Alex Thatcher / Mbed 2 deprecated ElectroBoatCAN2PPM

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Dependencies:   SERVO_PPM mbed Servo

main.cpp@0:032a5658acdc, 2021-03-16 (annotated)

Committer:
MarcusEA
Date:
Tue Mar 16 04:00:51 2021 +0000
Revision:
0:032a5658acdc
Child:
1:b3151b6fe36b
Base Joystick CANBus to PWM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MarcusEA 0:032a5658acdc 1 // Keep sweeping servo from left to right
MarcusEA 0:032a5658acdc 2 #include "mbed.h"
MarcusEA 0:032a5658acdc 3 #include "Servo.h"
MarcusEA 0:032a5658acdc 4
MarcusEA 0:032a5658acdc 5 #define JOYSTICK_ID 0x0cfdd633 //can also be 0x0CFDD633
MarcusEA 0:032a5658acdc 6 #define CAN_TD D2
MarcusEA 0:032a5658acdc 7 #define CAN_RD D10
MarcusEA 0:032a5658acdc 8
MarcusEA 0:032a5658acdc 9 //PWM Outputs
MarcusEA 0:032a5658acdc 10 Servo leftESC(D3);
MarcusEA 0:032a5658acdc 11 Servo rightESC(A6);
MarcusEA 0:032a5658acdc 12
MarcusEA 0:032a5658acdc 13 int leftDuty = 1500;
MarcusEA 0:032a5658acdc 14 int rightDuty = 1500;
MarcusEA 0:032a5658acdc 15
MarcusEA 0:032a5658acdc 16 bool deadMan = false;
MarcusEA 0:032a5658acdc 17
MarcusEA 0:032a5658acdc 18 //CANBus
MarcusEA 0:032a5658acdc 19 CAN can(CAN_RD, CAN_TD);
MarcusEA 0:032a5658acdc 20
MarcusEA 0:032a5658acdc 21 //**FOR SERIAL OUTPUT USING PUTTY using 64-bit avaialble from https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html
MarcusEA 0:032a5658acdc 22 Serial pc(SERIAL_TX, SERIAL_RX);
MarcusEA 0:032a5658acdc 23
MarcusEA 0:032a5658acdc 24 Ticker ticker;
MarcusEA 0:032a5658acdc 25
MarcusEA 0:032a5658acdc 26 //Function to read the CANbus and decode the data
MarcusEA 0:032a5658acdc 27 void readCAN(void) {
MarcusEA 0:032a5658acdc 28 CANMessage msg;
MarcusEA 0:032a5658acdc 29 if(can.read(msg)) {
MarcusEA 0:032a5658acdc 30
MarcusEA 0:032a5658acdc 31 if((int)msg.id == JOYSTICK_ID) {
MarcusEA 0:032a5658acdc 32 // pc.printf("RX CANPAcket\r\n");
MarcusEA 0:032a5658acdc 33 int rightStatus = (int)(msg.data[0]>>4)%4;
MarcusEA 0:032a5658acdc 34 int leftStatus = (int)(msg.data[0]>>2)%4;
MarcusEA 0:032a5658acdc 35 int centerXStatus = (int)msg.data[0]%4;
MarcusEA 0:032a5658acdc 36
MarcusEA 0:032a5658acdc 37 int xAxisRaw = (int)(msg.data[0]>>6) + (msg.data[1]<<2);
MarcusEA 0:032a5658acdc 38
MarcusEA 0:032a5658acdc 39 int forwardStatus = (int)(msg.data[2]>>4)%4;
MarcusEA 0:032a5658acdc 40 int backwardStatus = (int)(msg.data[2]>>2)%4;
MarcusEA 0:032a5658acdc 41 int centerYStatus = (int)msg.data[2]%4;
MarcusEA 0:032a5658acdc 42
MarcusEA 0:032a5658acdc 43 int yAxisRaw = (int)(msg.data[2]>>6) + (msg.data[3]<<2);
MarcusEA 0:032a5658acdc 44
MarcusEA 0:032a5658acdc 45 //note button 1 = top left, button 2 = top right
MarcusEA 0:032a5658acdc 46 int button1 = (int)(msg.data[5]>>6)%4;
MarcusEA 0:032a5658acdc 47 int button2 = (int)(msg.data[5]>>4)%4;
MarcusEA 0:032a5658acdc 48 int button3 = (int)(msg.data[5]>>2)%4;
MarcusEA 0:032a5658acdc 49 int button4 = (int)msg.data[5]%4;
MarcusEA 0:032a5658acdc 50
MarcusEA 0:032a5658acdc 51 //note button 8 = dead-man switch
