Delta Battery, CAN_bus, DIO P2P, ROS
Dependencies: mbed mbed-rtos ros_lib_kinetic
main.cpp@10:8b7fce3bba86, 2018-05-25 (annotated)
- Committer:
- WeberYang
- Date:
- Fri May 25 08:07:15 2018 +0000
- Revision:
- 10:8b7fce3bba86
- Parent:
- 9:e10bd4b460d7
- Child:
- 11:6d5307ceb569
DEMO_version01
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
WeberYang | 2:648583d6e41a | 1 | /* |
WeberYang | 3:51194773aa7e | 2 | 0412 combine the sevro motor encoder to publish |
WeberYang | 2:648583d6e41a | 3 | */ |
hardtail | 0:6e61e8ec4b42 | 4 | #include "MPU6050_6Axis_MotionApps20.h" |
hardtail | 0:6e61e8ec4b42 | 5 | #include "mbed.h" |
WeberYang | 6:eadfb1b45bda | 6 | #include "CAN.h" |
WeberYang | 2:648583d6e41a | 7 | #include "I2Cdev.h" |
WeberYang | 2:648583d6e41a | 8 | #include "MPU6050.h" |
WeberYang | 6:eadfb1b45bda | 9 | |
WeberYang | 2:648583d6e41a | 10 | #include <ros.h> |
WeberYang | 2:648583d6e41a | 11 | #include <ros/time.h> |
WeberYang | 8:4974fc24fbd7 | 12 | #include <std_msgs/Int16.h> |
WeberYang | 2:648583d6e41a | 13 | #include <std_msgs/String.h> |
WeberYang | 2:648583d6e41a | 14 | #include <std_msgs/Float32.h> |
WeberYang | 2:648583d6e41a | 15 | #include <sensor_msgs/BatteryState.h> |
WeberYang | 2:648583d6e41a | 16 | #include <geometry_msgs/Twist.h> //set buffer larger than 50byte |
WeberYang | 2:648583d6e41a | 17 | #include <math.h> |
hardtail | 0:6e61e8ec4b42 | 18 | #include <stdio.h> |
WeberYang | 2:648583d6e41a | 19 | #include <tiny_msgs/tinyVector.h> |
WeberYang | 2:648583d6e41a | 20 | #include <tiny_msgs/tinyIMU.h> |
WeberYang | 5:52fb31c1a8c0 | 21 | #include <string> |
WeberYang | 5:52fb31c1a8c0 | 22 | #include <cstdlib> |
hardtail | 0:6e61e8ec4b42 | 23 | |
WeberYang | 2:648583d6e41a | 24 | #define Start 0xAA |
WeberYang | 2:648583d6e41a | 25 | #define Address 0x7F |
WeberYang | 2:648583d6e41a | 26 | #define ReturnType 0x00 |
WeberYang | 2:648583d6e41a | 27 | #define Clean 0x00 |
WeberYang | 2:648583d6e41a | 28 | #define Reserve 0x00 |
WeberYang | 2:648583d6e41a | 29 | #define End 0x55 |
WeberYang | 2:648583d6e41a | 30 | #define Motor1 1 |
WeberYang | 2:648583d6e41a | 31 | #define Motor2 2 |
WeberYang | 5:52fb31c1a8c0 | 32 | #define LENG 31 //0x42 + 31 bytes equal to 32 bytes |
WeberYang | 5:52fb31c1a8c0 | 33 | |
WeberYang | 5:52fb31c1a8c0 | 34 | #define Write 0x06 |
WeberYang | 5:52fb31c1a8c0 | 35 | #define Read 0x03 |
WeberYang | 5:52fb31c1a8c0 | 36 | #define DI1 0x0214 //0214H means digital input DI1 for sevro on |
WeberYang | 5:52fb31c1a8c0 | 37 | #define APR 0x0066 //0066H means encoder abs rev |
WeberYang | 5:52fb31c1a8c0 | 38 | #define SP1 0x0112 |
WeberYang | 6:eadfb1b45bda | 39 | |
WeberYang | 6:eadfb1b45bda | 40 | #define CAN_DATA 0x470 |
WeberYang | 6:eadfb1b45bda | 41 | #define CAN_STATUS 0x471 |
WeberYang | 6:eadfb1b45bda | 42 | |
WeberYang | 9:e10bd4b460d7 | 43 | #define IDLE 0 |
WeberYang | 9:e10bd4b460d7 | 44 | #define ACT_MG_ON 1 |
WeberYang | 9:e10bd4b460d7 | 45 | #define ACT_MG_OFF 2 |
WeberYang | 9:e10bd4b460d7 | 46 | #define Check_BMS_ON 3 |
WeberYang | 9:e10bd4b460d7 | 47 | #define Check_BMS_OFF 4 |
WeberYang | 5:52fb31c1a8c0 | 48 | //Serial pc(USBTX,USBRX); |
WeberYang | 6:eadfb1b45bda | 49 | Timer t; |
WeberYang | 6:eadfb1b45bda | 50 | Serial RS232(PA_9, PA_10); |
WeberYang | 5:52fb31c1a8c0 | 51 | DigitalOut Receiver(D7); //RS485_E |
WeberYang | 6:eadfb1b45bda | 52 | DigitalOut CAN_T(D14); |
WeberYang | 6:eadfb1b45bda | 53 | DigitalOut CAN_R(D15); |
WeberYang | 9:e10bd4b460d7 | 54 | DigitalOut DO_0(PC_5); |
WeberYang | 9:e10bd4b460d7 | 55 | DigitalOut DO_1(PC_6); |
WeberYang | 9:e10bd4b460d7 | 56 | DigitalOut DO_2(PC_8); |
WeberYang | 9:e10bd4b460d7 | 57 | DigitalOut DO_3(PC_9); |
WeberYang | 10:8b7fce3bba86 | 58 | DigitalOut DO_4(PA_12); |
WeberYang | 8:4974fc24fbd7 | 59 | DigitalIn DI_0(PB_13); |
WeberYang | 8:4974fc24fbd7 | 60 | |
WeberYang | 6:eadfb1b45bda | 61 | //CAN can1(PB_8,PB_9); // CAN Rx pin name, CAN Tx pin name |
WeberYang | 6:eadfb1b45bda | 62 | //CANMsg rxMsg; |
WeberYang | 6:eadfb1b45bda | 63 | //CANMessage rxMsg; |
WeberYang | 3:51194773aa7e | 64 | Ticker CheckDataR; |
WeberYang | 3:51194773aa7e | 65 | |
WeberYang | 2:648583d6e41a | 66 | MPU6050 mpu;//(PB_7,PB_6); // sda, scl pin |
hardtail | 0:6e61e8ec4b42 | 67 | |
WeberYang | 8:4974fc24fbd7 | 68 | ros::NodeHandle nh; |
WeberYang | 8:4974fc24fbd7 | 69 | //====================================================================== |
WeberYang | 2:648583d6e41a | 70 | tiny_msgs::tinyIMU imu_msg; |
WeberYang | 8:4974fc24fbd7 | 71 | ros::Publisher imu_pub("tinyImu", &imu_msg); |
WeberYang | 8:4974fc24fbd7 | 72 | //====================================================================== |
WeberYang | 8:4974fc24fbd7 | 73 | |
WeberYang | 8:4974fc24fbd7 | 74 | //====================================================================== |
WeberYang | 2:648583d6e41a | 75 | std_msgs::Float32 VelAngular_L; |
WeberYang | 8:4974fc24fbd7 | 76 | ros::Publisher pub_lmotor("pub_lmotor", &VelAngular_L); |
WeberYang | 8:4974fc24fbd7 | 77 | //====================================================================== |
WeberYang | 8:4974fc24fbd7 | 78 | |
WeberYang | 8:4974fc24fbd7 | 79 | //====================================================================== |
WeberYang | 2:648583d6e41a | 80 | std_msgs::Float32 VelAngular_R; |
WeberYang | 8:4974fc24fbd7 | 81 | ros::Publisher pub_rmotor("pub_rmotor", &VelAngular_R); |
WeberYang | 8:4974fc24fbd7 | 82 | //====================================================================== |
WeberYang | 8:4974fc24fbd7 | 83 | |
WeberYang | 8:4974fc24fbd7 | 84 | //====================================================================== |
WeberYang | 6:eadfb1b45bda | 85 | sensor_msgs::BatteryState BTState; |
WeberYang | 8:4974fc24fbd7 | 86 | ros::Publisher BT_pub("BatteryState", &BTState); |
WeberYang | 8:4974fc24fbd7 | 87 | //====================================================================== |
