Michael Ernst Peter / Mbed OS PM2_Example_Line_Follower

Example project for the Line Follower robot.

Dependencies:   PM2_Libary Eigen

main.cpp@8:9bb806a7f585, 2021-04-06 (annotated)

Committer:
pmic
Date:
Tue Apr 06 12:48:09 2021 +0200
Revision:
8:9bb806a7f585
Parent:
7:c0f5bb355f41
Child:
9:f10b974d01e0
Commit before switching to online compiler.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 1:93d997d6b232 1 #include "mbed.h"
pmic 1:93d997d6b232 2 #include "platform/mbed_thread.h"
pmic 6:e1fa1a2d7483 3
pmic 6:e1fa1a2d7483 4 /* PM2_Libary */
pmic 1:93d997d6b232 5 #include "EncoderCounter.h"
pmic 1:93d997d6b232 6 #include "Servo.h"
pmic 3:d22942631cd7 7 #include "SpeedController.h"
pmic 6:e1fa1a2d7483 8 // #include "FATFileSystem.h"
pmic 6:e1fa1a2d7483 9 // #include "SDBlockDevice.h"
pmic 6:e1fa1a2d7483 10
pmic 6:e1fa1a2d7483 11 using namespace std::chrono;
pmic 6:e1fa1a2d7483 12
pmic 8:9bb806a7f585 13 InterruptIn user_button(USER_BUTTON);
pmic 8:9bb806a7f585 14 DigitalOut led(LED1);
pmic 6:e1fa1a2d7483 15
pmic 6:e1fa1a2d7483 16 bool executeMainTask = false;
pmic 6:e1fa1a2d7483 17 Timer user_button_timer, loop_timer;
pmic 7:c0f5bb355f41 18 int Ts_ms = 50;
pmic 6:e1fa1a2d7483 19
pmic 6:e1fa1a2d7483 20 /* declaration of custom button functions */
pmic 6:e1fa1a2d7483 21 void button_fall();
pmic 6:e1fa1a2d7483 22 void button_rise();
pmic 6:e1fa1a2d7483 23
pmic 6:e1fa1a2d7483 24 /* create analog input object */
pmic 6:e1fa1a2d7483 25 AnalogIn analogIn(PC_2);
pmic 6:e1fa1a2d7483 26 float dist = 0.0f;
pmic 6:e1fa1a2d7483 27
pmic 6:e1fa1a2d7483 28 /* create pwm objects */
pmic 8:9bb806a7f585 29 PwmOut pwmOut_m0(PB_13);
pmic 8:9bb806a7f585 30 PwmOut pwmOut_m1(PA_9);
pmic 8:9bb806a7f585 31 PwmOut pwmOut_m2(PA_10);
pmic 6:e1fa1a2d7483 32 float Ts_pwm = 0.00005f;
pmic 6:e1fa1a2d7483 33 /* create enable dc motor digital out object */
pmic 6:e1fa1a2d7483 34 DigitalOut enable_motors(PB_15);
pmic 6:e1fa1a2d7483 35 /* create encoder read objects */
pmic 6:e1fa1a2d7483 36 EncoderCounter encoderCounter_m0(PA_6, PC_7);
pmic 6:e1fa1a2d7483 37 EncoderCounter encoderCounter_m1(PB_6, PB_7);
pmic 6:e1fa1a2d7483 38 EncoderCounter encoderCounter_m2(PA_0, PA_1);
pmic 6:e1fa1a2d7483 39 /* create speed controller objects, only m0 and m1, m2 is used open-loop */
pmic 6:e1fa1a2d7483 40 SpeedController speedController_m0(1562.5f, 15.0f, 0.1f, 12.0f, pwmOut_m0, encoderCounter_m0);
pmic 6:e1fa1a2d7483 41 SpeedController speedController_m1(1562.5f, 15.0f, 0.1f, 12.0f, pwmOut_m1, encoderCounter_m1);
pmic 6:e1fa1a2d7483 42
pmic 6:e1fa1a2d7483 43 /* create servo objects */
pmic 6:e1fa1a2d7483 44 Servo servo_0(PB_2);
pmic 6:e1fa1a2d7483 45 Servo servo_1(PC_8);
pmic 6:e1fa1a2d7483 46 Servo servo_2(PC_6); // not used in this example
pmic 8:9bb806a7f585 47 int servoHolePeriod_mus = 20000;
pmic 8:9bb806a7f585 48 int servoPeriod_mus_0 = 0;
pmic 8:9bb806a7f585 49 int servoPeriod_mus_1 = 0;
