Shuto Naruse
/
Eurobot2012_Secondary
Eurobot2012_Secondary
Fork of Eurobot_2012_Secondary by
motors/motors.cpp@1:cc2a9eb0bd55, 2012-10-17 (annotated)
- Committer:
- narshu
- Date:
- Wed Oct 17 22:25:31 2012 +0000
- Revision:
- 1:cc2a9eb0bd55
Commit before publishing
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 1:cc2a9eb0bd55 | 1 | /********************************************************************** |
narshu | 1:cc2a9eb0bd55 | 2 | * @file motors.cpp |
narshu | 1:cc2a9eb0bd55 | 3 | * @purpose Eurobot 2012 - Secondary Robot MD25 Interface |
narshu | 1:cc2a9eb0bd55 | 4 | * @version 0.2 |
narshu | 1:cc2a9eb0bd55 | 5 | * @date 4th April 2012 |
narshu | 1:cc2a9eb0bd55 | 6 | * @author Crispian Poon |
narshu | 1:cc2a9eb0bd55 | 7 | * @email pooncg@gmail.com |
narshu | 1:cc2a9eb0bd55 | 8 | ______________________________________________________________________ |
narshu | 1:cc2a9eb0bd55 | 9 | |
narshu | 1:cc2a9eb0bd55 | 10 | Setup information: |
narshu | 1:cc2a9eb0bd55 | 11 | 1. Put pull up 2.2k resistors to +3.3v on I2C SCL and SDA |
narshu | 1:cc2a9eb0bd55 | 12 | 2. Connect P28 SDA to MD25 yellow cable, P27 SCL to MD25 blue cable |
narshu | 1:cc2a9eb0bd55 | 13 | |
narshu | 1:cc2a9eb0bd55 | 14 | **********************************************************************/ |
narshu | 1:cc2a9eb0bd55 | 15 | |
narshu | 1:cc2a9eb0bd55 | 16 | #include "mbed.h" |
narshu | 1:cc2a9eb0bd55 | 17 | #include "motors.h" |
narshu | 1:cc2a9eb0bd55 | 18 | #include "globals.h" |
narshu | 1:cc2a9eb0bd55 | 19 | #include "TSH.h" |
narshu | 1:cc2a9eb0bd55 | 20 | |
narshu | 1:cc2a9eb0bd55 | 21 | Motors::Motors(TSI2C &i2cin) : i2c(i2cin) { |
narshu | 1:cc2a9eb0bd55 | 22 | |
narshu | 1:cc2a9eb0bd55 | 23 | } |
narshu | 1:cc2a9eb0bd55 | 24 | |
narshu | 1:cc2a9eb0bd55 | 25 | //*************************************************************************************** |
narshu | 1:cc2a9eb0bd55 | 26 | //Secondary robot specific instructions |
narshu | 1:cc2a9eb0bd55 | 27 | //*************************************************************************************** |
narshu | 1:cc2a9eb0bd55 | 28 | |
narshu | 1:cc2a9eb0bd55 | 29 | void Motors::move(int distance, int speed) { |
narshu | 1:cc2a9eb0bd55 | 30 | //resetEncoders(); TODO use kalman as feedback instead! |
narshu | 1:cc2a9eb0bd55 | 31 | |
narshu | 1:cc2a9eb0bd55 | 32 | int tempEndEncoder = 0; |
narshu | 1:cc2a9eb0bd55 | 33 | int startEncoderCount = 0; |
narshu | 1:cc2a9eb0bd55 | 34 | |
narshu | 1:cc2a9eb0bd55 | 35 | tempEndEncoder = distanceToEncoder(abs(distance)); |
narshu | 1:cc2a9eb0bd55 | 36 | startEncoderCount = getEncoder1(); |
narshu | 1:cc2a9eb0bd55 | 37 | |
narshu | 1:cc2a9eb0bd55 | 38 | setSpeed(getSignOfInt(distance) * speed); |
narshu | 1:cc2a9eb0bd55 | 39 | |
