Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

main.cpp@46:49f3da891e24, 2016-06-21 (annotated)

Committer:
phairero
Date:
Tue Jun 21 11:41:18 2016 +0000
Revision:
46:49f3da891e24
Parent:
45:409988ab53e4
Child:
47:4f418a4b0051
RFHacked

Who changed what in which revision?

UserRevisionLine numberNew contents of line
phairero 0:0b7259fdb68a 1 #include "mbed.h"
sim642 3:2235787e78c4 2 #include "EncoderMotor.hpp"
phairero 0:0b7259fdb68a 3
phairero 0:0b7259fdb68a 4 InterruptIn bt(USER_BUTTON);
phairero 30:476ab400d765 5 Serial pc(PA_0, PA_1); //RF
phairero 30:476ab400d765 6 //Serial pc(SERIAL_TX, SERIAL_RX);
phairero 26:c865244ca3cf 7 //Serial pc(USBTX, USBRX);
sim642 2:cf0147952fb9 8
sim642 23:d844cc906b66 9 //PIDData speedPIDData = {0.3f, 2.0f, 0.02f};
sim642 23:d844cc906b66 10 //PIDData turnPIDData = {5.0f, 0.1f, 0.04f};
sim642 23:d844cc906b66 11 PIDData speedPIDData = {0.5f, 0.0f, 0.0f};
phairero 26:c865244ca3cf 12 PIDData turnPIDData = {30.0f, 0.01f, 1.0f};
sim642 27:24a9ac72fe92 13
sim642 27:24a9ac72fe92 14 /*
sim642 27:24a9ac72fe92 15 PWM timer channel
sim642 27:24a9ac72fe92 16 M1 1 2N
sim642 27:24a9ac72fe92 17 M2 4 2
sim642 27:24a9ac72fe92 18 M3 2 1
sim642 27:24a9ac72fe92 19 M4 4 4
sim642 27:24a9ac72fe92 20 M5 1 3N
sim642 27:24a9ac72fe92 21 M6 2 2
sim642 27:24a9ac72fe92 22 */
phairero 26:c865244ca3cf 23
phairero 26:c865244ca3cf 24 // 1
sim642 39:e35a99801ec1 25 MotorData m1Data = {PB_0, PA_4, PC_0}; //PWM, Dir1, Dir2
sim642 39:e35a99801ec1 26 EncoderData enc1Data = {PC_3, PC_1, 102.083 * 64}; //EncA, encB // https://www.pololu.com/product/2826
sim642 41:8ce8a3a47a92 27 EncoderMotor m1(m1Data, enc1Data, speedPIDData, turnPIDData);
phairero 32:9db688917ca3 28 DigitalIn s1(PA_8);
phairero 26:c865244ca3cf 29 // 2
sim642 39:e35a99801ec1 30 MotorData m2Data = {PB_7, PA_6, PB_9}; //PB7 = fault dir2 oli enne PC13
sim642 39:e35a99801ec1 31 EncoderData enc2Data = {PC_14, PC_15, 102.083 * 64};
sim642 41:8ce8a3a47a92 32 EncoderMotor m2(m2Data, enc2Data, speedPIDData, turnPIDData);
phairero 32:9db688917ca3 33 DigitalIn s2(PH_1);
phairero 26:c865244ca3cf 34 // 3
sim642 35:bce9ac485178 35 MotorData m3Data = {PA_15, PC_12, PC_10};
sim642 35:bce9ac485178 36 EncoderData enc3Data = {PC_11, PA_9, 102.083 * 64}; //B oli varem PA_13
sim642 41:8ce8a3a47a92 37 EncoderMotor m3(m3Data, enc3Data, speedPIDData, turnPIDData);
phairero 32:9db688917ca3 38 DigitalIn s3(PA_14);
phairero 26:c865244ca3cf 39 // 4
phairero 26:c865244ca3cf 40 MotorData m4Data = {PB_8, PC_6, PC_9};
phairero 26:c865244ca3cf 41 EncoderData enc4Data = {PC_5, PA_12, 102.083 * 64};
sim642 41:8ce8a3a47a92 42 EncoderMotor m4(m4Data, enc4Data, speedPIDData, turnPIDData);
phairero 32:9db688917ca3 43 DigitalIn s4(PA_11);
phairero 26:c865244ca3cf 44 // 5
phairero 26:c865244ca3cf 45 MotorData m5Data = {PB_15, PB_1, PB_2};
phairero 33:ad2ebe22f8dd 46 EncoderData enc5Data = {PC_7, PB_6, 102.083 * 64}; //B oli varem PB_13, A oli varem PB_14
