Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

main.cpp@44:c2acf8d5e191, 2016-06-20 (annotated)

Committer:
phairero
Date:
Mon Jun 20 15:47:07 2016 +0000
Revision:
44:c2acf8d5e191
Parent:
43:0627a2245b9d
Child:
45:409988ab53e4
Moving and turning. Tested on ground. RF messes up sometimes.

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 43:0627a2245b9d 97 pc.printf("");
phairero 43:0627a2245b9d 98 //pc.printf("%f\n",sum);
sim642 37:8021b3ce241a 99 }
sim642 37:8021b3ce241a 100 while(sum > 0.05f);
sim642 37:8021b3ce241a 101
sim642 37:8021b3ce241a 102 wait(0.1f);
sim642 37:8021b3ce241a 103 }
sim642 37:8021b3ce241a 104
sim642 42:7fa713d5d1af 105 void calibrateLegs()
sim642 42:7fa713d5d1af 106 {
sim642 37:8021b3ce241a 107 for (int i = 0; i < MOTORS; i++)
sim642 37:8021b3ce241a 108 {
sim642 40:01a97bc4ef7a 109 if (i != 3)
sim642 39:e35a99801ec1 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 {
sim642 40:01a97bc4ef7a 119 if (i != 3)
sim642 40:01a97bc4ef7a 120 {
sim642 40:01a97bc4ef7a 121 if (ss[i].read())
sim642 40:01a97bc4ef7a 122 done = false;
sim642 40:01a97bc4ef7a 123 else
sim642 40:01a97bc4ef7a 124 ms[i]->drive(0.f);
sim642 40:01a97bc4ef7a 125 }
sim642 37:8021b3ce241a 126 }
sim642 40:01a97bc4ef7a 127 }
sim642 40:01a97bc4ef7a 128 while (!done);
sim642 40:01a97bc4ef7a 129
sim642 40:01a97bc4ef7a 130 for (int i = 0; i < MOTORS; i++)
sim642 37:8021b3ce241a 131 ms[i]->getEncoder().reset();
sim642 42:7fa713d5d1af 132
phairero 43:0627a2245b9d 133 pc.printf("done\n");
sim642 42:7fa713d5d1af 134 }
sim642 42:7fa713d5d1af 135
sim642 42:7fa713d5d1af 136 void standUp()
sim642 42:7fa713d5d1af 137 {
phairero 44:c2acf8d5e191 138 ms[0]->rotate(0.5f + 0.0625f, 0.75f);
phairero 44:c2acf8d5e191 139 ms[1]->rotate(0.5f - 0.0625f, 0.75f);
phairero 44:c2acf8d5e191 140 ms[2]->rotate(0.5f + 0.0625f, 0.75f);
phairero 44:c2acf8d5e191 141 ms[3]->rotate(0.5f - 0.0625f, 0.75f);
phairero 44:c2acf8d5e191 142 ms[4]->rotate(0.5f + 0.0625f, 0.75f);
phairero 44:c2acf8d5e191 143 ms[5]->rotate(0.5f - 0.0625f, 0.75f);
sim642 37:8021b3ce241a 144 waitAllRotate();
sim642 42:7fa713d5d1af 145 }
sim642 42:7fa713d5d1af 146
phairero 43:0627a2245b9d 147 void moveOne()
phairero 43:0627a2245b9d 148 {
phairero 44:c2acf8d5e191 149
phairero 44:c2acf8d5e191 150 ms[0]->rotate(dir*0.875f,speed);
phairero 44:c2acf8d5e191 151 ms[1]->rotate(dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 152 ms[2]->rotate(dir*0.875f,speed);
phairero 44:c2acf8d5e191 153 ms[3]->rotate(dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 154 ms[4]->rotate(dir*0.875f,speed);
phairero 44:c2acf8d5e191 155 ms[5]->rotate(dir*0.125f,speed/3);
phairero 43:0627a2245b9d 156 waitAllRotate();
phairero 43:0627a2245b9d 157 }
phairero 43:0627a2245b9d 158
phairero 43:0627a2245b9d 159 void moveTwo(){
phairero 44:c2acf8d5e191 160 ms[0]->rotate(dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 161 ms[1]->rotate(dir*0.875f,speed);
phairero 44:c2acf8d5e191 162 ms[2]->rotate(dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 163 ms[3]->rotate(dir*0.875f,speed);
phairero 44:c2acf8d5e191 164 ms[4]->rotate(dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 165 ms[5]->rotate(dir*0.875f,speed);
phairero 44:c2acf8d5e191 166 waitAllRotate();
phairero 44:c2acf8d5e191 167 }
phairero 44:c2acf8d5e191 168
phairero 44:c2acf8d5e191 169 void turnOne(){
phairero 44:c2acf8d5e191 170 ms[0]->rotate(turn*dir*0.875f,speed);