MarcusEA 0:032a5658acdc 52 int button5 = (int)(msg.data[6]>>6)%4;
MarcusEA 0:032a5658acdc 53 int button6 = (int)(msg.data[6]>>4)%4;
MarcusEA 0:032a5658acdc 54 int button7 = (int)(msg.data[6]>>2)%4;
MarcusEA 0:032a5658acdc 55 int button8 = (int)msg.data[6]%4;
MarcusEA 0:032a5658acdc 56
MarcusEA 0:032a5658acdc 57 int button9 = (int)(msg.data[7]>>6)%4;
MarcusEA 0:032a5658acdc 58 int button10 = (int)(msg.data[7]>>4)%4;
MarcusEA 0:032a5658acdc 59 int button11 = (int)(msg.data[7]>>2)%4;
MarcusEA 0:032a5658acdc 60 int button12 = (int)msg.data[7]%4;
MarcusEA 0:032a5658acdc 61
MarcusEA 0:032a5658acdc 62 //pc.printf("RightStatus:%d,LeftStatus:%d,CenterXStatus:%d,XAxisRaw:%d\n\r", rightStatus, leftStatus, centerXStatus, xAxisRaw);
MarcusEA 0:032a5658acdc 63 //pc.printf("ForwardStatus:%d,BackwardStatus:%d,CenterYStatus:%d,YAxisRaw:%d\n\r", forwardStatus, backwardStatus, centerYStatus, yAxisRaw);
MarcusEA 0:032a5658acdc 64
MarcusEA 0:032a5658acdc 65 //pc.printf("Button1:%d,Button2:%d,Button3:%d,Button4:%d\n\r", button1, button2, button3, button4);
MarcusEA 0:032a5658acdc 66 //pc.printf("Button5:%d,Button6:%d,Button7:%d,Button8:%d\n\r", button5, button6, button7, button8);
MarcusEA 0:032a5658acdc 67 //pc.printf("Button1:%d,Button2:%d,Button3:%d,Button3:%d\n\r", button1, button2, button3, button4);
MarcusEA 0:032a5658acdc 68
MarcusEA 0:032a5658acdc 69 deadMan = button8;
MarcusEA 0:032a5658acdc 70 //modifying duties
MarcusEA 0:032a5658acdc 71 if(!deadMan) {
MarcusEA 0:032a5658acdc 72 leftDuty = 1500;
MarcusEA 0:032a5658acdc 73 rightDuty = 1500;
MarcusEA 0:032a5658acdc 74 pc.printf("DeadMan:OFF, LeftDuty:%d,RightDuty:%d\n\r", leftDuty, rightDuty);
MarcusEA 0:032a5658acdc 75 }
MarcusEA 0:032a5658acdc 76 else {
MarcusEA 0:032a5658acdc 77 int signedXAxis = xAxisRaw;
MarcusEA 0:032a5658acdc 78 if(leftStatus==1) {
MarcusEA 0:032a5658acdc 79 signedXAxis = -1*signedXAxis;
MarcusEA 0:032a5658acdc 80 }
MarcusEA 0:032a5658acdc 81
MarcusEA 0:032a5658acdc 82 int signedYAxis = yAxisRaw;
MarcusEA 0:032a5658acdc 83 if(backwardStatus==1) {
MarcusEA 0:032a5658acdc 84 signedYAxis = -1*signedYAxis;
MarcusEA 0:032a5658acdc 85 }
MarcusEA 0:032a5658acdc 86
MarcusEA 0:032a5658acdc 87 //scale between 1000-2000
MarcusEA 0:032a5658acdc 88 //left
MarcusEA 0:032a5658acdc 89 //leftDuty = 1500 - signedXAxis/2 + signedYAxis/2;
MarcusEA 0:032a5658acdc 90 //leftDuty = 1500 -signedXAxis/2 -signedYAxis/2;
MarcusEA 0:032a5658acdc 91 leftDuty = 1500 +signedXAxis/2 +signedYAxis/2;
MarcusEA 0:032a5658acdc 92
MarcusEA 0:032a5658acdc 93
MarcusEA 0:032a5658acdc 94 if(leftDuty>2000) {
MarcusEA 0:032a5658acdc 95 leftDuty = 2000;
MarcusEA 0:032a5658acdc 96 }
MarcusEA 0:032a5658acdc 97 else if(leftDuty<1000) {
MarcusEA 0:032a5658acdc 98 leftDuty = 1000;
MarcusEA 0:032a5658acdc 99 }
MarcusEA 0:032a5658acdc 100
MarcusEA 0:032a5658acdc 101 //rightDuty = 1500 + signedXAxis/2 + signedYAxis/2;
MarcusEA 0:032a5658acdc 102 //rightDuty = 1500 + signedXAxis/2 - signedYAxis/2;
MarcusEA 0:032a5658acdc 103 rightDuty = 1500 - signedXAxis/2 + signedYAxis/2;
MarcusEA 0:032a5658acdc 104 if(rightDuty>2000) {
