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Dependencies:   mbed-rtos mbed

Fork of mbed_amf_controlsystem by Matti Borchers

main.cpp@6:aa27bc8c58f5, 2016-02-04 (annotated)

Committer:
torstenwylegala
Date:
Thu Feb 04 17:46:19 2016 +0000
Revision:
6:aa27bc8c58f5
Parent:
5:4319a748181a
Child:
9:46c42975a0dc
foo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mborchers 0:8a6003b8bb5b 1 #include <mbed.h>
mborchers 0:8a6003b8bb5b 2 #include "rtos.h"
mborchers 0:8a6003b8bb5b 3 #include "Periphery/SupportSystem.h"
mborchers 0:8a6003b8bb5b 4 #include "Misc/SystemTimer.h"
mborchers 3:391c4639bc7d 5 #include "Controller/QuadratureController.h"
mborchers 0:8a6003b8bb5b 6
mborchers 0:8a6003b8bb5b 7 #define PI 3.14159265
mborchers 0:8a6003b8bb5b 8
mborchers 0:8a6003b8bb5b 9 Serial serialMinnow(p13, p14);
mborchers 0:8a6003b8bb5b 10 PwmOut drivePWM(p22);
mborchers 0:8a6003b8bb5b 11 PwmOut steerPWM(p21);
mborchers 0:8a6003b8bb5b 12 I2C i2c(p9, p10);
mborchers 0:8a6003b8bb5b 13
mborchers 0:8a6003b8bb5b 14 DigitalOut heartbeatLED(LED1);
mborchers 0:8a6003b8bb5b 15 DigitalOut buttonLED(LED2);
mborchers 0:8a6003b8bb5b 16 DigitalOut redlightLED(LED3);
mborchers 0:8a6003b8bb5b 17
mborchers 0:8a6003b8bb5b 18 DigitalIn buttonOne(p25);
mborchers 0:8a6003b8bb5b 19 DigitalIn buttonTwo(p26);
mborchers 0:8a6003b8bb5b 20 DigitalIn buttonThree(p29);
mborchers 0:8a6003b8bb5b 21 DigitalIn buttonFour(p30);
mborchers 0:8a6003b8bb5b 22
mborchers 0:8a6003b8bb5b 23 IMU_RegisterDataBuffer_t *IMU_registerDataBuffer;
mborchers 0:8a6003b8bb5b 24 RadioDecoder_RegisterDataBuffer_t *RadioDecoder_registerDataBuffer;
mborchers 0:8a6003b8bb5b 25
mborchers 4:f0be27a5a83a 26 QuadratureController *quadratureController;
mborchers 4:f0be27a5a83a 27
mborchers 0:8a6003b8bb5b 28 // Queues von der Bahnplanung
mborchers 0:8a6003b8bb5b 29 Queue<float, 2> quadrature_queue;
mborchers 0:8a6003b8bb5b 30 Queue<float, 2> machine_direction_queue;
mborchers 0:8a6003b8bb5b 31 float steering_angle_minnow_queue;
mborchers 0:8a6003b8bb5b 32 float velocity_minnow_queue;
mborchers 0:8a6003b8bb5b 33
mborchers 0:8a6003b8bb5b 34
mborchers 0:8a6003b8bb5b 35 // Queues von dem Maussensor
mborchers 0:8a6003b8bb5b 36 Queue<float, 2> imu_queue_velocity;
mborchers 0:8a6003b8bb5b 37 Queue<float, 2> imu_queue_steering_angle;
mborchers 0:8a6003b8bb5b 38 float steering_angle_imu_queue;
mborchers 0:8a6003b8bb5b 39 float velocity_imu_queue;
mborchers 0:8a6003b8bb5b 40
mborchers 0:8a6003b8bb5b 41
mborchers 0:8a6003b8bb5b 42 // Variablen von der Trajektorienplanung
mborchers 0:8a6003b8bb5b 43
mborchers 3:391c4639bc7d 44 float velocity_set = 0;
mborchers 0:8a6003b8bb5b 45
mborchers 0:8a6003b8bb5b 46 // Variablen für die Längsregelung
