Michael Ernst Peter / Mbed OS PM2_Example_ROME2_Robots

Example project

Dependencies:   PM2_Libary Eigen

main.cpp@51:8c9f9b30dad0, 2022-05-19 (annotated)

Committer:
robleiker
Date:
Thu May 19 09:27:18 2022 +0000
Revision:
51:8c9f9b30dad0
Parent:
50:5947a2237bad
Child:
52:75927464bf9c
Student Template

Who changed what in which revision?

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pmic 36:23addefb97af 1 #include <mbed.h>
pmic 42:d2d2db5974c9 2 #include <math.h>
pmic 40:924bdbc33391 3 #include <vector>
pmic 40:924bdbc33391 4
pmic 42:d2d2db5974c9 5 #include "PM2_Libary.h"
pmic 42:d2d2db5974c9 6 #include "Eigen/Dense.h"
pmic 42:d2d2db5974c9 7
pmic 36:23addefb97af 8 #include "IRSensor.h"
pmic 40:924bdbc33391 9
robleiker 47:6693bffcdfd0 10
pmic 40:924bdbc33391 11
pmic 42:d2d2db5974c9 12 /**
robleiker 47:6693bffcdfd0 13 * Note: Hardware related differences
pmic 42:d2d2db5974c9 14 * - IRSensor class is not available in PM2_Libary
pmic 42:d2d2db5974c9 15 * - ROME2 Robot uses different PINS than PES board
pmic 42:d2d2db5974c9 16 */
pmic 42:d2d2db5974c9 17
robleiker 47:6693bffcdfd0 18 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 19 * -- Defines
robleiker 47:6693bffcdfd0 20 * ------------------------------------------------------------------------------------------- */
robleiker 47:6693bffcdfd0 21
robleiker 47:6693bffcdfd0 22 # define M_PI 3.14159265358979323846
robleiker 47:6693bffcdfd0 23
robleiker 47:6693bffcdfd0 24 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 25 * -- Global Variables
robleiker 47:6693bffcdfd0 26 * ------------------------------------------------------------------------------------------- */
robleiker 47:6693bffcdfd0 27
pmic 39:f336caef17d9 28 // logical variable main task
robleiker 51:8c9f9b30dad0 29 bool robot_turned_on = false; // this variable will be toggled via the user button (blue button)
pmic 39:f336caef17d9 30
pmic 39:f336caef17d9 31 // user button on nucleo board
pmic 39:f336caef17d9 32 Timer user_button_timer; // create Timer object which we use to check if user button was pressed for a certain time (robust against signal bouncing)
pmic 42:d2d2db5974c9 33 InterruptIn user_button(PC_13); // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR)
robleiker 47:6693bffcdfd0 34
robleiker 48:31ffd88e7f99 35 EventFlags event_flags;
robleiker 48:31ffd88e7f99 36 const uint32_t main_task_flag = 1;
robleiker 48:31ffd88e7f99 37
robleiker 47:6693bffcdfd0 38 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 39 * -- Constants and Parameters
robleiker 47:6693bffcdfd0 40 * ------------------------------------------------------------------------------------------- */
robleiker 47:6693bffcdfd0 41
robleiker 49:f80f5d96716e 42 // kinematic parameters
robleiker 49:f80f5d96716e 43 const float r_wheel = 0.0766f / 2.0f; // wheel radius
robleiker 49:f80f5d96716e 44 const float L_wheel = 0.176f; // distance from wheel to wheel
robleiker 49:f80f5d96716e 45
robleiker 47:6693bffcdfd0 46 // default parameters for robots movement
robleiker 47:6693bffcdfd0 47 const float DISTANCE_THRESHOLD = 0.2f; // minimum allowed distance to obstacle in [m]
robleiker 47:6693bffcdfd0 48 const float TRANSLATIONAL_VELOCITY = 0.4f; // translational velocity in [m/s]
robleiker 47:6693bffcdfd0 49 const float ROTATIONAL_VELOCITY = 1.6f; // rotational velocity in [rad/s]
robleiker 47:6693bffcdfd0 50 const float VELOCITY_THRESHOLD = 0.05; // velocity threshold before switching off, in [m/s] and [rad/s]
pmic 39:f336caef17d9 51
robleiker 50:5947a2237bad 52 /* ########################################################################################### *
robleiker 50:5947a2237bad 53 * ### BEGIN STUDENT CODE: TASK 4: States of the state machine
robleiker 50:5947a2237bad 54 * ###
robleiker 50:5947a2237bad 55 * ### Please define the states of the state machine below.
