BT control
Diff: robot.cpp
- Revision:
- 0:603c28b75dc1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/robot.cpp Tue May 20 07:42:25 2014 +0000 @@ -0,0 +1,381 @@ +/* mbed ROBOT Library, for SUTD evobot project, Generation 1 + * Copyright (c) 2013, SUTD + * Author: Mark VanderMeulen + * + * Dec 18, 2013 + * + * You may want to rewrite this entire library, as this one is only half-finished + * + * This library allows the user to use each module on the Evobot Generation 1 + * Functionality: + * -Bluetooth connection + * -MPU (accelerometer/gyroscope) connection + * -Orientation in the XY plane (using Z-axis gyroscope only) + * -Remote control functionality (via bluetooth) + * + * Future functions: + * -Switch to turn bluetooth on/off + * -Switch to turn MPU on/off (in case of connection errors with the MPU: restart and reconnect + * -Calculation of distance travelled (use integration of accelerometer, maybe use Kalman filter) + * -Access to the DMP (Digital motion processor) on the MPU to calculate 3D orientation. + * -RF mesh network so robots can connect to eachother + * -Camera (requires an add-on to the circuit board at the moment) + */ + + +#include "robot.h" +#include "math.h" +//*********************************CONSTRUCTOR*********************************// +Robot::Robot() : bt(tx_bt,rx_bt), + rf24(PTD2, PTD3, PTD1, PTD0, PTD5, PTD4), + mpu(PTE0, PTE1), + myled(LED), + btSwitch(PTE25), + currentSensor(CURRENTSENSOR_PIN), + irSensorL(irL), + irSensorC(irC), + irSensorR(irR), + voltageSensor(VOLTAGESENSOR_PIN), + PWMA(MOT_PWMA_PIN), + PWMB(MOT_PWMB_PIN), + AIN1(MOT_AIN1_PIN), + AIN2(MOT_AIN2_PIN), + BIN1(MOT_BIN1_PIN), + BIN2(MOT_BIN2_PIN), + STBY(MOT_STBY_PIN) +{ + + stop(); //Initialize motors as stopped// + + btSwitch = 1; //turn on bluetooth + myled = 0; //turn ON status LED (0 = on, 1 = 0ff) + timeNext = 0; + //currentAvg = 0; /////////////REMOVE currentAvg LATER. TESTING PURPOSES ONLY//////// + + target_angle = 0; //direction we want the robot to be pointed + angle_origin = 0; //you can use this to modify the angle of origin + origin = 0; //the (x,y) location of the origin (this should be a point, not a double) + rz = 0; //The current rotation in the Z-axis + dx = 0; //The current displacement in the x-axis (side-side) + dy = 0; //The current displacement in the y-axis (forward-back) + dz = 0; //The current displacement in the z-axis (up-down) + + AUTO_ORIENT = 1; //robot will automatically orient iteslf using the gyroscope + REMOTE_CONTROL = 1; //robot can be controlled over bluetooth + + tt.start(); //start timer + mpu.testConnection(); + wait(1); + MPU_OK = 0; + + //initialize MPU + if (mpu.testConnection()) { + mpu.setBW(MPU6050_BW_10); //default set low pass filter bandwidth to 10HZ + mpu.setGyroRange(MPU6050_GYRO_RANGE_500); //default set the gyro range to 500deg/s (robot turning exceeds 250deg/s) + mpu.setAcceleroRange(MPU6050_ACCELERO_RANGE_2G); //default set accelero range to 2g + MPU_OK=1; + myled = 0; //turn on LED + calibrate(); + } else if(0) { //this section is current disabled. change to (1) if you want to retry the accelerometer connection. + myled = 1; //turn off LED + for (int i = 0; i<25; i++) { + myled = !myled; + wait_ms(50); + if (mpu.testConnection()) { + i = 25; + myled = 0; + MPU_OK=1; + } else + myled = 1; + wait_ms(50); + } + } + myled = MPU_OK; //If LED is off, it is ok. If LED is on, there was a MPU error. Board needs to be restarted. + //In the future, at a transistor to switch on/off the mpu in case there is an MPU error. Right now it needs a manual restart. + + bt.baud(BaudRate_bt); //Set bluetooth baud rate + + //Initialize RF chip +//char txData[TRANSFER_SIZE], rxData[TRANSFER_SIZE]; +// int txDataCnt = 0; +// int rxDataCnt = 0; + rf24.powerUp(); + rf24.setTransferSize( TRANSFER_SIZE ); + + rf24.setReceiveMode(); + rf24.enable(); + + + +} + +//*********************************MOTORS*********************************// +void Robot::motor_control(int Lspeed, int Rspeed) +{ + //Controls the motors. 