mborchers 0:8a6003b8bb5b 47 float velocity_current = 0, velocity_last = 0;
mborchers 0:8a6003b8bb5b 48
mborchers 1:7eddde9fba60 49 uint8_t timer_velocity_sampling_time=0.01;
mborchers 1:7eddde9fba60 50 float Vorsteuerungsfaktor;
mborchers 2:bf739d7d9f8f 51 float l_esum, Vorsteuerung, I_Regler, l_output, l_PWM, l_e;
mborchers 1:7eddde9fba60 52 float l_Ki=30*timer_velocity_sampling_time;
mborchers 1:7eddde9fba60 53 uint16_t a[19]={0,600,400,325,250,237,225,212,200,177,144,140,136,132,128,124,120,115,111};
mborchers 1:7eddde9fba60 54
mborchers 1:7eddde9fba60 55 // Querregelung Ende
mborchers 0:8a6003b8bb5b 56
mborchers 0:8a6003b8bb5b 57 void serial_thread(void const *args) {
mborchers 0:8a6003b8bb5b 58 while (true) {
mborchers 0:8a6003b8bb5b 59 Thread::wait(100);
mborchers 0:8a6003b8bb5b 60 }
mborchers 0:8a6003b8bb5b 61 }
mborchers 0:8a6003b8bb5b 62
mborchers 0:8a6003b8bb5b 63 void machine_direction_control(void const *args) {
mborchers 0:8a6003b8bb5b 64 osEvent velocity_set_event = machine_direction_queue.get(0);
mborchers 0:8a6003b8bb5b 65 if (velocity_set_event.status == osEventMessage) {
mborchers 0:8a6003b8bb5b 66 velocity_set = *(float*)velocity_set_event.value.p;
mborchers 0:8a6003b8bb5b 67 }
mborchers 0:8a6003b8bb5b 68
mborchers 0:8a6003b8bb5b 69 osEvent velocity_current_event = imu_queue_velocity.get(0);
mborchers 0:8a6003b8bb5b 70 if (velocity_current_event.status == osEventMessage) {
mborchers 0:8a6003b8bb5b 71 velocity_current = *(float *)velocity_current_event.value.p;
mborchers 0:8a6003b8bb5b 72 }
mborchers 0:8a6003b8bb5b 73
mborchers 1:7eddde9fba60 74 Vorsteuerungsfaktor = a[(uint8_t)velocity_set*4];
mborchers 1:7eddde9fba60 75 l_e = velocity_set-velocity_current;
mborchers 1:7eddde9fba60 76 l_esum = l_esum + l_e;
mborchers 1:7eddde9fba60 77
mborchers 1:7eddde9fba60 78 Vorsteuerung=Vorsteuerungsfaktor*velocity_set;
mborchers 3:391c4639bc7d 79 I_Regler = l_Ki * l_esum;
mborchers 1:7eddde9fba60 80
mborchers 2:bf739d7d9f8f 81 l_output=Vorsteuerung;//+I_Regler;
mborchers 1:7eddde9fba60 82
mborchers 2:bf739d7d9f8f 83 l_PWM = 1500+l_output;
mborchers 2:bf739d7d9f8f 84
mborchers 2:bf739d7d9f8f 85 if(l_PWM<1500)
mborchers 2:bf739d7d9f8f 86 {
mborchers 2:bf739d7d9f8f 87 l_PWM=1500;
mborchers 2:bf739d7d9f8f 88 }
mborchers 2:bf739d7d9f8f 89 else if(l_PWM>2000)
mborchers 2:bf739d7d9f8f 90 {
mborchers 2:bf739d7d9f8f 91 l_PWM=2000;
mborchers 2:bf739d7d9f8f 92 }
mborchers 1:7eddde9fba60 93
torstenwylegala 6:aa27bc8c58f5 94 drivePWM.pulsewidth_us(1700);
mborchers 0:8a6003b8bb5b 95 }
mborchers 0:8a6003b8bb5b 96
mborchers 4:f0be27a5a83a 97 void redirect_quadrature_controller(void const *args) {
mborchers 4:f0be27a5a83a 98 quadratureController->cylic_control();