robleiker 50:5947a2237bad 56 * ### The states can either be of type "const int" or can be defined as an enum.
robleiker 50:5947a2237bad 57 * ### */
robleiker 50:5947a2237bad 58
robleiker 47:6693bffcdfd0 59 // discrete states of this state machine
robleiker 51:8c9f9b30dad0 60
robleiker 51:8c9f9b30dad0 61 const int INIT = 0;
robleiker 51:8c9f9b30dad0 62
robleiker 50:5947a2237bad 63
robleiker 50:5947a2237bad 64 /* ### *
robleiker 50:5947a2237bad 65 * ### END STUDENT CODE: TASK 4
robleiker 50:5947a2237bad 66 * ########################################################################################### */
robleiker 47:6693bffcdfd0 67
robleiker 47:6693bffcdfd0 68 /* ------------------------------------------------------------------------------------------- *
robleiker 48:31ffd88e7f99 69 * -- Function Declarations
robleiker 47:6693bffcdfd0 70 * ------------------------------------------------------------------------------------------- */
robleiker 47:6693bffcdfd0 71 static void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
robleiker 47:6693bffcdfd0 72 static void user_button_released_fcn();
robleiker 47:6693bffcdfd0 73
robleiker 49:f80f5d96716e 74 void main_task_trigger(); // triggers the main task each ticker period
robleiker 48:31ffd88e7f99 75
robleiker 47:6693bffcdfd0 76 /* ------------------------------------------------------------------------------------------- *
robleiker 49:f80f5d96716e 77 * -- Main Function
robleiker 47:6693bffcdfd0 78 * ------------------------------------------------------------------------------------------- */
pmic 44:dd746bf0e81f 79 int main()
pmic 44:dd746bf0e81f 80 {
robleiker 47:6693bffcdfd0 81 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 82 * -- Setup: I/O
robleiker 47:6693bffcdfd0 83 * ------------------------------------------------------------------------------------------- */
pmic 39:f336caef17d9 84
pmic 42:d2d2db5974c9 85 // led on nucleo board
pmic 42:d2d2db5974c9 86 DigitalOut user_led(LED1); // create DigitalOut object to command user led
pmic 39:f336caef17d9 87
pmic 42:d2d2db5974c9 88 // create DigitalOut objects for leds
robleiker 47:6693bffcdfd0 89 DigitalOut enable_leds(PC_1);
pmic 42:d2d2db5974c9 90 DigitalOut led0(PC_8);
pmic 42:d2d2db5974c9 91 DigitalOut led1(PC_6);
pmic 42:d2d2db5974c9 92 DigitalOut led2(PB_12);
pmic 42:d2d2db5974c9 93 DigitalOut led3(PA_7);
pmic 42:d2d2db5974c9 94 DigitalOut led4(PC_0);
pmic 42:d2d2db5974c9 95 DigitalOut led5(PC_9);
pmic 42:d2d2db5974c9 96 std::vector<DigitalOut> leds = {led0, led1, led2, led3, led4, led5};
pmic 39:f336caef17d9 97
pmic 42:d2d2db5974c9 98 // create IR sensor objects
pmic 42:d2d2db5974c9 99 AnalogIn dist(PB_1);
pmic 42:d2d2db5974c9 100 DigitalOut bit0(PH_1);
pmic 42:d2d2db5974c9 101 DigitalOut bit1(PC_2);
pmic 42:d2d2db5974c9 102 DigitalOut bit2(PC_3);
pmic 42:d2d2db5974c9 103 IRSensor irSensor0(dist, bit0, bit1, bit2, 0);
pmic 42:d2d2db5974c9 104 IRSensor irSensor1(dist, bit0, bit1, bit2, 1);
pmic 42:d2d2db5974c9 105 IRSensor irSensor2(dist, bit0, bit1, bit2, 2);
pmic 42:d2d2db5974c9 106 IRSensor irSensor3(dist, bit0, bit1, bit2, 3);
pmic 42:d2d2db5974c9 107 IRSensor irSensor4(dist, bit0, bit1, bit2, 4);
