+ }
+ } else {
+ motors[1]->prepare_hard_hiz(); //mode haute impédence pour pouvoir déplacer le robot à la main
+ }
+ x_nucleo_ihm02a1->perform_prepared_actions();
+}
+
+long int get_nbr_tick_D()
+{
+ return encoderValueA;
+}
+
+long int get_nbr_tick_G()
+{
+ return encoderValueB;
+}
+
+void attente_synchro()
+{
+ //structute du temps d'attente de l'asservissement 10ms
+ wait(0.010);
+}
+
+void motors_stop()
+{
+ moteurs_arret=1;
+ motors[0]->prepare_hard_hiz(); //mode haute impédence pour pouvoir déplacer le robot à la main
+ motors[1]->prepare_hard_hiz();
+ x_nucleo_ihm02a1->perform_prepared_actions();
+}
+
+void motors_on()
+{
+ moteurs_arret=0;
+}
+
+
+void allumer_del()
+{
+ led = 1;
+}
+
+void eteindre_del()
+{
+ led = 0;
+}
+
+void delay_ms()
+{
+}
+
+void allumer_autres_del()
+{
+}
+
+void eteindre_autres_del()
+{
+}
+void toggle_autres_del() {}
+
+void set_all_led()
+{
+
+}
+
+
+volatile int lastEncodedA = 0;
+long lastencoderValueA = 0;
+int lastMSBA = 0;
+int lastLSBA = 0;
+
+void updateEncoderA()
+{
+ int MSBA = ENCAL.read(); //MSB = most significant bit
+ int LSBA = ENCAJ.read(); //LSB = least significant bit
+
+ int encodedA = (MSBA << 1) |LSBA; //converting the 2 pin value to single number
+ int sumA = (lastEncodedA << 2) | encodedA; //adding it to the previous encoded value
+
+ if(sumA == 0b1101 || sumA == 0b0100 || sumA == 0b0010 || sumA == 0b1011) encoderValueA ++;
+ if(sumA == 0b1110 || sumA == 0b0111 || sumA == 0b0001 || sumA == 0b1000) encoderValueA --;
+
+ lastEncodedA = encodedA; //store this value for next time
+}
+
+
+volatile int lastEncodedB = 0;
+long lastencoderValueB = 0;
+int lastMSBB = 0;
+int lastLSBB = 0;
+
+void updateEncoderB()
+{
+ int MSBB = ENCBL.read(); //MSB = most significant bit
+ int LSBB = ENCBJ.read(); //LSB = least significant bit
+
+ int encodedB = (MSBB << 1) |LSBB; //converting the 2 pin value to single number
+ int sumB = (lastEncodedB << 2) | encodedB; //adding it to the previous encoded value
+
+ if(sumB == 0b1101 || sumB == 0b0100 || sumB == 0b0010 || sumB == 0b1011) encoderValueB ++;
+ if(sumB == 0b1110 || sumB == 0b0111 || sumB == 0b0001 || sumB == 0b1000) encoderValueB --;
+
+ lastEncodedB = encodedB; //store this value for next time
+}
+
+void debugEncoder()
+{
+ printf("codeuse droite : %d, codeuse gauche : %d\n", lastEncodedB, lastEncodedA);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/hardware.h Tue Dec 11 19:12:55 2018 +0000 @@ -0,0 +1,32 @@ +#ifndef HARDWARE_H +#define HARDWARE_H + + +void init_hardware(void); +void set_PWM_moteur_D(int PWM); +void set_PWM_moteur_G(int PWM); +long int get_nbr_tick_D(void); +long int get_nbr_tick_G(void); +void attente_synchro(void); + +void allumer_del(void); +void eteindre_del(void); + +void allumer_autres_del(void); +void eteindre_autres_del(void); +void toggle_autres_del(void); + +void motors_on(void); +void motors_stop(void); + +int arret(void); + +void updateEncoderA(void); +void updateEncoderB(void); + +float lecture_courrant_D(); +float lecture_courrant_G(); + +void debugEncoder(void); + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Dec 11 19:12:55 2018 +0000