WeberYang | 2:648583d6e41a | 88 | |
WeberYang | 8:4974fc24fbd7 | 89 | //====================================================================== |
WeberYang | 8:4974fc24fbd7 | 90 | std_msgs::Int16 DI; |
WeberYang | 8:4974fc24fbd7 | 91 | ros::Publisher DI_pub("DI_pub", &DI); |
WeberYang | 8:4974fc24fbd7 | 92 | //====================================================================== |
WeberYang | 8:4974fc24fbd7 | 93 | |
WeberYang | 8:4974fc24fbd7 | 94 | //====================================================================== |
WeberYang | 9:e10bd4b460d7 | 95 | std_msgs::Int16 ACT_state; |
WeberYang | 9:e10bd4b460d7 | 96 | ros::Publisher ACT_state_pub("ACT_state_pub", &ACT_state); |
WeberYang | 9:e10bd4b460d7 | 97 | //====================================================================== |
WeberYang | 8:4974fc24fbd7 | 98 | |
WeberYang | 8:4974fc24fbd7 | 99 | //====================================================================== |
WeberYang | 9:e10bd4b460d7 | 100 | std_msgs::Int16 Error_state; |
WeberYang | 9:e10bd4b460d7 | 101 | ros::Publisher Error_state_pub("Error_state_pub", &Error_state); |
WeberYang | 9:e10bd4b460d7 | 102 | //====================================================================== |
WeberYang | 9:e10bd4b460d7 | 103 | |
WeberYang | 2:648583d6e41a | 104 | uint32_t seq; |
WeberYang | 2:648583d6e41a | 105 | |
WeberYang | 9:e10bd4b460d7 | 106 | //========define ACT_state return code============================================ |
WeberYang | 10:8b7fce3bba86 | 107 | #define Satndby 0 |
WeberYang | 10:8b7fce3bba86 | 108 | #define Busy 1 |
WeberYang | 10:8b7fce3bba86 | 109 | #define Sensor_error 2 |
WeberYang | 10:8b7fce3bba86 | 110 | #define BMS_error 3 |
WeberYang | 9:e10bd4b460d7 | 111 | //======================================================== |
hardtail | 0:6e61e8ec4b42 | 112 | #define IMU_FIFO_RATE_DIVIDER 0x09 |
hardtail | 0:6e61e8ec4b42 | 113 | #define IMU_SAMPLE_RATE_DIVIDER 4 |
hardtail | 0:6e61e8ec4b42 | 114 | #define MPU6050_GYRO_FS MPU6050_GYRO_FS_2000 |
hardtail | 0:6e61e8ec4b42 | 115 | #define MPU6050_ACCEL_FS MPU6050_ACCEL_FS_2 |
hardtail | 0:6e61e8ec4b42 | 116 | |
WeberYang | 6:eadfb1b45bda | 117 | #define PC_BAUDRATE 115200//38400 |
hardtail | 0:6e61e8ec4b42 | 118 | |
hardtail | 0:6e61e8ec4b42 | 119 | #define DEG_TO_RAD(x) ( x * 0.01745329 ) |
hardtail | 0:6e61e8ec4b42 | 120 | #define RAD_TO_DEG(x) ( x * 57.29578 ) |
WeberYang | 2:648583d6e41a | 121 | |
hardtail | 0:6e61e8ec4b42 | 122 | const int FIFO_BUFFER_SIZE = 128; |
hardtail | 0:6e61e8ec4b42 | 123 | uint8_t fifoBuffer[FIFO_BUFFER_SIZE]; |
hardtail | 0:6e61e8ec4b42 | 124 | uint16_t fifoCount; |
hardtail | 0:6e61e8ec4b42 | 125 | uint16_t packetSize; |
hardtail | 0:6e61e8ec4b42 | 126 | bool dmpReady; |
hardtail | 0:6e61e8ec4b42 | 127 | uint8_t mpuIntStatus; |
hardtail | 0:6e61e8ec4b42 | 128 | const int snprintf_buffer_size = 100; |
hardtail | 0:6e61e8ec4b42 | 129 | char snprintf_buffer[snprintf_buffer_size]; |
hardtail | 0:6e61e8ec4b42 | 130 | uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; |
WeberYang | 2:648583d6e41a | 131 | int16_t ax, ay, az; |
WeberYang | 2:648583d6e41a | 132 | int16_t gx, gy, gz; |
WeberYang | 8:4974fc24fbd7 | 133 | float Lrpm,Rrpm; |
WeberYang | 8:4974fc24fbd7 | 134 | float ticks_since_target; |
WeberYang | 9:e10bd4b460d7 | 135 | float motor_rpm_r, motor_rpm_l; |
WeberYang | 9:e10bd4b460d7 | 136 | float timeout_ticks; |
WeberYang | 9:e10bd4b460d7 | 137 | int counter; |
WeberYang | 2:648583d6e41a | 138 | double w; |
WeberYang | 2:648583d6e41a | 139 | double rate; |
WeberYang | 2:648583d6e41a | 140 | double Dimeter; |
WeberYang | 2:648583d6e41a | 141 | float dx,dy,dr; |
WeberYang | 9:e10bd4b460d7 | 142 | int lastsensorState = 1; |
WeberYang | 9:e10bd4b460d7 | 143 | int sensorState; |
WeberYang | 8:4974fc24fbd7 | 144 | int db_conter = 0; |
WeberYang | 3:51194773aa7e | 145 | int buffer[9] = {0}; |
WeberYang | 5:52fb31c1a8c0 | 146 | int dataH,datanum; |
WeberYang | 9:e10bd4b460d7 | 147 | int motor_seq,motor_old_seq; |
WeberYang | 9:e10bd4b460d7 | 148 | int state_code; |
WeberYang | 9:e10bd4b460d7 | 149 | int error_code; |
WeberYang | 3:51194773aa7e | 150 | //=========RS485 |
WeberYang | 3:51194773aa7e | 151 | char recChar=0; |
WeberYang | 3:51194773aa7e | 152 | bool recFlag=false; |
WeberYang | 3:51194773aa7e | 153 | char recArr[20]; |
WeberYang | 3:51194773aa7e | 154 | int index=0; |
WeberYang | 9:e10bd4b460d7 | 155 | int BMS_state; |
WeberYang | 6:eadfb1b45bda | 156 | uint32_t SOC; |
WeberYang | 6:eadfb1b45bda | 157 | uint32_t Tempert; |
WeberYang | 6:eadfb1b45bda | 158 | uint32_t RackVoltage = 0; |
WeberYang | 6:eadfb1b45bda | 159 | uint32_t Current = 0; |
WeberYang | 6:eadfb1b45bda | 160 | uint32_t MaxCellV = 0; |
WeberYang | 6:eadfb1b45bda | 161 | uint32_t MinCellV = 0; |
WeberYang | 6:eadfb1b45bda | 162 | |
hardtail | 0:6e61e8ec4b42 | 163 | struct Offset { |
hardtail | 0:6e61e8ec4b42 | 164 | int16_t ax, ay, az; |
hardtail | 0:6e61e8ec4b42 | 165 | int16_t gx, gy, gz; |
WeberYang | 9:e10bd4b460d7 | 166 | }offset = {150+600, -350+300, 1000, -110-100, 5, 0};//{150, -350, 1000, -110, 5, 0}; // Measured values |
hardtail | 0:6e61e8ec4b42 | 167 | |
hardtail | 0:6e61e8ec4b42 | 168 | struct MPU6050_DmpData { |
hardtail | 0:6e61e8ec4b42 | 169 | Quaternion q; |
hardtail | 0:6e61e8ec4b42 | 170 | VectorFloat gravity; // g |
hardtail | 0:6e61e8ec4b42 | 171 | float roll, pitch, yaw; // rad |
hardtail | 0:6e61e8ec4b42 | 172 | }dmpData; |
hardtail | 0:6e61e8ec4b42 | 173 | |
hardtail | 0:6e61e8ec4b42 | 174 | long map(long x, long in_min, long in_max, long out_min, long out_max) { |
hardtail | 0:6e61e8ec4b42 | 175 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
hardtail | 0:6e61e8ec4b42 | 176 | } |
WeberYang | 2:648583d6e41a | 177 | //==========define sub function======================== |
hardtail | 0:6e61e8ec4b42 | 178 | bool Init(); |