sim642 41:8ce8a3a47a92 47 EncoderMotor m5(m5Data, enc5Data, speedPIDData, turnPIDData);
phairero 32:9db688917ca3 48 DigitalIn s5(PC_4);
phairero 26:c865244ca3cf 49 // 6
sim642 39:e35a99801ec1 50 MotorData m6Data = {PB_3, PA_7, PB_5}; //PA_2 = TX; PA_3 (m6-fault) = RX DIR2 oli enne PA2
sim642 39:e35a99801ec1 51 EncoderData enc6Data = {PB_4, PA_10, 102.083 * 64};
sim642 41:8ce8a3a47a92 52 EncoderMotor m6(m6Data, enc6Data, speedPIDData, turnPIDData);
phairero 32:9db688917ca3 53 DigitalIn s6(PB_10);
sim642 35:bce9ac485178 54
phairero 30:476ab400d765 55 const int MOTORS = 6;
phairero 30:476ab400d765 56 EncoderMotor* ms[MOTORS] = {&m1, &m2, &m3, &m4, &m5, &m6};
phairero 32:9db688917ca3 57 DigitalIn ss[MOTORS] = {s1, s2, s3, s4, s5, s6};
sim642 35:bce9ac485178 58
phairero 43:0627a2245b9d 59 float volatile speed;
phairero 43:0627a2245b9d 60
phairero 43:0627a2245b9d 61 int volatile dir;
phairero 43:0627a2245b9d 62
phairero 43:0627a2245b9d 63 int volatile turn;
phairero 43:0627a2245b9d 64
sim642 27:24a9ac72fe92 65 Ticker ticker;
sim642 27:24a9ac72fe92 66
sim642 2:cf0147952fb9 67 void rise()
sim642 2:cf0147952fb9 68 {
sim642 24:fb1827be6f7e 69 //pc.printf("rise\n");
sim642 28:fd21faad6dd8 70 //m1.drive(0);
phairero 36:906323851366 71 //mod = mod*(-1);
sim642 2:cf0147952fb9 72 }
phairero 0:0b7259fdb68a 73
sim642 2:cf0147952fb9 74 void fall()
sim642 2:cf0147952fb9 75 {
sim642 24:fb1827be6f7e 76 //pc.printf("fall\n");
sim642 28:fd21faad6dd8 77 //m1.drive(0.25);
sim642 2:cf0147952fb9 78 }
phairero 1:8b0322a353f4 79
sim642 27:24a9ac72fe92 80 void tick()
sim642 27:24a9ac72fe92 81 {
sim642 28:fd21faad6dd8 82 for (int i = 0; i < MOTORS; i++)
sim642 28:fd21faad6dd8 83 ms[i]->tick();
sim642 27:24a9ac72fe92 84 }
sim642 27:24a9ac72fe92 85
sim642 27:24a9ac72fe92 86 const float tickTime = 1.f / 60;
sim642 27:24a9ac72fe92 87
sim642 37:8021b3ce241a 88 void waitAllRotate()
sim642 37:8021b3ce241a 89 {
sim642 37:8021b3ce241a 90 tick();
sim642 37:8021b3ce241a 91
sim642 37:8021b3ce241a 92 float sum;
sim642 37:8021b3ce241a 93 do {
sim642 37:8021b3ce241a 94 sum = 0;
sim642 37:8021b3ce241a 95 for (int i = 0; i < MOTORS; i++)
sim642 37:8021b3ce241a 96 sum += abs(ms[i]->errorTurn);
phairero 45:409988ab53e4 97
phairero 46:49f3da891e24 98 pc.printf("");
phairero 43:0627a2245b9d 99 //pc.printf("%f\n",sum);
sim642 37:8021b3ce241a 100 }
sim642 37:8021b3ce241a 101 while(sum > 0.05f);
sim642 37:8021b3ce241a 102
sim642 37:8021b3ce241a 103 wait(0.1f);
sim642 37:8021b3ce241a 104 }
sim642 37:8021b3ce241a 105
sim642 42:7fa713d5d1af 106 void calibrateLegs()
sim642 42:7fa713d5d1af 107 {
sim642 37:8021b3ce241a 108 for (int i = 0; i < MOTORS; i++)
sim642 37:8021b3ce241a 109 {
phairero 46:49f3da891e24 110 ms[i]->drive(0.2f);
sim642 40:01a97bc4ef7a 111 }
sim642 40:01a97bc4ef7a 112
sim642 40:01a97bc4ef7a 113 bool done;
sim642 40:01a97bc4ef7a 114 do
sim642 40:01a97bc4ef7a 115 {
sim642 40:01a97bc4ef7a 116 done = true;