@@ -0,0 +1,19 @@
+#include "mbed.h"
+
+#include "hardware.h"
+#include "odometrie.h"
+#include "reglages.h"
+#include "tests_moteurs.h"
+
+int main()
+{
+ //init
+ init_odometrie();
+ init_hardware();
+
+ test_ligne_droite(1000000, 900);
+
+
+
+ return 0;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/math_precalc.cpp Tue Dec 11 19:12:55 2018 +0000
@@ -0,0 +1,33 @@
+#include "math_precalc.h"
+
+
+const float t_cos_precalc[3143] = {1.000000, 1.000000, 0.999998, 0.999996, 0.999992, 0.999988, 0.999982, 0.999976, 0.999968, 0.999960, 0.999950, 0.999940, 0.999928, 0.999916, 0.999902, 0.999888, 0.999872, 0.999856, 0.999838, 0.999820, 0.999800, 0.999780, 0.999758, 0.999736, 0.999712, 0.999688, 0.999662, 0.999636, 0.999608, 0.999580, 0.999550, 0.999520, 0.999488, 0.999456, 0.999422, 0.999388, 0.999352, 0.999316, 0.999278, 0.999240, 0.999200, 0.999160, 0.999118, 0.999076, 0.999032, 0.998988, 0.998942, 0.998896, 0.998848, 0.998800, 0.998750, 0.998700, 0.998648, 0.998596, 0.998542, 0.998488, 0.998432, 0.998376, 0.998318, 0.998260, 0.998201, 0.998140, 0.998079, 0.998016, 0.997953, 0.997888, 0.997823, 0.997756, 0.997689, 0.997620, 0.997551, 0.997481, 0.997409, 0.997337, 0.997263, 0.997189, 0.997113, 0.997037, 0.996960, 0.996881, 0.996802, 0.996721, 0.996640, 0.996557, 0.996474, 0.996390, 0.996304, 0.996218, 0.996130, 0.996042, 0.995953, 0.995862, 0.995771, 0.995679, 0.995585, 0.995491, 0.995396, 0.995299, 0.995202, 0.995104, 0.995004, 0.994904, 0.994803, 0.994700, 0.994597, 0.994493, 0.994387, 0.994281, 0.994174, 0.994065, 0.993956, 0.993846, 0.993735, 0.993622, 0.993509, 0.993395, 0.993280, 0.993163, 0.993046, 0.992928, 0.992809, 0.992688, 0.992567, 0.992445, 0.992322, 0.992198, 0.992072, 0.991946, 0.991819, 0.991691, 0.991562, 0.991432, 0.991301, 0.991169, 0.991035, 0.990901, 0.990766, 0.990630, 0.990493, 0.990355, 0.990216, 0.990076, 0.989935, 0.989793, 0.989650, 0.989506, 0.989361, 0.989215, 0.989068, 0.988920, 0.988771, 0.988621, 0.988470, 0.988318, 0.988165, 0.988012, 0.987857, 0.987701, 0.987544, 0.987386, 0.987227, 0.987067, 0.986907, 0.986745, 0.986582, 0.986418, 0.986254, 0.986088, 0.985921, 0.985753, 0.985585, 0.985415, 0.985244, 0.985073, 0.984900, 0.984727, 0.984552, 0.984376, 0.984200, 0.984022, 0.983844, 0.983664, 0.983484, 0.983302, 0.983120, 0.982936, 0.982752, 0.982566, 0.982380, 0.982193, 0.982004, 0.981815, 0.981625, 0.981433, 0.981241, 0.981048, 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0.956511, 