hardtail | 0:6e61e8ec4b42 | 179 | void dmpDataUpdate(); |
WeberYang | 2:648583d6e41a | 180 | unsigned int CRC_Verify(unsigned char *cBuffer, unsigned int iBufLen); |
WeberYang | 2:648583d6e41a | 181 | int myabs( int a ); |
WeberYang | 3:51194773aa7e | 182 | void TwistToMotors(); |
WeberYang | 2:648583d6e41a | 183 | //=================================================== |
hardtail | 0:6e61e8ec4b42 | 184 | |
WeberYang | 2:648583d6e41a | 185 | |
WeberYang | 2:648583d6e41a | 186 | //======================= motor ================================================= |
WeberYang | 2:648583d6e41a | 187 | unsigned int CRC_Verify(unsigned char *cBuffer, unsigned int iBufLen) |
WeberYang | 2:648583d6e41a | 188 | { |
WeberYang | 2:648583d6e41a | 189 | unsigned int i, j; |
WeberYang | 2:648583d6e41a | 190 | //#define wPolynom 0xA001 |
WeberYang | 2:648583d6e41a | 191 | unsigned int wCrc = 0xffff; |
WeberYang | 2:648583d6e41a | 192 | unsigned int wPolynom = 0xA001; |
WeberYang | 2:648583d6e41a | 193 | /*---------------------------------------------------------------------------------*/ |
WeberYang | 2:648583d6e41a | 194 | for (i = 0; i < iBufLen; i++) |
WeberYang | 2:648583d6e41a | 195 | { |
WeberYang | 2:648583d6e41a | 196 | wCrc ^= cBuffer[i]; |
WeberYang | 2:648583d6e41a | 197 | for (j = 0; j < 8; j++) |
WeberYang | 2:648583d6e41a | 198 | { |
WeberYang | 2:648583d6e41a | 199 | if (wCrc &0x0001) |
WeberYang | 2:648583d6e41a | 200 | { |
WeberYang | 2:648583d6e41a | 201 | wCrc = (wCrc >> 1) ^ wPolynom; |
WeberYang | 2:648583d6e41a | 202 | } |
WeberYang | 2:648583d6e41a | 203 | else |
WeberYang | 2:648583d6e41a | 204 | { |
WeberYang | 2:648583d6e41a | 205 | wCrc = wCrc >> 1; |
WeberYang | 2:648583d6e41a | 206 | } |
WeberYang | 2:648583d6e41a | 207 | } |
WeberYang | 2:648583d6e41a | 208 | } |
WeberYang | 2:648583d6e41a | 209 | return wCrc; |
WeberYang | 2:648583d6e41a | 210 | } |
WeberYang | 6:eadfb1b45bda | 211 | void Sendmessage(float Rrpm,float Lrpm) |
WeberYang | 2:648583d6e41a | 212 | { |
WeberYang | 9:e10bd4b460d7 | 213 | // RS232.printf("Wr = %.1f\n",Rrpm); |
WeberYang | 9:e10bd4b460d7 | 214 | // RS232.printf("Wl = %.1f\n",Lrpm); |
WeberYang | 6:eadfb1b45bda | 215 | unsigned char sendData[16]; |
WeberYang | 6:eadfb1b45bda | 216 | unsigned int tmpCRC; |
WeberYang | 6:eadfb1b45bda | 217 | int motor1,motor2; |
WeberYang | 6:eadfb1b45bda | 218 | |
WeberYang | 6:eadfb1b45bda | 219 | sendData[0] = Start; |
WeberYang | 6:eadfb1b45bda | 220 | sendData[1] = Address; |
WeberYang | 6:eadfb1b45bda | 221 | sendData[2] = ReturnType; |
WeberYang | 6:eadfb1b45bda | 222 | sendData[3] = Clean; |
WeberYang | 6:eadfb1b45bda | 223 | sendData[4] = Reserve; |
WeberYang | 6:eadfb1b45bda | 224 | sendData[5] = 0x01;//motor1Sevro ON |
WeberYang | 6:eadfb1b45bda | 225 | sendData[6] = 0x01;//motor2Sevro ON |
WeberYang | 9:e10bd4b460d7 | 226 | if (Rrpm>0){sendData[7] = 0x00;}else{sendData[7] = 0x01;} |
WeberYang | 9:e10bd4b460d7 | 227 | if (Lrpm>0){sendData[8] = 0x01;}else{sendData[8] = 0x00;} |
WeberYang | 6:eadfb1b45bda | 228 | motor1 = abs(Rrpm); |
WeberYang | 6:eadfb1b45bda | 229 | motor2 = abs(Lrpm); |
WeberYang | 6:eadfb1b45bda | 230 | |
WeberYang | 6:eadfb1b45bda | 231 | sendData[9] = (motor1>>8);//motor1speedH |
WeberYang | 6:eadfb1b45bda | 232 | sendData[10] = (motor1 & 0xFF);//motor1speedL |
WeberYang | 6:eadfb1b45bda | 233 | sendData[11] = (motor2>>8);//motor2speedH |
WeberYang | 6:eadfb1b45bda | 234 | sendData[12] = (motor2 & 0xFF);//motor2speedL |
WeberYang | 6:eadfb1b45bda | 235 | sendData[13] = End; |
WeberYang | 6:eadfb1b45bda | 236 | tmpCRC = CRC_Verify(sendData, 14); |
WeberYang | 6:eadfb1b45bda | 237 | sendData[14] = (tmpCRC & 0xFF); |
WeberYang | 6:eadfb1b45bda | 238 | sendData[15] = (tmpCRC>>8); |
WeberYang | 3:51194773aa7e | 239 | int i; |
WeberYang | 6:eadfb1b45bda | 240 | for (i=0;i<16;i++) |
WeberYang | 3:51194773aa7e | 241 | { |
WeberYang | 6:eadfb1b45bda | 242 | RS232.printf("%c",sendData[i]); |
WeberYang | 3:51194773aa7e | 243 | } |
WeberYang | 6:eadfb1b45bda | 244 | RS232.printf("\r\n"); |
WeberYang | 6:eadfb1b45bda | 245 | } |
WeberYang | 6:eadfb1b45bda | 246 | void TwistToMotors() |
WeberYang | 2:648583d6e41a | 247 | { |
WeberYang | 9:e10bd4b460d7 | 248 | float right,left; |
WeberYang | 9:e10bd4b460d7 | 249 | // double vel_data[2]; |
WeberYang | 9:e10bd4b460d7 | 250 | float vel_data[2]; |
WeberYang | 9:e10bd4b460d7 | 251 | float motor_rpm_vx, motor_rpm_theta; |
WeberYang | 9:e10bd4b460d7 | 252 | motor_old_seq = motor_seq; |
WeberYang | 6:eadfb1b45bda | 253 | w = 0.302;//0.2 ;//m |
WeberYang | 6:eadfb1b45bda | 254 | rate = 20;//50; |
WeberYang | 6:eadfb1b45bda | 255 | timeout_ticks = 2; |
WeberYang | 6:eadfb1b45bda | 256 | Dimeter = 0.127;//0.15; |
WeberYang | 9:e10bd4b460d7 | 257 | |
WeberYang | 9:e10bd4b460d7 | 258 | // prevent agv receive weird 1.0 command from cmd_vel |
WeberYang | 9:e10bd4b460d7 | 259 | if (dr == 1.0){ |
WeberYang | 9:e10bd4b460d7 | 260 | dr = 0.001; |
WeberYang | 9:e10bd4b460d7 | 261 | } |
WeberYang | 6:eadfb1b45bda | 262 | right = ( 1.0 * dx ) + (dr * w /2); |
WeberYang | 9:e10bd4b460d7 | 263 | left = ( 1.0 * dx ) - (dr * w /2); |
WeberYang | 9:e10bd4b460d7 | 264 | motor_rpm_vx = ( 1.0 * dx )*rate/(Dimeter/2)*60/(2*3.1416); |
WeberYang | 9:e10bd4b460d7 | 265 | if((motor_rpm_vx !=0) && (myabs(motor_rpm_vx)<100)){ |
WeberYang | 9:e10bd4b460d7 | 266 | if(motor_rpm_vx >0){ |
WeberYang | 9:e10bd4b460d7 | 267 | motor_rpm_vx = 100; |
WeberYang | 6:eadfb1b45bda | 268 | } |
WeberYang | 9:e10bd4b460d7 | 269 | else{ |
WeberYang | 9:e10bd4b460d7 | 270 | motor_rpm_vx = -100; |
WeberYang | 6:eadfb1b45bda | 271 | } |
WeberYang | 6:eadfb1b45bda | 272 | } |
WeberYang | 9:e10bd4b460d7 | 273 | motor_rpm_theta=(dr * w /2)*rate/(Dimeter/2)*60/(2*3.1416); |
WeberYang | 9:e10bd4b460d7 | 274 | motor_rpm_r = motor_rpm_vx+ motor_rpm_theta; |
