Artem Solomatin / Mbed 2 deprecated pendudu

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Dependencies:   mbed

main.cpp@6:999e8ae7d969, 2020-05-18 (annotated)

Committer:
teamat
Date:
Mon May 18 15:18:22 2020 +0000
Revision:
6:999e8ae7d969
Parent:
5:9aae12408a54
Child:
7:ca62dda005d5
3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
teamat 3:8708e61475fe 1 #include "mbed.h"
teamat 3:8708e61475fe 2
teamat 3:8708e61475fe 3 #define M_PI 3.14159265358979323846f
teamat 3:8708e61475fe 4 #define smoothingNumber 6
teamat 3:8708e61475fe 5
teamat 3:8708e61475fe 6 #define STATE_ERROR 0
teamat 3:8708e61475fe 7 #define STATE_INIT 1
teamat 3:8708e61475fe 8 #define STATE_GOTO_START 2
teamat 3:8708e61475fe 9 #define STATE_GOTO_END_COUNTING 3
teamat 3:8708e61475fe 10 #define STATE_GOTO_MIDDLE 4
teamat 3:8708e61475fe 11 #define STATE_WAITING 5
teamat 3:8708e61475fe 12 #define STATE_GOTO_SWING 6
teamat 3:8708e61475fe 13 #define STATE_START_SWING 7
teamat 3:8708e61475fe 14 #define STATE_SWING_RIGHT 8
teamat 3:8708e61475fe 15 #define STATE_SWING_LEFT 9
teamat 3:8708e61475fe 16 #define STATE_EMPTY_SWING 10
teamat 3:8708e61475fe 17
teamat 3:8708e61475fe 18 #define DIR_LEFT 0
teamat 3:8708e61475fe 19 #define DIR_RIGHT 1
teamat 3:8708e61475fe 20
teamat 3:8708e61475fe 21 //Serial pc(D1,D0,4800);
teamat 3:8708e61475fe 22 DigitalOut RCout(D10);
teamat 3:8708e61475fe 23 DigitalOut dir(D9);
teamat 3:8708e61475fe 24 InterruptIn leftSwitch(D2);
teamat 3:8708e61475fe 25 InterruptIn rightSwitch(D3);
teamat 3:8708e61475fe 26 Ticker tick;
teamat 4:fd49edfabfb2 27 Ticker speedTicker;
teamat 4:fd49edfabfb2 28 Ticker swingTicker;
teamat 6:999e8ae7d969 29 Ticker sendDataTicker;
teamat 3:8708e61475fe 30 DigitalOut myled(LED2);
teamat 3:8708e61475fe 31 RawSerial rpc(D1,D0,9600);
teamat 3:8708e61475fe 32
teamat 3:8708e61475fe 33 int period_us = 26;//300 26
teamat 3:8708e61475fe 34
teamat 3:8708e61475fe 35 long pos=0;
teamat 3:8708e61475fe 36
teamat 3:8708e61475fe 37 long railLength = 0;
teamat 3:8708e61475fe 38
teamat 3:8708e61475fe 39 uint8_t state=STATE_INIT;
teamat 3:8708e61475fe 40
teamat 3:8708e61475fe 41 Timer t;
teamat 3:8708e61475fe 42 SPI spi(D11,D12,D13);// mosi, miso, sclk
teamat 3:8708e61475fe 43 DigitalOut cs(D5);
teamat 3:8708e61475fe 44
teamat 4:fd49edfabfb2 45 float radius = 0.0025;
teamat 3:8708e61475fe 46
teamat 3:8708e61475fe 47 float angularPosNew = 0;
teamat 3:8708e61475fe 48 float angularPosOld = 0;
teamat 3:8708e61475fe 49
teamat 3:8708e61475fe 50 float timeOld = 0.0f;
teamat 3:8708e61475fe 51 float timeStart = 0.0f;
teamat 3:8708e61475fe 52
teamat 3:8708e61475fe 53 float dx = 0;
teamat 3:8708e61475fe 54 float xPosNew = 0;
teamat 3:8708e61475fe 55 float xPosOld = 0;
teamat 4:fd49edfabfb2 56 float speed = 0;