0.956219, 0.955926, 0.955632, 0.955336, 0.955040, 0.954744, 0.954446, 0.954147, 0.953847, 0.953546, 0.953244, 0.952942, 0.952638, 0.952334, 0.952028, 0.951722, 0.951414, 0.951106, 0.950796, 0.950486, 0.950175, 0.949863, 0.949550, 0.949235, 0.948920, 0.948604, 0.948287, 0.947970, 0.947651, 0.947331, 0.947010, 0.946689, 0.946366, 0.946042, 0.945718, 0.945392, 0.945066, 0.944739, 0.944410, 0.944081, 0.943751, 0.943420, 0.943088, 0.942755, 0.942421, 0.942086, 0.941750, 0.941413, 0.941075, 0.940737, 0.940397, 0.940057, 0.939715, 0.939373, 0.939029, 0.938685, 0.938340, 0.937994, 0.937646, 0.937298, 0.936949, 0.936599, 0.936249, 0.935897, 0.935544, 0.935190, 0.934836, 0.934480, 0.934124, 0.933766, 0.933408, 0.933049, 0.932688, 0.932327, 0.931965, 0.931602, 0.931238, 0.930873, 0.930508, 0.930141, 0.929773, 0.929405, 0.929035, 0.928665, 0.928293, 0.927921, 0.927548, 0.927174, 0.926798, 0.926422, 0.926045, 0.925668, 0.925289, 0.924909, 0.924528, 0.924147, 0.923764, 0.923381, 0.922997, 0.922611, 0.922225, 0.921838, 0.921450, 0.921061, 0.920671, 0.920280, 0.919889, 0.919496, 0.919102, 0.918708, 0.918313, 0.917916, 0.917519, 0.917121, 0.916722, 0.916322, 0.915921, 0.915519, 0.915116, 0.914713, 0.914308, 0.913903, 0.913496, 0.913089, 0.912681, 0.912272, 0.911862, 0.911451, 0.911039, 0.910626, 0.910212, 0.909798, 0.909382, 0.908966, 0.908548, 0.908130, 0.907711, 0.907291, 0.906870, 0.906448, 0.906025, 0.905602, 0.905177, 0.904752, 0.904325, 0.903898, 0.903470, 0.903041, 0.902611, 0.902180, 0.901748, 0.901315, 0.900882, 0.900447, 0.900012, 0.899575, 0.899138, 0.898700, 0.898261, 0.897821, 0.897380, 0.896939, 0.896496, 0.896052, 0.895608, 0.895163, 0.894717, 0.894270, 0.893822, 0.893373, 0.892923, 0.892472, 0.892021, 0.891568, 0.891115, 0.890661, 0.890206, 0.889750, 0.889293, 0.888835, 0.888376, 0.887917, 0.887456, 0.886995, 0.886533, 0.886070, 0.885606, 0.885141, 0.884675, 0.884208, 0.883741, 0.883272, 0.882803, 0.882333, 0.881862, 0.881390, 0.880917, 0.880443, 0.879969, 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+const float t_sin_precalc[3143] = {0.000000, 0.001000, 0.002000, 0.003000, 0.004000, 0.005000, 0.006000, 0.007000, 0.008000, 0.009000, 0.010000, 0.011000, 0.012000, 0.013000, 0.014000, 0.014999, 0.015999, 0.016999, 0.017999, 0.018999, 0.019999, 0.020998, 0.021998, 0.022998, 0.023998, 0.024997, 0.025997, 0.026997, 0.027996, 0.028996, 0.029996, 0.030995, 0.031995, 0.032994, 0.033993, 0.034993, 0.035992, 0.036992, 0.037991, 0.038990, 0.039989, 0.040989, 0.041988, 0.042987, 0.043986, 0.044985, 0.045984, 0.046983, 0.047982, 0.048980, 0.049979, 0.050978, 0.051977, 0.052975, 0.053974, 0.054972, 0.055971, 0.056969, 0.057967, 0.058966, 0.059964, 0.060962, 0.061960, 0.062958, 0.063956, 0.064954, 0.065952, 0.066950, 0.067948, 0.068945, 0.069943, 0.070940, 0.071938, 0.072935, 0.073932, 0.074930, 0.075927, 0.076924, 0.077921, 0.078918, 0.079915, 0.080911, 0.081908, 0.082905, 0.083901, 0.084898, 0.085894, 0.086890, 0.087886, 0.088883, 0.089879, 0.090874, 0.091870, 0.092866, 0.093862, 0.094857, 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+
