reserve
Dependencies: mbed MotorDrivers
main.cpp@0:2c7c889dbf1a, 2020-10-07 (annotated)
- Committer:
- sink
- Date:
- Wed Oct 07 07:50:02 2020 +0000
- Revision:
- 0:2c7c889dbf1a
reserve
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sink | 0:2c7c889dbf1a | 1 | #include "mbed.h" |
sink | 0:2c7c889dbf1a | 2 | #include "RoboClaw.h" |
sink | 0:2c7c889dbf1a | 3 | #include "string" |
sink | 0:2c7c889dbf1a | 4 | |
sink | 0:2c7c889dbf1a | 5 | #define SQRT_3 1.73205080757 |
sink | 0:2c7c889dbf1a | 6 | #define MAX_QPPS1 40960 |
sink | 0:2c7c889dbf1a | 7 | #define MAX_QPPS2 40960 |
sink | 0:2c7c889dbf1a | 8 | #define INT_TIME 0.02 |
sink | 0:2c7c889dbf1a | 9 | #define ADRS1 129 |
sink | 0:2c7c889dbf1a | 10 | #define ADRS2 130 |
sink | 0:2c7c889dbf1a | 11 | |
sink | 0:2c7c889dbf1a | 12 | Ticker timer; |
sink | 0:2c7c889dbf1a | 13 | |
sink | 0:2c7c889dbf1a | 14 | RawSerial Slave (p9,p10,115200); |
sink | 0:2c7c889dbf1a | 15 | RawSerial controller (p13,p14,115200); |
sink | 0:2c7c889dbf1a | 16 | |
sink | 0:2c7c889dbf1a | 17 | RoboClaw MD(115200,p28,p27); |
sink | 0:2c7c889dbf1a | 18 | |
sink | 0:2c7c889dbf1a | 19 | string recv_str = ""; |
sink | 0:2c7c889dbf1a | 20 | char c_x = 127, c_y = 127, c_rot = 127, buttons = 0b00000000; |
sink | 0:2c7c889dbf1a | 21 | |
sink | 0:2c7c889dbf1a | 22 | |
sink | 0:2c7c889dbf1a | 23 | |
sink | 0:2c7c889dbf1a | 24 | void controller_recv(){ |
sink | 0:2c7c889dbf1a | 25 | char recv_c = controller.getc(); |
sink | 0:2c7c889dbf1a | 26 | |
sink | 0:2c7c889dbf1a | 27 | if(recv_str.size() == 4 && recv_c == '\n'){ |
sink | 0:2c7c889dbf1a | 28 | c_x = recv_str[0]; |
sink | 0:2c7c889dbf1a | 29 | c_y = recv_str[1]; |
sink | 0:2c7c889dbf1a | 30 | c_rot = recv_str[2]; |
sink | 0:2c7c889dbf1a | 31 | buttons = recv_str[3]; |
sink | 0:2c7c889dbf1a | 32 | recv_str = ""; |
sink | 0:2c7c889dbf1a | 33 | } |
sink | 0:2c7c889dbf1a | 34 | |
sink | 0:2c7c889dbf1a | 35 | else{ |
sink | 0:2c7c889dbf1a | 36 | recv_str += recv_c; |
sink | 0:2c7c889dbf1a | 37 | if(recv_str.size() >= 5) recv_str = ""; |
sink | 0:2c7c889dbf1a | 38 | } |
sink | 0:2c7c889dbf1a | 39 | } |
sink | 0:2c7c889dbf1a | 40 | |
sink | 0:2c7c889dbf1a | 41 | void Roboclaw_send(double V1, double V2, double V3){ |
sink | 0:2c7c889dbf1a | 42 | MD.SpeedM1(ADRS1,int(V1*MAX_QPPS1)); |
sink | 0:2c7c889dbf1a | 43 | MD.SpeedM2(ADRS1,int(V2*MAX_QPPS1)); |
sink | 0:2c7c889dbf1a | 44 | MD.SpeedM1(ADRS2,int(V3*MAX_QPPS2)); |
sink | 0:2c7c889dbf1a | 45 | } |
sink | 0:2c7c889dbf1a | 46 | |
sink | 0:2c7c889dbf1a | 47 | void timer_interrupt(){ |
sink | 0:2c7c889dbf1a | 48 | int i_x = (int)c_x - 127; |
sink | 0:2c7c889dbf1a | 49 | int i_y = (int)c_y - 127; |
sink | 0:2c7c889dbf1a | 50 | int i_rot = (int)c_rot - 127; |
sink | 0:2c7c889dbf1a | 51 | |
sink | 0:2c7c889dbf1a | 52 | double V1 = (double)i_x + (double)i_rot; |
sink | 0:2c7c889dbf1a | 53 | double V2 = -0.5*(double)i_x + SQRT_3*0.5*(double)i_y + (double)i_rot; |
sink | 0:2c7c889dbf1a | 54 | double V3 = -0.5*(double)i_x - SQRT_3*0.5*(double)i_y + (double)i_rot; |
sink | 0:2c7c889dbf1a | 55 | |
sink | 0:2c7c889dbf1a | 56 | Roboclaw_send(V1,V2,V3); |
sink | 0:2c7c889dbf1a | 57 | Slave.putc(buttons); |
sink | 0:2c7c889dbf1a | 58 | Slave.putc('\n'); |
sink | 0:2c7c889dbf1a | 59 | } |
sink | 0:2c7c889dbf1a | 60 | |
sink | 0:2c7c889dbf1a | 61 | int main() { |
sink | 0:2c7c889dbf1a | 62 | |
sink | 0:2c7c889dbf1a | 63 | timer.attach(&timer_interrupt,INT_TIME); |
sink | 0:2c7c889dbf1a | 64 | |
sink | 0:2c7c889dbf1a | 65 | controller.attach(&controller_recv,RawSerial::RxIrq); |
sink | 0:2c7c889dbf1a | 66 | |
sink | 0:2c7c889dbf1a | 67 | while(true) {} |
sink | 0:2c7c889dbf1a | 68 | } |