sim642 40:01a97bc4ef7a 117 for (int i = 0; i < MOTORS; i++)
sim642 40:01a97bc4ef7a 118 {
phairero 46:49f3da891e24 119 if (ss[i].read())
phairero 46:49f3da891e24 120 done = false;
phairero 46:49f3da891e24 121 else
phairero 46:49f3da891e24 122 ms[i]->drive(0.f);
sim642 37:8021b3ce241a 123 }
sim642 40:01a97bc4ef7a 124 }
sim642 40:01a97bc4ef7a 125 while (!done);
sim642 40:01a97bc4ef7a 126
sim642 40:01a97bc4ef7a 127 for (int i = 0; i < MOTORS; i++)
sim642 37:8021b3ce241a 128 ms[i]->getEncoder().reset();
sim642 42:7fa713d5d1af 129
phairero 43:0627a2245b9d 130 pc.printf("done\n");
sim642 42:7fa713d5d1af 131 }
sim642 42:7fa713d5d1af 132
sim642 42:7fa713d5d1af 133 void standUp()
sim642 42:7fa713d5d1af 134 {
phairero 44:c2acf8d5e191 135 ms[0]->rotate(0.5f + 0.0625f, 0.75f);
phairero 44:c2acf8d5e191 136 ms[1]->rotate(0.5f - 0.0625f, 0.75f);
phairero 44:c2acf8d5e191 137 ms[2]->rotate(0.5f + 0.0625f, 0.75f);
phairero 44:c2acf8d5e191 138 ms[3]->rotate(0.5f - 0.0625f, 0.75f);
phairero 44:c2acf8d5e191 139 ms[4]->rotate(0.5f + 0.0625f, 0.75f);
phairero 44:c2acf8d5e191 140 ms[5]->rotate(0.5f - 0.0625f, 0.75f);
sim642 37:8021b3ce241a 141 waitAllRotate();
sim642 42:7fa713d5d1af 142 }
sim642 42:7fa713d5d1af 143
phairero 43:0627a2245b9d 144 void moveOne()
phairero 43:0627a2245b9d 145 {
phairero 44:c2acf8d5e191 146
phairero 44:c2acf8d5e191 147 ms[0]->rotate(dir*0.875f,speed);
phairero 44:c2acf8d5e191 148 ms[1]->rotate(dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 149 ms[2]->rotate(dir*0.875f,speed);
phairero 44:c2acf8d5e191 150 ms[3]->rotate(dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 151 ms[4]->rotate(dir*0.875f,speed);
phairero 44:c2acf8d5e191 152 ms[5]->rotate(dir*0.125f,speed/3);
phairero 43:0627a2245b9d 153 waitAllRotate();
phairero 43:0627a2245b9d 154 }
phairero 43:0627a2245b9d 155
phairero 43:0627a2245b9d 156 void moveTwo(){
phairero 44:c2acf8d5e191 157 ms[0]->rotate(dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 158 ms[1]->rotate(dir*0.875f,speed);
phairero 44:c2acf8d5e191 159 ms[2]->rotate(dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 160 ms[3]->rotate(dir*0.875f,speed);
phairero 44:c2acf8d5e191 161 ms[4]->rotate(dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 162 ms[5]->rotate(dir*0.875f,speed);
phairero 44:c2acf8d5e191 163 waitAllRotate();
phairero 44:c2acf8d5e191 164 }
phairero 44:c2acf8d5e191 165
phairero 44:c2acf8d5e191 166 void turnOne(){
phairero 44:c2acf8d5e191 167 ms[0]->rotate(turn*dir*0.875f,speed);
phairero 44:c2acf8d5e191 168 ms[1]->rotate(turn*dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 169 ms[2]->rotate(-turn*dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 170 ms[3]->rotate(-turn*dir*0.875f,speed);
phairero 44:c2acf8d5e191 171 ms[4]->rotate(-turn*dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 172 ms[5]->rotate(turn*dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 173 waitAllRotate();
phairero 44:c2acf8d5e191 174 }
