Michael Ernst Peter / Mbed OS PM2_Example_ROME2_Robots

Example project

Dependencies:   PM2_Libary Eigen

main.cpp@49:f80f5d96716e, 2022-05-19 (annotated)

Committer:
robleiker
Date:
Thu May 19 07:21:26 2022 +0000
Revision:
49:f80f5d96716e
Parent:
48:31ffd88e7f99
Child:
50:5947a2237bad
Rename some of the kinematic parameters

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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
pmic 39:f336caef17d9 29 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
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 47:6693bffcdfd0 52 // discrete states of this state machine
robleiker 48:31ffd88e7f99 53 const int INIT = 0;
robleiker 48:31ffd88e7f99 54 const int ROBOT_OFF = 1;
robleiker 48:31ffd88e7f99 55 const int MOVE_FORWARD = 2;
robleiker 48:31ffd88e7f99 56 const int TURN_LEFT = 3;
robleiker 48:31ffd88e7f99 57 const int TURN_RIGHT = 4;
robleiker 48:31ffd88e7f99 58 const int SLOWING_DOWN = 5;
robleiker 47:6693bffcdfd0 59
robleiker 47:6693bffcdfd0 60 /* ------------------------------------------------------------------------------------------- *
robleiker 48:31ffd88e7f99 61 * -- Function Declarations
robleiker 47:6693bffcdfd0 62 * ------------------------------------------------------------------------------------------- */
robleiker 47:6693bffcdfd0 63 static void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
robleiker 47:6693bffcdfd0 64 static void user_button_released_fcn();
robleiker 47:6693bffcdfd0 65
robleiker 49:f80f5d96716e 66 void main_task_trigger(); // triggers the main task each ticker period
robleiker 48:31ffd88e7f99 67
robleiker 47:6693bffcdfd0 68 /* ------------------------------------------------------------------------------------------- *
robleiker 49:f80f5d96716e 69 * -- Main Function
robleiker 47:6693bffcdfd0 70 * ------------------------------------------------------------------------------------------- */
pmic 44:dd746bf0e81f 71 int main()
pmic 44:dd746bf0e81f 72 {
robleiker 47:6693bffcdfd0 73 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 74 * -- Setup: I/O
robleiker 47:6693bffcdfd0 75 * ------------------------------------------------------------------------------------------- */
pmic 39:f336caef17d9 76
pmic 42:d2d2db5974c9 77 // led on nucleo board
pmic 42:d2d2db5974c9 78 DigitalOut user_led(LED1); // create DigitalOut object to command user led
pmic 39:f336caef17d9 79
pmic 42:d2d2db5974c9 80 // create DigitalOut objects for leds
robleiker 47:6693bffcdfd0 81 DigitalOut enable_leds(PC_1);
pmic 42:d2d2db5974c9 82 DigitalOut led0(PC_8);
pmic 42:d2d2db5974c9 83 DigitalOut led1(PC_6);
pmic 42:d2d2db5974c9 84 DigitalOut led2(PB_12);
pmic 42:d2d2db5974c9 85 DigitalOut led3(PA_7);
pmic 42:d2d2db5974c9 86 DigitalOut led4(PC_0);
pmic 42:d2d2db5974c9 87 DigitalOut led5(PC_9);
pmic 42:d2d2db5974c9 88 std::vector<DigitalOut> leds = {led0, led1, led2, led3, led4, led5};
pmic 39:f336caef17d9 89
pmic 42:d2d2db5974c9 90 // create IR sensor objects
pmic 42:d2d2db5974c9 91 AnalogIn dist(PB_1);
pmic 42:d2d2db5974c9 92 DigitalOut bit0(PH_1);
pmic 42:d2d2db5974c9 93 DigitalOut bit1(PC_2);
pmic 42:d2d2db5974c9 94 DigitalOut bit2(PC_3);
pmic 42:d2d2db5974c9 95 IRSensor irSensor0(dist, bit0, bit1, bit2, 0);
pmic 42:d2d2db5974c9 96 IRSensor irSensor1(dist, bit0, bit1, bit2, 1);
pmic 42:d2d2db5974c9 97 IRSensor irSensor2(dist, bit0, bit1, bit2, 2);