MarcusEA 0:032a5658acdc 105 rightDuty = 2000;
MarcusEA 0:032a5658acdc 106 }
MarcusEA 0:032a5658acdc 107 else if(rightDuty<1000) {
MarcusEA 0:032a5658acdc 108 rightDuty = 1000;
MarcusEA 0:032a5658acdc 109 }
MarcusEA 0:032a5658acdc 110
MarcusEA 0:032a5658acdc 111 pc.printf("DeadMan:ON, LeftDuty:%d,RightDuty:%d\n\r", leftDuty, rightDuty);
MarcusEA 0:032a5658acdc 112 }
MarcusEA 0:032a5658acdc 113 }
MarcusEA 0:032a5658acdc 114 }
MarcusEA 0:032a5658acdc 115 }
MarcusEA 0:032a5658acdc 116
MarcusEA 0:032a5658acdc 117 //Sends message over the CANbus
MarcusEA 0:032a5658acdc 118 //- used in operationMode1()
MarcusEA 0:032a5658acdc 119 void writeCAN()
MarcusEA 0:032a5658acdc 120 {
MarcusEA 0:032a5658acdc 121 CANMessage msgOut;
MarcusEA 0:032a5658acdc 122 msgOut.format = CANExtended;
MarcusEA 0:032a5658acdc 123 msgOut.id = 0x71; //messageID
MarcusEA 0:032a5658acdc 124 msgOut.len = 8; //length in bytes
MarcusEA 0:032a5658acdc 125
MarcusEA 0:032a5658acdc 126 msgOut.data[0] = (leftDuty>>8)%0xFF;
MarcusEA 0:032a5658acdc 127 msgOut.data[1] = leftDuty&0xFF;
MarcusEA 0:032a5658acdc 128 msgOut.data[2] = (rightDuty>>8)&0xFF;
MarcusEA 0:032a5658acdc 129 msgOut.data[3] = rightDuty&0xFF;
MarcusEA 0:032a5658acdc 130 msgOut.data[4] = deadMan;
MarcusEA 0:032a5658acdc 131 msgOut.data[5] = 0;
MarcusEA 0:032a5658acdc 132 msgOut.data[6] = 0;
MarcusEA 0:032a5658acdc 133 msgOut.data[7] = 0;
MarcusEA 0:032a5658acdc 134 can.write(msgOut);
MarcusEA 0:032a5658acdc 135 }
MarcusEA 0:032a5658acdc 136
MarcusEA 0:032a5658acdc 137 int main() {
MarcusEA 0:032a5658acdc 138 pc.baud(115200);
MarcusEA 0:032a5658acdc 139 pc.printf("\r\n Starting CANBus Joystick to ESC PWM \r\n");
MarcusEA 0:032a5658acdc 140
MarcusEA 0:032a5658acdc 141 //PWM Enable @ 1500 default, 20000 period
MarcusEA 0:032a5658acdc 142 leftESC.Enable(1500,20000);
MarcusEA 0:032a5658acdc 143 rightESC.Enable(1500,20000);
MarcusEA 0:032a5658acdc 144
MarcusEA 0:032a5658acdc 145 //CANBus @250kb/s
MarcusEA 0:032a5658acdc 146 can.frequency(250000);
MarcusEA 0:032a5658acdc 147 // can.filter(0x70,0x70,CANExtended); //CANbus filtering to only accept 0x70
MarcusEA 0:032a5658acdc 148
MarcusEA 0:032a5658acdc 149 wait(1.0);
MarcusEA 0:032a5658acdc 150
MarcusEA 0:032a5658acdc 151 ticker.attach(&writeCAN, 0.1);
MarcusEA 0:032a5658acdc 152
MarcusEA 0:032a5658acdc 153 while(true) {
MarcusEA 0:032a5658acdc 154
MarcusEA 0:032a5658acdc 155 readCAN(); //read Joystick CANBus and adjust duty
MarcusEA 0:032a5658acdc 156
MarcusEA 0:032a5658acdc 157 leftESC.SetPosition(leftDuty); //set duties for left
MarcusEA 0:032a5658acdc 158 rightESC.SetPosition(rightDuty); //set duties for right
MarcusEA 0:032a5658acdc 159
MarcusEA 0:032a5658acdc 160 wait(0.01);
MarcusEA 0:032a5658acdc 161
MarcusEA 0:032a5658acdc 162 //pc.printf("R: %d, L: %d\r\n", rightDuty, leftDuty);
MarcusEA 0:032a5658acdc 163 //wait(1);
MarcusEA 0:032a5658acdc 164 }
MarcusEA 0:032a5658acdc 165
MarcusEA 0:032a5658acdc 166 }
MarcusEA 0:032a5658acdc 167
MarcusEA 0:032a5658acdc 168
MarcusEA 0:032a5658acdc 169
MarcusEA 0:032a5658acdc 170