Severin Kiefer
/
PM2_Example_IRSensor
Workshop 1
Diff: main.cpp
- Revision:
- 16:2de2a437afdc
- Parent:
- 15:a2c188ed294f
- Child:
- 17:085fff8287d0
--- a/main.cpp Thu Feb 10 12:13:50 2022 +0000 +++ b/main.cpp Mon Mar 14 14:35:03 2022 +0000 @@ -1,66 +1,191 @@ #include "mbed.h" +#include "PM2_Libary.h" + +// logical variable main task +bool do_execute_main_task = false; // this variable will be toggled via the user button (blue button) to or not to execute the main task + +// user button on nucleo board +Timer user_button_timer; // create Timer object which we use to check if user button was pressed for a certain time (robust against signal bouncing) +InterruptIn user_button(PC_13); // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR) +void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below +void user_button_released_fcn(); + +// while loop gets executed every main_task_period_ms milliseconds +int main_task_period_ms = 50; // 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 -InterruptIn user_button(PC_13); -DigitalOut led(LED1); +// 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 + +// 78:1, 100:1, ... Metal Gearmotor 20Dx44L mm 12V CB +DigitalOut enable_motors(PB_15); // create DigitalOut object to enable dc motors -bool executeMainTask = false; -Timer user_button_timer, loop_timer; -int Ts_ms = 50; +float pwm_period_s = 0.00005f; // define pwm period time in seconds and create FastPWM objects to command dc motors +FastPWM pwm_M1(PB_13); // motor M1 is used open loop +FastPWM pwm_M2(PA_9); // motor M2 is speed controlled +FastPWM pwm_M3(PA_10); // motor M3 is position controlled (angle controlled) + +EncoderCounter encoder_M1(PA_6, PC_7); // create encoder read objects +EncoderCounter encoder_M2(PB_6, PB_7); +EncoderCounter encoder_M3(PA_0, PA_1); + +// create SpeedController and PositionController controller objects, default parametrization is for 78.125:1 gear box +float max_voltage = 12.0f; // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack +float counts_per_turn = 20.0f * 78.125f; // define counts per turn at gearbox end: counts/turn * gearratio +float kn = 180.0f / 12.0f; // define motor constant in rpm per V +// float k_gear = 25.0f / 78.125f; // define additional ratio in case you are using a dc motor with a different gear box, e.g. 25:1 +// 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 25:1 gear -/* declaration of custom button functions */ -void button_fall(); -void button_rise(); +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, kp * k_gear, max_voltage, pwm_M3, encoder_M3); // parameters adjusted to 25:1 gear, we need a different speed controller gain here + +// Futaba Servo S3001 20mm 3kg Analog +Servo servo_S1(PB_2); // create servo objects +Servo servo_S2(PC_8); +int servo_pos_S1_mus = 0; // servo S1 position, the desired position gets commanded as a time +int servo_pos_S2_mus = 0; // servo S2 position +int servo_period_mus = 20000; // define servo period time in mus -/* create analog input object */ -AnalogIn analogIn(PC_2); -float dist_IRSensor = 0.0f; +int servo_counter = 0; // define servo counter, this is an additional variable to make the servos move +int loops_per_second = 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); +// RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 7000); // create range finder object (ultra sonic distance sensor), 1/main_task_period_ms = 20 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" int main() { - user_button.fall(&button_fall); - user_button.rise(&button_rise); - loop_timer.start(); + // attach button fall and rise functions to user button object + user_button.fall(&user_button_pressed_fcn); + user_button.rise(&user_button_released_fcn); + + // start timers + user_button_timer.start(); + 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; - while (true) { + // 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(0.5); - loop_timer.reset(); + // enable servos, you can also disable them at any point in your program if you don't want your servos to become warm + servo_S1.Enable(servo_pos_S1_mus, servo_period_mus); + servo_S2.Enable(servo_pos_S2_mus, servo_period_mus); - /* ------------- start hacking ------------- -------------*/ + while (true) { // this loop will run forever + + main_task_timer.reset(); + + if (do_execute_main_task) { - if (executeMainTask) { + // read analog input + ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f; - /* read analog input */ - dist_IRSensor = analogIn.read() * 3.3f; + // command dc motors if mechanical button is pressed + if (mechanical_button) { + pwm_M1.write(0.75); // 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, max_speed_rps); // set a desired rotation for position controlled dc motors M3 + } else { + pwm_M1.write(0.5); + speedController_M2.setDesiredSpeedRPS(0.0f); + positionController_M3.setDesiredRotation(0.0f, max_speed_rps); + } - /* do only output what's really necessary, outputting "Measured value in mV: "" within the loop is no good solution */ - printf("Measured value in mV: %d\r\n", (static_cast<int>(dist_IRSensor * 1e3))); + // command servo position, this needs to be calibrated + servo_S1.SetPosition(servo_pos_S1_mus); + servo_S2.SetPosition(servo_pos_S2_mus); + if (servo_pos_S1_mus <= servo_period_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) { + servo_pos_S1_mus += 100; + } + if (servo_pos_S2_mus <= servo_period_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) { + servo_pos_S2_mus += 100; + } + servo_counter++; - /* visual feedback that the main task is executed */ - led = !led; + // read ultra sonic distance sensor + us_distance_cm = us_range_finder.read_cm(); + + // visual feedback that the main task is executed + extra_led = 1; } else { - led = 0; + + ir_distance_mV = 0.0f; + + pwm_M1.write(0.5); + speedController_M2.setDesiredSpeedRPS(0.0f); + positionController_M3.setDesiredRotation(0.0f, max_speed_rps); + + servo_pos_S1_mus = 0; + servo_pos_S2_mus = 0; + servo_S1.SetPosition(servo_pos_S1_mus); + servo_S2.SetPosition(servo_pos_S2_mus); + + us_distance_cm = 0.0f; + + extra_led = 0; } - /* ------------- stop hacking ------------- -------------*/ + user_led = !user_led; - int T_loop_ms = std::chrono::duration_cast<std::chrono::milliseconds>(loop_timer.elapsed_time()).count(); - int dT_loop_ms = Ts_ms - T_loop_ms; - thread_sleep_for(dT_loop_ms); + // 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 position (ms): %3d, Servo S2 position (ms): %3d, US sensor (cm): %3.3f\r\n", + ir_distance_mV, + encoder_M1.read(), + speedController_M2.getSpeedRPS(), + positionController_M3.getRotation(), + servo_pos_S1_mus, + servo_pos_S2_mus, + 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()); + + // 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(); + thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms); } } -void button_fall() +void user_button_pressed_fcn() { user_button_timer.reset(); - user_button_timer.start(); } -void button_rise() +void user_button_released_fcn() { - int t_button_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count(); + // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time + int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count(); user_button_timer.stop(); - if (t_button_ms > 200) { - executeMainTask = !executeMainTask; + if (user_button_elapsed_time_ms > 200) { + do_execute_main_task = !do_execute_main_task; } } \ No newline at end of file