narshu | 1:cc2a9eb0bd55 | 40 | while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) { |
narshu | 1:cc2a9eb0bd55 | 41 | setSpeed(getSignOfInt(distance) * speed); |
narshu | 1:cc2a9eb0bd55 | 42 | } |
narshu | 1:cc2a9eb0bd55 | 43 | |
narshu | 1:cc2a9eb0bd55 | 44 | //resetEncoders(); |
narshu | 1:cc2a9eb0bd55 | 45 | stop(); |
narshu | 1:cc2a9eb0bd55 | 46 | } |
narshu | 1:cc2a9eb0bd55 | 47 | |
narshu | 1:cc2a9eb0bd55 | 48 | void Motors::turn(int angle, int speed) { |
narshu | 1:cc2a9eb0bd55 | 49 | //resetEncoders(); TODO use kalman as feedback instead! |
narshu | 1:cc2a9eb0bd55 | 50 | int tempDistance = int((float(angle) / 360) * float(robotCircumference)); |
narshu | 1:cc2a9eb0bd55 | 51 | int tempEndEncoder = 0; |
narshu | 1:cc2a9eb0bd55 | 52 | int startEncoderCount = 0; |
narshu | 1:cc2a9eb0bd55 | 53 | |
narshu | 1:cc2a9eb0bd55 | 54 | tempEndEncoder = distanceToEncoder(abs(tempDistance)); |
narshu | 1:cc2a9eb0bd55 | 55 | startEncoderCount = getEncoder1(); |
narshu | 1:cc2a9eb0bd55 | 56 | setSpeed(getSignOfInt(tempDistance) * speed, -getSignOfInt(tempDistance) * speed); |
narshu | 1:cc2a9eb0bd55 | 57 | |
narshu | 1:cc2a9eb0bd55 | 58 | while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) { |
narshu | 1:cc2a9eb0bd55 | 59 | setSpeed(getSignOfInt(tempDistance) * speed,-getSignOfInt(tempDistance) * speed); |
narshu | 1:cc2a9eb0bd55 | 60 | |
narshu | 1:cc2a9eb0bd55 | 61 | } |
narshu | 1:cc2a9eb0bd55 | 62 | |
narshu | 1:cc2a9eb0bd55 | 63 | //resetEncoders(); |
narshu | 1:cc2a9eb0bd55 | 64 | stop(); |
narshu | 1:cc2a9eb0bd55 | 65 | } |
narshu | 1:cc2a9eb0bd55 | 66 | |
narshu | 1:cc2a9eb0bd55 | 67 | //*************************************************************************************** |
narshu | 1:cc2a9eb0bd55 | 68 | //Secondary robot specific helper functions |
narshu | 1:cc2a9eb0bd55 | 69 | //*************************************************************************************** |
narshu | 1:cc2a9eb0bd55 | 70 | |
narshu | 1:cc2a9eb0bd55 | 71 | |
narshu | 1:cc2a9eb0bd55 | 72 | int Motors::getSignOfInt(int direction) { |
narshu | 1:cc2a9eb0bd55 | 73 | |
narshu | 1:cc2a9eb0bd55 | 74 | direction = (direction < 0); |
narshu | 1:cc2a9eb0bd55 | 75 | |
narshu | 1:cc2a9eb0bd55 | 76 | switch (direction) { |
narshu | 1:cc2a9eb0bd55 | 77 | case 1: |
narshu | 1:cc2a9eb0bd55 | 78 | return -1; |
narshu | 1:cc2a9eb0bd55 | 79 | case 0: |
narshu | 1:cc2a9eb0bd55 | 80 | return 1; |
narshu | 1:cc2a9eb0bd55 | 81 | } |
narshu | 1:cc2a9eb0bd55 | 82 | |
narshu | 1:cc2a9eb0bd55 | 83 | return 0; |
narshu | 1:cc2a9eb0bd55 | 84 | } |
narshu | 1:cc2a9eb0bd55 | 85 | |
narshu | 1:cc2a9eb0bd55 | 86 | // returns distance in mm. |
narshu | 1:cc2a9eb0bd55 | 87 | float Motors::encoderToDistance(int encoder) { |