teamat 3:8708e61475fe 57
teamat 3:8708e61475fe 58 double dAngle = 0.0f;
teamat 3:8708e61475fe 59 double anSpd = 0.0f;
teamat 3:8708e61475fe 60
teamat 3:8708e61475fe 61 float timeOldPos = 0.0f;
teamat 3:8708e61475fe 62 float timeStartPos = 0.0f;
teamat 3:8708e61475fe 63
teamat 4:fd49edfabfb2 64 float angle=0.0f;
teamat 3:8708e61475fe 65 float angleOffset = 0;
teamat 3:8708e61475fe 66
teamat 4:fd49edfabfb2 67 float control = 0.0f;
teamat 4:fd49edfabfb2 68
teamat 3:8708e61475fe 69 double PIPI = 6.28;
teamat 3:8708e61475fe 70
teamat 3:8708e61475fe 71 bool canSend = false;
teamat 3:8708e61475fe 72
teamat 3:8708e61475fe 73 typedef union {
teamat 4:fd49edfabfb2 74 float number[6];
teamat 4:fd49edfabfb2 75 uint8_t numberCh[24];
teamat 3:8708e61475fe 76 } my_union;
teamat 3:8708e61475fe 77
teamat 3:8708e61475fe 78 my_union myUnion;
teamat 3:8708e61475fe 79
teamat 3:8708e61475fe 80 bool isPendulumSwinging() {
teamat 3:8708e61475fe 81 return state == STATE_SWING_RIGHT || state == STATE_SWING_LEFT;
teamat 3:8708e61475fe 82 }
teamat 3:8708e61475fe 83
teamat 3:8708e61475fe 84 float getPosMM() {
teamat 3:8708e61475fe 85 //return (pos-railLength/2) * 550.0f/railLength;
teamat 3:8708e61475fe 86 //return (pos - railLength / 2) * (350.0f / railLength);
teamat 3:8708e61475fe 87 return pos / 3500.0f;
teamat 3:8708e61475fe 88 }
teamat 3:8708e61475fe 89
teamat 3:8708e61475fe 90 uint16_t getPendulumPos(){
teamat 3:8708e61475fe 91 cs=0;
teamat 3:8708e61475fe 92 wait_ms(1);
teamat 3:8708e61475fe 93 uint16_t d=spi.write((short)0x00);
teamat 3:8708e61475fe 94 d=d<<1;//fucking shithole fakebit
teamat 3:8708e61475fe 95 d=d>>6;//no need debug info
teamat 3:8708e61475fe 96 cs=1;
teamat 3:8708e61475fe 97 wait_ms(1);
teamat 3:8708e61475fe 98 return (uint16_t)d;
teamat 3:8708e61475fe 99 }
teamat 3:8708e61475fe 100
teamat 3:8708e61475fe 101
teamat 3:8708e61475fe 102 float getPendulumAngle(){
teamat 3:8708e61475fe 103 angle = getPendulumPos();
teamat 3:8708e61475fe 104 angle = angle * 6.28f / 1024.0f;
teamat 4:fd49edfabfb2 105 angle += angleOffset;
teamat 4:fd49edfabfb2 106 if (angle > PIPI + 0.01) {
teamat 4:fd49edfabfb2 107 angle = fmod((angle + 3.14), PIPI) - 3.14;
teamat 4:fd49edfabfb2 108 if (angle < -3.14) {
teamat 4:fd49edfabfb2 109 angle += PIPI;
teamat 4:fd49edfabfb2 110 }
teamat 4:fd49edfabfb2 111 }
teamat 3:8708e61475fe 112 return angle;
teamat 3:8708e61475fe 113 }
teamat 3:8708e61475fe 114
teamat 3:8708e61475fe 115
teamat 3:8708e61475fe 116 /*
teamat 3:8708e61475fe 117 ANGULAR SPEED CALC
teamat 3:8708e61475fe 118 */
teamat 3:8708e61475fe 119
teamat 3:8708e61475fe 120 void getDeltaAng(){
teamat 3:8708e61475fe 121
teamat 3:8708e61475fe 122 angularPosNew = getPendulumAngle();
teamat 3:8708e61475fe 123