WeberYang | 9:e10bd4b460d7 | 275 | motor_rpm_l = motor_rpm_vx- motor_rpm_theta; |
WeberYang | 9:e10bd4b460d7 | 276 | if (myabs(motor_rpm_r)<100|| myabs(motor_rpm_l)<100){ |
WeberYang | 9:e10bd4b460d7 | 277 | if( dx==0){ |
WeberYang | 9:e10bd4b460d7 | 278 | if(dr>0){ |
WeberYang | 9:e10bd4b460d7 | 279 | motor_rpm_r=100; |
WeberYang | 9:e10bd4b460d7 | 280 | motor_rpm_l=-100; |
WeberYang | 9:e10bd4b460d7 | 281 | }else if (dr<0){ |
WeberYang | 9:e10bd4b460d7 | 282 | motor_rpm_r=-100; |
WeberYang | 9:e10bd4b460d7 | 283 | motor_rpm_l=100; |
WeberYang | 9:e10bd4b460d7 | 284 | }else{ |
WeberYang | 9:e10bd4b460d7 | 285 | motor_rpm_r=0; |
WeberYang | 9:e10bd4b460d7 | 286 | motor_rpm_l=0; |
WeberYang | 9:e10bd4b460d7 | 287 | } |
WeberYang | 9:e10bd4b460d7 | 288 | } |
WeberYang | 9:e10bd4b460d7 | 289 | else if(dx>0){ |
WeberYang | 9:e10bd4b460d7 | 290 | if (myabs(motor_rpm_r)<100){ |
WeberYang | 9:e10bd4b460d7 | 291 | motor_rpm_r =100; |
WeberYang | 9:e10bd4b460d7 | 292 | } |
WeberYang | 9:e10bd4b460d7 | 293 | if (myabs(motor_rpm_l)<100){ |
WeberYang | 9:e10bd4b460d7 | 294 | motor_rpm_l =100; |
WeberYang | 9:e10bd4b460d7 | 295 | } |
WeberYang | 9:e10bd4b460d7 | 296 | } |
WeberYang | 9:e10bd4b460d7 | 297 | else{ |
WeberYang | 9:e10bd4b460d7 | 298 | if(myabs(motor_rpm_r)<100){ |
WeberYang | 9:e10bd4b460d7 | 299 | motor_rpm_r =-100; |
WeberYang | 9:e10bd4b460d7 | 300 | } |
WeberYang | 9:e10bd4b460d7 | 301 | if(myabs(motor_rpm_l)<100){ |
WeberYang | 9:e10bd4b460d7 | 302 | motor_rpm_l =-100; |
WeberYang | 9:e10bd4b460d7 | 303 | } |
WeberYang | 9:e10bd4b460d7 | 304 | } |
WeberYang | 6:eadfb1b45bda | 305 | } |
WeberYang | 9:e10bd4b460d7 | 306 | vel_data[0] = motor_rpm_r; |
WeberYang | 9:e10bd4b460d7 | 307 | vel_data[1] = motor_rpm_l; |
WeberYang | 9:e10bd4b460d7 | 308 | |
WeberYang | 6:eadfb1b45bda | 309 | //=================================================================== |
WeberYang | 9:e10bd4b460d7 | 310 | //Sendmessage(vel_data[0],vel_data[1]); |
WeberYang | 9:e10bd4b460d7 | 311 | |
WeberYang | 9:e10bd4b460d7 | 312 | //Sendmessage(motor_rpm_l,motor_rpm_r); |
WeberYang | 9:e10bd4b460d7 | 313 | |
WeberYang | 6:eadfb1b45bda | 314 | VelAngular_R.data = vel_data[0]; |
WeberYang | 6:eadfb1b45bda | 315 | VelAngular_L.data = vel_data[1]; |
WeberYang | 6:eadfb1b45bda | 316 | //if(VelAngular_R.data >2000 || VelAngular_L.data>2000){ |
WeberYang | 6:eadfb1b45bda | 317 | //} |
WeberYang | 6:eadfb1b45bda | 318 | //else{ |
WeberYang | 6:eadfb1b45bda | 319 | pub_rmotor.publish( &VelAngular_R ); |
WeberYang | 6:eadfb1b45bda | 320 | pub_lmotor.publish( &VelAngular_L ); |
WeberYang | 6:eadfb1b45bda | 321 | //} |
WeberYang | 6:eadfb1b45bda | 322 | //RS232.printf("Wr = %.1f\n",vel_data[0]); |
WeberYang | 6:eadfb1b45bda | 323 | //RS232.printf("Wl = %.1f\n",vel_data[1]); |
WeberYang | 6:eadfb1b45bda | 324 | ticks_since_target += 1; |
WeberYang | 2:648583d6e41a | 325 | |
WeberYang | 3:51194773aa7e | 326 | } |
WeberYang | 2:648583d6e41a | 327 | int myabs( int a ){ |
WeberYang | 2:648583d6e41a | 328 | if ( a < 0 ){ |
WeberYang | 2:648583d6e41a | 329 | return -a; |
WeberYang | 2:648583d6e41a | 330 | } |
WeberYang | 2:648583d6e41a | 331 | return a; |
WeberYang | 2:648583d6e41a | 332 | } |
WeberYang | 5:52fb31c1a8c0 | 333 | |
WeberYang | 5:52fb31c1a8c0 | 334 | int str2int(const char* str, int star, int end) |
WeberYang | 5:52fb31c1a8c0 | 335 | { |
WeberYang | 5:52fb31c1a8c0 | 336 | int i; |
WeberYang | 5:52fb31c1a8c0 | 337 | int ret = 0; |
WeberYang | 5:52fb31c1a8c0 | 338 | for (i = star; i < end+1; i++) |
WeberYang | 5:52fb31c1a8c0 | 339 | { |
WeberYang | 5:52fb31c1a8c0 | 340 | ret = ret *10 + (str[i] - '0'); |
WeberYang | 5:52fb31c1a8c0 | 341 | } |
WeberYang | 5:52fb31c1a8c0 | 342 | return ret; |
WeberYang | 5:52fb31c1a8c0 | 343 | } |
WeberYang | 9:e10bd4b460d7 | 344 | |
WeberYang | 9:e10bd4b460d7 | 345 | void update_state(int code1,int code2){ |
WeberYang | 9:e10bd4b460d7 | 346 | |
WeberYang | 9:e10bd4b460d7 | 347 | } |
WeberYang | 9:e10bd4b460d7 | 348 | //====================================================================== |
WeberYang | 9:e10bd4b460d7 | 349 | std_msgs::Int16 DO; |
WeberYang | 9:e10bd4b460d7 | 350 | //DO_0 MAG_1 |
WeberYang | 9:e10bd4b460d7 | 351 | //DO_1,MAG_2 |
WeberYang | 10:8b7fce3bba86 | 352 | //DO_2,MAG_3 |
WeberYang | 9:e10bd4b460d7 | 353 | //DO_3,BMS |
WeberYang | 10:8b7fce3bba86 | 354 | //DO_4,MainRelay |
WeberYang | 9:e10bd4b460d7 | 355 | int State; |
WeberYang | 9:e10bd4b460d7 | 356 | void DO_ACT(const std_msgs::Int16 &msg){ |
WeberYang | 9:e10bd4b460d7 | 357 | //0xFF for action procedure |
WeberYang | 9:e10bd4b460d7 | 358 | if (msg.data == 0x21){ |
WeberYang | 9:e10bd4b460d7 | 359 | error_code = 99; |
WeberYang | 9:e10bd4b460d7 | 360 | State = ACT_MG_ON; |
WeberYang | 9:e10bd4b460d7 | 361 | } |
WeberYang | 9:e10bd4b460d7 | 362 | |
WeberYang | 9:e10bd4b460d7 | 363 | if (msg.data == 0x20){ |
WeberYang | 9:e10bd4b460d7 | 364 | error_code = 99; |
WeberYang | 9:e10bd4b460d7 | 365 | State = ACT_MG_OFF; |
WeberYang | 9:e10bd4b460d7 | 366 | } |
WeberYang | 9:e10bd4b460d7 | 367 | |
WeberYang | 10:8b7fce3bba86 | 368 | if (msg.data == 0x00){ |
WeberYang | 10:8b7fce3bba86 | 369 | DO_0 = 0; |
WeberYang | 10:8b7fce3bba86 | 370 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 371 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 372 | DO_3 = 0; |
WeberYang | 10:8b7fce3bba86 | 373 | DO_4 = 0; |
WeberYang | 10:8b7fce3bba86 | 374 | } |
WeberYang | 10:8b7fce3bba86 | 375 | if (msg.data == 0x40){ |
WeberYang | 10:8b7fce3bba86 | 376 | //BMS trigger |
WeberYang | 10:8b7fce3bba86 | 377 | DO_3 = 1; |
WeberYang | 10:8b7fce3bba86 | 378 | wait(3); |
WeberYang | 10:8b7fce3bba86 | 379 | DO_3 = 0; |
WeberYang | 10:8b7fce3bba86 | 380 | } |
WeberYang | 10:8b7fce3bba86 | 381 | if (msg.data == 0x50){ |
WeberYang | 10:8b7fce3bba86 | 382 | //Main Relay off |
WeberYang | 10:8b7fce3bba86 | 383 | DO_4 = 0; |
WeberYang | 10:8b7fce3bba86 | 384 | } |