pmic 42:d2d2db5974c9 98 IRSensor irSensor3(dist, bit0, bit1, bit2, 3);
pmic 42:d2d2db5974c9 99 IRSensor irSensor4(dist, bit0, bit1, bit2, 4);
pmic 42:d2d2db5974c9 100 IRSensor irSensor5(dist, bit0, bit1, bit2, 5);
pmic 42:d2d2db5974c9 101 std::vector<IRSensor> irSensors = {irSensor0, irSensor1, irSensor2, irSensor3, irSensor4, irSensor5};
pmic 39:f336caef17d9 102
robleiker 47:6693bffcdfd0 103 // attach button fall and rise functions to user button object
robleiker 47:6693bffcdfd0 104 user_button.fall(&user_button_pressed_fcn);
robleiker 47:6693bffcdfd0 105 user_button.rise(&user_button_released_fcn);
robleiker 47:6693bffcdfd0 106
pmic 42:d2d2db5974c9 107 // 19:1 Metal Gearmotor 37Dx68L mm 12V with 64 CPR Encoder (Helical Pinion)
pmic 42:d2d2db5974c9 108 DigitalOut enable_motors(PB_2);
pmic 42:d2d2db5974c9 109 DigitalIn motorDriverFault(PB_14);
pmic 42:d2d2db5974c9 110 DigitalIn motorDriverWarning(PB_15);
pmic 39:f336caef17d9 111
robleiker 47:6693bffcdfd0 112 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 113 * -- Setup: Motion Controller
robleiker 47:6693bffcdfd0 114 * ------------------------------------------------------------------------------------------- */
robleiker 47:6693bffcdfd0 115
pmic 42:d2d2db5974c9 116 // create SpeedController objects
pmic 42:d2d2db5974c9 117 FastPWM pwm_M1(PA_9); // motor M1 is closed-loop speed controlled (angle velocity)
pmic 42:d2d2db5974c9 118 FastPWM pwm_M2(PA_8); // motor M2 is closed-loop speed controlled (angle velocity)
pmic 42:d2d2db5974c9 119 EncoderCounter encoder_M1(PA_6, PC_7); // create encoder objects to read in the encoder counter values
pmic 42:d2d2db5974c9 120 EncoderCounter encoder_M2(PB_6, PB_7);
pmic 42:d2d2db5974c9 121 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 122 const float counts_per_turn = 64.0f * 19.0f; // define counts per turn at gearbox end: counts/turn * gearratio
pmic 42:d2d2db5974c9 123 const float kn = 530.0f / 12.0f; // define motor constant in rpm per V
pmic 42:d2d2db5974c9 124
pmic 46:41c9367da539 125 // create Motion objects (trajectory planner)
pmic 46:41c9367da539 126 Motion* trajectoryPlaners[2];
pmic 46:41c9367da539 127 trajectoryPlaners[0] = new Motion;
pmic 46:41c9367da539 128 trajectoryPlaners[1] = new Motion;
pmic 46:41c9367da539 129 trajectoryPlaners[0]->setProfileVelocity(max_voltage * kn / 60.0f);
pmic 46:41c9367da539 130 trajectoryPlaners[1]->setProfileVelocity(max_voltage * kn / 60.0f);
pmic 46:41c9367da539 131 trajectoryPlaners[0]->setProfileAcceleration(10.0f);
pmic 46:41c9367da539 132 trajectoryPlaners[1]->setProfileAcceleration(10.0f);
pmic 46:41c9367da539 133 trajectoryPlaners[0]->setProfileDeceleration(10.0f);
pmic 46:41c9367da539 134 trajectoryPlaners[1]->setProfileDeceleration(10.0f);
pmic 46:41c9367da539 135
pmic 46:41c9367da539 136 // create SpeedController objects
pmic 42:d2d2db5974c9 137 SpeedController* speedControllers[2];
pmic 42:d2d2db5974c9 138 speedControllers[0] = new SpeedController(counts_per_turn, kn, max_voltage, pwm_M1, encoder_M1);
pmic 42:d2d2db5974c9 139 speedControllers[1] = new SpeedController(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2);
pmic 42:d2d2db5974c9 140 speedControllers[0]->setSpeedCntrlGain(0.04f); // adjust speedcontroller gains
pmic 42:d2d2db5974c9 141 speedControllers[1]->setSpeedCntrlGain(0.04f);
pmic 46:41c9367da539 142 //speedControllers[0]->setMaxAccelerationRPS(10.0f); // use this if you're not using the trajectoryPlaners