+float cos_precalc(int angle)
+{
+ if (0<=angle && angle<=3142)
+ return t_cos_precalc[angle];
+ if (0>angle && angle>=-3142)
+ return t_cos_precalc[-angle];
+ return 2; //retour d'une valeur abérante pour s'en appercevoir si erreur
+}
+
+float sin_precalc(int angle)
+{
+ if (0<=angle && angle<=3142)
+ return t_sin_precalc[angle];
+ if (0>angle && angle>=-3142)
+ return -t_sin_precalc[-angle];
+ return 2; //retour d'une valeur abérante pour s'en appercevoir si erreur
+}
+
+double racine(long int a)
+{
+ return pow((float) a, 0.5); // contrairement a sqrt, pow fonctionne
+}
+
+double pow(long int a, long int b)
+{
+ return pow((double) a, (double) b);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/math_precalc.h Tue Dec 11 19:12:55 2018 +0000 @@ -0,0 +1,11 @@ +#ifndef MATH_PRECALC_H +#define MATH_PRECALC_H + +float cos_precalc(int angle); +float sin_precalc(int angle); + +double racine(long int a); +double pow(long int a, long int b); + + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Dec 11 19:12:55 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/odometrie.cpp Tue Dec 11 19:12:55 2018 +0000
@@ -0,0 +1,106 @@
+#include "mbed.h"
+#include "odometrie.h"
+#include "hardware.h"
+#include "reglages.h"
+#include "math_precalc.h"
+
+long int x_actuel;
+long int y_actuel;
+double angle; // angle du robot
+
+
+long int nbr_tick_D_prec;
+long int nbr_tick_G_prec;
+
+void init_odometrie()
+{
+ x_actuel=X_INIT;
+ y_actuel=Y_INIT;
+ angle=0;
+ nbr_tick_D_prec=0;
+ nbr_tick_G_prec=0;
+}
+
+void actualise_position()
+{
+ /*
+ on suppose les valeurs de vd et vg constantes pendant t, la trajectoire decrite par le robot est alors un cercle
+ */
+
+ /*------recuperation de la rotation des roues---------*/
+ long int nbr_tick_D=get_nbr_tick_D();
+ long int nbr_tick_G=get_nbr_tick_G();
+
+ //calcul du nombre de tick
+ long int nbr_tick_D_actuel=nbr_tick_D-nbr_tick_D_prec;
+ long int nbr_tick_G_actuel=nbr_tick_G-nbr_tick_G_prec;
+
+ //sauvegarde
+ nbr_tick_D_prec=nbr_tick_D;
+ nbr_tick_G_prec=nbr_tick_G;
+
+ double dep_roue_G = nbr_tick_G_actuel * DISTANCE_PAR_TICK_G; // deplacement des roues
+ double dep_roue_D = nbr_tick_D_actuel * DISTANCE_PAR_TICK_D;
+
+
+ /*------calcul de la trajectoire---------*/
+
+ // determination du cercle décrit par la trajectoire et de la vitesse du robot sur ce cercle
+ if (dep_roue_G != dep_roue_D){
+
+ double R = 0; // rayon du cercle decrit par la trajectoire
+ double d = 0; // vitesse du robot
+ double cx = 0; // position du centre du cercle decrit par la trajectoire
