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@2:d8e1613dc38b, 2013-03-03 (annotated)
- Committer:
- chrigelburri
- Date:
- Sun Mar 03 16:26:47 2013 +0000
- Revision:
- 2:d8e1613dc38b
- Parent:
- 1:6cd533a712c6
- Child:
- 3:92ba0254af87
Viereck Fahren; Code aufger?umt und eine setter methode progammiert f?r sollwert
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chrigelburri | 2:d8e1613dc38b | 1 | /** |
chrigelburri | 2:d8e1613dc38b | 2 | * @author Christian Burri |
chrigelburri | 2:d8e1613dc38b | 3 | * |
chrigelburri | 2:d8e1613dc38b | 4 | * @section LICENSE |
chrigelburri | 2:d8e1613dc38b | 5 | * |
chrigelburri | 2:d8e1613dc38b | 6 | * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 1:6cd533a712c6 | 7 | * All rights reserved. |
chrigelburri | 2:d8e1613dc38b | 8 | * |
chrigelburri | 2:d8e1613dc38b | 9 | * @section DESCRIPTION |
chrigelburri | 2:d8e1613dc38b | 10 | * |
chrigelburri | 2:d8e1613dc38b | 11 | * ????? |
chrigelburri | 2:d8e1613dc38b | 12 | * |
chrigelburri | 1:6cd533a712c6 | 13 | */ |
chrigelburri | 1:6cd533a712c6 | 14 | |
chrigelburri | 1:6cd533a712c6 | 15 | #include "mbed.h" |
chrigelburri | 1:6cd533a712c6 | 16 | #include "math.h" |
chrigelburri | 1:6cd533a712c6 | 17 | #include "defines.h" |
chrigelburri | 1:6cd533a712c6 | 18 | #include "State.h" |
chrigelburri | 1:6cd533a712c6 | 19 | #include "HMC5883L.h" |
chrigelburri | 1:6cd533a712c6 | 20 | #include "HMC6352.h" |
chrigelburri | 1:6cd533a712c6 | 21 | #include "RobotControl.h" |
chrigelburri | 1:6cd533a712c6 | 22 | #include "Ping.h" |
chrigelburri | 1:6cd533a712c6 | 23 | #include "PowerControl/EthernetPowerControl.h" |
chrigelburri | 1:6cd533a712c6 | 24 | |
chrigelburri | 1:6cd533a712c6 | 25 | // LiPo Batterie |
chrigelburri | 1:6cd533a712c6 | 26 | AnalogIn battery(p15); // Battery check |
chrigelburri | 1:6cd533a712c6 | 27 | |
chrigelburri | 1:6cd533a712c6 | 28 | // compass |
chrigelburri | 1:6cd533a712c6 | 29 | //HMC5883L compass(p9, p10, PERIOD_COMPASS); // sda, sdl (I2C) |
chrigelburri | 1:6cd533a712c6 | 30 | //HMC6352 compass(p9, p10, PERIOD_COMPASS); // sda, sdl (I2C) |
chrigelburri | 1:6cd533a712c6 | 31 | |
chrigelburri | 1:6cd533a712c6 | 32 | //Hallsensor |
chrigelburri | 1:6cd533a712c6 | 33 | //hall1, hall2, hall3 |
chrigelburri | 1:6cd533a712c6 | 34 | Hallsensor hallLeft(p18, p17, p16); |
chrigelburri | 1:6cd533a712c6 | 35 | //hall1, hall2, hall3 |
chrigelburri | 1:6cd533a712c6 | 36 | Hallsensor hallRight(p27, p28, p29); |
chrigelburri | 1:6cd533a712c6 | 37 | |
chrigelburri | 1:6cd533a712c6 | 38 | // Motors |
chrigelburri | 1:6cd533a712c6 | 39 | //enb, ready, pwm, actualSpeed, Hallsensor object |
chrigelburri | 1:6cd533a712c6 | 40 | MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft); |
chrigelburri | 1:6cd533a712c6 | 41 | //enb, ready, pwm, actualSpeed, Hallsensor object |
chrigelburri | 1:6cd533a712c6 | 42 | MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight); |
chrigelburri | 1:6cd533a712c6 | 43 | |
chrigelburri | 1:6cd533a712c6 | 44 | // Robot Control |
chrigelburri | 1:6cd533a712c6 | 45 | RobotControl robotControl (&leftMotor, &rightMotor, /*&compass,*/ PERIOD_ROBOTCONTROL); |
chrigelburri | 1:6cd533a712c6 | 46 | |
chrigelburri | 1:6cd533a712c6 | 47 | // Logging & State |
chrigelburri | 1:6cd533a712c6 | 48 | state_t s; // stuct state |
chrigelburri | 1:6cd533a712c6 | 49 | State state(&s, &robotControl, &leftMotor, &rightMotor, /*&compass,*/ &battery, PERIOD_STATE); |
chrigelburri | 1:6cd533a712c6 | 50 | |
chrigelburri | 1:6cd533a712c6 | 51 | // PC USB communications |
chrigelburri | 1:6cd533a712c6 | 52 | Serial pc(USBTX, USBRX); |
chrigelburri | 1:6cd533a712c6 | 53 | |
