This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of autonomous Robot Android by
main.cpp@1:6cd533a712c6, 2013-03-02 (annotated)
- Committer:
- chrigelburri
- Date:
- Sat Mar 02 09:39:34 2013 +0000
- Revision:
- 1:6cd533a712c6
- Parent:
- 0:31f7be68e52d
- Child:
- 2:d8e1613dc38b
Pos Regler funktioniert getestet im leerlauf;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chrigelburri | 1:6cd533a712c6 | 1 | /* |
chrigelburri | 1:6cd533a712c6 | 2 | * main.cpp |
chrigelburri | 1:6cd533a712c6 | 3 | * Copyright (c) 2012, Pren Team1 HSLU T&A |
chrigelburri | 1:6cd533a712c6 | 4 | * All rights reserved. |
chrigelburri | 1:6cd533a712c6 | 5 | */ |
chrigelburri | 1:6cd533a712c6 | 6 | |
chrigelburri | 1:6cd533a712c6 | 7 | /////////////////////////////////////////////////////////////////////////////////////////////////////// |
chrigelburri | 1:6cd533a712c6 | 8 | // INCLUDES |
chrigelburri | 1:6cd533a712c6 | 9 | /////////////////////////////////////////////////////////////////////////////////////////////////////// |
chrigelburri | 1:6cd533a712c6 | 10 | #include "mbed.h" |
chrigelburri | 1:6cd533a712c6 | 11 | #include "math.h" |
chrigelburri | 1:6cd533a712c6 | 12 | #include "defines.h" |
chrigelburri | 1:6cd533a712c6 | 13 | #include "State.h" |
chrigelburri | 1:6cd533a712c6 | 14 | #include "HMC5883L.h" |
chrigelburri | 1:6cd533a712c6 | 15 | #include "HMC6352.h" |
chrigelburri | 1:6cd533a712c6 | 16 | #include "RobotControl.h" |
chrigelburri | 1:6cd533a712c6 | 17 | #include "Ping.h" |
chrigelburri | 1:6cd533a712c6 | 18 | #include "PowerControl/EthernetPowerControl.h" |
chrigelburri | 1:6cd533a712c6 | 19 | #include "Android.h" |
chrigelburri | 1:6cd533a712c6 | 20 | |
chrigelburri | 1:6cd533a712c6 | 21 | |
chrigelburri | 1:6cd533a712c6 | 22 | // LiPo Batterie |
chrigelburri | 1:6cd533a712c6 | 23 | AnalogIn battery(p15); // Battery check |
chrigelburri | 1:6cd533a712c6 | 24 | |
chrigelburri | 1:6cd533a712c6 | 25 | // compass |
chrigelburri | 1:6cd533a712c6 | 26 | //HMC5883L compass(p9, p10, PERIOD_COMPASS); // sda, sdl (I2C) |
chrigelburri | 1:6cd533a712c6 | 27 | //HMC6352 compass(p9, p10, PERIOD_COMPASS); // sda, sdl (I2C) |
chrigelburri | 1:6cd533a712c6 | 28 | |
chrigelburri | 1:6cd533a712c6 | 29 | |
chrigelburri | 1:6cd533a712c6 | 30 | // ultrasonic sensor |
chrigelburri | 1:6cd533a712c6 | 31 | //Ping ultrasonic(p30); |
chrigelburri | 1:6cd533a712c6 | 32 | |
chrigelburri | 1:6cd533a712c6 | 33 | //Hallsensor |
chrigelburri | 1:6cd533a712c6 | 34 | //hall1, hall2, hall3 |
chrigelburri | 1:6cd533a712c6 | 35 | Hallsensor hallLeft(p18, p17, p16); |
chrigelburri | 1:6cd533a712c6 | 36 | //hall1, hall2, hall3 |
chrigelburri | 1:6cd533a712c6 | 37 | Hallsensor hallRight(p27, p28, p29); |
chrigelburri | 1:6cd533a712c6 | 38 | |
chrigelburri | 1:6cd533a712c6 | 39 | // Motors |
chrigelburri | 1:6cd533a712c6 | 40 | //enb, ready, pwm, actualSpeed, Hallsensor object |
chrigelburri | 1:6cd533a712c6 | 41 | MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft); |
chrigelburri | 1:6cd533a712c6 | 42 | //enb, ready, pwm, actualSpeed, Hallsensor object |
chrigelburri | 1:6cd533a712c6 | 43 | MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight); |
chrigelburri | 1:6cd533a712c6 | 44 | |
chrigelburri | 1:6cd533a712c6 | 45 | // Robot Control |
chrigelburri | 1:6cd533a712c6 | 46 | RobotControl robotControl (&leftMotor, &rightMotor, /*&compass,*/ PERIOD_ROBOTCONTROL); |
chrigelburri | 1:6cd533a712c6 | 47 | |
chrigelburri | 1:6cd533a712c6 | 48 | // Logging & State |
chrigelburri | 1:6cd533a712c6 | 49 | state_t s; // stuct state |
chrigelburri | 1:6cd533a712c6 | 50 | State state(&s, &robotControl, &leftMotor, &rightMotor, /*&compass,*/ &battery, PERIOD_STATE); |
chrigelburri | 1:6cd533a712c6 | 51 | |
chrigelburri | 1:6cd533a712c6 | 52 | // Communication |
chrigelburri | 1:6cd533a712c6 | 53 | |
chrigelburri | 1:6cd533a712c6 | 54 | //Android android(&s, &robotControl, &leftMotor, &rightMotor, PERIOD_ANDROID); |
chrigelburri | 1:6cd533a712c6 | 55 | |
chrigelburri | 1:6cd533a712c6 | 56 | // PC USB communications |