+ double cy = 0;
+
+ R = ECART_ROUE / 2 * (dep_roue_D + dep_roue_G) / (dep_roue_D - dep_roue_G); // rayon du cercle
+ cx = x_actuel - R * sin(angle);
+ cy = y_actuel + R * cos(angle);
+ d = (dep_roue_G + dep_roue_D) / 2;
+
+ // mise à jour des coordonnées du robot
+ if (dep_roue_G + dep_roue_D != 0){
+ angle += d / R;
+ }
+ else{
+ angle += dep_roue_D * 2 / ECART_ROUE;
+ }
+
+ angle = borne_angle(angle);
+
+ x_actuel = (int) (cx + R * sin(angle) + 0.5);
+ y_actuel = (int) (cy - R * cos(angle) + 0.5);
+ }
+ else if (dep_roue_G == dep_roue_D){ // cas où la trajectoire est une parfaite ligne droite
+ x_actuel += (int) (dep_roue_G * cos(angle) + 0.5);
+ y_actuel += (int) (dep_roue_D * sin(angle) + 0.5);
+ }
+
+ printf("tick d : %d, tick g : %d, x : %d, y : %d. angle : %lf\n", nbr_tick_D, nbr_tick_G, x_actuel, y_actuel, angle*180/3.14);
+}
+
+double borne_angle(double angle)
+{
+ if (angle > 3.14) {
+ angle -= 2*3.14;
+ }
+ else if (angle <= -3.14) {
+ angle += 2*3.14;
+ }
+ return angle;
+}
+
+long int get_x_actuel()
+{
+ return x_actuel;
+}
+
+long int get_y_actuel()
+{
+ return y_actuel;
+}
+
+double get_angle()
+{
+ return angle*180/3.14;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/odometrie.h Tue Dec 11 19:12:55 2018 +0000 @@ -0,0 +1,15 @@ +#ifndef ODOMETRIE_H +#define ODOMETRIE_H + +#define PI_MILLI 3142 +#define DEUX_PI_MILLI 6283 +#define PI 3.1415 + +void init_odometrie(void); +void actualise_position(void); +double borne_angle(double angle); +long int get_x_actuel(void); +long int get_y_actuel(void); +double get_angle(void); + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/odometrie1.0.txt Tue Dec 11 19:12:55 2018 +0000
@@ -0,0 +1,173 @@
+#include "mbed.h"
+
+int AencoderPin1 = 18;
+int AencoderPin2 = 19;
+int BencoderPin1 = 20;
+int BencoderPin2 = 21;
+
+volatile int AlastEncoded = 0;
+volatile int AencoderValue = 0;
+volatile int AencoderValueb = 0;
+volatile int BlastEncoded = 0;
+volatile int BencoderValue = 0;
+volatile int BencoderValueb = 0;
+
+long AlastencoderValue = 0;
+long BlastencoderValue = 0;
+
+int sumA = 0;
+int sumB = 0;
+
+const long e = 11750; // ecart entre les 2 roues
+const float D = 8.5;
+
+long pos[2] = {0, 0}; // position en (x, y)
+short angle = 0; // angle du robot
+long DA = 0;
+long DB = 0;
+
+int dr[2]; // vitesse des roues droite et gauche (vg, vd), en millieme de cm / millisec
+
+
+void setup() {
+ Serial.begin (115200);
+
+ pinMode(AencoderPin1, INPUT);
+ pinMode(AencoderPin2, INPUT);
+ pinMode(BencoderPin1, INPUT);
+ pinMode(BencoderPin2, INPUT);
+
+
+ digitalWrite(AencoderPin1, HIGH); //turn pullup resistor on
+ digitalWrite(AencoderPin2, HIGH); //turn pullup resistor on
+ digitalWrite(BencoderPin1, HIGH); //turn pullup resistor on
+ digitalWrite(BencoderPin2, HIGH); //turn pullup resistor on