mborchers 4:f0be27a5a83a 99 }
mborchers 4:f0be27a5a83a 100
mborchers 0:8a6003b8bb5b 101 int main() {
mborchers 0:8a6003b8bb5b 102 serialMinnow.baud(115200);
mborchers 0:8a6003b8bb5b 103
mborchers 0:8a6003b8bb5b 104 drivePWM.period_ms(20);
mborchers 0:8a6003b8bb5b 105 steerPWM.period_ms(20);
mborchers 0:8a6003b8bb5b 106
mborchers 0:8a6003b8bb5b 107 SystemTimer *millis = new SystemTimer();
mborchers 0:8a6003b8bb5b 108
mborchers 0:8a6003b8bb5b 109 SupportSystem *supportSystem = new SupportSystem(0x80, &i2c);
mborchers 3:391c4639bc7d 110
torstenwylegala 6:aa27bc8c58f5 111 quadratureController = new QuadratureController(&steerPWM, &quadrature_queue, &imu_queue_steering_angle);
mborchers 0:8a6003b8bb5b 112
mborchers 1:7eddde9fba60 113 Thread machineDirectionControl(serial_thread);
mborchers 0:8a6003b8bb5b 114
mborchers 0:8a6003b8bb5b 115 RtosTimer machine_direction_control_timer(machine_direction_control);
mborchers 4:f0be27a5a83a 116 RtosTimer quadrature_control_timer(redirect_quadrature_controller);
mborchers 0:8a6003b8bb5b 117
mborchers 0:8a6003b8bb5b 118 // Konfiguration AMF-IMU
mborchers 0:8a6003b8bb5b 119 // [0]: Conversation Factor
mborchers 0:8a6003b8bb5b 120 // [1]: Sensor Position X
mborchers 0:8a6003b8bb5b 121 // [2]: Sensor Position Y
mborchers 0:8a6003b8bb5b 122 // [3]: Sensor Position Angle
torstenwylegala 5:4319a748181a 123 float configData[4] = {0.002751114f, 167.0f, 0.0f, 271.5f};
mborchers 0:8a6003b8bb5b 124
mborchers 0:8a6003b8bb5b 125 supportSystem->writeData(SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_CONVERSION_FACTOR, configData, sizeof(float)*4);
mborchers 0:8a6003b8bb5b 126
mborchers 0:8a6003b8bb5b 127 // Flag setzen
torstenwylegala 5:4319a748181a 128 uint8_t command = 1<<2;
mborchers 0:8a6003b8bb5b 129 supportSystem->writeData(SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_COMMAND, &command, sizeof(uint8_t));
mborchers 0:8a6003b8bb5b 130
mborchers 0:8a6003b8bb5b 131 bool timer_started = false;
mborchers 0:8a6003b8bb5b 132
mborchers 0:8a6003b8bb5b 133 wait(0.1);
mborchers 0:8a6003b8bb5b 134
torstenwylegala 6:aa27bc8c58f5 135 steering_angle_minnow_queue = 10.0;
mborchers 2:bf739d7d9f8f 136 quadrature_queue.put(&steering_angle_minnow_queue);
mborchers 2:bf739d7d9f8f 137
mborchers 2:bf739d7d9f8f 138 velocity_minnow_queue = 1.5;
mborchers 2:bf739d7d9f8f 139 machine_direction_queue.put(&velocity_minnow_queue);
mborchers 0:8a6003b8bb5b 140
mborchers 0:8a6003b8bb5b 141 while(true) {
mborchers 0:8a6003b8bb5b 142 IMU_registerDataBuffer = supportSystem->getImuRegisterDataBuffer();
mborchers 0:8a6003b8bb5b 143 RadioDecoder_registerDataBuffer = supportSystem->getRadioDecoderRegisterDataBuffer();
mborchers 0:8a6003b8bb5b 144
