Ryan Belmont
test
Dependencies: PM2_Libary Eigen
Diff: main.cpp
- Revision:
- 40:7e6b7aec3947
- Parent:
- 39:c6475c899b61
- Child:
- 41:8a63b01edd7e
--- a/main.cpp Mon May 16 11:05:58 2022 +0200
+++ b/main.cpp Tue May 17 12:35:58 2022 +0000
@@ -17,67 +17,49 @@
int main()
{
// while loop gets executed every main_task_period_ms milliseconds
- const int main_task_period_ms = 50; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
+ const int main_task_period_ms = 100; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms
+ // a coutner
+ uint32_t main_task_cntr = 0;
+
// led on nucleo board
DigitalOut user_led(LED1); // create DigitalOut object to command user led
- // additional Led
- DigitalOut extra_led(PB_9); // create DigitalOut object to command extra led (do add an aditional resistor, e.g. 220...500 Ohm)
-
- // mechanical button
- DigitalIn mechanical_button(PC_5); // create DigitalIn object to evaluate extra mechanical button, you need to specify the mode for proper usage, see below
-
// Sharp GP2Y0A41SK0F, 4-40 cm IR Sensor
float ir_distance_mV = 0.0f; // define variable to store measurement
AnalogIn ir_analog_in(PC_2); // create AnalogIn object to read in infrared distance sensor, 0...3.3V are mapped to 0...1
+ // create SensorBar object for sparkfun line follower array, only use this if it is connected (blocking your code if not)
+ float sensor_bar_avgAngleRad = 0.0f;
+ I2C i2c(PB_9, PB_8);
+ //SensorBar sensor_bar(i2c, 0.1175f); // second input argument is distance from bar to wheel axis
+
// 78:1, 100:1, ... Metal Gearmotor 20Dx44L mm 12V CB
DigitalOut enable_motors(PB_15); // create DigitalOut object to enable dc motors
- const float pwm_period_s = 0.00005f; // define pwm period time in seconds and create FastPWM objects to command dc motor M1
- FastPWM pwm_M1(PB_13); // motor M1 is used open loop
- FastPWM pwm_M2(PA_9); // motor M2 is closed-loop speed controlled (angle velocity)
- FastPWM pwm_M3(PA_10); // motor M3 is closed-loop position controlled (angle controlled)
+ FastPWM pwm_M1(PB_13); // motor M1 is closed-loop speed controlled (angle velocity)
+ FastPWM pwm_M2(PA_9); // motor M2 is closed-loop position controlled (angle controlled)
EncoderCounter encoder_M1(PA_6, PC_7); // create encoder objects to read in the encoder counter values
EncoderCounter encoder_M2(PB_6, PB_7);
- EncoderCounter encoder_M3(PA_0, PA_1);
// create SpeedController and PositionController objects, default parametrization is for 78.125:1 gear box
const float max_voltage = 12.0f; // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack
const float counts_per_turn = 20.0f * 78.125f; // define counts per turn at gearbox end: counts/turn * gearratio
const float kn = 180.0f / 12.0f; // define motor constant in rpm per V
- const float k_gear = 100.0f / 78.125f; // define additional ratio in case you are using a dc motor with a different gear box, e.g. 100:1
- const float kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1
-
- // SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear box with default contoller parameters
- SpeedController speedController_M2(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M2, encoder_M2); // parameters adjusted to 100:1 gear
+ //const float k_gear = 100.0f / 78.125f; // define additional ratio in case you are using a dc motor with a different gear box, e.g. 100:1
+ //const float kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1
- float max_speed_rps = 0.5f; // define maximum speed that the position controller is changig the speed, has to be smaller or equal to kn * max_voltage
- // PositionController positionController_M3(counts_per_turn, kn, max_voltage, pwm_M3, encoder_M3); // default 78.125:1 gear with default contoller parameters
- PositionController positionController_M3(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M3, encoder_M3); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
- positionController_M3.setSpeedCntrlGain(kp * k_gear);
- positionController_M3.setMaxVelocityRPS(max_speed_rps);
+ SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwm_M1, encoder_M1); // default 78.125:1 gear box with default contoller parameters
+ //SpeedController speedController_M1(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M1, encoder_M1); // parameters adjusted to 100:1 gear
- // Futaba Servo S3001 20mm 3kg Analog
- Servo servo_S1(PB_2); // create servo objects
- Servo servo_S2(PC_8);
- float servo_S1_angle = 0; // servo S1 normalized angle
- float servo_S2_angle = 0; // servo S2 normalized angle
- const int servo_period_mus = 20000; // define servo period time in mus
-
- int servo_counter = 0; // define servo counter, this is an additional variable to make the servos move
- const int loops_per_seconds = static_cast<int>(ceilf(1.0f/(0.001f*(float)main_task_period_ms))); // define loops per second
-
- // Groove Ultrasonic Ranger V2.0
- float us_distance_cm = 0.0f; // define variable to store measurement
- RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 17500); // create range finder object (ultra sonic distance sensor), 20 Hz parametrization
- // RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 7000); // create range finder object (ultra sonic distance sensor), 50 Hz parametrization
