Example project for Summer School 2022.
Dependencies: PM2_Libary Eigen
Revision 45:d47b1b112a04, committed 2022-05-20
- Comitter:
- pmic
- Date:
- Fri May 20 07:20:10 2022 +0000
- Parent:
- 44:a65bc3e11481
- Commit message:
- Restored final solution
Changed in this revision
PM2_Libary.lib | Show annotated file Show diff for this revision Revisions of this file |
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r a65bc3e11481 -r d47b1b112a04 PM2_Libary.lib --- a/PM2_Libary.lib Wed May 18 07:53:31 2022 +0200 +++ b/PM2_Libary.lib Fri May 20 07:20:10 2022 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/pmic/code/PM2_Libary/#05abc1d2a2b9 +https://os.mbed.com/users/pmic/code/PM2_Libary/#f62a64ffb273
diff -r a65bc3e11481 -r d47b1b112a04 main.cpp --- a/main.cpp Wed May 18 07:53:31 2022 +0200 +++ b/main.cpp Fri May 20 07:20:10 2022 +0000 @@ -14,6 +14,8 @@ void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below void user_button_released_fcn(); +float ir_distance_mV2cm(float ir_distance_mV); + int main() { // while loop gets executed every main_task_period_ms milliseconds @@ -26,6 +28,44 @@ // led on nucleo board DigitalOut user_led(LED1); // create DigitalOut object to command user led + // Sharp GP2Y0A41SK0F, 4-40 cm IR Sensor + float ir_distance_mV = 0.0f; // define variable to store measurement + float ir_distance_cm = 0.0f; // compensated sensor value in cm + AnalogIn ir_analog_in(PC_2); // create AnalogIn object to read in infrared distance sensor, 0...3.3V are mapped to 0...1 + + // create SensorBar object for sparkfun line follower array, only use this if it is connected (blocking your code if not) + float sensor_bar_avgAngleRad = 0.0f; + I2C i2c(PB_9, PB_8); + //SensorBar sensor_bar(i2c, 0.1175f); // second input argument is distance from bar to wheel axis + + // 78:1, 100:1, ... Metal Gearmotor 20Dx44L mm 12V CB + DigitalOut enable_motors(PB_15); // create DigitalOut object to enable dc motors + + FastPWM pwm_M1(PB_13); // motor M1 is closed-loop speed controlled (angle velocity) + FastPWM pwm_M2(PA_9); // motor M2 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); + + // create SpeedController and PositionController objects, default parametrization is for 78.125:1 gear box + const float max_voltage = 12.0f; // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack + const float counts_per_turn = 20.0f * 78.125f; // define counts per turn at gearbox end: counts/turn * gearratio + const float kn = 180.0f / 12.0f; // define motor constant in rpm per V + //const 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 + //const float kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1 + + SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwm_M1, encoder_M1); // default 78.125:1 gear box with default contoller parameters + //SpeedController speedController_M1(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M1, encoder_M1); // parameters adjusted to 100:1 gear + speedController_M1.setMaxAccelerationRPS(999.0f); // disable internal trajectory planer + + PositionController positionController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear with default contoller parameters + //PositionController positionController_M2(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M2, encoder_M2); // parameters adjusted to 100:1 gear, we need a different speed controller gain here + //positionController_M2.setSpeedCntrlGain(kp * k_gear); + positionController_M2.setMaxAccelerationRPS(999.0f); // disable internal trajectory planer + // define maximum speed that the position controller is changig the speed, has to be smaller or equal to kn * max_voltage + float max_speed_rps = 2.0f; + positionController_M2.setMaxVelocityRPS(max_speed_rps); + // attach button fall and rise functions to user button object user_button.fall(&user_button_pressed_fcn); user_button.rise(&user_button_released_fcn); @@ -33,14 +73,31 @@ // start timer main_task_timer.start(); + // enable hardwaredriver dc motors: 0 -> disabled, 1 -> enabled + enable_motors = 1; + while (true) { // this loop will run forever main_task_timer.reset(); - + // read analog input + ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f; + ir_distance_cm = ir_distance_mV2cm(ir_distance_mV); + + // read SensorBar, only use this if it is connected (blocking your code if not) + //if (sensor_bar.isAnyLedActive()) { + // sensor_bar_avgAngleRad = sensor_bar.getAvgAngleRad(); + //} + if (do_execute_main_task) { + speedController_M1.setDesiredSpeedRPS(2.0f); + positionController_M2.setDesiredRotation(3.0f); + } else { + + speedController_M1.setDesiredSpeedRPS(0.0f); + positionController_M2.setDesiredRotation(0.0f); } @@ -80,4 +137,13 @@ if (user_button_elapsed_time_ms > 200) { do_execute_main_task = !do_execute_main_task; } +} + +float ir_distance_mV2cm(float ir_distance_mV) +{ + // defining these variables static makes them persistent within the function + static float a = -4.685f; // (-6.581, -2.79) + static float c = 3.017e+04f; // (2.853e+04, 3.181e+04) + + return c/(ir_distance_mV + 1) + a; } \ No newline at end of file