mborchers 0:8a6003b8bb5b 145 for(uint8_t i=0; i<3; i++) {
mborchers 0:8a6003b8bb5b 146 serialMinnow.printf("RadioDecoder - Ch[%d] Valid: %d\r\n",i,RadioDecoder_registerDataBuffer->channelValid[i]);
mborchers 0:8a6003b8bb5b 147 serialMinnow.printf("RadioDecoder - Ch[%d] ActiveTime: %d\r\n",i,RadioDecoder_registerDataBuffer->channelActiveTime[i]);
mborchers 0:8a6003b8bb5b 148 serialMinnow.printf("RadioDecoder - Ch[%d] Percentage: %d\r\n",i,RadioDecoder_registerDataBuffer->channelPercent[i]);
mborchers 0:8a6003b8bb5b 149 }
mborchers 0:8a6003b8bb5b 150
mborchers 0:8a6003b8bb5b 151 uint16_t rc_percentage = RadioDecoder_registerDataBuffer->channelActiveTime[0];
mborchers 0:8a6003b8bb5b 152 uint8_t rc_valid = RadioDecoder_registerDataBuffer->channelValid[0];
mborchers 0:8a6003b8bb5b 153
mborchers 0:8a6003b8bb5b 154 uint16_t drive_percentage = RadioDecoder_registerDataBuffer->channelActiveTime[1];
mborchers 0:8a6003b8bb5b 155 uint8_t drive_valid = RadioDecoder_registerDataBuffer->channelValid[1];
mborchers 0:8a6003b8bb5b 156
mborchers 0:8a6003b8bb5b 157 uint16_t steer_percentage = RadioDecoder_registerDataBuffer->channelActiveTime[2];
mborchers 0:8a6003b8bb5b 158 uint8_t steer_valid = RadioDecoder_registerDataBuffer->channelValid[2];
mborchers 0:8a6003b8bb5b 159
mborchers 0:8a6003b8bb5b 160
mborchers 0:8a6003b8bb5b 161 if (rc_percentage > (uint16_t) 1800 && rc_valid != 0) {
mborchers 0:8a6003b8bb5b 162 // oben => Wettbewerb
mborchers 0:8a6003b8bb5b 163 heartbeatLED = true;
mborchers 0:8a6003b8bb5b 164 buttonLED = false;
mborchers 0:8a6003b8bb5b 165 redlightLED = false;
mborchers 0:8a6003b8bb5b 166 supportSystem->setLightManagerRemoteLight(false, true);
mborchers 0:8a6003b8bb5b 167 if (!timer_started) {
mborchers 0:8a6003b8bb5b 168 timer_started = true;
mborchers 0:8a6003b8bb5b 169 machine_direction_control_timer.start(10);
mborchers 0:8a6003b8bb5b 170 quadrature_control_timer.start(10);
mborchers 0:8a6003b8bb5b 171 }
mborchers 0:8a6003b8bb5b 172 } else if (rc_percentage > (uint16_t) 1200 && rc_valid != 0) {
mborchers 0:8a6003b8bb5b 173 // unten => RC-Wettbewerb
mborchers 0:8a6003b8bb5b 174 heartbeatLED = false;
mborchers 0:8a6003b8bb5b 175 buttonLED = false;
mborchers 0:8a6003b8bb5b 176 redlightLED = true;
mborchers 0:8a6003b8bb5b 177 supportSystem->setLightManagerRemoteLight(true, true);
mborchers 0:8a6003b8bb5b 178 if (drive_valid) {
mborchers 0:8a6003b8bb5b 179 drivePWM.pulsewidth_us(drive_percentage);
mborchers 0:8a6003b8bb5b 180 }
mborchers 0:8a6003b8bb5b 181 if (steer_valid) {
mborchers 0:8a6003b8bb5b 182 steerPWM.pulsewidth_us(steer_percentage);
mborchers 0:8a6003b8bb5b 183 }
mborchers 0:8a6003b8bb5b 184 if (timer_started) {