teamat 3:8708e61475fe 124 dAngle = fmod((angularPosNew - angularPosOld + 3.14), PIPI) - 3.14;
teamat 3:8708e61475fe 125 if (dAngle < -3.14) {
teamat 3:8708e61475fe 126 dAngle += PIPI;
teamat 3:8708e61475fe 127 }
teamat 3:8708e61475fe 128
teamat 3:8708e61475fe 129 angularPosOld = angularPosNew;
teamat 3:8708e61475fe 130
teamat 3:8708e61475fe 131 }
teamat 3:8708e61475fe 132
teamat 3:8708e61475fe 133 void getAngularSpeed(){
teamat 3:8708e61475fe 134 float deltaTime;
teamat 3:8708e61475fe 135
teamat 3:8708e61475fe 136 timeStart = float(t.read());
teamat 3:8708e61475fe 137 deltaTime = (timeStart - timeOld);
teamat 3:8708e61475fe 138 getDeltaAng();
teamat 3:8708e61475fe 139 anSpd = dAngle / deltaTime;
teamat 3:8708e61475fe 140 timeOld=timeStart;
teamat 3:8708e61475fe 141 //взятие по модулю, спросить
teamat 3:8708e61475fe 142 }
teamat 3:8708e61475fe 143
teamat 3:8708e61475fe 144 /*
teamat 3:8708e61475fe 145 SPEED CALC
teamat 3:8708e61475fe 146 */
teamat 3:8708e61475fe 147
teamat 3:8708e61475fe 148 void getDeltaPos()
teamat 3:8708e61475fe 149 {
teamat 3:8708e61475fe 150 float delta = 0;
teamat 3:8708e61475fe 151 xPosNew = getPosMM();
teamat 3:8708e61475fe 152 delta = xPosNew - xPosOld;
teamat 3:8708e61475fe 153 dx = delta;
teamat 3:8708e61475fe 154 xPosOld = xPosNew;
teamat 3:8708e61475fe 155 }
teamat 3:8708e61475fe 156
teamat 4:fd49edfabfb2 157 /*float getSpeed(){
teamat 3:8708e61475fe 158 float deltaTime;
teamat 3:8708e61475fe 159 float speed;
teamat 3:8708e61475fe 160 getDeltaPos();
teamat 3:8708e61475fe 161 timeStartPos = float(t.read());
teamat 3:8708e61475fe 162 deltaTime = (timeStartPos - timeOldPos);
teamat 3:8708e61475fe 163 speed = (dx) * deltaTime;
teamat 3:8708e61475fe 164 timeOldPos = timeStartPos;
teamat 3:8708e61475fe 165 //взятие по модулю, спросить
teamat 3:8708e61475fe 166 return speed;
teamat 4:fd49edfabfb2 167 }*/
teamat 4:fd49edfabfb2 168
teamat 4:fd49edfabfb2 169 void calcSpeed() {
teamat 4:fd49edfabfb2 170 xPosNew = getPosMM() / 1000;
teamat 4:fd49edfabfb2 171 speed = xPosNew - xPosOld;
teamat 4:fd49edfabfb2 172 xPosOld = xPosNew;
teamat 4:fd49edfabfb2 173 }
teamat 4:fd49edfabfb2 174
teamat 4:fd49edfabfb2 175 void calcControl() {
teamat 6:999e8ae7d969 176 //float frequency = 1000000 / (period_us / 2);
teamat 6:999e8ae7d969 177 //float rates = frequency / 6400;
teamat 6:999e8ae7d969 178 //control = rates * PIPI * radius;
teamat 6:999e8ae7d969 179 control = period_us;
teamat 3:8708e61475fe 180 }
teamat 3:8708e61475fe 181
teamat 3:8708e61475fe 182
teamat 3:8708e61475fe 183
teamat 3:8708e61475fe 184 void stepperFlip() {
teamat 3:8708e61475fe 185 if (state != STATE_WAITING && state != STATE_ERROR && state != STATE_INIT && state){
teamat 3:8708e61475fe 186 RCout = !RCout;