+
+ //call updateEncoder() when any high/low changed seen
+ //on interrupt 0 (pin 2), or interrupt 1 (pin 3)
+ attachInterrupt(digitalPinToInterrupt(AencoderPin1), AupdateEncoder, CHANGE);
+ attachInterrupt(digitalPinToInterrupt(AencoderPin2), AupdateEncoder, CHANGE);
+ attachInterrupt(digitalPinToInterrupt(BencoderPin1), BupdateEncoder, CHANGE);
+ attachInterrupt(digitalPinToInterrupt(BencoderPin2), BupdateEncoder, CHANGE);
+
+}
+
+void getParametres(int dr[])
+{
+ dr[0] = (int) (AencoderValue * 8.41413233 + 0.5);
+ sumA += AencoderValue;
+ AencoderValue = 0;
+ /*DA += dr[0];
+ Serial.print("drA : ");
+ Serial.print(DA);*/
+ dr[1] = (int) (BencoderValue * 8.4034010 + 0.5);
+ sumB+= BencoderValue;
+ BencoderValue = 0;
+ /*DB += dr[1];
+ Serial.print(" drB : ");
+ Serial.print(DB);
+ Serial.print(" ");*/
+}
+
+void updatePos(long pos[], short* pangle, int dr[])
+{
+ /*
+ on suppose les valeurs de vd et vg constantes pendant t, la trajectoire decrite par le robot est alors un cercle
+ */
+
+ long R = 0; // rayon du cercle décrit par la trajectoire
+ int d = 0; // vitesse du robot
+ long c[2] = {0, 0}; // position du centre du cercle décrit par la trajectoire
+
+ // determination du cercle décrit par la trajectoire et de la vitesse du robot sur ce cercle
+ if (dr[0] != dr[1]){
+ R = e / 2 * (dr[1] + dr[0]) / (dr[1] - dr[0]);
+ c[0] = pos[0] - (int) (R * sin(*pangle * PI / 32768) + 0.5);
+ c[1] = pos[1] + (int) (R * cos(*pangle * PI / 32768) + 0.5);
+ d = (dr[0] + dr[1]) / 2;
+
+ // mise à jour des coordonnées du robot
+ if (dr[0] + dr[1] != 0){
+ *pangle += (int) (d * 32768.0 / R / PI);
+ }
+ else{
+ *pangle += (int) (dr[1] * 2 * 32768.0 / e / PI);
+ }
+
+ pos[0] = c[0] + (int) (R * sin(*pangle * PI / 32768) + 0.5);
+ pos[1] = c[1] - (int) (R * cos(*pangle * PI / 32768) + 0.5);
+ }
+ else if (dr[0] == dr[1]){ // cas où la trajectoire est une parfaite ligne droite
+ pos[0] += (int) (dr[0] * cos(*pangle * PI / 32768));
+ pos[1] += (int) (dr[0] * sin(*pangle * PI / 32768));
+ }
+
+ Serial.print("dr : ");
+ Serial.print(dr[0]);
+ Serial.print(", ");
+ Serial.print(dr[1]);
+ Serial.print("R : ");
+ Serial.println(R);
+}
+
+
+void loop(){
+ //Do stuff here
+
+ Serial.print("tics : ");
+ Serial.print(AencoderValue);
+ Serial.print(", ");
+ Serial.println(BencoderValue);
+
+ Serial.print("tics totaux : ");
+ Serial.print(AencoderValueb);
+ Serial.print(", ");
+ Serial.println(BencoderValueb);
+
+ Serial.print("tics comptés : ");
+ Serial.print(sumA);
+ Serial.print(", ");
+ Serial.println(sumB);
+
+ getParametres(dr);
+ updatePos(pos, &angle, dr);
+
+
+ Serial.print("x : ");
+ Serial.print(pos[0]);
+ Serial.print(", y : ");
+ Serial.print(pos[1]);
+ Serial.print(" angle : ");
+ Serial.println((float) (angle) * 180 / 32768);
+