WeberYang | 10:8b7fce3bba86 | 385 | if (msg.data == 0x51){ |
WeberYang | 10:8b7fce3bba86 | 386 | //Main Relay on |
WeberYang | 10:8b7fce3bba86 | 387 | DO_4 = 1; |
WeberYang | 10:8b7fce3bba86 | 388 | } |
WeberYang | 10:8b7fce3bba86 | 389 | if (msg.data == 0x31){ |
WeberYang | 10:8b7fce3bba86 | 390 | //Lock triggrt |
WeberYang | 9:e10bd4b460d7 | 391 | DO_0 = 0; |
WeberYang | 9:e10bd4b460d7 | 392 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 393 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 394 | |
WeberYang | 10:8b7fce3bba86 | 395 | DO_0 = 0; |
WeberYang | 10:8b7fce3bba86 | 396 | DO_1 = 1; |
WeberYang | 10:8b7fce3bba86 | 397 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 398 | |
WeberYang | 10:8b7fce3bba86 | 399 | wait_ms(500); |
WeberYang | 10:8b7fce3bba86 | 400 | |
WeberYang | 10:8b7fce3bba86 | 401 | DO_0 = 0; |
WeberYang | 10:8b7fce3bba86 | 402 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 403 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 404 | } |
WeberYang | 10:8b7fce3bba86 | 405 | |
WeberYang | 10:8b7fce3bba86 | 406 | if (msg.data == 0x30){ |
WeberYang | 10:8b7fce3bba86 | 407 | //unLock triggrt |
WeberYang | 10:8b7fce3bba86 | 408 | DO_0 = 0; |
WeberYang | 10:8b7fce3bba86 | 409 | DO_1 = 0; |
WeberYang | 9:e10bd4b460d7 | 410 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 411 | |
WeberYang | 10:8b7fce3bba86 | 412 | DO_0 = 1; |
WeberYang | 10:8b7fce3bba86 | 413 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 414 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 415 | |
WeberYang | 10:8b7fce3bba86 | 416 | DO_0 = 1; |
WeberYang | 10:8b7fce3bba86 | 417 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 418 | DO_2 = 1; |
WeberYang | 10:8b7fce3bba86 | 419 | |
WeberYang | 10:8b7fce3bba86 | 420 | wait_ms(500); |
WeberYang | 10:8b7fce3bba86 | 421 | |
WeberYang | 10:8b7fce3bba86 | 422 | DO_0 = 1; |
WeberYang | 10:8b7fce3bba86 | 423 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 424 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 425 | |
WeberYang | 10:8b7fce3bba86 | 426 | DO_0 = 0; |
WeberYang | 10:8b7fce3bba86 | 427 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 428 | DO_2 = 0; |
WeberYang | 9:e10bd4b460d7 | 429 | } |
WeberYang | 10:8b7fce3bba86 | 430 | |
WeberYang | 9:e10bd4b460d7 | 431 | } |
WeberYang | 9:e10bd4b460d7 | 432 | ros::Subscriber<std_msgs::Int16> ACT_sub("DO_data", &DO_ACT); |
WeberYang | 9:e10bd4b460d7 | 433 | //====================================================================== |
WeberYang | 6:eadfb1b45bda | 434 | //====================================================================================== |
WeberYang | 2:648583d6e41a | 435 | void messageCb(const geometry_msgs::Twist &msg) |
WeberYang | 2:648583d6e41a | 436 | { |
WeberYang | 9:e10bd4b460d7 | 437 | // RS232.printf("messageCb"); |
WeberYang | 2:648583d6e41a | 438 | ticks_since_target = 0; |
WeberYang | 2:648583d6e41a | 439 | dx = msg.linear.x; |
WeberYang | 2:648583d6e41a | 440 | dy = msg.linear.y; |
WeberYang | 2:648583d6e41a | 441 | dr = msg.angular.z; |
WeberYang | 9:e10bd4b460d7 | 442 | // RS232.printf("dx = %d,dy = %d,dr = %d\r\n",dx,dy,dr); |
WeberYang | 2:648583d6e41a | 443 | TwistToMotors(); |
WeberYang | 5:52fb31c1a8c0 | 444 | //ReadENC(Motor1); |
WeberYang | 2:648583d6e41a | 445 | } |
WeberYang | 2:648583d6e41a | 446 | ros::Subscriber<geometry_msgs::Twist> cmd_vel_sub("cmd_vel", &messageCb); |
WeberYang | 2:648583d6e41a | 447 | //====================================================================================== |
hardtail | 0:6e61e8ec4b42 | 448 | void dmpDataUpdate() { |
hardtail | 0:6e61e8ec4b42 | 449 | // Check that this interrupt has enabled. |
hardtail | 0:6e61e8ec4b42 | 450 | if (dmpReady == false) return; |
hardtail | 0:6e61e8ec4b42 | 451 | |
hardtail | 0:6e61e8ec4b42 | 452 | mpuIntStatus = mpu.getIntStatus(); |
hardtail | 0:6e61e8ec4b42 | 453 | fifoCount = mpu.getFIFOCount(); |
hardtail | 0:6e61e8ec4b42 | 454 | |
hardtail | 0:6e61e8ec4b42 | 455 | // Check that this interrupt is a FIFO buffer overflow interrupt. |
hardtail | 0:6e61e8ec4b42 | 456 | if ((mpuIntStatus & 0x10) || fifoCount == 1024) { |
hardtail | 0:6e61e8ec4b42 | 457 | mpu.resetFIFO(); |
WeberYang | 2:648583d6e41a | 458 | //pc.printf("FIFO overflow!\n"); |
hardtail | 0:6e61e8ec4b42 | 459 | return; |
hardtail | 0:6e61e8ec4b42 | 460 | |
hardtail | 0:6e61e8ec4b42 | 461 | // Check that this interrupt is a Data Ready interrupt. |
hardtail | 0:6e61e8ec4b42 | 462 | } else if (mpuIntStatus & 0x02) { |
hardtail | 0:6e61e8ec4b42 | 463 | while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); |
hardtail | 0:6e61e8ec4b42 | 464 | |
hardtail | 0:6e61e8ec4b42 | 465 | mpu.getFIFOBytes(fifoBuffer, packetSize); |
hardtail | 0:6e61e8ec4b42 | 466 | |
hardtail | 0:6e61e8ec4b42 | 467 | #ifdef OUTPUT_QUATERNION |
hardtail | 0:6e61e8ec4b42 | 468 | mpu.dmpGetQuaternion(&dmpData.q, fifoBuffer); |
hardtail | 0:6e61e8ec4b42 | 469 | if ( snprintf( snprintf_buffer, snprintf_buffer_size, "Quaternion : w=%f, x=%f, y=%f, z=%f\n", dmpData.q.w, dmpData.q.x, dmpData.q.y, dmpData.q.z ) < 0 ) return; |
WeberYang | 2:648583d6e41a | 470 | pc.printf(snprintf_buffer); |
hardtail | 0:6e61e8ec4b42 | 471 | #endif |
hardtail | 0:6e61e8ec4b42 | 472 | |
hardtail | 0:6e61e8ec4b42 | 473 | #ifdef OUTPUT_EULER |
hardtail | 0:6e61e8ec4b42 | 474 | float euler[3]; |
hardtail | 0:6e61e8ec4b42 | 475 | mpu.dmpGetQuaternion(&dmpData.q, fifoBuffer); |
hardtail | 0:6e61e8ec4b42 | 476 | mpu.dmpGetEuler(euler, &dmpData.q); |
hardtail | 0:6e61e8ec4b42 | 477 | if ( snprintf( snprintf_buffer, snprintf_buffer_size, "Euler : psi=%fdeg, theta=%fdeg, phi=%fdeg\n", RAD_TO_DEG(euler[0]), RAD_TO_DEG(euler[1]), RAD_TO_DEG(euler[2]) ) < 0 ) return; |
WeberYang | 2:648583d6e41a | 478 | pc.printf(snprintf_buffer); |
hardtail | 0:6e61e8ec4b42 | 479 | #endif |
hardtail | 0:6e61e8ec4b42 | 480 | |
