Shuto Naruse
/
Eurobot2012_Secondary
Eurobot2012_Secondary
Fork of Eurobot_2012_Secondary by
motors.cpp@0:fbfafa6bf5f9, 2012-04-20 (annotated)
- Committer:
- narshu
- Date:
- Fri Apr 20 21:32:24 2012 +0000
- Revision:
- 0:fbfafa6bf5f9
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 0:fbfafa6bf5f9 | 1 | /********************************************************************** |
narshu | 0:fbfafa6bf5f9 | 2 | * @file motors.cpp |
narshu | 0:fbfafa6bf5f9 | 3 | * @purpose Eurobot 2012 - Secondary Robot MD25 Interface |
narshu | 0:fbfafa6bf5f9 | 4 | * @version 0.2 |
narshu | 0:fbfafa6bf5f9 | 5 | * @date 4th April 2012 |
narshu | 0:fbfafa6bf5f9 | 6 | * @author Crispian Poon |
narshu | 0:fbfafa6bf5f9 | 7 | * @email pooncg@gmail.com |
narshu | 0:fbfafa6bf5f9 | 8 | ______________________________________________________________________ |
narshu | 0:fbfafa6bf5f9 | 9 | |
narshu | 0:fbfafa6bf5f9 | 10 | Setup information: |
narshu | 0:fbfafa6bf5f9 | 11 | 1. Put pull up 2.2k resistors to +3.3v on I2C SCL and SDA |
narshu | 0:fbfafa6bf5f9 | 12 | 2. Connect P28 SDA to MD25 yellow cable, P27 SCL to MD25 blue cable |
narshu | 0:fbfafa6bf5f9 | 13 | |
narshu | 0:fbfafa6bf5f9 | 14 | **********************************************************************/ |
narshu | 0:fbfafa6bf5f9 | 15 | |
narshu | 0:fbfafa6bf5f9 | 16 | #include "mbed.h" |
narshu | 0:fbfafa6bf5f9 | 17 | #include "motors.h" |
narshu | 0:fbfafa6bf5f9 | 18 | #include "globals.h" |
narshu | 0:fbfafa6bf5f9 | 19 | #include "TSH.h" |
narshu | 0:fbfafa6bf5f9 | 20 | |
narshu | 0:fbfafa6bf5f9 | 21 | Motors::Motors(TSI2C &i2cin) : i2c(i2cin) { |
narshu | 0:fbfafa6bf5f9 | 22 | |
narshu | 0:fbfafa6bf5f9 | 23 | } |
narshu | 0:fbfafa6bf5f9 | 24 | |
narshu | 0:fbfafa6bf5f9 | 25 | //*************************************************************************************** |
narshu | 0:fbfafa6bf5f9 | 26 | //Secondary robot specific instructions |
narshu | 0:fbfafa6bf5f9 | 27 | //*************************************************************************************** |
narshu | 0:fbfafa6bf5f9 | 28 | |
narshu | 0:fbfafa6bf5f9 | 29 | void Motors::move(int distance, int speed) { |
narshu | 0:fbfafa6bf5f9 | 30 | //resetEncoders(); TODO use kalman as feedback instead! |
narshu | 0:fbfafa6bf5f9 | 31 | |
narshu | 0:fbfafa6bf5f9 | 32 | int tempEndEncoder = 0; |
narshu | 0:fbfafa6bf5f9 | 33 | int startEncoderCount = 0; |
narshu | 0:fbfafa6bf5f9 | 34 | |
narshu | 0:fbfafa6bf5f9 | 35 | tempEndEncoder = distanceToEncoder(abs(distance)); |
narshu | 0:fbfafa6bf5f9 | 36 | startEncoderCount = getEncoder1(); |
narshu | 0:fbfafa6bf5f9 | 37 | |
narshu | 0:fbfafa6bf5f9 | 38 | setSpeed(getSignOfInt(distance) * speed); |