pmic 42:d2d2db5974c9 108 IRSensor irSensor5(dist, bit0, bit1, bit2, 5);
pmic 42:d2d2db5974c9 109 std::vector<IRSensor> irSensors = {irSensor0, irSensor1, irSensor2, irSensor3, irSensor4, irSensor5};
pmic 39:f336caef17d9 110
robleiker 47:6693bffcdfd0 111 // attach button fall and rise functions to user button object
robleiker 47:6693bffcdfd0 112 user_button.fall(&user_button_pressed_fcn);
robleiker 47:6693bffcdfd0 113 user_button.rise(&user_button_released_fcn);
robleiker 47:6693bffcdfd0 114
pmic 42:d2d2db5974c9 115 // 19:1 Metal Gearmotor 37Dx68L mm 12V with 64 CPR Encoder (Helical Pinion)
pmic 42:d2d2db5974c9 116 DigitalOut enable_motors(PB_2);
pmic 42:d2d2db5974c9 117 DigitalIn motorDriverFault(PB_14);
pmic 42:d2d2db5974c9 118 DigitalIn motorDriverWarning(PB_15);
pmic 39:f336caef17d9 119
robleiker 47:6693bffcdfd0 120 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 121 * -- Setup: Motion Controller
robleiker 47:6693bffcdfd0 122 * ------------------------------------------------------------------------------------------- */
robleiker 47:6693bffcdfd0 123
pmic 42:d2d2db5974c9 124 // create SpeedController objects
pmic 42:d2d2db5974c9 125 FastPWM pwm_M1(PA_9); // motor M1 is closed-loop speed controlled (angle velocity)
pmic 42:d2d2db5974c9 126 FastPWM pwm_M2(PA_8); // motor M2 is closed-loop speed controlled (angle velocity)
pmic 42:d2d2db5974c9 127 EncoderCounter encoder_M1(PA_6, PC_7); // create encoder objects to read in the encoder counter values
pmic 42:d2d2db5974c9 128 EncoderCounter encoder_M2(PB_6, PB_7);
pmic 42:d2d2db5974c9 129 const float max_voltage = 12.0f; // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack
pmic 42:d2d2db5974c9 130 const float counts_per_turn = 64.0f * 19.0f; // define counts per turn at gearbox end: counts/turn * gearratio
pmic 42:d2d2db5974c9 131 const float kn = 530.0f / 12.0f; // define motor constant in rpm per V
pmic 42:d2d2db5974c9 132
pmic 46:41c9367da539 133 // create Motion objects (trajectory planner)
pmic 46:41c9367da539 134 Motion* trajectoryPlaners[2];
pmic 46:41c9367da539 135 trajectoryPlaners[0] = new Motion;
pmic 46:41c9367da539 136 trajectoryPlaners[1] = new Motion;
pmic 46:41c9367da539 137 trajectoryPlaners[0]->setProfileVelocity(max_voltage * kn / 60.0f);
pmic 46:41c9367da539 138 trajectoryPlaners[1]->setProfileVelocity(max_voltage * kn / 60.0f);
pmic 46:41c9367da539 139 trajectoryPlaners[0]->setProfileAcceleration(10.0f);
pmic 46:41c9367da539 140 trajectoryPlaners[1]->setProfileAcceleration(10.0f);
pmic 46:41c9367da539 141 trajectoryPlaners[0]->setProfileDeceleration(10.0f);
pmic 46:41c9367da539 142 trajectoryPlaners[1]->setProfileDeceleration(10.0f);
pmic 46:41c9367da539 143
pmic 46:41c9367da539 144 // create SpeedController objects
pmic 42:d2d2db5974c9 145 SpeedController* speedControllers[2];
pmic 42:d2d2db5974c9 146 speedControllers[0] = new SpeedController(counts_per_turn, kn, max_voltage, pwm_M1, encoder_M1);
pmic 42:d2d2db5974c9 147 speedControllers[1] = new SpeedController(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2);
robleiker 50:5947a2237bad 148 speedControllers[0]->setSpeedCntrlGain(0.04f); // adjust speedcontroller gains