+ Serial.println("");
+
+ delay(50); //just here to slow down the output, and show it will work even during a delay
+}
+
+
+void AupdateEncoder(){
+ int AMSB = digitalRead(AencoderPin1); //MSB = most significant bit
+ int ALSB = digitalRead(AencoderPin2); //LSB = least significant bit
+
+ int Aencoded = (AMSB << 1) |ALSB; //converting the 2 pin value to single number
+ int Asum = (AlastEncoded << 2) | Aencoded; //adding it to the previous encoded value
+
+ if(Asum == 0b1101 || Asum == 0b0100 || Asum == 0b0010 || Asum == 0b1011) {AencoderValue ++; AencoderValueb++;}
+ if(Asum == 0b1110 || Asum == 0b0111 || Asum == 0b0001 || Asum == 0b1000) {AencoderValue --; AencoderValueb--;}
+
+ AlastEncoded = Aencoded;
+}
+
+void BupdateEncoder(){
+ int BMSB = digitalRead(BencoderPin1); //MSB = most significant bit
+ int BLSB = digitalRead(BencoderPin2); //LSB = least significant bit
+
+ int Bencoded = (BMSB << 1) |BLSB; //converting the 2 pin value to single number
+ int Bsum = (BlastEncoded << 2) | Bencoded; //adding it to the previous encoded value
+
+ if(Bsum == 0b1101 || Bsum == 0b0100 || Bsum == 0b0010 || Bsum == 0b1011) {BencoderValue ++; BencoderValueb++;}
+ if(Bsum == 0b1110 || Bsum == 0b0111 || Bsum == 0b0001 || Bsum == 0b1000) {BencoderValue --; BencoderValueb--;}
+
+ BlastEncoded = Bencoded;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/reglages.h Tue Dec 11 19:12:55 2018 +0000 @@ -0,0 +1,24 @@ +//position initiale du robot +#define X_INIT 0 +#define Y_INIT 0 +#define THETA_INIT 0 + +//propre a chaque robot +#define ECART_ROUE 31800 // a augmenter si l'angle reel est plus grand que l'angle vise +#define DIAMETRE_ROUE 8410 +#define DISTANCE_PAR_TICK_D 100000/11600 +#define DISTANCE_PAR_TICK_G 100000/11600 + +//calibrage +#define TICK_PAR_MM 11 // nombre de ticks par mm (tick/mm) +#define TICK_PAR_TOUR 8109 //nombre de ticks par tour complet du robot sur lui-même (tick/tour) + +//correction mécanique +#define COEFF_CODEUR_D 1 +#define COEFF_CODEUR_G 1.00 //1.07 +#define COEFF_MOTEUR_D 1.20 //1.085 +#define COEFF_MOTEUR_G 1 //1.10 + +//contraintes mecaniques +#define PWM_MAX 900 //PWM maximal, à cette valeur le robot est à sa vitesse maximale admissible +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tests_moteurs.cpp Tue Dec 11 19:12:55 2018 +0000
@@ -0,0 +1,88 @@
+
+#include "mbed.h"
+
+#include "tests_moteurs.h"
+#include "hardware.h"
+#include "reglages.h"
+#include "math_precalc.h"
+
+#include "odometrie.h"
+
+void test_ligne_droite(long int distance, int vitesse, int angle_vise)
+{
+ motors_on();
+ long int x_ini = get_x_actuel();
+ long int y_ini = get_y_actuel();
+
+ long int x_actuel = get_x_actuel();
+ long int y_actuel = get_y_actuel();
+
+ int vitesse_D = vitesse;
+ int vitesse_G = vitesse;
+
+ double angle = get_angle();
+
+