narshu | 0:fbfafa6bf5f9 | 39 | |
narshu | 0:fbfafa6bf5f9 | 40 | while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) { |
narshu | 0:fbfafa6bf5f9 | 41 | setSpeed(getSignOfInt(distance) * speed); |
narshu | 0:fbfafa6bf5f9 | 42 | } |
narshu | 0:fbfafa6bf5f9 | 43 | |
narshu | 0:fbfafa6bf5f9 | 44 | //resetEncoders(); |
narshu | 0:fbfafa6bf5f9 | 45 | stop(); |
narshu | 0:fbfafa6bf5f9 | 46 | } |
narshu | 0:fbfafa6bf5f9 | 47 | |
narshu | 0:fbfafa6bf5f9 | 48 | void Motors::turn(int angle, int speed) { |
narshu | 0:fbfafa6bf5f9 | 49 | //resetEncoders(); TODO use kalman as feedback instead! |
narshu | 0:fbfafa6bf5f9 | 50 | int tempDistance = int((float(angle) / 360) * float(robotCircumference)); |
narshu | 0:fbfafa6bf5f9 | 51 | int tempEndEncoder = 0; |
narshu | 0:fbfafa6bf5f9 | 52 | int startEncoderCount = 0; |
narshu | 0:fbfafa6bf5f9 | 53 | |
narshu | 0:fbfafa6bf5f9 | 54 | tempEndEncoder = distanceToEncoder(abs(tempDistance)); |
narshu | 0:fbfafa6bf5f9 | 55 | startEncoderCount = getEncoder1(); |
narshu | 0:fbfafa6bf5f9 | 56 | setSpeed(getSignOfInt(tempDistance) * speed, -getSignOfInt(tempDistance) * speed); |
narshu | 0:fbfafa6bf5f9 | 57 | |
narshu | 0:fbfafa6bf5f9 | 58 | while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) { |
narshu | 0:fbfafa6bf5f9 | 59 | setSpeed(getSignOfInt(tempDistance) * speed,-getSignOfInt(tempDistance) * speed); |
narshu | 0:fbfafa6bf5f9 | 60 | |
narshu | 0:fbfafa6bf5f9 | 61 | } |
narshu | 0:fbfafa6bf5f9 | 62 | |
narshu | 0:fbfafa6bf5f9 | 63 | //resetEncoders(); |
narshu | 0:fbfafa6bf5f9 | 64 | stop(); |
narshu | 0:fbfafa6bf5f9 | 65 | } |
narshu | 0:fbfafa6bf5f9 | 66 | |
narshu | 0:fbfafa6bf5f9 | 67 | //*************************************************************************************** |
narshu | 0:fbfafa6bf5f9 | 68 | //Secondary robot specific helper functions |
narshu | 0:fbfafa6bf5f9 | 69 | //*************************************************************************************** |
narshu | 0:fbfafa6bf5f9 | 70 | |
narshu | 0:fbfafa6bf5f9 | 71 | |
narshu | 0:fbfafa6bf5f9 | 72 | int Motors::getSignOfInt(int direction) { |
narshu | 0:fbfafa6bf5f9 | 73 | |
narshu | 0:fbfafa6bf5f9 | 74 | direction = (direction < 0); |
narshu | 0:fbfafa6bf5f9 | 75 | |
narshu | 0:fbfafa6bf5f9 | 76 | switch (direction) { |
narshu | 0:fbfafa6bf5f9 | 77 | case 1: |
narshu | 0:fbfafa6bf5f9 | 78 | return -1; |
narshu | 0:fbfafa6bf5f9 | 79 | case 0: |
narshu | 0:fbfafa6bf5f9 | 80 | return 1; |
narshu | 0:fbfafa6bf5f9 | 81 | } |
narshu | 0:fbfafa6bf5f9 | 82 | |
narshu | 0:fbfafa6bf5f9 | 83 | return 0; |
narshu | 0:fbfafa6bf5f9 | 84 | } |
narshu | 0:fbfafa6bf5f9 | 85 | |
