For IEEE Robotics
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
main.cpp@1:fe4a0b47ff25, 2014-03-03 (annotated)
- Committer:
- tashworth
- Date:
- Mon Mar 03 21:37:24 2014 +0000
- Revision:
- 1:fe4a0b47ff25
- Parent:
- 0:1b64a0cedc5d
- Child:
- 2:4e082e4c255d
servo timing slowed down (smoother)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tashworth | 0:1b64a0cedc5d | 1 | #include "mbed.h" |
tashworth | 0:1b64a0cedc5d | 2 | #include "Adafruit_PWMServoDriver.h" |
tashworth | 0:1b64a0cedc5d | 3 | #include "ShapeDetect.h" |
tashworth | 0:1b64a0cedc5d | 4 | |
tashworth | 0:1b64a0cedc5d | 5 | Serial pc(USBTX,USBRX); |
tashworth | 0:1b64a0cedc5d | 6 | Adafruit_PWMServoDriver pwm(p9,p10); |
tashworth | 0:1b64a0cedc5d | 7 | DigitalOut ServoOutputDisable(p8); |
tashworth | 0:1b64a0cedc5d | 8 | extern Serial lrf; |
tashworth | 0:1b64a0cedc5d | 9 | |
tashworth | 0:1b64a0cedc5d | 10 | |
tashworth | 0:1b64a0cedc5d | 11 | |
tashworth | 0:1b64a0cedc5d | 12 | //Servo Positions |
tashworth | 0:1b64a0cedc5d | 13 | #define STORE_POSITION 0 |
tashworth | 0:1b64a0cedc5d | 14 | #define OIL_RIG1 1 |
tashworth | 0:1b64a0cedc5d | 15 | #define OIL_RIG2 2 |
tashworth | 0:1b64a0cedc5d | 16 | |
tashworth | 1:fe4a0b47ff25 | 17 | void servoBegin(void); |
tashworth | 0:1b64a0cedc5d | 18 | void initServoDriver(void); |
tashworth | 0:1b64a0cedc5d | 19 | void setServoPulse(uint8_t n, float pulse); |
tashworth | 1:fe4a0b47ff25 | 20 | void setServoPulseNo_delay(uint8_t n, float pulse); |
tashworth | 0:1b64a0cedc5d | 21 | void servoPosition(int set); |
tashworth | 0:1b64a0cedc5d | 22 | |
tashworth | 0:1b64a0cedc5d | 23 | /************ |
tashworth | 0:1b64a0cedc5d | 24 | Variables for Servos |
tashworth | 0:1b64a0cedc5d | 25 | *************/ |
tashworth | 0:1b64a0cedc5d | 26 | int servoNum, pulseWidth, outputDisabled, posNum; |
tashworth | 0:1b64a0cedc5d | 27 | int currentPosition[7]; |
tashworth | 0:1b64a0cedc5d | 28 | |
tashworth | 0:1b64a0cedc5d | 29 | typedef struct {int arm_action; int base_rotate; int base_arm; |
tashworth | 0:1b64a0cedc5d | 30 | int lil_arm; int big_arm; int claw_arm; |
tashworth | 0:1b64a0cedc5d | 31 | int claw_rotate; int claw_open;} Coord; |
tashworth | 0:1b64a0cedc5d | 32 | |
tashworth | 0:1b64a0cedc5d | 33 | Coord Arm_Table[] = |
tashworth | 0:1b64a0cedc5d | 34 | { |
tashworth | 0:1b64a0cedc5d | 35 | // POSITION ODER: |
tashworth | 0:1b64a0cedc5d | 36 | // base_rotate, base_arm, lil_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open |
tashworth | 0:1b64a0cedc5d | 37 | |
tashworth | 0:1b64a0cedc5d | 38 | {STORE_POSITION, 2300, 500, 600, 2450, 2450, 0, 0}, // storing position |
tashworth | 0:1b64a0cedc5d | 39 | {OIL_RIG2, 1200, 1400, 1900, 900, 900, 0, 0} // point laser at oilrig2 |
tashworth | 0:1b64a0cedc5d | 40 | |
tashworth | 0:1b64a0cedc5d | 41 | }; |
tashworth | 0:1b64a0cedc5d | 42 | |
tashworth | 0:1b64a0cedc5d | 43 | int main() { |
tashworth | 0:1b64a0cedc5d | 44 | |
tashworth | 0:1b64a0cedc5d | 45 | /***************** |
tashworth | 0:1b64a0cedc5d | 46 | INITIALIZATIONS |
tashworth | 0:1b64a0cedc5d | 47 | *******************/ |