phairero 44:c2acf8d5e191 171 ms[1]->rotate(turn*dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 172 ms[2]->rotate(-turn*dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 173 ms[3]->rotate(-turn*dir*0.875f,speed);
phairero 44:c2acf8d5e191 174 ms[4]->rotate(-turn*dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 175 ms[5]->rotate(turn*dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 176 waitAllRotate();
phairero 44:c2acf8d5e191 177 }
phairero 44:c2acf8d5e191 178
phairero 44:c2acf8d5e191 179 void turnTwo(){
phairero 44:c2acf8d5e191 180 ms[0]->rotate(turn*dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 181 ms[1]->drive(0.0);
phairero 44:c2acf8d5e191 182 ms[2]->rotate(-turn*dir*0.875f,speed);
phairero 44:c2acf8d5e191 183 ms[3]->drive(0.0);
phairero 44:c2acf8d5e191 184 ms[4]->rotate(-turn*dir*0.875f,speed);
phairero 44:c2acf8d5e191 185 ms[5]->drive(0.0);
phairero 44:c2acf8d5e191 186 waitAllRotate();
phairero 44:c2acf8d5e191 187 }
phairero 44:c2acf8d5e191 188
phairero 44:c2acf8d5e191 189 void turnThree(){
phairero 44:c2acf8d5e191 190 ms[0]->drive(0.0);
phairero 44:c2acf8d5e191 191 ms[1]->rotate(turn*dir*0.875f,speed);
phairero 44:c2acf8d5e191 192 ms[2]->drive(0.0);
phairero 44:c2acf8d5e191 193 ms[3]->rotate(-turn*dir*0.125f,speed/3);
phairero 44:c2acf8d5e191 194 ms[4]->drive(0.0);
phairero 44:c2acf8d5e191 195 ms[5]->rotate(turn*dir*0.875f,speed);
phairero 43:0627a2245b9d 196 waitAllRotate();
phairero 43:0627a2245b9d 197 }
phairero 43:0627a2245b9d 198
phairero 43:0627a2245b9d 199
sim642 42:7fa713d5d1af 200 int main()
sim642 42:7fa713d5d1af 201 {
sim642 42:7fa713d5d1af 202 pc.printf("MAIN\n");
sim642 42:7fa713d5d1af 203 bt.rise(&rise);
sim642 42:7fa713d5d1af 204 bt.fall(&fall);
sim642 42:7fa713d5d1af 205
sim642 42:7fa713d5d1af 206 //ms[active]->drive(0.25);
sim642 42:7fa713d5d1af 207
sim642 42:7fa713d5d1af 208 ticker.attach(&tick, tickTime);
sim642 42:7fa713d5d1af 209
sim642 42:7fa713d5d1af 210 //unsigned char volatile rfget;
sim642 42:7fa713d5d1af 211
sim642 42:7fa713d5d1af 212 calibrateLegs();
sim642 42:7fa713d5d1af 213 standUp();
sim642 37:8021b3ce241a 214
phairero 43:0627a2245b9d 215 //float volatile sum;
phairero 36:906323851366 216
phairero 43:0627a2245b9d 217 speed = 0.0f;
phairero 43:0627a2245b9d 218 dir = 1;
phairero 43:0627a2245b9d 219 turn = 0;
phairero 36:906323851366 220
phairero 43:0627a2245b9d 221 pc.printf("start\n");
sim642 2:cf0147952fb9 222 while(1)
phairero 36:906323851366 223 {
phairero 36:906323851366 224
phairero 43:0627a2245b9d 225 //speed = 1.5f;
sim642 37:8021b3ce241a 226 //speed = 0;
phairero 36:906323851366 227 //int oldactive = active;
phairero 43:0627a2245b9d 228 if (pc.readable()){
phairero 43:0627a2245b9d 229 pc.scanf("%f %d %d", &speed, &dir, &turn);
phairero 44:c2acf8d5e191 230 if (speed >= 10)
phairero 43:0627a2245b9d 231 speed = speed - (((int)(speed/10))*10);
phairero 44:c2acf8d5e191 232 else if (speed <= 0.25f)
phairero 44:c2acf8d5e191 233 speed = float(0);
phairero 44:c2acf8d5e191 234 }
phairero 43:0627a2245b9d 235 pc.printf("%f %d%d\n",speed,dir,turn);
phairero 43:0627a2245b9d 236
phairero 36:906323851366 237 if (speed != 0){
phairero 43:0627a2245b9d 238 //for (int i = 0; i < MOTORS; i++)
phairero 43:0627a2245b9d 239 // pc.printf("%ld ", ms[i]->encoder.getCount());
phairero 43:0627a2245b9d 240 //pc.printf("\n");
phairero 43:0627a2245b9d 241
phairero 43:0627a2245b9d 242 //speed = (rfget*0.3f); //+ ((speed < 0) ? -1 : 1) * mod;
phairero 44:c2acf8d5e191 243 if (turn == 0) {
phairero 44:c2acf8d5e191 244 if (dir == 1){
phairero 44:c2acf8d5e191 245 moveOne();