pmic 46:41c9367da539 143 //speedControllers[1]->setMaxAccelerationRPS(10.0f);
pmic 46:41c9367da539 144 speedControllers[0]->setMaxAccelerationRPS(999.0f); // adjust max. acceleration for smooth movement
pmic 46:41c9367da539 145 speedControllers[1]->setMaxAccelerationRPS(999.0f);
pmic 39:f336caef17d9 146
robleiker 47:6693bffcdfd0 147 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 148 * -- Setup: Robot Kinematics
robleiker 47:6693bffcdfd0 149 * ------------------------------------------------------------------------------------------- */
robleiker 49:f80f5d96716e 150 // forward kinematics matrix
robleiker 49:f80f5d96716e 151 Eigen::Matrix2f Cwheel2robot; // transform wheel speeds to robot speed
pmic 42:d2d2db5974c9 152 Cwheel2robot << -r_wheel / 2.0f , r_wheel / 2.0f ,
pmic 42:d2d2db5974c9 153 -r_wheel / L_wheel, -r_wheel / L_wheel;
robleiker 49:f80f5d96716e 154
robleiker 49:f80f5d96716e 155 // inverse kinematics matrix
robleiker 49:f80f5d96716e 156 auto Crobot2wheel = Cwheel2robot.inverse(); // transform robot speed to wheel speeds
robleiker 49:f80f5d96716e 157
robleiker 49:f80f5d96716e 158 // define kinematic variables
robleiker 49:f80f5d96716e 159 Eigen::Vector2f robot_speed_desired; // Robot speed vector [x_dt, alpha_dt] in [m/s] and [rad/s]
robleiker 49:f80f5d96716e 160 Eigen::Vector2f wheel_speed_desired; // Wheel speeds [w_R, w_L] in [rad/s]
robleiker 49:f80f5d96716e 161 Eigen::Vector2f wheel_speed_smooth; // Wheel speeds limited and smoothed
robleiker 49:f80f5d96716e 162 Eigen::Vector2f wheel_speed_actual; // Measured wheel speeds
robleiker 49:f80f5d96716e 163 Eigen::Vector2f robot_speed_actual; // Measured robot speed
robleiker 49:f80f5d96716e 164
robleiker 49:f80f5d96716e 165 robot_speed_desired.setZero();
robleiker 49:f80f5d96716e 166 wheel_speed_desired.setZero();
pmic 46:41c9367da539 167 wheel_speed_smooth.setZero();
robleiker 49:f80f5d96716e 168 robot_speed_actual.setZero();
pmic 42:d2d2db5974c9 169 wheel_speed_actual.setZero();
pmic 39:f336caef17d9 170
robleiker 47:6693bffcdfd0 171 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 172 * -- Setup: State Machine
robleiker 47:6693bffcdfd0 173 * ------------------------------------------------------------------------------------------- */
robleiker 47:6693bffcdfd0 174
robleiker 49:f80f5d96716e 175 // while loop gets executed every main_task_period
robleiker 48:31ffd88e7f99 176 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 177
pmic 36:23addefb97af 178
robleiker 48:31ffd88e7f99 179 Ticker ticker; // calls a fuction with a precise period
robleiker 48:31ffd88e7f99 180 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 181
pmic 42:d2d2db5974c9 182 // set initial state machine state, enalbe leds, disable motors
robleiker 48:31ffd88e7f99 183 int state = INIT;
pmic 36:23addefb97af 184
pmic 39:f336caef17d9 185 while (true) { // this loop will run forever
robleiker 48:31ffd88e7f99 186
robleiker 48:31ffd88e7f99 187 /* ------------------------------------------------------------------------------------------- *
robleiker 48:31ffd88e7f99 188 * -- Wait for the next Cycle
robleiker 48:31ffd88e7f99 189 * ------------------------------------------------------------------------------------------- */
robleiker 48:31ffd88e7f99 190 event_flags.wait_any(main_task_flag);
robleiker 48:31ffd88e7f99 191
pmic 36:23addefb97af 192