narshu | 0:fbfafa6bf5f9 | 86 | // returns distance in mm. |
narshu | 0:fbfafa6bf5f9 | 87 | float Motors::encoderToDistance(int encoder) { |
narshu | 0:fbfafa6bf5f9 | 88 | return (float(encoder) / float(encoderRevCount)) * wheelmm; |
narshu | 0:fbfafa6bf5f9 | 89 | } |
narshu | 0:fbfafa6bf5f9 | 90 | |
narshu | 0:fbfafa6bf5f9 | 91 | int Motors::distanceToEncoder(float distance) { |
narshu | 0:fbfafa6bf5f9 | 92 | return int((distance / float(wheelmm)) * encoderRevCount); |
narshu | 0:fbfafa6bf5f9 | 93 | } |
narshu | 0:fbfafa6bf5f9 | 94 | |
narshu | 0:fbfafa6bf5f9 | 95 | |
narshu | 0:fbfafa6bf5f9 | 96 | //*************************************************************************************** |
narshu | 0:fbfafa6bf5f9 | 97 | //MD25 instructions |
narshu | 0:fbfafa6bf5f9 | 98 | //*************************************************************************************** |
narshu | 0:fbfafa6bf5f9 | 99 | |
narshu | 0:fbfafa6bf5f9 | 100 | void Motors::stop() { |
narshu | 0:fbfafa6bf5f9 | 101 | sendCommand(cmdSetMotor1, 0); |
narshu | 0:fbfafa6bf5f9 | 102 | sendCommand(cmdSetMotor2, 0); |
narshu | 0:fbfafa6bf5f9 | 103 | } |
narshu | 0:fbfafa6bf5f9 | 104 | |
narshu | 0:fbfafa6bf5f9 | 105 | void Motors::setSpeed(int speed) { |
narshu | 0:fbfafa6bf5f9 | 106 | setMode(1); |
narshu | 0:fbfafa6bf5f9 | 107 | ///sendCommand(cmdByte, 0x30); |
narshu | 0:fbfafa6bf5f9 | 108 | sendCommand(cmdSetMotor1, speed); |
narshu | 0:fbfafa6bf5f9 | 109 | sendCommand(cmdSetMotor2, speed); |
narshu | 0:fbfafa6bf5f9 | 110 | } |
narshu | 0:fbfafa6bf5f9 | 111 | |
narshu | 0:fbfafa6bf5f9 | 112 | void Motors::setSpeed(int speed1, int speed2) { |
narshu | 0:fbfafa6bf5f9 | 113 | setMode(1), |
narshu | 0:fbfafa6bf5f9 | 114 | // sendCommand(cmdByte, 0x30); |
narshu | 0:fbfafa6bf5f9 | 115 | sendCommand(cmdSetMotor1, speed1); |
narshu | 0:fbfafa6bf5f9 | 116 | sendCommand(cmdSetMotor2, speed2); |
narshu | 0:fbfafa6bf5f9 | 117 | } |
narshu | 0:fbfafa6bf5f9 | 118 | |
narshu | 0:fbfafa6bf5f9 | 119 | void Motors::setMode(int mode) { |
narshu | 0:fbfafa6bf5f9 | 120 | sendCommand(cmdSetMode, mode); |
narshu | 0:fbfafa6bf5f9 | 121 | } |
narshu | 0:fbfafa6bf5f9 | 122 | |
narshu | 0:fbfafa6bf5f9 | 123 | void Motors::resetEncoders() { |
narshu | 0:fbfafa6bf5f9 | 124 | sendCommand(cmdByte, cmdResetEncoders); |
narshu | 0:fbfafa6bf5f9 | 125 | } |
narshu | 0:fbfafa6bf5f9 | 126 | |
narshu | 0:fbfafa6bf5f9 | 127 | int Motors::getEncoder1() { |
narshu | 0:fbfafa6bf5f9 | 128 | return get4Bytes(cmdGetEncoder1); |
narshu | 0:fbfafa6bf5f9 | 129 | } |
narshu | 0:fbfafa6bf5f9 | 130 | |
narshu | 0:fbfafa6bf5f9 | 131 | int Motors::getEncoder2() { |