pmic 42:d2d2db5974c9 149 speedControllers[1]->setSpeedCntrlGain(0.04f);
robleiker 50:5947a2237bad 150 speedControllers[0]->setMaxAccelerationRPS(999.0f); // adjust max. acceleration for smooth movement
pmic 46:41c9367da539 151 speedControllers[1]->setMaxAccelerationRPS(999.0f);
pmic 39:f336caef17d9 152
robleiker 47:6693bffcdfd0 153 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 154 * -- Setup: Robot Kinematics
robleiker 47:6693bffcdfd0 155 * ------------------------------------------------------------------------------------------- */
robleiker 50:5947a2237bad 156
robleiker 50:5947a2237bad 157 /* ########################################################################################### *
robleiker 50:5947a2237bad 158 * ### BEGIN STUDENT CODE: TASK 1: Forward and inverse kinematic matrix
robleiker 50:5947a2237bad 159 * ###
robleiker 51:8c9f9b30dad0 160 * ### Define the forward and backward kinematic matrix (named Cwheel2robot resp. Cwheel2robot)
robleiker 50:5947a2237bad 161 * ### using the kinematic parameters r_wheel (wheel radius) and L_wheel (wheel distance).
robleiker 50:5947a2237bad 162 * ### The matrices transform between the robot speed vector [x_dt, alpha_dt] in [m/s] and [rad/s]
robleiker 50:5947a2237bad 163 * ### and the wheel speed vector [w_R, w_L] in [rad/s]
robleiker 50:5947a2237bad 164 * ### You can find the docs for the linear algebra library here:
robleiker 50:5947a2237bad 165 * ### https://eigen.tuxfamily.org/dox/group__TutorialMatrixClass.html
robleiker 50:5947a2237bad 166 * ### https://eigen.tuxfamily.org/dox/group__TutorialLinearAlgebra.html#title4
robleiker 50:5947a2237bad 167 * ### */
robleiker 50:5947a2237bad 168
robleiker 50:5947a2237bad 169 // forward kinematics matrix (transforms wheel speeds to robot speeds)
robleiker 51:8c9f9b30dad0 170 Eigen::Matrix2f Cwheel2robot; // still need to define the values
robleiker 49:f80f5d96716e 171
robleiker 50:5947a2237bad 172 // inverse kinematic matrix (transform robot speeds to wheel speeds)
robleiker 51:8c9f9b30dad0 173 Eigen::Matrix2f Crobot2wheel; // still need to define the values
robleiker 50:5947a2237bad 174
robleiker 50:5947a2237bad 175 /* ### *
robleiker 50:5947a2237bad 176 * ### END STUDENT CODE: TASK 1
robleiker 50:5947a2237bad 177 * ########################################################################################### */
robleiker 49:f80f5d96716e 178
robleiker 49:f80f5d96716e 179 // define kinematic variables
robleiker 49:f80f5d96716e 180 Eigen::Vector2f robot_speed_desired; // Robot speed vector [x_dt, alpha_dt] in [m/s] and [rad/s]
robleiker 49:f80f5d96716e 181 Eigen::Vector2f wheel_speed_desired; // Wheel speeds [w_R, w_L] in [rad/s]
robleiker 49:f80f5d96716e 182 Eigen::Vector2f wheel_speed_smooth; // Wheel speeds limited and smoothed
robleiker 49:f80f5d96716e 183 Eigen::Vector2f wheel_speed_actual; // Measured wheel speeds
robleiker 49:f80f5d96716e 184 Eigen::Vector2f robot_speed_actual; // Measured robot speed
robleiker 49:f80f5d96716e 185
robleiker 49:f80f5d96716e 186 robot_speed_desired.setZero();
robleiker 49:f80f5d96716e 187 wheel_speed_desired.setZero();
pmic 46:41c9367da539 188 wheel_speed_smooth.setZero();
robleiker 49:f80f5d96716e 189 robot_speed_actual.setZero();