narshu | 1:cc2a9eb0bd55 | 88 | return (float(encoder) / float(encoderRevCount)) * wheelmm; |
narshu | 1:cc2a9eb0bd55 | 89 | } |
narshu | 1:cc2a9eb0bd55 | 90 | |
narshu | 1:cc2a9eb0bd55 | 91 | int Motors::distanceToEncoder(float distance) { |
narshu | 1:cc2a9eb0bd55 | 92 | return int((distance / float(wheelmm)) * encoderRevCount); |
narshu | 1:cc2a9eb0bd55 | 93 | } |
narshu | 1:cc2a9eb0bd55 | 94 | |
narshu | 1:cc2a9eb0bd55 | 95 | |
narshu | 1:cc2a9eb0bd55 | 96 | //*************************************************************************************** |
narshu | 1:cc2a9eb0bd55 | 97 | //MD25 instructions |
narshu | 1:cc2a9eb0bd55 | 98 | //*************************************************************************************** |
narshu | 1:cc2a9eb0bd55 | 99 | |
narshu | 1:cc2a9eb0bd55 | 100 | void Motors::stop() { |
narshu | 1:cc2a9eb0bd55 | 101 | sendCommand(cmdSetMotor1, 0); |
narshu | 1:cc2a9eb0bd55 | 102 | sendCommand(cmdSetMotor2, 0); |
narshu | 1:cc2a9eb0bd55 | 103 | } |
narshu | 1:cc2a9eb0bd55 | 104 | |
narshu | 1:cc2a9eb0bd55 | 105 | void Motors::setSpeed(int speed) { |
narshu | 1:cc2a9eb0bd55 | 106 | setMode(1); |
narshu | 1:cc2a9eb0bd55 | 107 | //sendCommand(cmdSetAcceleration, 0x02); |
narshu | 1:cc2a9eb0bd55 | 108 | ///sendCommand(cmdByte, 0x30); |
narshu | 1:cc2a9eb0bd55 | 109 | sendCommand(cmdSetMotor1, speed); |
narshu | 1:cc2a9eb0bd55 | 110 | sendCommand(cmdSetMotor2, speed); |
narshu | 1:cc2a9eb0bd55 | 111 | } |
narshu | 1:cc2a9eb0bd55 | 112 | |
narshu | 1:cc2a9eb0bd55 | 113 | void Motors::setSpeed(int speed1, int speed2) { |
narshu | 1:cc2a9eb0bd55 | 114 | setMode(1), |
narshu | 1:cc2a9eb0bd55 | 115 | //sendCommand(cmdSetAcceleration, 0x02); |
narshu | 1:cc2a9eb0bd55 | 116 | // sendCommand(cmdByte, 0x30); |
narshu | 1:cc2a9eb0bd55 | 117 | sendCommand(cmdSetMotor1, speed1); |
narshu | 1:cc2a9eb0bd55 | 118 | sendCommand(cmdSetMotor2, speed2); |
narshu | 1:cc2a9eb0bd55 | 119 | } |
narshu | 1:cc2a9eb0bd55 | 120 | |
narshu | 1:cc2a9eb0bd55 | 121 | void Motors::setMode(int mode) { |
narshu | 1:cc2a9eb0bd55 | 122 | sendCommand(cmdSetMode, mode); |
narshu | 1:cc2a9eb0bd55 | 123 | } |
narshu | 1:cc2a9eb0bd55 | 124 | |
narshu | 1:cc2a9eb0bd55 | 125 | void Motors::resetEncoders() { |
narshu | 1:cc2a9eb0bd55 | 126 | sendCommand(cmdByte, cmdResetEncoders); |
narshu | 1:cc2a9eb0bd55 | 127 | } |
narshu | 1:cc2a9eb0bd55 | 128 | |
narshu | 1:cc2a9eb0bd55 | 129 | int Motors::getEncoder1() { |
narshu | 1:cc2a9eb0bd55 | 130 | return get4Bytes(cmdGetEncoder1); |
narshu | 1:cc2a9eb0bd55 | 131 | } |
narshu | 1:cc2a9eb0bd55 | 132 | |
narshu | 1:cc2a9eb0bd55 | 133 | int Motors::getEncoder2() { |
narshu | 1:cc2a9eb0bd55 | 134 | return get4Bytes(cmdGetEncoder2); |
narshu | 1:cc2a9eb0bd55 | 135 | } |