hardtail | 0:6e61e8ec4b42 | 481 | #ifdef OUTPUT_ROLL_PITCH_YAW |
hardtail | 0:6e61e8ec4b42 | 482 | mpu.dmpGetQuaternion(&dmpData.q, fifoBuffer); |
hardtail | 0:6e61e8ec4b42 | 483 | mpu.dmpGetGravity(&dmpData.gravity, &dmpData.q); |
hardtail | 0:6e61e8ec4b42 | 484 | float rollPitchYaw[3]; |
hardtail | 0:6e61e8ec4b42 | 485 | mpu.dmpGetYawPitchRoll(rollPitchYaw, &dmpData.q, &dmpData.gravity); |
hardtail | 0:6e61e8ec4b42 | 486 | dmpData.roll = rollPitchYaw[2]; |
hardtail | 0:6e61e8ec4b42 | 487 | dmpData.pitch = rollPitchYaw[1]; |
hardtail | 0:6e61e8ec4b42 | 488 | dmpData.yaw = rollPitchYaw[0]; |
hardtail | 0:6e61e8ec4b42 | 489 | |
hardtail | 0:6e61e8ec4b42 | 490 | if ( snprintf( snprintf_buffer, snprintf_buffer_size, "Roll:%6.2fdeg, Pitch:%6.2fdeg, Yaw:%6.2fdeg\n", RAD_TO_DEG(dmpData.roll), RAD_TO_DEG(dmpData.pitch), RAD_TO_DEG(dmpData.yaw) ) < 0 ) return; |
WeberYang | 2:648583d6e41a | 491 | pc.printf(snprintf_buffer); |
hardtail | 0:6e61e8ec4b42 | 492 | |
hardtail | 0:6e61e8ec4b42 | 493 | #ifdef servotest |
hardtail | 0:6e61e8ec4b42 | 494 | int servoPulse = map((long)(RAD_TO_DEG(dmpData.yaw)*100), -9000, 9000, 500, 1450); |
hardtail | 0:6e61e8ec4b42 | 495 | if(servoPulse > 1450) servoPulse = 1450; |
hardtail | 0:6e61e8ec4b42 | 496 | if(servoPulse < 500) servoPulse = 500; |
hardtail | 0:6e61e8ec4b42 | 497 | sv.pulsewidth_us(servoPulse); |
hardtail | 0:6e61e8ec4b42 | 498 | #endif |
hardtail | 0:6e61e8ec4b42 | 499 | #endif |
hardtail | 0:6e61e8ec4b42 | 500 | |
hardtail | 0:6e61e8ec4b42 | 501 | #ifdef OUTPUT_FOR_TEAPOT |
hardtail | 0:6e61e8ec4b42 | 502 | teapotPacket[2] = fifoBuffer[0]; |
hardtail | 0:6e61e8ec4b42 | 503 | teapotPacket[3] = fifoBuffer[1]; |
hardtail | 0:6e61e8ec4b42 | 504 | teapotPacket[4] = fifoBuffer[4]; |
hardtail | 0:6e61e8ec4b42 | 505 | teapotPacket[5] = fifoBuffer[5]; |
hardtail | 0:6e61e8ec4b42 | 506 | teapotPacket[6] = fifoBuffer[8]; |
hardtail | 0:6e61e8ec4b42 | 507 | teapotPacket[7] = fifoBuffer[9]; |
hardtail | 0:6e61e8ec4b42 | 508 | teapotPacket[8] = fifoBuffer[12]; |
hardtail | 0:6e61e8ec4b42 | 509 | teapotPacket[9] = fifoBuffer[13]; |
hardtail | 0:6e61e8ec4b42 | 510 | for (uint8_t i = 0; i < 14; i++) { |
hardtail | 0:6e61e8ec4b42 | 511 | pc.putc(teapotPacket[i]); |
hardtail | 0:6e61e8ec4b42 | 512 | } |
hardtail | 0:6e61e8ec4b42 | 513 | #endif |
hardtail | 0:6e61e8ec4b42 | 514 | |
hardtail | 0:6e61e8ec4b42 | 515 | #ifdef OUTPUT_TEMPERATURE |
hardtail | 0:6e61e8ec4b42 | 516 | float temp = mpu.getTemperature() / 340.0 + 36.53; |
hardtail | 0:6e61e8ec4b42 | 517 | if ( snprintf( snprintf_buffer, snprintf_buffer_size, "Temp:%4.1fdeg\n", temp ) < 0 ) return; |
WeberYang | 2:648583d6e41a | 518 | pc.printf(snprintf_buffer); |
hardtail | 0:6e61e8ec4b42 | 519 | #endif |
hardtail | 0:6e61e8ec4b42 | 520 | |
WeberYang | 2:648583d6e41a | 521 | // pc.printf("\n"); |
WeberYang | 2:648583d6e41a | 522 | } |
WeberYang | 2:648583d6e41a | 523 | } |
WeberYang | 3:51194773aa7e | 524 | //======================================================= |
WeberYang | 5:52fb31c1a8c0 | 525 | bool Init() { |
WeberYang | 8:4974fc24fbd7 | 526 | DO_0 = 0; |
WeberYang | 8:4974fc24fbd7 | 527 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 528 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 529 | DO_3 = 0; |
WeberYang | 10:8b7fce3bba86 | 530 | DO_4 = 0; |
WeberYang | 5:52fb31c1a8c0 | 531 | seq = 0; |
WeberYang | 2:648583d6e41a | 532 | nh.initNode(); |
WeberYang | 9:e10bd4b460d7 | 533 | // nh.advertise(imu_pub); |
WeberYang | 5:52fb31c1a8c0 | 534 | nh.advertise(pub_lmotor); |
WeberYang | 5:52fb31c1a8c0 | 535 | nh.advertise(pub_rmotor); |
WeberYang | 6:eadfb1b45bda | 536 | nh.advertise(BT_pub); |
WeberYang | 8:4974fc24fbd7 | 537 | nh.advertise(DI_pub); |
WeberYang | 9:e10bd4b460d7 | 538 | nh.advertise(ACT_state_pub); |
WeberYang | 9:e10bd4b460d7 | 539 | nh.advertise(Error_state_pub); |
WeberYang | 2:648583d6e41a | 540 | nh.subscribe(cmd_vel_sub); |
WeberYang | 8:4974fc24fbd7 | 541 | nh.subscribe(ACT_sub); |
WeberYang | 9:e10bd4b460d7 | 542 | /* |
WeberYang | 7:1a234f02746f | 543 | mpu.initialize(); |
WeberYang | 7:1a234f02746f | 544 | if (mpu.testConnection()) { |
WeberYang | 7:1a234f02746f | 545 | // pc.printf("MPU6050 test connection passed.\n"); |
WeberYang | 7:1a234f02746f | 546 | } else { |
WeberYang | 7:1a234f02746f | 547 | // pc.printf("MPU6050 test connection failed.\n"); |
WeberYang | 7:1a234f02746f | 548 | return false; |
WeberYang | 7:1a234f02746f | 549 | } |
WeberYang | 7:1a234f02746f | 550 | if (mpu.dmpInitialize() == 0) { |
WeberYang | 7:1a234f02746f | 551 | // pc.printf("succeed in MPU6050 DMP Initializing.\n"); |
WeberYang | 7:1a234f02746f | 552 | } else { |
WeberYang | 7:1a234f02746f | 553 | // pc.printf("failed in MPU6050 DMP Initializing.\n"); |
WeberYang | 7:1a234f02746f | 554 | return false; |
WeberYang | 7:1a234f02746f | 555 | } |
WeberYang | 9:e10bd4b460d7 | 556 | |
WeberYang | 9:e10bd4b460d7 | 557 | //mpu.setXAccelOffsetTC(offset.ax); |
WeberYang | 9:e10bd4b460d7 | 558 | // mpu.setYAccelOffsetTC(offset.ay); |
WeberYang | 9:e10bd4b460d7 | 559 | // mpu.setZAccelOffset(offset.az); |
WeberYang | 9:e10bd4b460d7 | 560 | mpu.setXAccelOffset(1000); //2000 -3134 |
WeberYang | 9:e10bd4b460d7 | 561 | mpu.setYAccelOffset(0); |
WeberYang | 9:e10bd4b460d7 | 562 | mpu.setZAccelOffset(0); |
WeberYang | 9:e10bd4b460d7 | 563 | mpu.setXGyroOffset(800);//offset.gx); |
WeberYang | 9:e10bd4b460d7 | 564 | mpu.setYGyroOffset(0);//offset.gy); |
WeberYang | 9:e10bd4b460d7 | 565 | mpu.setZGyroOffset(0);//offset.gz); |
WeberYang | 9:e10bd4b460d7 | 566 | |
WeberYang | 9:e10bd4b460d7 | 567 | |
WeberYang | 9:e10bd4b460d7 | 568 | |
WeberYang | 9:e10bd4b460d7 | 569 | mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);//2000); |
WeberYang | 7:1a234f02746f | 570 | mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2); |
WeberYang | 7:1a234f02746f | 571 | mpu.setDMPEnabled(true); // Enable DMP |
