hidaka sato / Mbed OS WRS2021_mecanum_driver

Mecanum robot firmware for WRS2020 Ususama

Dependencies:   UsusamaSerial MecanumInterface PMSU_100 PIDController IMUInterface WaypointManager i2cmaster MecanumController

main.cpp@1:2720d0e8b2f1, 2021-08-24 (annotated)

Committer:
sgrsn
Date:
Tue Aug 24 07:06:27 2021 +0000
Revision:
1:2720d0e8b2f1
Parent:
0:fe598340f74c
Child:
2:626a20dd7987
Update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sgrsn 0:fe598340f74c 1 #include "mbed.h"
sgrsn 0:fe598340f74c 2 #include "platform/mbed_thread.h"
sgrsn 0:fe598340f74c 3 #include "i2cmaster.h"
sgrsn 0:fe598340f74c 4 #include "mecanum_interface.hpp"
sgrsn 0:fe598340f74c 5 #include "imu_interface.hpp"
sgrsn 0:fe598340f74c 6 #include "mecanum_controller.hpp"
sgrsn 0:fe598340f74c 7 #include "waypoint_generator.hpp"
sgrsn 0:fe598340f74c 8 #include "ususama_serial.h"
sgrsn 0:fe598340f74c 9 #include "ususama_controller.hpp"
sgrsn 0:fe598340f74c 10 #include <vector>
sgrsn 0:fe598340f74c 11 #include <list>
sgrsn 0:fe598340f74c 12
sgrsn 0:fe598340f74c 13
sgrsn 0:fe598340f74c 14 i2c master(p28, p27);
sgrsn 0:fe598340f74c 15 MecanumI2C mecanum(&master);
sgrsn 0:fe598340f74c 16 PMSUInterface pmsu(p9, p10);
sgrsn 0:fe598340f74c 17 MecanumController ususama(&mecanum, &pmsu);
sgrsn 0:fe598340f74c 18
sgrsn 0:fe598340f74c 19 int32_t Register[12] = {};
sgrsn 0:fe598340f74c 20 UsusamaSerial pc(USBTX, USBRX, Register, 115200);
sgrsn 0:fe598340f74c 21 UsusamaController commander(&pc);
sgrsn 0:fe598340f74c 22 BusOut leds(LED1, LED2, LED3, LED4);
sgrsn 0:fe598340f74c 23
sgrsn 0:fe598340f74c 24 Thread thread_read2pc;
sgrsn 0:fe598340f74c 25 Thread thread_write2pc;
sgrsn 0:fe598340f74c 26
sgrsn 0:fe598340f74c 27
sgrsn 0:fe598340f74c 28 void mecanum_test()
sgrsn 0:fe598340f74c 29 {
sgrsn 0:fe598340f74c 30 ususama.ControllVelocity(Vel2D(0.1, 0.0, 0.0));
sgrsn 0:fe598340f74c 31 thread_sleep_for(1000);
sgrsn 0:fe598340f74c 32 ususama.ControllVelocity(Vel2D(0.0, 0.0, 0.0));
sgrsn 0:fe598340f74c 33 }
sgrsn 0:fe598340f74c 34
sgrsn 0:fe598340f74c 35 void imu_test()
sgrsn 0:fe598340f74c 36 {
sgrsn 0:fe598340f74c 37 for(int i = 0; i < 1000; i++)
sgrsn 0:fe598340f74c 38 {
sgrsn 0:fe598340f74c 39 printf("%d\r\n", (int)(pmsu.GetYawRadians() * RAD_TO_DEG));
sgrsn 0:fe598340f74c 40 }
sgrsn 0:fe598340f74c 41 }
sgrsn 0:fe598340f74c 42
sgrsn 0:fe598340f74c 43 void read_pc_thread()
sgrsn 0:fe598340f74c 44 {
sgrsn 0:fe598340f74c 45 while (true) {
sgrsn 0:fe598340f74c 46 commander.receive_pc_process();
sgrsn 1:2720d0e8b2f1 47 leds = commander.getReferencePose().x;
sgrsn 0:fe598340f74c 48 ThisThread::sleep_for(53);
sgrsn 0:fe598340f74c 49 }
sgrsn 0:fe598340f74c 50 }
sgrsn 0:fe598340f74c 51
sgrsn 0:fe598340f74c 52 void write_pc_thread()
sgrsn 0:fe598340f74c 53 {
sgrsn 1:2720d0e8b2f1 54 Pose2D current_pose(0,0,0);
sgrsn 0:fe598340f74c 55 while (true) {
sgrsn 1:2720d0e8b2f1 56 current_pose = ususama.GetPose();