narshu | 1:cc2a9eb0bd55 | 136 | |
narshu | 1:cc2a9eb0bd55 | 137 | void Motors::disableAcceleration() { |
narshu | 1:cc2a9eb0bd55 | 138 | sendCommand(cmdByte, cmdDisableAcceleration); |
narshu | 1:cc2a9eb0bd55 | 139 | } |
narshu | 1:cc2a9eb0bd55 | 140 | |
narshu | 1:cc2a9eb0bd55 | 141 | |
narshu | 1:cc2a9eb0bd55 | 142 | |
narshu | 1:cc2a9eb0bd55 | 143 | //*************************************************************************************** |
narshu | 1:cc2a9eb0bd55 | 144 | //Abstract MD25 communication methods and functions |
narshu | 1:cc2a9eb0bd55 | 145 | //*************************************************************************************** |
narshu | 1:cc2a9eb0bd55 | 146 | |
narshu | 1:cc2a9eb0bd55 | 147 | int Motors::get4Bytes(char command) { |
narshu | 1:cc2a9eb0bd55 | 148 | long tempWord = 0; |
narshu | 1:cc2a9eb0bd55 | 149 | char cmd[4]; |
narshu | 1:cc2a9eb0bd55 | 150 | |
narshu | 1:cc2a9eb0bd55 | 151 | //i2c request |
narshu | 1:cc2a9eb0bd55 | 152 | sendCommand(command); |
narshu | 1:cc2a9eb0bd55 | 153 | |
narshu | 1:cc2a9eb0bd55 | 154 | //i2c read data back |
narshu | 1:cc2a9eb0bd55 | 155 | i2c.read(md25Address, cmd, 4);// Request 4 bytes from MD25 |
narshu | 1:cc2a9eb0bd55 | 156 | |
narshu | 1:cc2a9eb0bd55 | 157 | //FIXED 22FEB2012 CRISPIAN Taken 0.07 delay off. |
narshu | 1:cc2a9eb0bd55 | 158 | |
narshu | 1:cc2a9eb0bd55 | 159 | //First byte is largest, shift 4 bytes into tempWord |
narshu | 1:cc2a9eb0bd55 | 160 | tempWord += cmd[0] << 24; |
narshu | 1:cc2a9eb0bd55 | 161 | tempWord += cmd[1] << 16; |
narshu | 1:cc2a9eb0bd55 | 162 | tempWord += cmd[2] << 8; |
narshu | 1:cc2a9eb0bd55 | 163 | tempWord += cmd[3] ; |
narshu | 1:cc2a9eb0bd55 | 164 | |
narshu | 1:cc2a9eb0bd55 | 165 | return tempWord; |
narshu | 1:cc2a9eb0bd55 | 166 | } |
narshu | 1:cc2a9eb0bd55 | 167 | |
narshu | 1:cc2a9eb0bd55 | 168 | void Motors::sendCommand(char command) { |
narshu | 1:cc2a9eb0bd55 | 169 | char buffer[1]; |
narshu | 1:cc2a9eb0bd55 | 170 | buffer[0] = command; |
narshu | 1:cc2a9eb0bd55 | 171 | i2c.write(md25Address, &buffer[0], 1); |
narshu | 1:cc2a9eb0bd55 | 172 | } |
narshu | 1:cc2a9eb0bd55 | 173 | |
narshu | 1:cc2a9eb0bd55 | 174 | void Motors::sendCommand(char command1, char command2 ) { |
narshu | 1:cc2a9eb0bd55 | 175 | |
narshu | 1:cc2a9eb0bd55 | 176 | char buffer[2]; |
narshu | 1:cc2a9eb0bd55 | 177 | buffer[0] = command1; |
narshu | 1:cc2a9eb0bd55 | 178 | buffer[1] = command2; |
narshu | 1:cc2a9eb0bd55 | 179 | |
narshu | 1:cc2a9eb0bd55 | 180 | i2c.write(md25Address, &buffer[0], 2); |
narshu | 1:cc2a9eb0bd55 | 181 | } |
narshu | 1:cc2a9eb0bd55 | 182 | |
narshu | 1:cc2a9eb0bd55 | 183 | void Motors::coastStop(void){ |
narshu | 1:cc2a9eb0bd55 | 184 | stop(); |
narshu | 1:cc2a9eb0bd55 | 185 | } |