phairero 44:c2acf8d5e191 175
phairero 44:c2acf8d5e191 176 void turnTwo(){
phairero 44:c2acf8d5e191 177 ms[0]->rotate(turn*dir*0.125f,speed/3);
phairero 45:409988ab53e4 178 ms[1]->rotate(0.0f, 1.0f);
phairero 44:c2acf8d5e191 179 ms[2]->rotate(-turn*dir*0.875f,speed);
phairero 45:409988ab53e4 180 ms[3]->rotate(0.0f, 1.0f);
phairero 44:c2acf8d5e191 181 ms[4]->rotate(-turn*dir*0.875f,speed);
phairero 45:409988ab53e4 182 ms[5]->rotate(0.0f, 1.0f);
phairero 44:c2acf8d5e191 183 waitAllRotate();
phairero 44:c2acf8d5e191 184 }
phairero 44:c2acf8d5e191 185
phairero 44:c2acf8d5e191 186 void turnThree(){
phairero 45:409988ab53e4 187 ms[0]->rotate(0.0f, 1.0f);
phairero 44:c2acf8d5e191 188 ms[1]->rotate(turn*dir*0.875f,speed);
phairero 45:409988ab53e4 189 ms[2]->rotate(0.0f, 1.0f);
phairero 44:c2acf8d5e191 190 ms[3]->rotate(-turn*dir*0.125f,speed/3);
phairero 45:409988ab53e4 191 ms[4]->rotate(0.0f, 1.0f);
phairero 44:c2acf8d5e191 192 ms[5]->rotate(turn*dir*0.875f,speed);
phairero 43:0627a2245b9d 193 waitAllRotate();
phairero 43:0627a2245b9d 194 }
phairero 43:0627a2245b9d 195
phairero 43:0627a2245b9d 196
sim642 42:7fa713d5d1af 197 int main()
sim642 42:7fa713d5d1af 198 {
sim642 42:7fa713d5d1af 199 pc.printf("MAIN\n");
sim642 42:7fa713d5d1af 200 bt.rise(&rise);
sim642 42:7fa713d5d1af 201 bt.fall(&fall);
sim642 42:7fa713d5d1af 202
sim642 42:7fa713d5d1af 203 //ms[active]->drive(0.25);
sim642 42:7fa713d5d1af 204
sim642 42:7fa713d5d1af 205 ticker.attach(&tick, tickTime);
sim642 42:7fa713d5d1af 206
sim642 42:7fa713d5d1af 207 //unsigned char volatile rfget;
sim642 42:7fa713d5d1af 208
sim642 42:7fa713d5d1af 209 calibrateLegs();
sim642 42:7fa713d5d1af 210 standUp();
sim642 37:8021b3ce241a 211
phairero 43:0627a2245b9d 212 //float volatile sum;
phairero 36:906323851366 213
phairero 43:0627a2245b9d 214 speed = 0.0f;
phairero 43:0627a2245b9d 215 dir = 1;
phairero 43:0627a2245b9d 216 turn = 0;
phairero 36:906323851366 217
phairero 43:0627a2245b9d 218 pc.printf("start\n");
sim642 2:cf0147952fb9 219 while(1)
phairero 36:906323851366 220 {
phairero 36:906323851366 221
phairero 43:0627a2245b9d 222 //speed = 1.5f;
sim642 37:8021b3ce241a 223 //speed = 0;
phairero 36:906323851366 224 //int oldactive = active;
phairero 46:49f3da891e24 225 //if (pc.readable()){
phairero 46:49f3da891e24 226 int rfSpeed = 0;
phairero 46:49f3da891e24 227 pc.scanf("%d %d %d", &rfSpeed, &dir, &turn);
phairero 46:49f3da891e24 228 if (rfSpeed > 50){
phairero 46:49f3da891e24 229 rfSpeed = rfSpeed-(rfSpeed - rfSpeed/10);
phairero 46:49f3da891e24 230 }
phairero 46:49f3da891e24 231 speed = rfSpeed/10.0f;
phairero 46:49f3da891e24 232 if (speed <= 0.5f)
phairero 46:49f3da891e24 233 speed = float(0);
phairero 46:49f3da891e24 234 pc.printf("%d %.2f\n",rfSpeed,speed);
phairero 43:0627a2245b9d 235
phairero 36:906323851366 236 if (speed != 0){
phairero 43:0627a2245b9d 237 //for (int i = 0; i < MOTORS; i++)
phairero 43:0627a2245b9d 238 // pc.printf("%ld ", ms[i]->encoder.getCount());