teamat 3:8708e61475fe 187 pos += (dir.read() * 2 - 1);
teamat 3:8708e61475fe 188 }
teamat 3:8708e61475fe 189 if (state == STATE_GOTO_MIDDLE && pos == railLength / 2) {
teamat 3:8708e61475fe 190 state = STATE_WAITING;
teamat 3:8708e61475fe 191 }
teamat 3:8708e61475fe 192 if (state == STATE_SWING_LEFT && state==STATE_SWING_RIGHT) {
teamat 3:8708e61475fe 193 pos += (dir.read() * 2 - 1);
teamat 3:8708e61475fe 194 RCout = !RCout;
teamat 3:8708e61475fe 195 }
teamat 3:8708e61475fe 196 }
teamat 3:8708e61475fe 197
teamat 3:8708e61475fe 198
teamat 3:8708e61475fe 199 void updatePeriod(){
teamat 3:8708e61475fe 200 tick.detach();
teamat 3:8708e61475fe 201 tick.attach_us (&stepperFlip, period_us / 2.0f);
teamat 3:8708e61475fe 202 }
teamat 3:8708e61475fe 203
teamat 3:8708e61475fe 204 void leftEnd() {
teamat 3:8708e61475fe 205 dir = DIR_RIGHT;
teamat 3:8708e61475fe 206 if (state == STATE_GOTO_START) {
teamat 3:8708e61475fe 207 state = STATE_GOTO_END_COUNTING;
teamat 3:8708e61475fe 208 pos = 0;
teamat 3:8708e61475fe 209 }
teamat 3:8708e61475fe 210 else if (isPendulumSwinging()) {
teamat 3:8708e61475fe 211 state = STATE_GOTO_MIDDLE;
teamat 3:8708e61475fe 212 //angleOffset -= 0.006191;
teamat 3:8708e61475fe 213 //state = STATE_ERROR;
teamat 3:8708e61475fe 214 }
teamat 3:8708e61475fe 215 //при втыкании в концевик меняем смещение (offset)
teamat 3:8708e61475fe 216 }
teamat 3:8708e61475fe 217
teamat 3:8708e61475fe 218 void rightEnd() {
teamat 3:8708e61475fe 219 dir=DIR_LEFT;
teamat 3:8708e61475fe 220 if (state == STATE_GOTO_END_COUNTING) {
teamat 3:8708e61475fe 221 railLength=pos;
teamat 3:8708e61475fe 222 state = STATE_GOTO_MIDDLE;
teamat 3:8708e61475fe 223 }
teamat 3:8708e61475fe 224 else if (isPendulumSwinging()) {
teamat 3:8708e61475fe 225 state = STATE_GOTO_MIDDLE;
teamat 3:8708e61475fe 226 //angleOffset += 0.006191;
teamat 3:8708e61475fe 227 //state = STATE_ERROR;
teamat 3:8708e61475fe 228 }
teamat 3:8708e61475fe 229 }
teamat 3:8708e61475fe 230
teamat 3:8708e61475fe 231 void getSwingDirectory() {
teamat 6:999e8ae7d969 232 //control = -control;
teamat 4:fd49edfabfb2 233 if (dir == DIR_RIGHT) {
teamat 3:8708e61475fe 234 state = STATE_SWING_RIGHT;
teamat 3:8708e61475fe 235 dir = DIR_LEFT;
teamat 3:8708e61475fe 236 return;
teamat 3:8708e61475fe 237 }
teamat 4:fd49edfabfb2 238 if (dir == DIR_LEFT) {
teamat 3:8708e61475fe 239 state = STATE_SWING_LEFT;
teamat 3:8708e61475fe 240 dir = DIR_RIGHT;
teamat 3:8708e61475fe 241 return;
teamat 3:8708e61475fe 242 }
teamat 3:8708e61475fe 243 }
teamat 3:8708e61475fe 244
teamat 3:8708e61475fe 245 void sendData() {
teamat 3:8708e61475fe 246 myUnion.number[0] = t.read();
teamat 6:999e8ae7d969 247 myUnion.number[1] = getPosMM() / 1000;
teamat 4:fd49edfabfb2 248 myUnion.number[2] = speed;