chrigelburri | 1:6cd533a712c6 | 54 | DigitalOut myled(LED1); |
chrigelburri | 1:6cd533a712c6 | 55 | |
chrigelburri | 1:6cd533a712c6 | 56 | //float magout[3] = {0}; |
chrigelburri | 1:6cd533a712c6 | 57 | |
chrigelburri | 1:6cd533a712c6 | 58 | // LiPo Batterie |
chrigelburri | 1:6cd533a712c6 | 59 | float batterie_voltage; |
chrigelburri | 1:6cd533a712c6 | 60 | |
chrigelburri | 1:6cd533a712c6 | 61 | int main() |
chrigelburri | 1:6cd533a712c6 | 62 | { |
chrigelburri | 1:6cd533a712c6 | 63 | /** Normal mbed power level for this setup is around 690mW |
chrigelburri | 1:6cd533a712c6 | 64 | * assuming 5V used on Vin pin |
chrigelburri | 1:6cd533a712c6 | 65 | * If you don't need networking... |
chrigelburri | 1:6cd533a712c6 | 66 | * Power down Ethernet interface - saves around 175mW |
chrigelburri | 1:6cd533a712c6 | 67 | * Also need to unplug network cable - just a cable sucks power |
chrigelburri | 1:6cd533a712c6 | 68 | */ |
chrigelburri | 1:6cd533a712c6 | 69 | PHY_PowerDown(); |
chrigelburri | 2:d8e1613dc38b | 70 | |
chrigelburri | 2:d8e1613dc38b | 71 | // robotControl.start(); |
chrigelburri | 1:6cd533a712c6 | 72 | // compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
chrigelburri | 1:6cd533a712c6 | 73 | // compass.start(); |
chrigelburri | 2:d8e1613dc38b | 74 | |
chrigelburri | 2:d8e1613dc38b | 75 | state.initPlotFile(); |
chrigelburri | 2:d8e1613dc38b | 76 | |
chrigelburri | 1:6cd533a712c6 | 77 | robotControl.start(); |
chrigelburri | 1:6cd533a712c6 | 78 | robotControl.setEnable(false); |
chrigelburri | 1:6cd533a712c6 | 79 | wait(0.01); |
chrigelburri | 1:6cd533a712c6 | 80 | robotControl.setEnable(true); |
chrigelburri | 1:6cd533a712c6 | 81 | wait(0.01); |
chrigelburri | 1:6cd533a712c6 | 82 | robotControl.setAllToZero(0, 0, PI/2 ); |
chrigelburri | 2:d8e1613dc38b | 83 | |
chrigelburri | 1:6cd533a712c6 | 84 | leftMotor.setPulses(0); |
chrigelburri | 1:6cd533a712c6 | 85 | rightMotor.setPulses(0); |
chrigelburri | 2:d8e1613dc38b | 86 | |
chrigelburri | 2:d8e1613dc38b | 87 | state.startTimerFromZero(); |
chrigelburri | 1:6cd533a712c6 | 88 | state.start(); |
chrigelburri | 2:d8e1613dc38b | 89 | |
chrigelburri | 2:d8e1613dc38b | 90 | robotControl.setPositionAngle(0.0f, 1.0f, 17*PI/18); |
chrigelburri | 1:6cd533a712c6 | 91 | while(!(s.millis >= 15000)) { |
chrigelburri | 1:6cd533a712c6 | 92 | state.savePlotFile(s); |
chrigelburri | 1:6cd533a712c6 | 93 | }; |
chrigelburri | 2:d8e1613dc38b | 94 | |
chrigelburri | 2:d8e1613dc38b | 95 | robotControl.setPositionAngle(-1.0f, 1.0f, -PI/2); |
chrigelburri | 1:6cd533a712c6 | 96 | while(!(s.millis >= 30000)) { |
chrigelburri | 1:6cd533a712c6 | 97 | state.savePlotFile(s); |
chrigelburri | 2:d8e1613dc38b | 98 | }; |
chrigelburri | 2:d8e1613dc38b | 99 | |
chrigelburri | 2:d8e1613dc38b | 100 | robotControl.setPositionAngle(-1.0f, 0.0f, 0.0f); |
chrigelburri | 2:d8e1613dc38b | 101 | while(!(s.millis >= 45000)) { |
chrigelburri | 2:d8e1613dc38b | 102 | state.savePlotFile(s); |
chrigelburri | 1:6cd533a712c6 | 103 | }; |
chrigelburri | 2:d8e1613dc38b | 104 | |
chrigelburri | 2:d8e1613dc38b | 105 | robotControl.setPositionAngle(0.0f, 1.0f, PI/2); |
chrigelburri | 2:d8e1613dc38b | 106 | while(!(s.millis >= 63000)) { |
chrigelburri | 2:d8e1613dc38b | 107 | state.savePlotFile(s); |
chrigelburri | 2:d8e1613dc38b | 108 | }; |
chrigelburri | 2:d8e1613dc38b | 109 | |
chrigelburri | 2:d8e1613dc38b | 110 | state.savePlotFile(s); |
chrigelburri | 1:6cd533a712c6 | 111 | state.closePlotFile(); |
chrigelburri | 1:6cd533a712c6 | 112 | state.stop(); |
chrigelburri | 1:6cd533a712c6 | 113 | robotControl.setEnable(false); |
chrigelburri | 1:6cd533a712c6 | 114 | } |