WeberYang | 9:e10bd4b460d7 | 572 | |
WeberYang | 7:1a234f02746f | 573 | packetSize = mpu.dmpGetFIFOPacketSize(); |
WeberYang | 7:1a234f02746f | 574 | dmpReady = true; // Enable interrupt. |
WeberYang | 9:e10bd4b460d7 | 575 | */ |
WeberYang | 5:52fb31c1a8c0 | 576 | //pc.printf("Init finish!\n"); |
WeberYang | 5:52fb31c1a8c0 | 577 | |
WeberYang | 5:52fb31c1a8c0 | 578 | return true; |
WeberYang | 5:52fb31c1a8c0 | 579 | } |
WeberYang | 9:e10bd4b460d7 | 580 | int MG_ACT(int state) |
WeberYang | 9:e10bd4b460d7 | 581 | { |
WeberYang | 9:e10bd4b460d7 | 582 | // int ret; |
WeberYang | 9:e10bd4b460d7 | 583 | if (state == 1){ //MAG_ON |
WeberYang | 10:8b7fce3bba86 | 584 | // if (sensorState == 0){ //Battery on-position |
WeberYang | 9:e10bd4b460d7 | 585 | //Lock triggrt |
WeberYang | 10:8b7fce3bba86 | 586 | DO_0 = 0; |
WeberYang | 10:8b7fce3bba86 | 587 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 588 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 589 | |
WeberYang | 10:8b7fce3bba86 | 590 | DO_0 = 0; |
WeberYang | 9:e10bd4b460d7 | 591 | DO_1 = 1; |
WeberYang | 10:8b7fce3bba86 | 592 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 593 | |
WeberYang | 10:8b7fce3bba86 | 594 | wait_ms(500); |
WeberYang | 9:e10bd4b460d7 | 595 | |
WeberYang | 10:8b7fce3bba86 | 596 | DO_0 = 0; |
WeberYang | 10:8b7fce3bba86 | 597 | DO_1 = 0; |
WeberYang | 9:e10bd4b460d7 | 598 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 599 | |
WeberYang | 10:8b7fce3bba86 | 600 | //cut off main power |
WeberYang | 10:8b7fce3bba86 | 601 | DO_4 = 1; |
WeberYang | 10:8b7fce3bba86 | 602 | wait_ms(100); |
WeberYang | 10:8b7fce3bba86 | 603 | |
WeberYang | 10:8b7fce3bba86 | 604 | // BMS ON |
WeberYang | 10:8b7fce3bba86 | 605 | DO_3 = 1; |
WeberYang | 10:8b7fce3bba86 | 606 | wait(5); |
WeberYang | 10:8b7fce3bba86 | 607 | DO_3 = 0; |
WeberYang | 9:e10bd4b460d7 | 608 | return 1; |
WeberYang | 10:8b7fce3bba86 | 609 | // } |
WeberYang | 9:e10bd4b460d7 | 610 | } |
WeberYang | 9:e10bd4b460d7 | 611 | else if (state == 2){//MAG_OFF |
WeberYang | 10:8b7fce3bba86 | 612 | // BMS OFF |
WeberYang | 10:8b7fce3bba86 | 613 | DO_3 = 1; |
WeberYang | 10:8b7fce3bba86 | 614 | wait(5); |
WeberYang | 10:8b7fce3bba86 | 615 | DO_3 = 0; |
WeberYang | 10:8b7fce3bba86 | 616 | |
WeberYang | 9:e10bd4b460d7 | 617 | //unLock triggrt |
WeberYang | 10:8b7fce3bba86 | 618 | DO_0 = 0; |
WeberYang | 10:8b7fce3bba86 | 619 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 620 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 621 | |
WeberYang | 10:8b7fce3bba86 | 622 | DO_0 = 1; |
WeberYang | 10:8b7fce3bba86 | 623 | DO_1 = 0; |
WeberYang | 9:e10bd4b460d7 | 624 | DO_2 = 0; |
WeberYang | 9:e10bd4b460d7 | 625 | |
WeberYang | 10:8b7fce3bba86 | 626 | DO_0 = 1; |
WeberYang | 10:8b7fce3bba86 | 627 | DO_1 = 0; |
WeberYang | 9:e10bd4b460d7 | 628 | DO_2 = 1; |
WeberYang | 10:8b7fce3bba86 | 629 | |
WeberYang | 10:8b7fce3bba86 | 630 | wait_ms(500); |
WeberYang | 10:8b7fce3bba86 | 631 | |
WeberYang | 10:8b7fce3bba86 | 632 | DO_0 = 1; |
WeberYang | 10:8b7fce3bba86 | 633 | DO_1 = 0; |
WeberYang | 9:e10bd4b460d7 | 634 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 635 | |
WeberYang | 10:8b7fce3bba86 | 636 | DO_0 = 0; |
WeberYang | 10:8b7fce3bba86 | 637 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 638 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 639 | |
WeberYang | 9:e10bd4b460d7 | 640 | return 1; |
WeberYang | 9:e10bd4b460d7 | 641 | } |
WeberYang | 9:e10bd4b460d7 | 642 | return 0; |
WeberYang | 9:e10bd4b460d7 | 643 | } |
WeberYang | 5:52fb31c1a8c0 | 644 | //======================================================= |
WeberYang | 5:52fb31c1a8c0 | 645 | int main() { |
WeberYang | 6:eadfb1b45bda | 646 | RS232.baud(PC_BAUDRATE); |
WeberYang | 5:52fb31c1a8c0 | 647 | MBED_ASSERT(Init() == true); |
WeberYang | 6:eadfb1b45bda | 648 | CANMessage rxMsg; |
WeberYang | 8:4974fc24fbd7 | 649 | DI_0.mode(PullUp); |
WeberYang | 6:eadfb1b45bda | 650 | CAN_T = 0; |
WeberYang | 6:eadfb1b45bda | 651 | CAN_R = 0; |
WeberYang | 6:eadfb1b45bda | 652 | wait_ms(50); |
WeberYang | 6:eadfb1b45bda | 653 | CAN can1(D15,D14);//PB_8,PB_9); // CAN Rx pin name, CAN Tx pin name |
WeberYang | 6:eadfb1b45bda | 654 | wait_ms(50); |
WeberYang | 6:eadfb1b45bda | 655 | can1.frequency(500000); |
WeberYang | 6:eadfb1b45bda | 656 | wait_ms(50); |
WeberYang | 9:e10bd4b460d7 | 657 | |
WeberYang | 6:eadfb1b45bda | 658 | while(1){ |
WeberYang | 2:648583d6e41a | 659 | seq++; |
WeberYang | 9:e10bd4b460d7 | 660 | motor_seq = seq; |
WeberYang | 6:eadfb1b45bda | 661 | t.start(); |
WeberYang | 9:e10bd4b460d7 | 662 | //================================ |
WeberYang | 9:e10bd4b460d7 | 663 | //========define ACT_state return code============================================ |
WeberYang | 9:e10bd4b460d7 | 664 | //#define Satndby 0x00 |
WeberYang | 9:e10bd4b460d7 | 665 | //#define Busy 0x01 |
WeberYang | 9:e10bd4b460d7 | 666 | //#define Sensor_error 0x10 |
WeberYang | 9:e10bd4b460d7 | 667 | //======================================================== |
WeberYang | 9:e10bd4b460d7 | 668 | counter++; |
WeberYang | 9:e10bd4b460d7 | 669 | state_code = State; |
WeberYang | 9:e10bd4b460d7 | 670 | switch (State){ |
WeberYang | 9:e10bd4b460d7 | 671 | int ret; |
WeberYang | 9:e10bd4b460d7 | 672 | case IDLE: |
WeberYang | 9:e10bd4b460d7 | 673 | counter = 0; |
WeberYang | 9:e10bd4b460d7 | 674 | break; |
WeberYang | 9:e10bd4b460d7 | 675 | |
WeberYang | 9:e10bd4b460d7 | 676 | case ACT_MG_ON: |
WeberYang | 9:e10bd4b460d7 | 677 | ret = MG_ACT(1); |
WeberYang | 10:8b7fce3bba86 | 678 | if (ret){ |
WeberYang | 10:8b7fce3bba86 | 679 | DO_4 = 0; |
WeberYang | 9:e10bd4b460d7 | 680 | State = Check_BMS_ON; |
WeberYang | 9:e10bd4b460d7 | 681 | counter = 0; |
WeberYang | 9:e10bd4b460d7 | 682 | } |
WeberYang | 9:e10bd4b460d7 | 683 | if (counter>10){ |
WeberYang | 9:e10bd4b460d7 | 684 | State = IDLE; |