chrigelburri | 1:6cd533a712c6 | 57 | Serial pc(USBTX, USBRX); |
chrigelburri | 1:6cd533a712c6 | 58 | |
chrigelburri | 1:6cd533a712c6 | 59 | DigitalOut myled(LED1); |
chrigelburri | 1:6cd533a712c6 | 60 | |
chrigelburri | 1:6cd533a712c6 | 61 | //float magout[3] = {0}; |
chrigelburri | 1:6cd533a712c6 | 62 | |
chrigelburri | 1:6cd533a712c6 | 63 | // LiPo Batterie |
chrigelburri | 1:6cd533a712c6 | 64 | float batterie_voltage; |
chrigelburri | 1:6cd533a712c6 | 65 | |
chrigelburri | 1:6cd533a712c6 | 66 | int main() |
chrigelburri | 1:6cd533a712c6 | 67 | { |
chrigelburri | 1:6cd533a712c6 | 68 | pc.printf("blabal"); |
chrigelburri | 1:6cd533a712c6 | 69 | /** Normal mbed power level for this setup is around 690mW |
chrigelburri | 1:6cd533a712c6 | 70 | * assuming 5V used on Vin pin |
chrigelburri | 1:6cd533a712c6 | 71 | * If you don't need networking... |
chrigelburri | 1:6cd533a712c6 | 72 | * Power down Ethernet interface - saves around 175mW |
chrigelburri | 1:6cd533a712c6 | 73 | * Also need to unplug network cable - just a cable sucks power |
chrigelburri | 1:6cd533a712c6 | 74 | */ |
chrigelburri | 1:6cd533a712c6 | 75 | PHY_PowerDown(); |
chrigelburri | 1:6cd533a712c6 | 76 | state.startTimerFromZero(); |
chrigelburri | 1:6cd533a712c6 | 77 | state.initPlotFile(); |
chrigelburri | 1:6cd533a712c6 | 78 | |
chrigelburri | 1:6cd533a712c6 | 79 | // robotControl.start(); |
chrigelburri | 1:6cd533a712c6 | 80 | // compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
chrigelburri | 1:6cd533a712c6 | 81 | // compass.start(); |
chrigelburri | 1:6cd533a712c6 | 82 | robotControl.start(); |
chrigelburri | 1:6cd533a712c6 | 83 | robotControl.setEnable(false); |
chrigelburri | 1:6cd533a712c6 | 84 | wait(0.01); |
chrigelburri | 1:6cd533a712c6 | 85 | robotControl.setEnable(true); |
chrigelburri | 1:6cd533a712c6 | 86 | wait(0.01); |
chrigelburri | 1:6cd533a712c6 | 87 | robotControl.setAllToZero(0, 0, PI/2 ); |
chrigelburri | 1:6cd533a712c6 | 88 | leftMotor.setPulses(0); |
chrigelburri | 1:6cd533a712c6 | 89 | rightMotor.setPulses(0); |
chrigelburri | 1:6cd533a712c6 | 90 | state.start(); |
chrigelburri | 1:6cd533a712c6 | 91 | pc.printf("start"); |
chrigelburri | 1:6cd533a712c6 | 92 | |
chrigelburri | 1:6cd533a712c6 | 93 | robotControl.setxPosition(-1.0); |
chrigelburri | 1:6cd533a712c6 | 94 | robotControl.setyPosition(1.0); |
chrigelburri | 1:6cd533a712c6 | 95 | robotControl.setTheta( PI); |
chrigelburri | 1:6cd533a712c6 | 96 | while(!(s.millis >= 15000)) { |
chrigelburri | 1:6cd533a712c6 | 97 | state.savePlotFile(s); |
chrigelburri | 1:6cd533a712c6 | 98 | pc.printf("rhho: %f, gamma: %f, delta: %f thetaacutal: %f %f %f atan2: %f\n", robotControl.getDistanceError(), robotControl.getThetaErrorToGoal() * 180/PI, robotControl.getThetaGoal()*180/PI, robotControl.getActualTheta()*180/PI, robotControl.getyPositionError(), robotControl.getxPositionError(), atan2(robotControl.getyPositionError(),robotControl.getxPositionError()) * 180/PI); |
chrigelburri | 1:6cd533a712c6 | 99 | }; |
chrigelburri | 1:6cd533a712c6 | 100 | pc.printf("nextpoint"); |
chrigelburri | 1:6cd533a712c6 | 101 | robotControl.setxPosition(-2.0); |
chrigelburri | 1:6cd533a712c6 | 102 | robotControl.setyPosition(3.0); |
chrigelburri | 1:6cd533a712c6 | 103 | robotControl.setTheta( PI/2 ); |
chrigelburri | 1:6cd533a712c6 | 104 | while(!(s.millis >= 30000)) { |
chrigelburri | 1:6cd533a712c6 | 105 | state.savePlotFile(s); |
chrigelburri | 1:6cd533a712c6 | 106 | pc.printf("rho: %f, gamma: %f, delta: %f\n", robotControl.getDistanceError(), robotControl.getThetaErrorToGoal() * 180/PI, robotControl.getThetaGoal()*180/PI); |
chrigelburri | 1:6cd533a712c6 | 107 | }; |
chrigelburri | 1:6cd533a712c6 | 108 | state.savePlotFile(s); |
chrigelburri | 1:6cd533a712c6 | 109 | state.closePlotFile(); |
chrigelburri | 1:6cd533a712c6 | 110 | state.stop(); |
chrigelburri | 1:6cd533a712c6 | 111 | robotControl.setEnable(false); |
chrigelburri | 1:6cd533a712c6 | 112 | pc.printf("\n"); |
chrigelburri | 1:6cd533a712c6 | 113 | |
chrigelburri | 1:6cd533a712c6 | 114 | } |