+ while (pow((double) (x_ini - x_actuel)*(x_ini - x_actuel) + (y_ini - y_actuel)*(y_ini - y_actuel), 0.5) < distance)//x_actuel < distance)
+ {
+ //float a = racine((x_ini - x_actuel)*(x_ini - x_actuel) + (y_ini - y_actuel)*(y_ini - y_actuel));
+ printf(" SQRT : %lf", pow((double) (x_ini - x_actuel)*(x_ini - x_actuel) + (y_ini - y_actuel)*(y_ini - y_actuel), 0.5));
+ angle = get_angle();
+ vitesse_G = (int) (vitesse * (1 + 0.05*(angle_vise-angle)));
+ vitesse_D = (int) (vitesse * (1 - 0.05*(angle_vise-angle)));
+
+ set_PWM_moteur_D(vitesse_D);
+ set_PWM_moteur_G(vitesse_G);
+ actualise_position();
+ x_actuel = get_x_actuel();
+ y_actuel = get_y_actuel();
+ printf("x recu : %ld", x_actuel);// sqrt((x_ini - x_actuel)*(x_ini - x_actuel) + (y_ini - y_actuel)*(y_ini - y_actuel)), y_actuel, (x_actuel - x_ini)*(x_actuel - x_ini) + (y_actuel - y_ini)*(y_actuel - y_ini));
+
+ }
+
+ //printf(" x et y recu : %lf, %ld. distance parcourue : %ld ", sqrt((x_ini - x_actuel)*(x_ini - x_actuel) + (y_ini - y_actuel)*(y_ini - y_actuel)), y_actuel, (x_actuel - x_ini)*(x_actuel - x_ini) + (y_actuel - y_ini)*(y_actuel - y_ini));
+
+ set_PWM_moteur_D(0);
+ set_PWM_moteur_G(0);
+ wait(0.5);
+ motors_stop();
+}
+
+
+void test_rotation(double angle_vise, int vitesse, int nombre)
+{
+ motors_on();
+ /*long int x_ini = get_x_actuel();
+ long int y_ini = get_y_actuel();
+
+ long int x_actuel = get_x_actuel();
+ long int y_actuel = get_y_actuel();*/
+
+ int compteur = 0;
+
+ int vitesse_D = -vitesse;
+ int vitesse_G = vitesse;
+
+ double angle = get_angle();
+
+ while ((angle < angle_vise - 1) || (angle > angle_vise + 1) || (compteur != nombre) || ((angle < -180 + 1) && (angle_vise == 180)))
+ {
+ set_PWM_moteur_D(vitesse_D);
+ set_PWM_moteur_G(vitesse_G);
+ actualise_position();
+ if (angle*get_angle() < 0 && angle > 20)
+ {
+ compteur++;
+ }
+ angle = get_angle();
+ printf("angle recu : %lf", angle);// sqrt((x_ini - x_actuel)*(x_ini - x_actuel) + (y_ini - y_actuel)*(y_ini - y_actuel)), y_actuel, (x_actuel - x_ini)*(x_actuel - x_ini) + (y_actuel - y_ini)*(y_actuel - y_ini));
+
+ }
+
+ //printf(" x et y recu : %lf, %ld. distance parcourue : %ld ", sqrt((x_ini - x_actuel)*(x_ini - x_actuel) + (y_ini - y_actuel)*(y_ini - y_actuel)), y_actuel, (x_actuel - x_ini)*(x_actuel - x_ini) + (y_actuel - y_ini)*(y_actuel - y_ini));
+
+ set_PWM_moteur_D(0);
+ set_PWM_moteur_G(0);
+ wait(0.5);
+ motors_stop();
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests_moteurs.h Tue Dec 11 19:12:55 2018 +0000 @@ -0,0 +1,12 @@ +#ifndef TESTS_MOTEURS_H +#define TESTS_MOTEURS_H + +//fonctions de débug et de calibrage du robot + + +void test_ligne_droite(long int distance, int vitesse, int angle_vise = 0); + +void test_rotation(double angle_vise, int vitesse, int nombre = 0); + + +#endif \ No newline at end of file