robleiker 48:31ffd88e7f99 193 /* ------------------------------------------------------------------------------------------- *
robleiker 48:31ffd88e7f99 194 * -- Read Sensors
robleiker 48:31ffd88e7f99 195 * ------------------------------------------------------------------------------------------- */
pmic 39:f336caef17d9 196
pmic 42:d2d2db5974c9 197 // set leds according to DISTANCE_THRESHOLD
pmic 42:d2d2db5974c9 198 for (uint8_t i = 0; i < leds.size(); i++) {
pmic 42:d2d2db5974c9 199 if (irSensors[i].read() > DISTANCE_THRESHOLD)
pmic 42:d2d2db5974c9 200 leds[i] = 0;
pmic 42:d2d2db5974c9 201 else
pmic 42:d2d2db5974c9 202 leds[i] = 1;
pmic 40:924bdbc33391 203 }
pmic 39:f336caef17d9 204
pmic 42:d2d2db5974c9 205 // read actual wheel speed and transform it to robot coordinates
pmic 42:d2d2db5974c9 206 wheel_speed_actual << speedControllers[0]->getSpeedRPS(), speedControllers[1]->getSpeedRPS();
robleiker 49:f80f5d96716e 207 robot_speed_actual = Cwheel2robot * wheel_speed_actual;
pmic 42:d2d2db5974c9 208
robleiker 48:31ffd88e7f99 209
robleiker 48:31ffd88e7f99 210 /* ------------------------------------------------------------------------------------------- *
robleiker 48:31ffd88e7f99 211 * -- State Machine
robleiker 48:31ffd88e7f99 212 * ------------------------------------------------------------------------------------------- */
robleiker 48:31ffd88e7f99 213
pmic 42:d2d2db5974c9 214 // state machine
pmic 39:f336caef17d9 215 switch (state) {
robleiker 48:31ffd88e7f99 216
robleiker 48:31ffd88e7f99 217 case INIT:
robleiker 48:31ffd88e7f99 218
robleiker 48:31ffd88e7f99 219 enable_leds = 1;
robleiker 48:31ffd88e7f99 220 enable_motors = 0;
robleiker 48:31ffd88e7f99 221
robleiker 48:31ffd88e7f99 222 state = ROBOT_OFF; // default transition
robleiker 48:31ffd88e7f99 223 break;
pmic 39:f336caef17d9 224
pmic 42:d2d2db5974c9 225 case ROBOT_OFF:
pmic 42:d2d2db5974c9 226
pmic 39:f336caef17d9 227 if (do_execute_main_task) {
pmic 42:d2d2db5974c9 228 enable_motors = 1;
robleiker 49:f80f5d96716e 229 robot_speed_desired(0) = TRANSLATIONAL_VELOCITY;
robleiker 49:f80f5d96716e 230 robot_speed_desired(1) = 0.0f;
pmic 39:f336caef17d9 231 state = MOVE_FORWARD;
pmic 39:f336caef17d9 232 }
pmic 39:f336caef17d9 233 break;
pmic 42:d2d2db5974c9 234
pmic 39:f336caef17d9 235 case MOVE_FORWARD:
pmic 42:d2d2db5974c9 236
pmic 39:f336caef17d9 237 if (!do_execute_main_task) {
robleiker 49:f80f5d96716e 238 robot_speed_desired(0) = 0.0f;
robleiker 49:f80f5d96716e 239 robot_speed_desired(1) = 0.0f;
pmic 39:f336caef17d9 240 state = SLOWING_DOWN;
pmic 42:d2d2db5974c9 241 } else if ((irSensors[0].read() < DISTANCE_THRESHOLD) || (irSensors[1].read() < DISTANCE_THRESHOLD)) {
robleiker 49:f80f5d96716e 242 robot_speed_desired(0) = 0.0f;
robleiker 49:f80f5d96716e 243 robot_speed_desired(1) = ROTATIONAL_VELOCITY;
pmic 42:d2d2db5974c9 244 state = TURN_LEFT;
pmic 42:d2d2db5974c9 245 } else if (irSensors[5].read() < DISTANCE_THRESHOLD) {
robleiker 49:f80f5d96716e 246 robot_speed_desired(0) = 0.0f;
robleiker 49:f80f5d96716e 247 robot_speed_desired(1) = -ROTATIONAL_VELOCITY;
pmic 39:f336caef17d9 248 state = TURN_RIGHT;
pmic 42:d2d2db5974c9 249 } else {
pmic 42:d2d2db5974c9 250 // leave it driving
pmic 39:f336caef17d9 251 }
pmic 39:f336caef17d9 252 break;
pmic 39:f336caef17d9 253
pmic 39:f336caef17d9 254 case TURN_LEFT:
pmic 42:d2d2db5974c9 255
pmic 39:f336caef17d9 256 if (!do_execute_main_task) {
