Example project for the Line Follower robot.
Dependencies: PM2_Libary Eigen
Diff: main.cpp
- Revision:
- 33:cff70742569d
- Parent:
- 31:1b2a1bd1bccb
- Child:
- 34:702246639f02
--- a/main.cpp Wed Mar 23 10:53:59 2022 +0000 +++ b/main.cpp Thu May 05 07:41:46 2022 +0000 @@ -1,6 +1,10 @@ -#include "mbed.h" +#include <mbed.h> +#include <math.h> + #include "PM2_Libary.h" +# define M_PI 3.14159265358979323846 /* pi */ + // logical variable main task bool do_execute_main_task = false; // this variable will be toggled via the user button (blue button) to or not to execute the main task @@ -11,65 +15,17 @@ void user_button_released_fcn(); // while loop gets executed every main_task_period_ms milliseconds -int main_task_period_ms = 50; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second +int main_task_period_ms = 200; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms // led on nucleo board DigitalOut user_led(LED1); // create DigitalOut object to command user led -// additional Led -DigitalOut extra_led(PB_9); // create DigitalOut object to command extra led (do add an aditional resistor, e.g. 220...500 Ohm) - -// mechanical button -DigitalIn mechanical_button(PC_5); // create DigitalIn object to evaluate extra mechanical button, you need to specify the mode for proper usage, see below - -// Sharp GP2Y0A41SK0F, 4-40 cm IR Sensor -float ir_distance_mV = 0.0f; // define variable to store measurement -AnalogIn ir_analog_in(PC_2); // create AnalogIn object to read in infrared distance sensor, 0...3.3V are mapped to 0...1 - -// 78:1, 100:1, ... Metal Gearmotor 20Dx44L mm 12V CB -DigitalOut enable_motors(PB_15); // create DigitalOut object to enable dc motors - -float pwm_period_s = 0.00005f; // define pwm period time in seconds and create FastPWM objects to command dc motors -FastPWM pwm_M1(PB_13); // motor M1 is used open loop -FastPWM pwm_M2(PA_9); // motor M2 is closed-loop speed controlled (angle velocity) -FastPWM pwm_M3(PA_10); // motor M3 is closed-loop position controlled (angle controlled) - -EncoderCounter encoder_M1(PA_6, PC_7); // create encoder objects to read in the encoder counter values -EncoderCounter encoder_M2(PB_6, PB_7); -EncoderCounter encoder_M3(PA_0, PA_1); - -// create SpeedController and PositionController objects, default parametrization is for 78.125:1 gear box -float max_voltage = 12.0f; // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack -float counts_per_turn = 20.0f * 78.125f; // define counts per turn at gearbox end: counts/turn * gearratio -float kn = 180.0f / 12.0f; // define motor constant in rpm per V -float k_gear = 100.0f / 78.125f; // define additional ratio in case you are using a dc motor with a different gear box, e.g. 100:1 -float kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1 - -// SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear box with default contoller parameters -SpeedController speedController_M2(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M2, encoder_M2); // parameters adjusted to 100:1 gear - -float max_speed_rps = 0.5f; // define maximum speed that the position controller is changig the speed, has to be smaller or equal to kn * max_voltage -// PositionController positionController_M3(counts_per_turn, kn, max_voltage, pwm_M3, encoder_M3); // default 78.125:1 gear with default contoller parameters -PositionController positionController_M3(counts_per_turn * k_gear, kn / k_gear, kp * k_gear, max_voltage, pwm_M3, encoder_M3); // parameters adjusted to 100:1 gear, we need a different speed controller gain here - -// Futaba Servo S3001 20mm 3kg Analog -Servo servo_S1(PB_2); // create servo objects -Servo servo_S2(PC_8); -float servo_S1_angle = 0; // servo S1 normalized angle -float servo_S2_angle = 0; // servo S2 normalized angle -int servo_period_mus = 20000; // define servo period time in mus - -int servo_counter = 0; // define servo counter, this is an additional variable to make the servos move -int loops_per_seconds = static_cast<int>(ceilf(1.0f/(0.001f*(float)main_task_period_ms))); // define loops per second - -// Groove Ultrasonic Ranger V2.0 -float us_distance_cm = 0.0f; // define variable to store measurement -RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 17500); // create range finder object (ultra sonic distance sensor), 20 Hz parametrization -// RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 7000); // create range finder object (ultra sonic distance sensor), 50 Hz parametrization - -// LSM9DS1 IMU, carefull: not all PES boards have an imu (chip shortage) -// LSM9DS1 imu(PC_9, PA_8); // create LSM9DS1 comunication