-
- // LSM9DS1 IMU, carefull: not all PES boards have an imu (chip shortage)
- // LSM9DS1 imu(PC_9, PA_8); // create LSM9DS1 comunication object, if you want to be able to use the imu you need to #include "LSM9DS1_i2c.h"
+ PositionController positionController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear with default contoller parameters
+ //PositionController positionController_M2(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M2, encoder_M2); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
+ //positionController_M2.setSpeedCntrlGain(kp * k_gear);
+ // define maximum speed that the position controller is changig the speed, has to be smaller or equal to kn * max_voltage
+ float max_speed_rps = 0.5f;
+ positionController_M2.setMaxVelocityRPS(max_speed_rps);
// attach button fall and rise functions to user button object
user_button.fall(&user_button_pressed_fcn);
@@ -86,98 +68,45 @@
// start timer
main_task_timer.start();
- // set pullup mode: add resistor between pin and 3.3 V, so that there is a defined potential
- mechanical_button.mode(PullUp);
-
// enable hardwaredriver dc motors: 0 -> disabled, 1 -> enabled
enable_motors = 1;
- // motor M1 is used open-loop, we need to initialize the pwm and set pwm output to zero at the beginning, range: 0...1 -> u_min...u_max: 0.5 -> 0 V
- pwm_M1.period(pwm_period_s);
- pwm_M1.write(0.5f);
-
- // set the soft pwm period for the servo objects
- servo_S1.SetPeriod(servo_period_mus);
- servo_S2.SetPeriod(servo_period_mus);
-
while (true) { // this loop will run forever
main_task_timer.reset();
+
+ // read analog input
+ ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f;
+
+ // read SensorBar, only use this if it is connected (blocking your code if not)
+ //if (sensor_bar.isAnyLedActive()) {
+ // sensor_bar_avgAngleRad = sensor_bar.getAvgAngleRad();
+ //}
if (do_execute_main_task) {
- // read analog input
- ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f;
-
- // command dc motors if mechanical button is pressed
- if (mechanical_button.read()) {
- pwm_M1.write(0.75f); // write output voltage to motor M1
- speedController_M2.setDesiredSpeedRPS(0.5f); // set a desired speed for speed controlled dc motors M2
- positionController_M3.setDesiredRotation(1.5f); // set a desired rotation for position controlled dc motors M3
- } else {
- pwm_M1.write(0.5f);
- speedController_M2.setDesiredSpeedRPS(0.0f);
- positionController_M3.setDesiredRotation(0.0f);
- }
-
- // check if servos are enabled
- if (!servo_S1.isEnabled()) servo_S1.Enable();
- if (!servo_S2.isEnabled()) servo_S2.Enable();
- // command servo position, this needs to be calibrated
- servo_S1.SetPosition(servo_S1_angle);
- if (servo_S1_angle < 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) {
- servo_S1_angle += 0.01f;
- }
- servo_S2.SetPosition(servo_S2_angle);
- if (servo_S2_angle < 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) {
- servo_S2_angle += 0.01f;
- }
- servo_counter++;
-
- // read ultra sonic distance sensor
- us_distance_cm = us_range_finder.read_cm();
-
- // visual feedback that the main task is executed
- extra_led = 1;
+ speedController_M1.setDesiredSpeedRPS(0.5f);
+ positionController_M2.setDesiredRotation(1.5f);
} else {
- ir_distance_mV = 0.0f;
-
- pwm_M1.write(0.5f);
- speedController_M2.setDesiredSpeedRPS(0.0f);
- positionController_M3.setDesiredRotation(0.0f);
-
- servo_S1_angle = 0;
- servo_S2_angle = 0;
- // servo_S1.SetPosition(servo_S1_angle);
- // servo_S2.SetPosition(servo_S2_angle);
- if (servo_S1.isEnabled()) servo_S1.Disable();
- if (servo_S2.isEnabled()) servo_S2.Disable();
-
- us_distance_cm = 0.0f;
-
- extra_led = 0;
+ speedController_M1.setDesiredSpeedRPS(0.0f);
+ positionController_M2.setDesiredRotation(0.0f);
+
}
- user_led = !user_led;
-
+ // user_led is switching its state every 100 runs
+ if ( (main_task_cntr%(1000 / main_task_cntr) == 0) && (main_task_cntr!=0) ) {
+ user_led = !user_led;
+ }
+ main_task_cntr++;
+
// do only output via serial what's really necessary (this makes your code slow)
- printf("IR sensor (mV): %3.3f, Encoder M1: %3d, Speed M2 (rps) %3.3f, Position M3 (rot): %3.3f, Servo S1 angle (normalized): %3.3f, Servo S2 angle (normalized): %3.3f, US sensor (cm): %3.3f\r\n",
+ printf("IR sensor (mV): %3.3f, SensorBar angle (rad): %3.3f, Speed M1 (rps) %3.3f, Position M2 (rot): %3.3f\r\n",
ir_distance_mV,
- encoder_M1.read(),
- speedController_M2.getSpeedRPS(),
- positionController_M3.getRotation(),
- servo_S1_angle,
- servo_S2_angle,
- us_distance_cm);
-
- // read out the imu, the actual frames of the sensor reading needs to be figured out
- // imu.updateGyro();
- // imu.updateAcc();
- // imu.updateMag();
- // printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f\r\n", imu.readGyroX(), imu.readGyroY(), imu.readGyroZ(),
- // imu.readAccX(), imu.readAccY(), imu.readAccZ(), imu.readMagX(), imu.readMagY(), imu.readMagZ());
+ sensor_bar_avgAngleRad,
+ speedController_M1.getSpeedRPS(),
+ positionController_M2.getRotation());
// read timer and make the main thread sleep for the remaining time span (non blocking)
int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();