mborchers 0:8a6003b8bb5b 185 timer_started = false;
mborchers 0:8a6003b8bb5b 186 machine_direction_control_timer.stop();
mborchers 0:8a6003b8bb5b 187 quadrature_control_timer.stop();
mborchers 0:8a6003b8bb5b 188 }
mborchers 0:8a6003b8bb5b 189 } else if (rc_percentage > (uint16_t) 800 && rc_valid != 0) {
mborchers 0:8a6003b8bb5b 190 // mitte => RC-Training
mborchers 0:8a6003b8bb5b 191 heartbeatLED = false;
mborchers 0:8a6003b8bb5b 192 buttonLED = true;
mborchers 0:8a6003b8bb5b 193 redlightLED = false;
mborchers 0:8a6003b8bb5b 194 supportSystem->setLightManagerRemoteLight(true, true);
mborchers 0:8a6003b8bb5b 195 if (drive_valid) {
mborchers 0:8a6003b8bb5b 196 drivePWM.pulsewidth_us(drive_percentage);
mborchers 0:8a6003b8bb5b 197 }
mborchers 0:8a6003b8bb5b 198 if (steer_valid) {
mborchers 0:8a6003b8bb5b 199 steerPWM.pulsewidth_us(steer_percentage);
mborchers 0:8a6003b8bb5b 200 }
mborchers 0:8a6003b8bb5b 201 if (timer_started) {
mborchers 0:8a6003b8bb5b 202 timer_started = false;
mborchers 0:8a6003b8bb5b 203 machine_direction_control_timer.stop();
mborchers 0:8a6003b8bb5b 204 quadrature_control_timer.stop();
mborchers 0:8a6003b8bb5b 205 }
mborchers 0:8a6003b8bb5b 206 }
mborchers 0:8a6003b8bb5b 207
mborchers 0:8a6003b8bb5b 208 velocity_imu_queue = IMU_registerDataBuffer->velocityXFilteredRegister;
mborchers 0:8a6003b8bb5b 209 imu_queue_velocity.put(&velocity_imu_queue);
mborchers 0:8a6003b8bb5b 210
mborchers 0:8a6003b8bb5b 211 float radius = IMU_registerDataBuffer->velocityXFilteredRegister/IMU_registerDataBuffer->velocityAngularFilteredRegister;
mborchers 0:8a6003b8bb5b 212
mborchers 0:8a6003b8bb5b 213 steering_angle_imu_queue = atan(0.205/radius)*180/PI;
mborchers 0:8a6003b8bb5b 214 imu_queue_steering_angle.put(&steering_angle_imu_queue);
mborchers 0:8a6003b8bb5b 215
mborchers 0:8a6003b8bb5b 216
mborchers 2:bf739d7d9f8f 217 //serialMinnow.printf("%ld, ", difference_millis);
mborchers 2:bf739d7d9f8f 218 serialMinnow.printf("%f, ", velocity_minnow_queue);
mborchers 2:bf739d7d9f8f 219 serialMinnow.printf("%f, ", steering_angle_minnow_queue);
mborchers 2:bf739d7d9f8f 220 serialMinnow.printf("%d, ", IMU_registerDataBuffer->curveRadiusRegister);
mborchers 2:bf739d7d9f8f 221 serialMinnow.printf("%f, ", IMU_registerDataBuffer->velocityAngularRegister);
mborchers 2:bf739d7d9f8f 222 serialMinnow.printf("%f, ", IMU_registerDataBuffer->velocityAngularFilteredRegister);
mborchers 2:bf739d7d9f8f 223 serialMinnow.printf("%f, ", IMU_registerDataBuffer->velocityXRegister);
mborchers 2:bf739d7d9f8f 224 serialMinnow.printf("%f\r\n", IMU_registerDataBuffer->velocityXFilteredRegister);
mborchers 0:8a6003b8bb5b 225 Thread::wait(50);
mborchers 0:8a6003b8bb5b 226 }
mborchers 0:8a6003b8bb5b 227 }