narshu | 0:fbfafa6bf5f9 | 132 | return get4Bytes(cmdGetEncoder2); |
narshu | 0:fbfafa6bf5f9 | 133 | } |
narshu | 0:fbfafa6bf5f9 | 134 | |
narshu | 0:fbfafa6bf5f9 | 135 | void Motors::disableAcceleration() { |
narshu | 0:fbfafa6bf5f9 | 136 | sendCommand(cmdByte, cmdDisableAcceleration); |
narshu | 0:fbfafa6bf5f9 | 137 | } |
narshu | 0:fbfafa6bf5f9 | 138 | |
narshu | 0:fbfafa6bf5f9 | 139 | |
narshu | 0:fbfafa6bf5f9 | 140 | |
narshu | 0:fbfafa6bf5f9 | 141 | //*************************************************************************************** |
narshu | 0:fbfafa6bf5f9 | 142 | //Abstract MD25 communication methods and functions |
narshu | 0:fbfafa6bf5f9 | 143 | //*************************************************************************************** |
narshu | 0:fbfafa6bf5f9 | 144 | |
narshu | 0:fbfafa6bf5f9 | 145 | int Motors::get4Bytes(char command) { |
narshu | 0:fbfafa6bf5f9 | 146 | long tempWord = 0; |
narshu | 0:fbfafa6bf5f9 | 147 | char cmd[4]; |
narshu | 0:fbfafa6bf5f9 | 148 | |
narshu | 0:fbfafa6bf5f9 | 149 | //i2c request |
narshu | 0:fbfafa6bf5f9 | 150 | sendCommand(command); |
narshu | 0:fbfafa6bf5f9 | 151 | |
narshu | 0:fbfafa6bf5f9 | 152 | //i2c read data back |
narshu | 0:fbfafa6bf5f9 | 153 | i2c.read(md25Address, cmd, 4);// Request 4 bytes from MD25 |
narshu | 0:fbfafa6bf5f9 | 154 | |
narshu | 0:fbfafa6bf5f9 | 155 | //FIXED 22FEB2012 CRISPIAN Taken 0.07 delay off. |
narshu | 0:fbfafa6bf5f9 | 156 | |
narshu | 0:fbfafa6bf5f9 | 157 | //First byte is largest, shift 4 bytes into tempWord |
narshu | 0:fbfafa6bf5f9 | 158 | tempWord += cmd[0] << 24; |
narshu | 0:fbfafa6bf5f9 | 159 | tempWord += cmd[1] << 16; |
narshu | 0:fbfafa6bf5f9 | 160 | tempWord += cmd[2] << 8; |
narshu | 0:fbfafa6bf5f9 | 161 | tempWord += cmd[3] ; |
narshu | 0:fbfafa6bf5f9 | 162 | |
narshu | 0:fbfafa6bf5f9 | 163 | return tempWord; |
narshu | 0:fbfafa6bf5f9 | 164 | } |
narshu | 0:fbfafa6bf5f9 | 165 | |
narshu | 0:fbfafa6bf5f9 | 166 | void Motors::sendCommand(char command) { |
narshu | 0:fbfafa6bf5f9 | 167 | char buffer[1]; |
narshu | 0:fbfafa6bf5f9 | 168 | buffer[0] = command; |
narshu | 0:fbfafa6bf5f9 | 169 | i2c.write(md25Address, &buffer[0], 1); |
narshu | 0:fbfafa6bf5f9 | 170 | } |
narshu | 0:fbfafa6bf5f9 | 171 | |
narshu | 0:fbfafa6bf5f9 | 172 | void Motors::sendCommand(char command1, char command2 ) { |
narshu | 0:fbfafa6bf5f9 | 173 | |
narshu | 0:fbfafa6bf5f9 | 174 | char buffer[2]; |
narshu | 0:fbfafa6bf5f9 | 175 | buffer[0] = command1; |
narshu | 0:fbfafa6bf5f9 | 176 | buffer[1] = command2; |
narshu | 0:fbfafa6bf5f9 | 177 | |
narshu | 0:fbfafa6bf5f9 | 178 | i2c.write(md25Address, &buffer[0], 2); |
narshu | 0:fbfafa6bf5f9 | 179 | } |