Artem Solomatin / Mbed 2 deprecated pendudu

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Dependencies:   mbed

main.cpp@4:fd49edfabfb2, 2020-05-17 (annotated)

Committer:
teamat
Date:
Sun May 17 16:13:43 2020 +0000
Revision:
4:fd49edfabfb2
Parent:
3:8708e61475fe
Child:
5:9aae12408a54
Try to restore old

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