pmic 42:d2d2db5974c9 190 wheel_speed_actual.setZero();
pmic 39:f336caef17d9 191
robleiker 47:6693bffcdfd0 192 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 193 * -- Setup: State Machine
robleiker 47:6693bffcdfd0 194 * ------------------------------------------------------------------------------------------- */
robleiker 47:6693bffcdfd0 195
robleiker 49:f80f5d96716e 196 // while loop gets executed every main_task_period
robleiker 48:31ffd88e7f99 197 const float main_task_period = 10e-3; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
robleiker 48:31ffd88e7f99 198
pmic 36:23addefb97af 199
robleiker 48:31ffd88e7f99 200 Ticker ticker; // calls a fuction with a precise period
robleiker 48:31ffd88e7f99 201 ticker.attach(main_task_trigger, std::chrono::microseconds(static_cast<int>(main_task_period*1e6))); // call the main task trigger every period
pmic 40:924bdbc33391 202
pmic 42:d2d2db5974c9 203 // set initial state machine state, enalbe leds, disable motors
robleiker 48:31ffd88e7f99 204 int state = INIT;
pmic 36:23addefb97af 205
pmic 39:f336caef17d9 206 while (true) { // this loop will run forever
robleiker 48:31ffd88e7f99 207
robleiker 48:31ffd88e7f99 208 /* ------------------------------------------------------------------------------------------- *
robleiker 48:31ffd88e7f99 209 * -- Wait for the next Cycle
robleiker 48:31ffd88e7f99 210 * ------------------------------------------------------------------------------------------- */
robleiker 48:31ffd88e7f99 211 event_flags.wait_any(main_task_flag);
robleiker 48:31ffd88e7f99 212
pmic 36:23addefb97af 213
robleiker 48:31ffd88e7f99 214 /* ------------------------------------------------------------------------------------------- *
robleiker 48:31ffd88e7f99 215 * -- Read Sensors
robleiker 48:31ffd88e7f99 216 * ------------------------------------------------------------------------------------------- */
pmic 39:f336caef17d9 217
pmic 42:d2d2db5974c9 218 // set leds according to DISTANCE_THRESHOLD
pmic 42:d2d2db5974c9 219 for (uint8_t i = 0; i < leds.size(); i++) {
pmic 42:d2d2db5974c9 220 if (irSensors[i].read() > DISTANCE_THRESHOLD)
pmic 42:d2d2db5974c9 221 leds[i] = 0;
pmic 42:d2d2db5974c9 222 else
pmic 42:d2d2db5974c9 223 leds[i] = 1;
pmic 40:924bdbc33391 224 }
pmic 39:f336caef17d9 225
robleiker 50:5947a2237bad 226 // measure the actual wheel speed
pmic 42:d2d2db5974c9 227 wheel_speed_actual << speedControllers[0]->getSpeedRPS(), speedControllers[1]->getSpeedRPS();
robleiker 50:5947a2237bad 228
robleiker 50:5947a2237bad 229 /* ########################################################################################### *
robleiker 50:5947a2237bad 230 * ### BEGIN STUDENT CODE: TASK 2: Compute the speed of the robot from wheel wheel measurements
robleiker 50:5947a2237bad 231 * ###
robleiker 50:5947a2237bad 232 * ### Every loop of the main task starts by reading the actual wheel speeds into the vector
robleiker 50:5947a2237bad 233 * ### wheel_speed_actual with [w_R, w_L] in [rad/s]. Convert these measurements now into a
robleiker 50:5947a2237bad 234 * ### robot speed vector (robot_speed_actual) with [x_dt, alpha_dt] in [m/s] and [rad/s].