0 = stopped, 100 = full speed, -100 = reverse speed + if (!Lspeed && !Rspeed) //stop// + STBY = 0; + else + STBY = 1; + + //make sure 'speeds' are between -100 and 100, and not between abs(0 to 10) + if(Lspeed > 100) Lspeed = 100; + else if (Lspeed < -100) Lspeed = -100; + else if (Lspeed < 0 && Lspeed > -15) Lspeed = -15; //prevent speed from being less than 15 + else if (Lspeed > 0 && Lspeed < 15) Lspeed = 15; + if(Rspeed > 100) Rspeed = 100; + else if (Rspeed < -100) Rspeed = -100; + else if (Rspeed < 0 && Rspeed > -15) Rspeed = -15; + else if (Rspeed > 0 && Rspeed < 15) Rspeed = 15; + + if (!Rspeed) { //if right motor is stopped + AIN1 = 0; + AIN2 = 0; + PWMA = 0; + } else if (!Lspeed) { //if left motor is stopped + BIN1 = 0; + BIN2 = 0; + PWMB = 0; + } + //RIGHT MOTOR// + if(Rspeed > 0) { //Right motor fwd + AIN1 = MOTOR_R_DIRECTION; //set the motor direction + AIN2 = !AIN1; + } else { //Right motor reverse + AIN2 = MOTOR_R_DIRECTION; + AIN1 = !AIN2; + } + PWMA = abs(Rspeed/100.0); + //LEFT MOTOR// + if(Lspeed >0) { + BIN1 = MOTOR_L_DIRECTION; + BIN2 = !BIN1; + } else { + BIN2 = MOTOR_L_DIRECTION; + BIN1 = !BIN2; + } + PWMB = abs(Lspeed/100.0); +} + +void Robot::stop() +{ + motor_control(0,0); +} +void Robot::set_speed(int Speed) +{ + speed = Speed; + motor_control(speed,speed); +} + +//************************Setting direction of robot****************************// +void Robot::set_direction(double angle) +{ + //Set the direction the robot should be facing from origin(in radians) + target_angle = angle; +} +void Robot::set_direction_deg(double angle) +{ + //Set the direction the robot should be facing from origin (in degrees) + target_angle = angle*M_PI/180; +} +void Robot::auto_enable(bool x) +{ + AUTO_ORIENT = x; +} + +//************************UPDATE: To be called in main loop***************************// +//This calculates position and angle +//Also orients robot in the correct direction +//if 'print' is 1, print acceleration and gyro data over bluetooth +void Robot::update() +{ + double SP; + int rotationSpeed; + //int n=50; + + double Kp = 100; //weighting values for PID controller. Only Proportional component is used. + double Ki = 0; //Integral component is not used + double Kd = 0; //derivative component is not used + + if(MPU_OK) { //only do this if MPU is connected + wait(0.1); + mpu.getAcceleroRaw(accdata); + mpu.getGyroRaw(gyrodata); + time = tt.read(); +//bt.printf("s;t_%d;1_%lf;2_%lf;3_%d;4_%d;5_%d;6_%d;7_%d;8_%d;9_%lf;10_%lf;11_%lf;s\n\r",time_robot,getCurrent(),getVoltage(),accdata[0],accdata[1],accdata[2],gyrodata[0],gyrodata[1],gyrodata[2],irReadL(),irReadC(),irReadR()); + /*if(REMOTE_CONTROL) { //if remote control over bluetooth is enabled + m_ctrl=remote_ctrl(); //call the romote control function + }*/ + if(AUTO_ORIENT) { //enable PID control of angle + SP = target_angle; //desired angle (radians) + rz = rz + ((gyrodata[2]-gyroOffset[2])*(time-timePrev)/gyroCorrect); //rz is the rotation(radians) from start + Irz = Irz + (rz-SP)*(time-timePrev); //Irz needs to be reset every so often, or it should be ignored + rotationSpeed = (Kp*(rz-SP) + Ki*Irz + Kd*gyrodata[2]/gyroCorrect); + /*data[0]= getCurrent(); + data[1]= getVoltage(); + data[2]= accdata[0]; + data[3]= accdata[1]; + data[4]= accdata[2]; + data[5]= gyrodata[0]; + data[6]= gyrodata[1]; + data[7]= gyrodata[2]; + data[8]= irReadL(); + data[9]= irReadC(); + data[10]= irReadC(); + data[11]= rz;*/ + + //TODO: pull "rotationspeed" up to 10 if it is less than 10. This will(should) improve the ability to drive straight + + if(time > timeNext || (speed==0 && rotationSpeed ==0)) { //prevent the motor control from being set too often + timeNext = time + MOTOR_INTERVAL/1000.0; //only set the motor speed every 10ms + // if(abs(rz-SP)>(10*M_PI/180)) + // { + // motor_control((speed+rotationSpeed)/20, (speed-rotationSpeed)/20); //Set motor speeds + //} + // else + //{ + motor_control((speed+rotationSpeed), (speed-rotationSpeed)); //Set motor speeds + //} + } + } + timePrev = time; + } +} + +void Robot::remote_ctrl(char c,int desired_speed,int desired_angle) +{ + //This is a private function + Irz = 0; + switch (c) { + case ctrl_forward: + speed = -1*desired_speed; + break; + case ctrl_backward: + speed = 1*desired_speed; + break; + case ctrl_right: + target_angle += 90*M_PI/180; + break; + case ctrl_left: + target_angle -= 90*M_PI/180; + break; + case ctrl_calibrate: + calibrate(); + break; + case ctrl_turn_angle_cw: + target_angle +=desired_angle*M_PI/180; + break; + case ctrl_turn_angle_ccw: + target_angle -=desired_angle*M_PI/180; + break; + default: + speed = 0; + stop(); + break; + } +} +//*********************************CALIBRATE*********************************// +void Robot::calibrate() +{ + stop(); + wait(1.5); + double timeNOW = tt.read(); + int count=0; + int i; + + //set the accelerometer and gyro offsets + while(tt.read()<timeNOW+1.5) { //calculate gyro offset + mpu.getGyroRaw(gyrodata); + mpu.getAcceleroRaw(accdata); + for(i=0; i<3; i++) { + gyroOffset[i] += gyrodata[i]; + accOffset[i] += accdata[i]; + } + count++; + } + for(i=0; i<3; i++) { + gyroOffset[i] = gyroOffset[i]/count; //rxOffset + accOffset[i] = accOffset[i]/count; + } + accOffset[2] = 0; //we don't want to remove GRAVITY from the z-axis accelerometer. +} + +//*********************************ROBOT-SENSORS*********************************// + +double Robot::getCurrent() +{ + + double Vsensor = currentSensor.read(); + Vsensor = 1000*((.8998-Vsensor)/.6411); + return Vsensor; +} +double Robot::getVoltage() +{ + float voltage = 3.3*(voltageSensor.read()); // convert analog value to voltage at node + voltage *= 1.5; // inverse of voltage divider + return voltage; +} +void Robot::getIMU(float *adata, float *gdata) +{ + mpu.getAcceleroRaw(accdata); + mpu.getGyroRaw(gyrodata); + /*imuFilter.updateFilter(gyrodata[0],gyrodata[1],gyrodata[2],accdata[0],accdata[1],accdata[2]); + imuFilter.computeEuler(); + gdata[0]=(float)imuFilter.getRoll(); + gdata[1]=(float)imuFilter.getPitch(); + gdata[2]= (float)imuFilter.getYaw();*/ + // adata[0] = (float) (accdata[0]); + //adata[1] = (float) (accdata[1]); + //adata[2] = (float) (accdata[2]); + adata[0] = ((float) (accdata[0]-accOffset[0]))/32655*9.81*2; + adata[1]= ((float) (accdata[1]-accOffset[1]))/32655*9.81*2; + adata[2]= ((float) (accdata[2]-accOffset[2]))/32655*9.81*2; + gdata[0]=(((float)(gyrodata[0]-gyroOffset[0]))/((float)gyroCorrect))*180/(M_PI); + gdata[1]=(((float)(gyrodata[1]-gyroOffset[1]))/((float)gyroCorrect))*180/(M_PI); + gdata[2]=(((float)(gyrodata[2]-gyroOffset[2]))/((float)gyroCorrect))*180/(M_PI); +} + +double Robot::irReadL() +{ + int C = 14; + double D = -1.1; + double r = irSensorL.read(); + double reading=(pow(r,D)* C )+ 4; + return reading; + +} + +double Robot::irReadC() +{ + int C = 14; + double D = -1.1; + double r = irSensorC.read(); + double reading=(pow(r,D)* C )+ 4; + return reading; +} + +double Robot::irReadR() +{ + int C = 14; + double D = -1.1; + double r = irSensorR.read(); + double reading=(pow(r,D)* C )+ 4; + return reading; +} +double Robot::return_rotation() +{ + return rz; +} +int Robot::isMPU() +{ + return MPU_OK; +} + +//******************RF24 CHIP FUNCTIONS****************************// +void Robot::rf24_power(int x) +{ + if(x) //power up + rf24.powerUp(); + else //power down + rf24.powerDown(); +} \ No newline at end of file