phairero 44:c2acf8d5e191 246 moveTwo();
phairero 44:c2acf8d5e191 247 }
phairero 44:c2acf8d5e191 248 else {
phairero 44:c2acf8d5e191 249 moveTwo();
phairero 44:c2acf8d5e191 250 moveOne();
phairero 43:0627a2245b9d 251 }
phairero 44:c2acf8d5e191 252 }
phairero 43:0627a2245b9d 253 else {
phairero 44:c2acf8d5e191 254 if ((turn*dir) == 1){
phairero 44:c2acf8d5e191 255 turnOne();
phairero 44:c2acf8d5e191 256 turnTwo();
phairero 44:c2acf8d5e191 257 turnThree();
phairero 43:0627a2245b9d 258 }
phairero 44:c2acf8d5e191 259 else {
phairero 44:c2acf8d5e191 260 turnThree();
phairero 44:c2acf8d5e191 261 turnTwo();
phairero 44:c2acf8d5e191 262 turnOne();
phairero 44:c2acf8d5e191 263 }
phairero 44:c2acf8d5e191 264 }
phairero 43:0627a2245b9d 265
phairero 43:0627a2245b9d 266 /*ms[0]->rotate(dir*0.75f,speed);
phairero 43:0627a2245b9d 267 ms[1]->rotate(dir*0.25f,speed/3);
phairero 43:0627a2245b9d 268 ms[2]->rotate(dir*0.75f,speed);
phairero 43:0627a2245b9d 269 ms[3]->rotate(dir*0.25f,speed/3);
phairero 43:0627a2245b9d 270 ms[4]->rotate(dir*0.75f,speed);
phairero 43:0627a2245b9d 271 ms[5]->rotate(dir*0.25f,speed/3);
sim642 37:8021b3ce241a 272 waitAllRotate();
sim642 37:8021b3ce241a 273
phairero 43:0627a2245b9d 274 ms[0]->rotate(dir*0.25f,speed/3);
phairero 43:0627a2245b9d 275 ms[1]->rotate(dir*0.75f,speed);
phairero 43:0627a2245b9d 276 ms[2]->rotate(dir*0.25f,speed/3);
phairero 43:0627a2245b9d 277 ms[3]->rotate(dir*0.75f,speed);
phairero 43:0627a2245b9d 278 ms[4]->rotate(dir*0.25f,speed/3);
phairero 43:0627a2245b9d 279 ms[5]->rotate(dir*0.75f,speed);
phairero 43:0627a2245b9d 280 waitAllRotate();*/
phairero 36:906323851366 281 }
phairero 36:906323851366 282 else {
phairero 44:c2acf8d5e191 283 ms[0]->rotate(0.0f, 0.0f);
phairero 44:c2acf8d5e191 284 ms[1]->rotate(0.0f, 0.0f);
phairero 44:c2acf8d5e191 285 ms[2]->rotate(0.0f, 0.0f);
phairero 44:c2acf8d5e191 286 ms[3]->rotate(0.0f, 0.0f);
phairero 44:c2acf8d5e191 287 ms[4]->rotate(0.0f, 0.0f);
phairero 44:c2acf8d5e191 288 ms[5]->rotate(0.0f, 0.0f);
phairero 36:906323851366 289 }
phairero 36:906323851366 290
phairero 36:906323851366 291 //pc.printf("%f", speed);
phairero 32:9db688917ca3 292 //info enkoodritelt
phairero 36:906323851366 293 /*
sim642 29:f905e66e1a6f 294 for (int i = 0; i < MOTORS; i++)
sim642 29:f905e66e1a6f 295 pc.printf("%ld ", ms[i]->encoder.getCount());
sim642 29:f905e66e1a6f 296 pc.printf("\n");
phairero 36:906323851366 297 */
sim642 37:8021b3ce241a 298
phairero 32:9db688917ca3 299 //info IRidelt
sim642 37:8021b3ce241a 300 /*for (int i = 0; i < MOTORS; i++)
phairero 32:9db688917ca3 301 pc.printf("%d ", ss[i].read());
phairero 32:9db688917ca3 302 pc.printf("\n");
sim642 37:8021b3ce241a 303 wait(1.0f);*/
sim642 37:8021b3ce241a 304
sim642 28:fd21faad6dd8 305 //pc.printf("%d", active);
phairero 31:8d8d31b6d8cd 306 //pc.scanf("%f", &turn);
sim642 23:d844cc906b66 307 //m.rotate(turn, 0.2);
phairero 31:8d8d31b6d8cd 308 //pc.scanf("%f %f", &rot, &speed);
sim642 28:fd21faad6dd8 309 //m1.rotate(rot, speed);
sim642 23:d844cc906b66 310 //m.drive(speed);
phairero 31:8d8d31b6d8cd 311 //pc.printf("%f %f\n", s.getTurnSpeed(), m.getSetSpeed());
phairero 31:8d8d31b6d8cd 312 //pc.printf("%f %f\n", m.s, m.getSetSpeed());
phairero 31:8d8d31b6d8cd 313 //pc.printf("%ld %f %f\n", m1.getEncoder().getCount(), m1.getEncoder().getTurn(), m1.getSetTurn());
phairero 31:8d8d31b6d8cd 314 //pc.printf("%f %f\n", m.getEncoder().getTurn(), m.getSetTurn());
phairero 36:906323851366 315
phairero 0:0b7259fdb68a 316 }
phairero 26:c865244ca3cf 317 }