robleiker 49:f80f5d96716e 257 robot_speed_desired(1) = 0.0f;
pmic 39:f336caef17d9 258 state = SLOWING_DOWN;
pmic 39:f336caef17d9 259
pmic 42:d2d2db5974c9 260 } else if ((irSensors[0].read() > DISTANCE_THRESHOLD) && (irSensors[1].read() > DISTANCE_THRESHOLD) && (irSensors[5].read() > DISTANCE_THRESHOLD)) {
robleiker 49:f80f5d96716e 261 robot_speed_desired(0) = TRANSLATIONAL_VELOCITY;
robleiker 49:f80f5d96716e 262 robot_speed_desired(1) = 0.0f;
pmic 39:f336caef17d9 263 state = MOVE_FORWARD;
pmic 39:f336caef17d9 264 }
pmic 39:f336caef17d9 265 break;
pmic 39:f336caef17d9 266
pmic 42:d2d2db5974c9 267 case TURN_RIGHT:
pmic 42:d2d2db5974c9 268
pmic 39:f336caef17d9 269 if (!do_execute_main_task) {
robleiker 49:f80f5d96716e 270 robot_speed_desired(1) = 0.0f;
pmic 39:f336caef17d9 271 state = SLOWING_DOWN;
pmic 42:d2d2db5974c9 272 } else if ((irSensors[0].read() > DISTANCE_THRESHOLD) && (irSensors[1].read() > DISTANCE_THRESHOLD) && (irSensors[5].read() > DISTANCE_THRESHOLD)) {
robleiker 49:f80f5d96716e 273 robot_speed_desired(0) = TRANSLATIONAL_VELOCITY;
robleiker 49:f80f5d96716e 274 robot_speed_desired(1) = 0.0f;
pmic 39:f336caef17d9 275 state = MOVE_FORWARD;
pmic 39:f336caef17d9 276 }
pmic 39:f336caef17d9 277 break;
pmic 39:f336caef17d9 278
pmic 39:f336caef17d9 279 case SLOWING_DOWN:
pmic 42:d2d2db5974c9 280
robleiker 49:f80f5d96716e 281 if ((fabs(robot_speed_actual(0)) < VELOCITY_THRESHOLD) && (fabs(robot_speed_actual(1)) < VELOCITY_THRESHOLD)) {
pmic 42:d2d2db5974c9 282 enable_motors = 0;
pmic 39:f336caef17d9 283 state = ROBOT_OFF;
pmic 39:f336caef17d9 284 }
pmic 39:f336caef17d9 285
pmic 39:f336caef17d9 286 break;
pmic 42:d2d2db5974c9 287
pmic 39:f336caef17d9 288 }
pmic 39:f336caef17d9 289
robleiker 47:6693bffcdfd0 290 /* ------------------------------------------------------------------------------------------- *
robleiker 47:6693bffcdfd0 291 * -- Inverse Kinematics
robleiker 47:6693bffcdfd0 292 * ------------------------------------------------------------------------------------------- */
robleiker 47:6693bffcdfd0 293
pmic 42:d2d2db5974c9 294 // transform robot coordinates to wheel speed
robleiker 49:f80f5d96716e 295 wheel_speed_desired = Cwheel2robot.inverse() * robot_speed_desired;
pmic 42:d2d2db5974c9 296
pmic 46:41c9367da539 297 // smooth desired wheel_speeds
robleiker 49:f80f5d96716e 298 trajectoryPlaners[0]->incrementToVelocity(wheel_speed_desired(0) / (2.0f * M_PI), main_task_period);
robleiker 49:f80f5d96716e 299 trajectoryPlaners[1]->incrementToVelocity(wheel_speed_desired(1) / (2.0f * M_PI), main_task_period);
pmic 46:41c9367da539 300 wheel_speed_smooth << trajectoryPlaners[0]->getVelocity(), trajectoryPlaners[1]->getVelocity();
pmic 46:41c9367da539 301
pmic 42:d2d2db5974c9 302 // command speedController objects
robleiker 49:f80f5d96716e 303 //speedControllers[0]->setDesiredSpeedRPS(wheel_speed_desired(0) / (2.0f * M_PI)); // use this if you're not using the trajectoryPlaners
robleiker 49:f80f5d96716e 304 //speedControllers[1]->setDesiredSpeedRPS(wheel_speed_desired(1) / (2.0f * M_PI)); // use this if you're not using the trajectoryPlaners
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 {
pmic 39:f336caef17d9 327 // read timer and toggle do_execute_main_task 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) {
pmic 39:f336caef17d9 331 do_execute_main_task = !do_execute_main_task;
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 }