WeberYang | 9:e10bd4b460d7 | 685 | error_code = Sensor_error; |
WeberYang | 10:8b7fce3bba86 | 686 | DO_0 = 0; |
WeberYang | 10:8b7fce3bba86 | 687 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 688 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 689 | DO_3 = 0; |
WeberYang | 10:8b7fce3bba86 | 690 | DO_4 = 0; |
WeberYang | 9:e10bd4b460d7 | 691 | } |
WeberYang | 9:e10bd4b460d7 | 692 | break; |
WeberYang | 9:e10bd4b460d7 | 693 | |
WeberYang | 9:e10bd4b460d7 | 694 | case Check_BMS_ON: |
WeberYang | 10:8b7fce3bba86 | 695 | // if (BMS_state == 1){ |
WeberYang | 9:e10bd4b460d7 | 696 | State = IDLE; |
WeberYang | 9:e10bd4b460d7 | 697 | error_code = 0; |
WeberYang | 10:8b7fce3bba86 | 698 | // } |
WeberYang | 10:8b7fce3bba86 | 699 | if (counter>100){ |
WeberYang | 9:e10bd4b460d7 | 700 | State = IDLE; |
WeberYang | 9:e10bd4b460d7 | 701 | error_code = BMS_error; |
WeberYang | 10:8b7fce3bba86 | 702 | DO_0 = 0; |
WeberYang | 10:8b7fce3bba86 | 703 | DO_1 = 0; |
WeberYang | 10:8b7fce3bba86 | 704 | DO_2 = 0; |
WeberYang | 10:8b7fce3bba86 | 705 | DO_3 = 0; |
WeberYang | 10:8b7fce3bba86 | 706 | DO_4 = 0; |
WeberYang | 9:e10bd4b460d7 | 707 | } |
WeberYang | 9:e10bd4b460d7 | 708 | break; |
WeberYang | 9:e10bd4b460d7 | 709 | |
WeberYang | 9:e10bd4b460d7 | 710 | case ACT_MG_OFF: |
WeberYang | 9:e10bd4b460d7 | 711 | ret = MG_ACT(2); |
WeberYang | 9:e10bd4b460d7 | 712 | if (ret){ |
WeberYang | 9:e10bd4b460d7 | 713 | State = Check_BMS_OFF; |
WeberYang | 9:e10bd4b460d7 | 714 | counter = 0; |
WeberYang | 9:e10bd4b460d7 | 715 | } |
WeberYang | 9:e10bd4b460d7 | 716 | if (counter>10){ |
WeberYang | 9:e10bd4b460d7 | 717 | State = IDLE; |
WeberYang | 9:e10bd4b460d7 | 718 | error_code = Sensor_error; |
WeberYang | 9:e10bd4b460d7 | 719 | } |
WeberYang | 9:e10bd4b460d7 | 720 | break; |
WeberYang | 9:e10bd4b460d7 | 721 | |
WeberYang | 9:e10bd4b460d7 | 722 | case Check_BMS_OFF: |
WeberYang | 9:e10bd4b460d7 | 723 | if (BMS_state == 0){ |
WeberYang | 9:e10bd4b460d7 | 724 | State = IDLE; |
WeberYang | 9:e10bd4b460d7 | 725 | error_code = 0; |
WeberYang | 9:e10bd4b460d7 | 726 | } |
WeberYang | 10:8b7fce3bba86 | 727 | if (counter>100){ |
WeberYang | 9:e10bd4b460d7 | 728 | State = IDLE; |
WeberYang | 9:e10bd4b460d7 | 729 | error_code = BMS_error; |
WeberYang | 9:e10bd4b460d7 | 730 | } |
WeberYang | 9:e10bd4b460d7 | 731 | break; |
WeberYang | 9:e10bd4b460d7 | 732 | } |
WeberYang | 9:e10bd4b460d7 | 733 | |
WeberYang | 9:e10bd4b460d7 | 734 | ACT_state.data = state_code; |
WeberYang | 9:e10bd4b460d7 | 735 | ACT_state_pub.publish( &ACT_state); |
WeberYang | 10:8b7fce3bba86 | 736 | wait_ms(10); |
WeberYang | 9:e10bd4b460d7 | 737 | Error_state.data = error_code; |
WeberYang | 9:e10bd4b460d7 | 738 | Error_state_pub.publish( &Error_state); |
WeberYang | 10:8b7fce3bba86 | 739 | wait_ms(10); |
WeberYang | 8:4974fc24fbd7 | 740 | //============DI================== |
WeberYang | 8:4974fc24fbd7 | 741 | int reading = DI_0; |
WeberYang | 9:e10bd4b460d7 | 742 | if (reading == lastsensorState) { |
WeberYang | 8:4974fc24fbd7 | 743 | db_conter = db_conter+1; |
WeberYang | 8:4974fc24fbd7 | 744 | } |
WeberYang | 8:4974fc24fbd7 | 745 | else{ |
WeberYang | 8:4974fc24fbd7 | 746 | db_conter = 0; |
WeberYang | 9:e10bd4b460d7 | 747 | } |
WeberYang | 8:4974fc24fbd7 | 748 | if (db_conter > 3) { |
WeberYang | 9:e10bd4b460d7 | 749 | sensorState = reading; |
WeberYang | 9:e10bd4b460d7 | 750 | DI.data = sensorState; |
WeberYang | 8:4974fc24fbd7 | 751 | } |
WeberYang | 8:4974fc24fbd7 | 752 | |
WeberYang | 9:e10bd4b460d7 | 753 | lastsensorState = reading; |
WeberYang | 8:4974fc24fbd7 | 754 | DI_pub.publish( &DI); |
WeberYang | 10:8b7fce3bba86 | 755 | wait_ms(10); |
WeberYang | 8:4974fc24fbd7 | 756 | //========================================= |
WeberYang | 6:eadfb1b45bda | 757 | if (can1.read(rxMsg) && (t.read_ms() > 5000)) { |
WeberYang | 6:eadfb1b45bda | 758 | if(rxMsg.id == CAN_DATA){ |
WeberYang | 9:e10bd4b460d7 | 759 | BMS_state = 1; |
WeberYang | 6:eadfb1b45bda | 760 | SOC = rxMsg.data[0]>>1; |
WeberYang | 6:eadfb1b45bda | 761 | Tempert = rxMsg.data[1]-50; |
WeberYang | 10:8b7fce3bba86 | 762 | RackVoltage = ((unsigned int)rxMsg.data[3] << 8) + (unsigned int)rxMsg.data[2]; |
WeberYang | 10:8b7fce3bba86 | 763 | Current = ((unsigned int)rxMsg.data[5] << 8) + (unsigned int)rxMsg.data[4]; |
WeberYang | 6:eadfb1b45bda | 764 | MaxCellV = rxMsg.data[6]; |
WeberYang | 9:e10bd4b460d7 | 765 | MinCellV = rxMsg.data[7]; |
WeberYang | 6:eadfb1b45bda | 766 | BTState.header.stamp = nh.now(); |
WeberYang | 6:eadfb1b45bda | 767 | BTState.header.frame_id = 0; |
WeberYang | 6:eadfb1b45bda | 768 | BTState.header.seq = seq; |
WeberYang | 6:eadfb1b45bda | 769 | BTState.voltage = RackVoltage*0.1; |
WeberYang | 10:8b7fce3bba86 | 770 | BTState.current = Current; |
WeberYang | 6:eadfb1b45bda | 771 | BTState.design_capacity = 80; |
WeberYang | 6:eadfb1b45bda | 772 | BTState.percentage = SOC; |
WeberYang | 6:eadfb1b45bda | 773 | BT_pub.publish( &BTState ); |
WeberYang | 6:eadfb1b45bda | 774 | t.reset(); |
WeberYang | 6:eadfb1b45bda | 775 | } // if |
WeberYang | 6:eadfb1b45bda | 776 | } // if |
WeberYang | 9:e10bd4b460d7 | 777 | else{ |
WeberYang | 9:e10bd4b460d7 | 778 | BMS_state = 0; |
WeberYang | 9:e10bd4b460d7 | 779 | } |
WeberYang | 9:e10bd4b460d7 | 780 | |
WeberYang | 9:e10bd4b460d7 | 781 | |
WeberYang | 9:e10bd4b460d7 | 782 | if (motor_seq > motor_old_seq + 5){ |
WeberYang | 9:e10bd4b460d7 | 783 | motor_rpm_r = 0; |
WeberYang | 9:e10bd4b460d7 | 784 | motor_rpm_l = 0; |
WeberYang | 9:e10bd4b460d7 | 785 | } |
WeberYang | 9:e10bd4b460d7 | 786 | |
WeberYang | 9:e10bd4b460d7 | 787 | Sendmessage(motor_rpm_l,motor_rpm_r); |
WeberYang | 10:8b7fce3bba86 | 788 | wait_ms(70); |
WeberYang | 10:8b7fce3bba86 | 789 | //wait_ms(100); |
WeberYang | 9:e10bd4b460d7 | 790 | nh.spinOnce(); |
hardtail | 0:6e61e8ec4b42 | 791 | } |
hardtail | 0:6e61e8ec4b42 | 792 | } |