sgrsn 1:2720d0e8b2f1 57 commander.write_robot_state(current_pose.x, current_pose.y, current_pose.theta);
sgrsn 0:fe598340f74c 58 ThisThread::sleep_for(47);
sgrsn 0:fe598340f74c 59 }
sgrsn 0:fe598340f74c 60 }
sgrsn 0:fe598340f74c 61
sgrsn 0:fe598340f74c 62
sgrsn 0:fe598340f74c 63 int main()
sgrsn 0:fe598340f74c 64 {
sgrsn 0:fe598340f74c 65 std::list<std::unique_ptr<Pose2D>> ref_pose_list;
sgrsn 0:fe598340f74c 66 ref_pose_list.push_back(std::make_unique<Pose2D>(0.0, 0.8, 0.0));
sgrsn 0:fe598340f74c 67 ref_pose_list.push_back(std::make_unique<Pose2D>(0.0, 0.0, 0.0));
sgrsn 0:fe598340f74c 68 //ref_pose_list.push_back(std::make_unique<Pose2D>(0.0, 0.5, 0));
sgrsn 0:fe598340f74c 69 //ref_pose_list.push_back(std::make_unique<Pose2D>(0.0, 0.0, -1.57));
sgrsn 0:fe598340f74c 70 auto ref_pose_itr = ref_pose_list.begin();
sgrsn 0:fe598340f74c 71
sgrsn 0:fe598340f74c 72 // theta...
sgrsn 0:fe598340f74c 73 WaypointGenerator<Pose2D> way_generator( Pose2D(0, 0, 0), *(*ref_pose_itr), Pose2D(0.01, 0.01, 0.01), 5.0);
sgrsn 0:fe598340f74c 74 int i_way = 0;
sgrsn 0:fe598340f74c 75 Timer t_way;
sgrsn 0:fe598340f74c 76 t_way.start();
sgrsn 0:fe598340f74c 77
sgrsn 0:fe598340f74c 78 thread_read2pc.start(read_pc_thread);
sgrsn 0:fe598340f74c 79 thread_write2pc.start(write_pc_thread);
sgrsn 0:fe598340f74c 80
sgrsn 0:fe598340f74c 81 while(1)
sgrsn 0:fe598340f74c 82 {
sgrsn 0:fe598340f74c 83 // todo: read using timer
sgrsn 0:fe598340f74c 84 thread_sleep_for(10);
sgrsn 0:fe598340f74c 85
sgrsn 1:2720d0e8b2f1 86
sgrsn 1:2720d0e8b2f1 87 UsusamaProtocol::MoveCommand_t ref_pose = commander.getReferencePose();
sgrsn 1:2720d0e8b2f1 88
sgrsn 1:2720d0e8b2f1 89
sgrsn 0:fe598340f74c 90 ususama.ComputePose();
sgrsn 0:fe598340f74c 91 ususama.ControlPosition( way_generator.GetPose(i_way) );
sgrsn 0:fe598340f74c 92
sgrsn 0:fe598340f74c 93 if(way_generator.GetPose(i_way).time_stamp < t_way.read())
sgrsn 0:fe598340f74c 94 {
sgrsn 0:fe598340f74c 95 i_way++;
sgrsn 0:fe598340f74c 96 }
sgrsn 0:fe598340f74c 97
sgrsn 0:fe598340f74c 98 if( ususama.IsReferencePose( *(*ref_pose_itr) ) )
sgrsn 0:fe598340f74c 99 {
sgrsn 0:fe598340f74c 100 //printf("goal\r\n");
sgrsn 0:fe598340f74c 101
sgrsn 0:fe598340f74c 102 ref_pose_itr++;
sgrsn 0:fe598340f74c 103 if(ref_pose_itr == ref_pose_list.end())
sgrsn 0:fe598340f74c 104 {
sgrsn 0:fe598340f74c 105 ref_pose_itr = ref_pose_list.begin();
sgrsn 0:fe598340f74c 106 }
sgrsn 0:fe598340f74c 107
sgrsn 0:fe598340f74c 108 // update waypoint
sgrsn 0:fe598340f74c 109 //printf("generate new waypoint...");
sgrsn 0:fe598340f74c 110 way_generator = WaypointGenerator<Pose2D>( ususama.GetPose(), *(*ref_pose_itr), Pose2D(0.01, 0.01, 0.005), 5.0);
sgrsn 0:fe598340f74c 111 //printf("has finished\r\n");
sgrsn 0:fe598340f74c 112
sgrsn 0:fe598340f74c 113 i_way = 0;
sgrsn 0:fe598340f74c 114 t_way.reset();
sgrsn 0:fe598340f74c 115 t_way.start();
sgrsn 0:fe598340f74c 116 }
sgrsn 0:fe598340f74c 117 }
sgrsn 0:fe598340f74c 118 }