pmic 8:9bb806a7f585 50 int counter = 0;
pmic 8:9bb806a7f585 51 int loops_per_second = (int)ceilf(1.0f/(0.001f*(float)Ts_ms));
pmic 6:e1fa1a2d7483 52
pmic 6:e1fa1a2d7483 53 /* create sd object */
pmic 6:e1fa1a2d7483 54 // SDBlockDevice sd(PC_12, PC_11, PC_10, PD_2);
pmic 6:e1fa1a2d7483 55 // FATFileSystem fs("fs", &sd);
pmic 1:93d997d6b232 56
pmic 1:93d997d6b232 57 int main()
pmic 8:9bb806a7f585 58 {
pmic 6:e1fa1a2d7483 59 user_button.fall(&button_fall);
pmic 6:e1fa1a2d7483 60 user_button.rise(&button_rise);
pmic 6:e1fa1a2d7483 61 loop_timer.start();
pmic 6:e1fa1a2d7483 62
pmic 6:e1fa1a2d7483 63 /* initialize pwm */
pmic 6:e1fa1a2d7483 64 pwmOut_m0.period(Ts_pwm);
pmic 6:e1fa1a2d7483 65 pwmOut_m1.period(Ts_pwm);
pmic 6:e1fa1a2d7483 66 pwmOut_m2.period(Ts_pwm);
pmic 6:e1fa1a2d7483 67 /* set pwm output zero at the beginning, range: 0...1 -> u_min...u_max */
pmic 6:e1fa1a2d7483 68 pwmOut_m1.write(0.5f);
pmic 6:e1fa1a2d7483 69 pwmOut_m0.write(0.5f);
pmic 6:e1fa1a2d7483 70 pwmOut_m2.write(0.5f);
pmic 6:e1fa1a2d7483 71 /* enable driver DC motors */
pmic 6:e1fa1a2d7483 72 enable_motors = 1;
pmic 6:e1fa1a2d7483 73
pmic 6:e1fa1a2d7483 74 /* initialize servo */
pmic 8:9bb806a7f585 75 servo_0.Enable(servoPeriod_mus_0, servoHolePeriod_mus); // 1 ms / 20 ms
pmic 8:9bb806a7f585 76 servo_1.Enable(servoPeriod_mus_0, servoHolePeriod_mus);
pmic 1:93d997d6b232 77
pmic 2:7c03fefb77ef 78 /*
pmic 6:e1fa1a2d7483 79 // example code for sd card, not tested from pmic, 02.04.2021
pmic 1:93d997d6b232 80 printf("Test writing... ");
pmic 1:93d997d6b232 81 FILE* fp = fopen("/fs/data.csv", "w");
pmic 1:93d997d6b232 82 fprintf(fp, "test %.5f\r\n",1.23);
pmic 1:93d997d6b232 83 fclose(fp);
pmic 1:93d997d6b232 84 printf("done\r\n");
pmic 6:e1fa1a2d7483 85
pmic 1:93d997d6b232 86 printf("Test reading... ");
pmic 1:93d997d6b232 87 // read from SD card
pmic 1:93d997d6b232 88 fp = fopen("/fs/data.csv", "r");
pmic 1:93d997d6b232 89 if (fp != NULL) {
pmic 1:93d997d6b232 90 char c = fgetc(fp);
pmic 1:93d997d6b232 91 if (c == 't')
pmic 1:93d997d6b232 92 printf("done\r\n");
pmic 1:93d997d6b232 93 else
pmic 1:93d997d6b232 94 printf("incorrect char (%c)!\n", c);
pmic 1:93d997d6b232 95 fclose(fp);
pmic 1:93d997d6b232 96 } else {
pmic 1:93d997d6b232 97 printf("Reading failed!\n");
pmic 1:93d997d6b232 98 }
pmic 2:7c03fefb77ef 99 */
pmic 6:e1fa1a2d7483 100
pmic 1:93d997d6b232 101 while (true) {
pmic 6:e1fa1a2d7483 102
pmic 6:e1fa1a2d7483 103 loop_timer.reset();
pmic 6:e1fa1a2d7483 104
pmic 6:e1fa1a2d7483 105 /* ------------- start hacking ------------- -------------*/
pmic 6:e1fa1a2d7483 106
pmic 6:e1fa1a2d7483 107 if (executeMainTask) {
pmic 6:e1fa1a2d7483 108
pmic 6:e1fa1a2d7483 109 /* read analog input */
pmic 6:e1fa1a2d7483 110 dist = analogIn.read() * 3.3f;
pmic 6:e1fa1a2d7483 111
pmic 7:c0f5bb355f41 112 speedController_m0.setDesiredSpeedRPS( 0.5f);