teamat 4:fd49edfabfb2 249 //myUnion.number[3] = dAngle;
teamat 4:fd49edfabfb2 250 myUnion.number[3] = angle;
teamat 3:8708e61475fe 251 myUnion.number[4] = anSpd;
teamat 4:fd49edfabfb2 252 myUnion.number[5] = control;
teamat 4:fd49edfabfb2 253 for(int i = 0; i < 24; i++) {
teamat 3:8708e61475fe 254 rpc.putc(myUnion.numberCh[i]);
teamat 3:8708e61475fe 255 }
teamat 3:8708e61475fe 256 }
teamat 3:8708e61475fe 257
teamat 3:8708e61475fe 258 void Rx_interrupt() {
teamat 4:fd49edfabfb2 259 int command = rpc.getc();
teamat 4:fd49edfabfb2 260 if (command == 50) {
teamat 3:8708e61475fe 261 canSend = true;
teamat 3:8708e61475fe 262 }
teamat 3:8708e61475fe 263 return;
teamat 3:8708e61475fe 264 }
teamat 3:8708e61475fe 265
teamat 3:8708e61475fe 266 int main() {
teamat 3:8708e61475fe 267 RCout = 1;
teamat 3:8708e61475fe 268 wait_ms(500);
teamat 3:8708e61475fe 269 spi.format(16,2);
teamat 3:8708e61475fe 270 spi.frequency(1000000);
teamat 3:8708e61475fe 271 t.start();
teamat 3:8708e61475fe 272 leftSwitch.rise(&leftEnd);
teamat 3:8708e61475fe 273 rightSwitch.rise(&rightEnd);
teamat 4:fd49edfabfb2 274 rpc.attach(&Rx_interrupt, Serial::RxIrq);
teamat 3:8708e61475fe 275 for (int i=5; i>0; i--) {
teamat 3:8708e61475fe 276 getPendulumAngle();
teamat 3:8708e61475fe 277 wait_ms(500);
teamat 3:8708e61475fe 278 }
teamat 4:fd49edfabfb2 279 angleOffset= 3.14 - angle;
teamat 6:999e8ae7d969 280 wait(15);
teamat 3:8708e61475fe 281 updatePeriod();
teamat 6:999e8ae7d969 282 calcControl();
teamat 3:8708e61475fe 283 state=STATE_GOTO_START;
teamat 3:8708e61475fe 284 dir=DIR_LEFT;
teamat 3:8708e61475fe 285 while(1) {
teamat 4:fd49edfabfb2 286 getAngularSpeed();
teamat 3:8708e61475fe 287 if(canSend) {
teamat 3:8708e61475fe 288 sendData();
teamat 3:8708e61475fe 289 }
teamat 3:8708e61475fe 290 switch(state) {
teamat 3:8708e61475fe 291 case STATE_WAITING:
teamat 3:8708e61475fe 292 state = STATE_GOTO_SWING;
teamat 3:8708e61475fe 293 break;
teamat 3:8708e61475fe 294 case STATE_GOTO_START:
teamat 3:8708e61475fe 295 break;
teamat 3:8708e61475fe 296 case STATE_GOTO_END_COUNTING:
teamat 3:8708e61475fe 297 break;
teamat 3:8708e61475fe 298 case STATE_GOTO_SWING:
teamat 4:fd49edfabfb2 299 speedTicker.attach(calcSpeed, 1);
teamat 4:fd49edfabfb2 300 swingTicker.attach(getSwingDirectory, 1);
teamat 4:fd49edfabfb2 301 state = STATE_SWING_LEFT;
teamat 3:8708e61475fe 302 break;
teamat 3:8708e61475fe 303 case STATE_SWING_LEFT:
teamat 3:8708e61475fe 304 break;
teamat 3:8708e61475fe 305 case STATE_SWING_RIGHT:
teamat 3:8708e61475fe 306 break;
teamat 3:8708e61475fe 307 default:
teamat 3:8708e61475fe 308 break;
teamat 3:8708e61475fe 309 }
teamat 3:8708e61475fe 310 //wait_ms(5);
teamat 3:8708e61475fe 311 }
teamat 3:8708e61475fe 312 }