robleiker 50:5947a2237bad 235 * ###
robleiker 50:5947a2237bad 236 * ### */
robleiker 50:5947a2237bad 237
robleiker 51:8c9f9b30dad0 238 // transform wheel speed to robot coordinates
robleiker 51:8c9f9b30dad0 239
pmic 42:d2d2db5974c9 240
robleiker 50:5947a2237bad 241 /* ### *
robleiker 50:5947a2237bad 242 * ### END STUDENT CODE: TASK 2
robleiker 50:5947a2237bad 243 * ########################################################################################### */
robleiker 50:5947a2237bad 244
robleiker 48:31ffd88e7f99 245
robleiker 48:31ffd88e7f99 246 /* ------------------------------------------------------------------------------------------- *
robleiker 48:31ffd88e7f99 247 * -- State Machine
robleiker 48:31ffd88e7f99 248 * ------------------------------------------------------------------------------------------- */
robleiker 48:31ffd88e7f99 249
robleiker 50:5947a2237bad 250 /* ########################################################################################### *
robleiker 50:5947a2237bad 251 * ### BEGIN STUDENT CODE: TASK 5: Implementing the State Machine
robleiker 50:5947a2237bad 252 * ###
robleiker 50:5947a2237bad 253 * ### The program's logic is implemented here. The robot should now:
robleiker 50:5947a2237bad 254 * ### - Wait for the user button (the blue one) to be pressed
robleiker 50:5947a2237bad 255 * ### - If the button is pressed, then enable the motors and drive forward
robleiker 50:5947a2237bad 256 * ### - If there is an obstacle, turn away from it and continue to drive forward
robleiker 50:5947a2237bad 257 * ### - If the user button is pressed again, set the speed to zero
robleiker 50:5947a2237bad 258 * ### - Wait until the robot is not moving anymore before disabling the motors
robleiker 50:5947a2237bad 259 * ###
robleiker 50:5947a2237bad 260 * ### Most importantly, do not block the program's execution inside the state machine.
robleiker 51:8c9f9b30dad0 261 * ###
robleiker 51:8c9f9b30dad0 262 * ### Following variables are used:
robleiker 51:8c9f9b30dad0 263 * ### robot_turned_on, // boolen that is toggled by the blue button
robleiker 51:8c9f9b30dad0 264 * ### enable_leds, // to enable the led output
robleiker 51:8c9f9b30dad0 265 * ### enable_motors, // to enable the motor driver
robleiker 51:8c9f9b30dad0 266 * ### irSensors, // to measure the distance to obstacles
robleiker 51:8c9f9b30dad0 267 * ### robot_speed_desired // to set the robot speed
robleiker 51:8c9f9b30dad0 268 * ###
robleiker 50:5947a2237bad 269 * ### */
robleiker 50:5947a2237bad 270
robleiker 51:8c9f9b30dad0 271 // example of setting the robot speed
robleiker 51:8c9f9b30dad0 272 robot_speed_desired(0) = TRANSLATIONAL_VELOCITY;
robleiker 51:8c9f9b30dad0 273 robot_speed_desired(1) = 0.0f;
pmic 42:d2d2db5974c9 274
pmic 42:d2d2db5974c9 275
robleiker 50:5947a2237bad 276 /* ### *
robleiker 50:5947a2237bad 277 * ### END STUDENT CODE: TASK 5
robleiker 50:5947a2237bad 278 * ########################################################################################### */
pmic 39:f336caef17d9 279
robleiker 47:6693bffcdfd0 280 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 281 * -- Inverse Kinematics
robleiker 47:6693bffcdfd0 282 * ------------------------------------------------------------------------------------------- */
robleiker 50:5947a2237bad 283
robleiker 50:5947a2237bad 284 /* ########################################################################################### *