pmic 7:c0f5bb355f41 113 speedController_m1.setDesiredSpeedRPS( 0.5f);
pmic 6:e1fa1a2d7483 114 pwmOut_m2.write(0.75f);
pmic 6:e1fa1a2d7483 115
pmic 8:9bb806a7f585 116 servo_0.SetPosition(servoPeriod_mus_0);
pmic 8:9bb806a7f585 117 servo_1.SetPosition(servoPeriod_mus_1);
pmic 8:9bb806a7f585 118 if (servoPeriod_mus_0 <= servoHolePeriod_mus & counter%loops_per_second == 0 & counter != 0) {
pmic 8:9bb806a7f585 119 servoPeriod_mus_0 += 100;
pmic 8:9bb806a7f585 120 }
pmic 8:9bb806a7f585 121 if (servoPeriod_mus_1 <= servoHolePeriod_mus & counter%loops_per_second == 0 & counter != 0) {
pmic 8:9bb806a7f585 122 servoPeriod_mus_1 += 100;
pmic 8:9bb806a7f585 123 }
pmic 8:9bb806a7f585 124 counter++;
pmic 6:e1fa1a2d7483 125
pmic 6:e1fa1a2d7483 126 /* visual feedback that the main task is executed */
pmic 6:e1fa1a2d7483 127 led = !led;
pmic 4:67506e285ad0 128
pmic 1:93d997d6b232 129 } else {
pmic 6:e1fa1a2d7483 130
pmic 6:e1fa1a2d7483 131 dist = 0.0f;
pmic 1:93d997d6b232 132
pmic 7:c0f5bb355f41 133 speedController_m0.setDesiredSpeedRPS(0.2f);
pmic 7:c0f5bb355f41 134 speedController_m1.setDesiredSpeedRPS(0.2f);
pmic 6:e1fa1a2d7483 135 pwmOut_m2.write(0.5f);
pmic 6:e1fa1a2d7483 136
pmic 8:9bb806a7f585 137 servoPeriod_mus_0 = 0;
pmic 8:9bb806a7f585 138 servoPeriod_mus_1 = 0;
pmic 8:9bb806a7f585 139 servo_0.SetPosition(servoPeriod_mus_0);
pmic 8:9bb806a7f585 140 servo_1.SetPosition(servoPeriod_mus_1);
pmic 1:93d997d6b232 141
pmic 6:e1fa1a2d7483 142 dist = analogIn.read() * 3.3f;
pmic 6:e1fa1a2d7483 143
pmic 6:e1fa1a2d7483 144 led = 0;
pmic 1:93d997d6b232 145 }
pmic 6:e1fa1a2d7483 146
pmic 8:9bb806a7f585 147 /* do only output what's really necessary*/
pmic 8:9bb806a7f585 148 printf("%3.3e, %3.3e, %3d, %3d; \r\n", speedController_m0.getSpeedRPS(),
pmic 8:9bb806a7f585 149 speedController_m1.getSpeedRPS(),
pmic 8:9bb806a7f585 150 servoPeriod_mus_0,
pmic 8:9bb806a7f585 151 servoPeriod_mus_1);
pmic 8:9bb806a7f585 152
pmic 6:e1fa1a2d7483 153 /* ------------- stop hacking ------------- -------------*/
pmic 6:e1fa1a2d7483 154
pmic 6:e1fa1a2d7483 155 int T_loop_ms = duration_cast<milliseconds>(loop_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 156 int dT_loop_ms = Ts_ms - T_loop_ms;
pmic 6:e1fa1a2d7483 157 thread_sleep_for(dT_loop_ms);
pmic 1:93d997d6b232 158 }
pmic 1:93d997d6b232 159 }
pmic 6:e1fa1a2d7483 160
pmic 6:e1fa1a2d7483 161 void button_fall()
pmic 6:e1fa1a2d7483 162 {
pmic 6:e1fa1a2d7483 163 user_button_timer.reset();
pmic 6:e1fa1a2d7483 164 user_button_timer.start();
pmic 6:e1fa1a2d7483 165 }
pmic 6:e1fa1a2d7483 166
pmic 6:e1fa1a2d7483 167 void button_rise()
pmic 6:e1fa1a2d7483 168 {
pmic 6:e1fa1a2d7483 169 int t_button_ms = duration_cast<milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 170 user_button_timer.stop();
pmic 8:9bb806a7f585 171 if (t_button_ms > 200) {
pmic 6:e1fa1a2d7483 172 executeMainTask = !executeMainTask;
pmic 8:9bb806a7f585 173 }
pmic 6:e1fa1a2d7483 174 }