phairero 43:0627a2245b9d 239 //pc.printf("\n");
phairero 43:0627a2245b9d 240
phairero 43:0627a2245b9d 241 //speed = (rfget*0.3f); //+ ((speed < 0) ? -1 : 1) * mod;
phairero 44:c2acf8d5e191 242 if (turn == 0) {
phairero 44:c2acf8d5e191 243 if (dir == 1){
phairero 44:c2acf8d5e191 244 moveOne();
phairero 44:c2acf8d5e191 245 moveTwo();
phairero 44:c2acf8d5e191 246 }
phairero 44:c2acf8d5e191 247 else {
phairero 44:c2acf8d5e191 248 moveTwo();
phairero 44:c2acf8d5e191 249 moveOne();
phairero 43:0627a2245b9d 250 }
phairero 44:c2acf8d5e191 251 }
phairero 43:0627a2245b9d 252 else {
phairero 44:c2acf8d5e191 253 if ((turn*dir) == 1){
phairero 44:c2acf8d5e191 254 turnOne();
phairero 44:c2acf8d5e191 255 turnTwo();
phairero 44:c2acf8d5e191 256 turnThree();
phairero 43:0627a2245b9d 257 }
phairero 44:c2acf8d5e191 258 else {
phairero 44:c2acf8d5e191 259 turnThree();
phairero 44:c2acf8d5e191 260 turnTwo();
phairero 44:c2acf8d5e191 261 turnOne();
phairero 44:c2acf8d5e191 262 }
phairero 44:c2acf8d5e191 263 }
phairero 36:906323851366 264 }
phairero 36:906323851366 265 else {
phairero 45:409988ab53e4 266 ms[0]->rotate(0.0f, 1.0f);
phairero 45:409988ab53e4 267 ms[1]->rotate(0.0f, 1.0f);
phairero 45:409988ab53e4 268 ms[2]->rotate(0.0f, 1.0f);
phairero 45:409988ab53e4 269 ms[3]->rotate(0.0f, 1.0f);
phairero 45:409988ab53e4 270 ms[4]->rotate(0.0f, 1.0f);
phairero 45:409988ab53e4 271 ms[5]->rotate(0.0f, 1.0f);
phairero 36:906323851366 272 }
phairero 36:906323851366 273
phairero 36:906323851366 274 //pc.printf("%f", speed);
phairero 32:9db688917ca3 275 //info enkoodritelt
phairero 36:906323851366 276 /*
sim642 29:f905e66e1a6f 277 for (int i = 0; i < MOTORS; i++)
sim642 29:f905e66e1a6f 278 pc.printf("%ld ", ms[i]->encoder.getCount());
sim642 29:f905e66e1a6f 279 pc.printf("\n");
phairero 36:906323851366 280 */
sim642 37:8021b3ce241a 281
phairero 32:9db688917ca3 282 //info IRidelt
sim642 37:8021b3ce241a 283 /*for (int i = 0; i < MOTORS; i++)
phairero 32:9db688917ca3 284 pc.printf("%d ", ss[i].read());
phairero 32:9db688917ca3 285 pc.printf("\n");
sim642 37:8021b3ce241a 286 wait(1.0f);*/
sim642 37:8021b3ce241a 287
sim642 28:fd21faad6dd8 288 //pc.printf("%d", active);
phairero 31:8d8d31b6d8cd 289 //pc.scanf("%f", &turn);
sim642 23:d844cc906b66 290 //m.rotate(turn, 0.2);
phairero 31:8d8d31b6d8cd 291 //pc.scanf("%f %f", &rot, &speed);
sim642 28:fd21faad6dd8 292 //m1.rotate(rot, speed);
sim642 23:d844cc906b66 293 //m.drive(speed);
phairero 31:8d8d31b6d8cd 294 //pc.printf("%f %f\n", s.getTurnSpeed(), m.getSetSpeed());
phairero 31:8d8d31b6d8cd 295 //pc.printf("%f %f\n", m.s, m.getSetSpeed());
phairero 31:8d8d31b6d8cd 296 //pc.printf("%ld %f %f\n", m1.getEncoder().getCount(), m1.getEncoder().getTurn(), m1.getSetTurn());
phairero 31:8d8d31b6d8cd 297 //pc.printf("%f %f\n", m.getEncoder().getTurn(), m.getSetTurn());
phairero 36:906323851366 298
phairero 0:0b7259fdb68a 299 }
phairero 26:c865244ca3cf 300 }