tashworth | 0:1b64a0cedc5d | 48 | //lrf_baudCalibration(); |
tashworth | 0:1b64a0cedc5d | 49 | initServoDriver(); |
tashworth | 1:fe4a0b47ff25 | 50 | servoBegin(); |
tashworth | 1:fe4a0b47ff25 | 51 | //servoPosition(STORE_POSITION); |
tashworth | 1:fe4a0b47ff25 | 52 | //ServoOutputDisable = 0; |
tashworth | 0:1b64a0cedc5d | 53 | while(1){ |
tashworth | 0:1b64a0cedc5d | 54 | if(pc.readable()){ |
tashworth | 1:fe4a0b47ff25 | 55 | //pc.scanf("%d %d %d", &outputDisabled, &servoNum, &pulseWidth); |
tashworth | 1:fe4a0b47ff25 | 56 | pc.scanf("%d %d", &servoNum, &pulseWidth); |
tashworth | 0:1b64a0cedc5d | 57 | setServoPulse(servoNum, pulseWidth); |
tashworth | 1:fe4a0b47ff25 | 58 | |
tashworth | 0:1b64a0cedc5d | 59 | } |
tashworth | 0:1b64a0cedc5d | 60 | } |
tashworth | 0:1b64a0cedc5d | 61 | |
tashworth | 0:1b64a0cedc5d | 62 | |
tashworth | 0:1b64a0cedc5d | 63 | /************************************************** |
tashworth | 0:1b64a0cedc5d | 64 | * FIRST STAGE |
tashworth | 0:1b64a0cedc5d | 65 | * |
tashworth | 0:1b64a0cedc5d | 66 | * - DETERMINE OIL RIG ON FIRE |
tashworth | 0:1b64a0cedc5d | 67 | * - DETERMINE PATH |
tashworth | 0:1b64a0cedc5d | 68 | * |
tashworth | 0:1b64a0cedc5d | 69 | **************************************************/ |
tashworth | 0:1b64a0cedc5d | 70 | |
tashworth | 0:1b64a0cedc5d | 71 | //TODO: EXTEND ARM AND FACE OILRIGS |
tashworth | 0:1b64a0cedc5d | 72 | |
tashworth | 0:1b64a0cedc5d | 73 | //OILRIG 1 DISTANCE READING |
tashworth | 0:1b64a0cedc5d | 74 | |
tashworth | 0:1b64a0cedc5d | 75 | //TODO: ROTATE ARM TO NEXT OIL RIG |
tashworth | 0:1b64a0cedc5d | 76 | |
tashworth | 0:1b64a0cedc5d | 77 | //OILRIG 2 DISTANCE READING |
tashworth | 0:1b64a0cedc5d | 78 | |
tashworth | 0:1b64a0cedc5d | 79 | //ROTATE ARM TO NEXT OIL RIG |
tashworth | 0:1b64a0cedc5d | 80 | |
tashworth | 0:1b64a0cedc5d | 81 | //OILRIG 3 DISTANCE READING |
tashworth | 0:1b64a0cedc5d | 82 | |
tashworth | 0:1b64a0cedc5d | 83 | } |
tashworth | 0:1b64a0cedc5d | 84 | |
tashworth | 0:1b64a0cedc5d | 85 | |
tashworth | 0:1b64a0cedc5d | 86 | |
tashworth | 0:1b64a0cedc5d | 87 | /************ |
tashworth | 0:1b64a0cedc5d | 88 | |
tashworth | 0:1b64a0cedc5d | 89 | Servo Functions |
tashworth | 0:1b64a0cedc5d | 90 | |
tashworth | 0:1b64a0cedc5d | 91 | **************/ |
tashworth | 0:1b64a0cedc5d | 92 | |
tashworth | 0:1b64a0cedc5d | 93 | void setServoPulse(uint8_t n, float pulse) { |
tashworth | 1:fe4a0b47ff25 | 94 | float pulselength = 20000; // 20,000 us per second |
tashworth | 1:fe4a0b47ff25 | 95 | int i = currentPosition[n]; |
tashworth | 1:fe4a0b47ff25 | 96 | pc.printf("\ncurrent position = %d\n", currentPosition[n]); |
tashworth | 1:fe4a0b47ff25 | 97 | int pulse2; |
tashworth | 1:fe4a0b47ff25 | 98 | if(currentPosition[n] < pulse){ |
tashworth | 1:fe4a0b47ff25 | 99 | pc.printf("\ncurrent position < pulse\n"); |
tashworth | 1:fe4a0b47ff25 | 100 | for(i; i < pulse; i++){ |
tashworth | 1:fe4a0b47ff25 | 101 | pulse2 = 4094 * i / pulselength; |
tashworth | 1:fe4a0b47ff25 | 102 | pwm.setPWM(n, 0, pulse2); |
tashworth | 1:fe4a0b47ff25 | 103 | wait_ms(3); |
tashworth | 1:fe4a0b47ff25 | 104 | } |