robleiker 50:5947a2237bad 285 * ### BEGIN STUDENT CODE: TASK 3: Compute the desired wheel speeds
robleiker 50:5947a2237bad 286 * ###
robleiker 50:5947a2237bad 287 * ### In the main task, the robot_speed_desired vector [x_dt, alpha_dt] in [m/s] and [rad/s]
robleiker 50:5947a2237bad 288 * ### is set. From that we need to compute the desired wheel speeds (wheel_speed_desired)
robleiker 50:5947a2237bad 289 * ### that are handed to the speed controller
robleiker 50:5947a2237bad 290 * ### */
robleiker 47:6693bffcdfd0 291
pmic 42:d2d2db5974c9 292 // transform robot coordinates to wheel speed
robleiker 51:8c9f9b30dad0 293
robleiker 50:5947a2237bad 294
robleiker 50:5947a2237bad 295 /* ### *
robleiker 50:5947a2237bad 296 * ### END STUDENT CODE: TASK 3
robleiker 50:5947a2237bad 297 * ########################################################################################### */
pmic 42:d2d2db5974c9 298
pmic 46:41c9367da539 299 // smooth desired wheel_speeds
robleiker 49:f80f5d96716e 300 trajectoryPlaners[0]->incrementToVelocity(wheel_speed_desired(0) / (2.0f * M_PI), main_task_period);
robleiker 49:f80f5d96716e 301 trajectoryPlaners[1]->incrementToVelocity(wheel_speed_desired(1) / (2.0f * M_PI), main_task_period);
pmic 46:41c9367da539 302 wheel_speed_smooth << trajectoryPlaners[0]->getVelocity(), trajectoryPlaners[1]->getVelocity();
pmic 46:41c9367da539 303
pmic 42:d2d2db5974c9 304 // command speedController objects
pmic 46:41c9367da539 305 speedControllers[0]->setDesiredSpeedRPS(wheel_speed_smooth(0)); // set a desired speed for speed controlled dc motors M1
pmic 46:41c9367da539 306 speedControllers[1]->setDesiredSpeedRPS(wheel_speed_smooth(1)); // set a desired speed for speed controlled dc motors M2
pmic 42:d2d2db5974c9 307
pmic 39:f336caef17d9 308 user_led = !user_led;
robleiker 47:6693bffcdfd0 309
robleiker 47:6693bffcdfd0 310 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 311 * -- Printing to Console
robleiker 47:6693bffcdfd0 312 * ------------------------------------------------------------------------------------------- */
pmic 36:23addefb97af 313
pmic 42:d2d2db5974c9 314 // do only output via serial what's really necessary (this makes your code slow)
pmic 45:d9e6e89210f9 315 //printf("%f, %f\r\n", wheel_speed_actual(0), wheel_speed_actual(1));
pmic 1:93d997d6b232 316 }
pmic 1:93d997d6b232 317 }
pmic 39:f336caef17d9 318
robleiker 47:6693bffcdfd0 319 static void user_button_pressed_fcn()
pmic 39:f336caef17d9 320 {
pmic 39:f336caef17d9 321 user_button_timer.start();
pmic 39:f336caef17d9 322 user_button_timer.reset();
pmic 39:f336caef17d9 323 }
pmic 39:f336caef17d9 324
robleiker 47:6693bffcdfd0 325 static void user_button_released_fcn()
pmic 39:f336caef17d9 326 {
robleiker 51:8c9f9b30dad0 327 // read timer and toggle robot_turned_on if the button was pressed longer than the below specified time
pmic 39:f336caef17d9 328 int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
pmic 39:f336caef17d9 329 user_button_timer.stop();
pmic 39:f336caef17d9 330 if (user_button_elapsed_time_ms > 200) {
robleiker 51:8c9f9b30dad0 331 robot_turned_on = !robot_turned_on;
pmic 39:f336caef17d9 332 }
robleiker 48:31ffd88e7f99 333 }
robleiker 48:31ffd88e7f99 334
robleiker 48:31ffd88e7f99 335 void main_task_trigger()
robleiker 48:31ffd88e7f99 336 {
robleiker 49:f80f5d96716e 337 // set the trigger to resume the waiting main task
robleiker 48:31ffd88e7f99 338 event_flags.set(main_task_flag);
pmic 39:f336caef17d9 339 }