object, if you want to be able to use the imu you need to #include "LSM9DS1_i2c.h" +I2C i2c(PB_9, PB_8); // I2C (PinName sda, PinName scl) +SensorBar sensor_bar(i2c, 0.1175f); +// PinName sda = PB_9; +// PinName scl = PB_8; +// SensorBar sensor_bar = SensorBar(0.1175f); int main() { @@ -80,98 +36,45 @@ // start timer main_task_timer.start(); - // set pullup mode: add resistor between pin and 3.3 V, so that there is a defined potential - mechanical_button.mode(PullUp); - - // enable hardwaredriver dc motors: 0 -> disabled, 1 -> enabled - enable_motors = 1; - - // motor M1 is used open-loop, we need to initialize the pwm and set pwm output to zero at the beginning, range: 0...1 -> u_min...u_max: 0.5 -> 0 V - pwm_M1.period(pwm_period_s); - pwm_M1.write(0.5f); - - // set the soft pwm period for the servo objects - servo_S1.SetPeriod(servo_period_mus); - servo_S2.SetPeriod(servo_period_mus); + // sensor_bar.setBarStrobe(); + // sensor_bar.clearBarStrobe(); // to illuminate all the time + // sensor_bar.clearInvertBits(); // to make the bar look for a dark line on a reflective surface + // sensor_bar.begin(); while (true) { // this loop will run forever main_task_timer.reset(); + /* if (do_execute_main_task) { - - // read analog input - ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f; - - // command dc motors if mechanical button is pressed - if (mechanical_button.read()) { - pwm_M1.write(0.75f); // write output voltage to motor M1 - speedController_M2.setDesiredSpeedRPS(0.5f); // set a desired speed for speed controlled dc motors M2 - positionController_M3.setDesiredRotation(1.5f, max_speed_rps); // set a desired rotation for position controlled dc motors M3 - } else { - pwm_M1.write(0.5f); - speedController_M2.setDesiredSpeedRPS(0.0f); - positionController_M3.setDesiredRotation(0.0f, max_speed_rps); - } - - // check if servos are enabled - if (!servo_S1.isEnabled()) servo_S1.Enable(); - if (!servo_S2.isEnabled()) servo_S2.Enable(); - // command servo position, this needs to be calibrated - servo_S1.SetPosition(servo_S1_angle); - if (servo_S1_angle < 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) { - servo_S1_angle += 0.01f; - } - servo_S2.SetPosition(servo_S2_angle); - if (servo_S2_angle < 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) { - servo_S2_angle += 0.01f; - } - servo_counter++; - - // read ultra sonic distance sensor - us_distance_cm = us_range_finder.read_cm(); - - // visual feedback that the main task is executed - extra_led = 1; - } else { - ir_distance_mV = 0.0f; + } + */ - pwm_M1.write(0.5f); - speedController_M2.setDesiredSpeedRPS(0.0f); - positionController_M3.setDesiredRotation(0.0f, max_speed_rps); + // sensor_bar.update(); + + printf("---\r\n"); - servo_S1_angle = 0; - servo_S2_angle = 0; - // servo_S1.SetPosition(servo_S1_angle); - // servo_S2.SetPosition(servo_S2_angle); - if (servo_S1.isEnabled()) servo_S1.Disable(); - if (servo_S2.isEnabled()) servo_S2.Disable(); + uint8_t sensor_bar_raw_value = sensor_bar.getRaw(); + for( int i = 7; i >= 0; i-- ) { + printf("%d", (sensor_bar_raw_value >> i) & 0x01); + } + printf("\r\n"); - us_distance_cm = 0.0f; + int8_t sensor_bar_binaryPosition = sensor_bar.getBinaryPosition(); + printf("%d\r\n", sensor_bar_binaryPosition); - extra_led = 0; - } + uint8_t sensor_bar_nrOfLedsActive = sensor_bar.getNrofLedsActive(); + printf("%d\r\n", sensor_bar_nrOfLedsActive); + + float sensor_bar_angleRad = sensor_bar.getAngleRad(); + printf("%f\r\n", sensor_bar_angleRad * 180.0f / M_PI); user_led = !user_led; // do only output via serial what's really necessary (this makes your code slow) - printf("IR sensor (mV): %3.3f, Encoder M1: %3d, Speed M2 (rps) %3.3f, Position M3 (rot): %3.3f, Servo S1 angle (normalized): %3.3f, Servo S2 angle (normalized): %3.3f, US sensor (cm): %3.3f\r\n", - ir_distance_mV, - encoder_M1.read(), - speedController_M2.getSpeedRPS(), - positionController_M3.getRotation(), - servo_S1_angle, - servo_S2_angle, - us_distance_cm); - - // read out the imu, the actual frames of the sensor reading needs to be figured out - // imu.updateGyro(); - // imu.updateAcc(); - // imu.updateMag(); - // printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f\r\n", imu.readGyroX(), imu.readGyroY(), imu.readGyroZ(), - // imu.readAccX(), imu.readAccY(), imu.readAccZ(), imu.readMagX(), imu.readMagY(), imu.readMagZ()); + // printf("%d, %d\r\n", sensor_bar_raw_value_time_ms, sensor_bar_position_time_ms); // read timer and make the main thread sleep for the remaining time span (non blocking) int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();