tashworth | 1:fe4a0b47ff25 | 105 | } else if (currentPosition[n] > pulse) { |
tashworth | 1:fe4a0b47ff25 | 106 | pc.printf("\ncurrent position > pulse\n"); |
tashworth | 1:fe4a0b47ff25 | 107 | for(i; i > pulse; i--){ |
tashworth | 1:fe4a0b47ff25 | 108 | pulse2 = 4094 * i / pulselength; |
tashworth | 1:fe4a0b47ff25 | 109 | pwm.setPWM(n, 0, pulse2); |
tashworth | 1:fe4a0b47ff25 | 110 | wait_ms(3); |
tashworth | 1:fe4a0b47ff25 | 111 | } |
tashworth | 1:fe4a0b47ff25 | 112 | } |
tashworth | 1:fe4a0b47ff25 | 113 | currentPosition[n] = i; |
tashworth | 1:fe4a0b47ff25 | 114 | pc.printf("\nending position = %d\n\n", i); |
tashworth | 0:1b64a0cedc5d | 115 | } |
tashworth | 0:1b64a0cedc5d | 116 | |
tashworth | 0:1b64a0cedc5d | 117 | void initServoDriver(void) { |
tashworth | 0:1b64a0cedc5d | 118 | pwm.begin(); |
tashworth | 0:1b64a0cedc5d | 119 | //pwm.setPWMFreq(100); //This dosen't work well because of uncertain clock speed. Use setPrescale(). |
tashworth | 0:1b64a0cedc5d | 120 | pwm.setPrescale(140); //This value is decided for 20ms interval. |
tashworth | 0:1b64a0cedc5d | 121 | pwm.setI2Cfreq(400000); //400kHz |
tashworth | 1:fe4a0b47ff25 | 122 | |
tashworth | 0:1b64a0cedc5d | 123 | } |
tashworth | 0:1b64a0cedc5d | 124 | |
tashworth | 1:fe4a0b47ff25 | 125 | void servoBegin(void){ |
tashworth | 1:fe4a0b47ff25 | 126 | setServoPulseNo_delay(0, 900); |
tashworth | 1:fe4a0b47ff25 | 127 | setServoPulseNo_delay(1, 500); |
tashworth | 1:fe4a0b47ff25 | 128 | setServoPulseNo_delay(2, 600); |
tashworth | 1:fe4a0b47ff25 | 129 | setServoPulseNo_delay(3, 2450); |
tashworth | 1:fe4a0b47ff25 | 130 | setServoPulseNo_delay(4, 2450); |
tashworth | 1:fe4a0b47ff25 | 131 | setServoPulseNo_delay(5, 0); |
tashworth | 1:fe4a0b47ff25 | 132 | setServoPulseNo_delay(6, 0); |
tashworth | 1:fe4a0b47ff25 | 133 | } |
tashworth | 0:1b64a0cedc5d | 134 | |
tashworth | 1:fe4a0b47ff25 | 135 | void setServoPulseNo_delay(uint8_t n, float pulse) { |
tashworth | 1:fe4a0b47ff25 | 136 | float pulselength = 20000; // 20,000 us per second |
tashworth | 1:fe4a0b47ff25 | 137 | currentPosition[n] = pulse; |
tashworth | 1:fe4a0b47ff25 | 138 | pulse = 4094 * pulse / pulselength; |
tashworth | 1:fe4a0b47ff25 | 139 | pwm.setPWM(n, 0, pulse); |
tashworth | 1:fe4a0b47ff25 | 140 | } |
tashworth | 0:1b64a0cedc5d | 141 | |
tashworth | 0:1b64a0cedc5d | 142 | void servoPosition(int set){ |
tashworth | 0:1b64a0cedc5d | 143 | //moves to current position |
tashworth | 1:fe4a0b47ff25 | 144 | setServoPulse(1, Arm_Table[set].base_arm); |
tashworth | 0:1b64a0cedc5d | 145 | setServoPulse(0, Arm_Table[set].base_rotate); |
tashworth | 0:1b64a0cedc5d | 146 | setServoPulse(2, Arm_Table[set].lil_arm); |
tashworth | 0:1b64a0cedc5d | 147 | setServoPulse(3, Arm_Table[set].big_arm); |
tashworth | 0:1b64a0cedc5d | 148 | setServoPulse(4, Arm_Table[set].claw_arm); |
tashworth | 0:1b64a0cedc5d | 149 | setServoPulse(5, Arm_Table[set].claw_rotate); |
tashworth | 0:1b64a0cedc5d | 150 | setServoPulse(6, Arm_Table[set].claw_open); |
tashworth | 0:1b64a0cedc5d | 151 | } |
tashworth | 0:1b64a0cedc5d | 152 | |
tashworth | 0:1b64a0cedc5d | 153 | |
tashworth | 0:1b64a0cedc5d | 154 |