Ben Katz
/
MotorModuleExample
MotorModule CAN example
main.cpp@3:f0d054d896f9, 2019-08-08 (annotated)
- Committer:
- benkatz
- Date:
- Thu Aug 08 17:39:17 2019 +0000
- Revision:
- 3:f0d054d896f9
- Parent:
- 2:36a254d3dbf3
- Child:
- 4:0ce97b9fde37
updated position for +/- 15 turns
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 0:d6186b8990c5 | 1 | |
benkatz | 2:36a254d3dbf3 | 2 | #define CAN_ID 0x0 |
benkatz | 0:d6186b8990c5 | 3 | |
benkatz | 0:d6186b8990c5 | 4 | #include "mbed.h" |
benkatz | 0:d6186b8990c5 | 5 | #include "math_ops.h" |
benkatz | 2:36a254d3dbf3 | 6 | #include "MotorModule.h" |
benkatz | 2:36a254d3dbf3 | 7 | |
benkatz | 0:d6186b8990c5 | 8 | |
benkatz | 0:d6186b8990c5 | 9 | |
benkatz | 2:36a254d3dbf3 | 10 | Serial pc(PA_2, PA_3); // Serial port to the computer |
benkatz | 1:d24fd64d1fcb | 11 | CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name |
benkatz | 0:d6186b8990c5 | 12 | |
benkatz | 2:36a254d3dbf3 | 13 | Ticker loop; // Control loop interrupt handler |
benkatz | 2:36a254d3dbf3 | 14 | int loop_counter = 0; |
benkatz | 2:36a254d3dbf3 | 15 | #define DT .01 // Control loop period |
benkatz | 0:d6186b8990c5 | 16 | |
benkatz | 2:36a254d3dbf3 | 17 | #define N_MOTORS 2 // Number of motors on the can bus |
benkatz | 2:36a254d3dbf3 | 18 | MotorStruct motors[N_MOTORS]; // Create a list of the motors attached |
benkatz | 2:36a254d3dbf3 | 19 | |
benkatz | 2:36a254d3dbf3 | 20 | /* Communication functions. Do not touch */ |
benkatz | 2:36a254d3dbf3 | 21 | void onMsgReceived(); |
benkatz | 2:36a254d3dbf3 | 22 | void init_motors(int ids[N_MOTORS]); |
benkatz | 2:36a254d3dbf3 | 23 | /* */ |
benkatz | 0:d6186b8990c5 | 24 | |
benkatz | 2:36a254d3dbf3 | 25 | void control() |
benkatz | 2:36a254d3dbf3 | 26 | { |
benkatz | 2:36a254d3dbf3 | 27 | /* Your control loop goes here. */ |
benkatz | 2:36a254d3dbf3 | 28 | /* Update torques, position/velocity setpoints, etc */ |
benkatz | 3:f0d054d896f9 | 29 | motors[0].control.p_des = 10.0f*sin(.01f*loop_counter); |
benkatz | 2:36a254d3dbf3 | 30 | motors[0].control.kd = .5f; |
benkatz | 3:f0d054d896f9 | 31 | motors[0].control.kp = 1.0f; |
benkatz | 2:36a254d3dbf3 | 32 | /* */ |
benkatz | 0:d6186b8990c5 | 33 | |
benkatz | 2:36a254d3dbf3 | 34 | for(int i = 0; i<N_MOTORS; i++) |
benkatz | 2:36a254d3dbf3 | 35 | { |
benkatz | 2:36a254d3dbf3 | 36 | pack_cmd(&motors[i]); |
benkatz | 2:36a254d3dbf3 | 37 | can.write(motors[i].txMsg); |
benkatz | 2:36a254d3dbf3 | 38 | } |
benkatz | 0:d6186b8990c5 | 39 | |
benkatz | 0:d6186b8990c5 | 40 | |
benkatz | 3:f0d054d896f9 | 41 | printf("%f\n\r", motors[0].state.position); // This will print to the computer. Usefull for debugging |
benkatz | 2:36a254d3dbf3 | 42 | loop_counter++; // Increment loop counter |
benkatz | 0:d6186b8990c5 | 43 | } |
benkatz | 0:d6186b8990c5 | 44 | |
benkatz | 0:d6186b8990c5 | 45 | |
benkatz | 2:36a254d3dbf3 | 46 | int main() |
benkatz | 2:36a254d3dbf3 | 47 | { |
benkatz | 2:36a254d3dbf3 | 48 | |
benkatz | 2:36a254d3dbf3 | 49 | pc.baud(921600); // Set baud rate for communication over USB serial |
benkatz | 2:36a254d3dbf3 | 50 | can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler |
benkatz | 2:36a254d3dbf3 | 51 | can.filter(CAN_ID , 0xFFF, CANStandard, 0); // Set up can filter so it interrups only for messages with ID CAN_ID |
benkatz | 2:36a254d3dbf3 | 52 | |
benkatz | 2:36a254d3dbf3 | 53 | int ids[N_MOTORS] = {1, 2}; // List of motor CAN ID's |
benkatz | 2:36a254d3dbf3 | 54 | init_motors(ids); // Initialize the list of motors |
benkatz | 0:d6186b8990c5 | 55 | |
benkatz | 2:36a254d3dbf3 | 56 | enable_motor(&motors[0], &can); // Enable first motor |
benkatz | 3:f0d054d896f9 | 57 | //wait(1); // Wait 1 second |
benkatz | 3:f0d054d896f9 | 58 | //disable_motor(&motors[0], &can); // Disable first motor |
benkatz | 2:36a254d3dbf3 | 59 | |
benkatz | 2:36a254d3dbf3 | 60 | loop.attach(&control, DT); // Start running the contorl interrupt at 1/DT Hz |
benkatz | 0:d6186b8990c5 | 61 | |
benkatz | 2:36a254d3dbf3 | 62 | while(1) |
benkatz | 2:36a254d3dbf3 | 63 | { |
benkatz | 2:36a254d3dbf3 | 64 | // Usuallly nothing should run here. Instead run control in the interrupt. |
benkatz | 0:d6186b8990c5 | 65 | } |
benkatz | 0:d6186b8990c5 | 66 | |
benkatz | 2:36a254d3dbf3 | 67 | } |
benkatz | 0:d6186b8990c5 | 68 | |
benkatz | 0:d6186b8990c5 | 69 | |
benkatz | 2:36a254d3dbf3 | 70 | /* low-level communication functoins below. Do not touch */ |
benkatz | 0:d6186b8990c5 | 71 | |
benkatz | 0:d6186b8990c5 | 72 | |
benkatz | 2:36a254d3dbf3 | 73 | void onMsgReceived() |
benkatz | 2:36a254d3dbf3 | 74 | /* This interrupt gets called when a CAN message with ID CAN_ID shows up */ |
benkatz | 2:36a254d3dbf3 | 75 | { |
benkatz | 2:36a254d3dbf3 | 76 | CANMessage rxMsg; |
benkatz | 2:36a254d3dbf3 | 77 | rxMsg.len = 6; |
benkatz | 2:36a254d3dbf3 | 78 | can.read(rxMsg); // read message into Rx message storage |
benkatz | 2:36a254d3dbf3 | 79 | int id = rxMsg.data[0]; |
benkatz | 2:36a254d3dbf3 | 80 | for (int i = 0; i< N_MOTORS; i++) |
benkatz | 2:36a254d3dbf3 | 81 | { |
benkatz | 2:36a254d3dbf3 | 82 | if(motors[i].control.id == id) |
benkatz | 2:36a254d3dbf3 | 83 | { |
benkatz | 2:36a254d3dbf3 | 84 | memcpy(&motors[i].rxMsg, &rxMsg, sizeof(motors[i].rxMsg)); |
benkatz | 2:36a254d3dbf3 | 85 | unpack_reply(&motors[i]); |
benkatz | 2:36a254d3dbf3 | 86 | } |
benkatz | 2:36a254d3dbf3 | 87 | } |
benkatz | 2:36a254d3dbf3 | 88 | } |
benkatz | 0:d6186b8990c5 | 89 | |
benkatz | 2:36a254d3dbf3 | 90 | void init_motors(int ids[N_MOTORS]) |
benkatz | 2:36a254d3dbf3 | 91 | /* Initialize buffer lengths and IDs of the motors in the list */ |
benkatz | 2:36a254d3dbf3 | 92 | { |
benkatz | 2:36a254d3dbf3 | 93 | for(int i = 0; i<N_MOTORS; i++) |
benkatz | 2:36a254d3dbf3 | 94 | { |
benkatz | 2:36a254d3dbf3 | 95 | motors[i].txMsg.len = 8; |
benkatz | 2:36a254d3dbf3 | 96 | motors[i].rxMsg.len = 6; |
benkatz | 2:36a254d3dbf3 | 97 | motors[i].control.id = ids[i]; |
benkatz | 2:36a254d3dbf3 | 98 | motors[i].txMsg.id = ids[i]; |
benkatz | 2:36a254d3dbf3 | 99 | motors[i].control.p_des = 0; |
benkatz | 2:36a254d3dbf3 | 100 | motors[i].control.v_des = 0; |
benkatz | 2:36a254d3dbf3 | 101 | motors[i].control.kp = 0; |
benkatz | 2:36a254d3dbf3 | 102 | motors[i].control.kd = 0; |
benkatz | 2:36a254d3dbf3 | 103 | motors[i].control.i_ff = 0; |
benkatz | 2:36a254d3dbf3 | 104 | } |
benkatz | 2:36a254d3dbf3 | 105 | } |