Jason Wessel / Mbed OS verBOT-repo

Repository for verBOT robot project, hopefully featuring two branches: Dev/Test and Prod.

Dependencies:   PM2_Libary Eigen

main.cpp@12:3dfd8f2939ac, 2021-04-19 (annotated)

Committer:
pmic
Date:
Mon Apr 19 08:47:39 2021 +0000
Revision:
12:3dfd8f2939ac
Parent:
11:af0f165f8761
Child:
13:41bf923cd055
Adjustet servocontroller period name so the names are consistent.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 1:93d997d6b232 1 #include "mbed.h"
pmic 1:93d997d6b232 2 #include "platform/mbed_thread.h"
pmic 6:e1fa1a2d7483 3
pmic 6:e1fa1a2d7483 4 /* PM2_Libary */
pmic 1:93d997d6b232 5 #include "EncoderCounter.h"
pmic 1:93d997d6b232 6 #include "Servo.h"
pmic 3:d22942631cd7 7 #include "SpeedController.h"
pmic 9:f10b974d01e0 8 #include "FastPWM.h"
pmic 11:af0f165f8761 9 #include "RangeFinder.h"
pmic 6:e1fa1a2d7483 10
pmic 6:e1fa1a2d7483 11 using namespace std::chrono;
pmic 6:e1fa1a2d7483 12
pmic 8:9bb806a7f585 13 InterruptIn user_button(USER_BUTTON);
pmic 8:9bb806a7f585 14 DigitalOut led(LED1);
pmic 6:e1fa1a2d7483 15
pmic 6:e1fa1a2d7483 16 bool executeMainTask = false;
pmic 6:e1fa1a2d7483 17 Timer user_button_timer, loop_timer;
pmic 7:c0f5bb355f41 18 int Ts_ms = 50;
pmic 6:e1fa1a2d7483 19
pmic 6:e1fa1a2d7483 20 /* declaration of custom button functions */
pmic 6:e1fa1a2d7483 21 void button_fall();
pmic 6:e1fa1a2d7483 22 void button_rise();
pmic 6:e1fa1a2d7483 23
pmic 11:af0f165f8761 24 // SHARP GP2Y0A21Y IR Sensor
pmic 11:af0f165f8761 25 // https://www.digitec.ch/de/s1/product/sharp-distanz-sensor-1-st-gp2y0a21y-aktive-bauelemente-8425699?gclid=Cj0KCQjwpdqDBhCSARIsAEUJ0hMUr4sljdd8LfsdhBBlhxKY5gyDmZQ49ghgiIRZaKWdj85ISUw5r4oaAmM9EALw_wcB&gclsrc=aw.ds
pmic 6:e1fa1a2d7483 26 /* create analog input object */
pmic 6:e1fa1a2d7483 27 AnalogIn analogIn(PC_2);
pmic 11:af0f165f8761 28 float dist_IRSensor = 0.0f;
pmic 6:e1fa1a2d7483 29
pmic 11:af0f165f8761 30 // 78:1 Metal Gearmotor 20Dx43L mm 12V CB
pmic 11:af0f165f8761 31 // https://www.pololu.com/product/3477
pmic 6:e1fa1a2d7483 32 /* create enable dc motor digital out object */
pmic 6:e1fa1a2d7483 33 DigitalOut enable_motors(PB_15);
pmic 10:c5d85e35758c 34 /* create pwm objects */
pmic 10:c5d85e35758c 35 FastPWM pwmOut_M1(PB_13);
pmic 10:c5d85e35758c 36 FastPWM pwmOut_M2(PA_9);
pmic 10:c5d85e35758c 37 FastPWM pwmOut_M3(PA_10);
pmic 10:c5d85e35758c 38 double Ts_pwm_s = 0.00005; // this needs to be a double value (no f at the end)
pmic 6:e1fa1a2d7483 39 /* create encoder read objects */
pmic 10:c5d85e35758c 40 EncoderCounter encoderCounter_M1(PA_6, PC_7);
pmic 10:c5d85e35758c 41 EncoderCounter encoderCounter_M2(PB_6, PB_7);
pmic 10:c5d85e35758c 42 EncoderCounter encoderCounter_M3(PA_0, PA_1);
pmic 10:c5d85e35758c 43 /* create speed controller objects, only M1 and M2, M3 is used open-loop */
pmic 10:c5d85e35758c 44 float counts_per_turn = 20.0f*78.125f; // counts/turn * gearratio
pmic 10:c5d85e35758c 45 float kn = 180.0f/12.0f; // (RPM/V)
pmic 10:c5d85e35758c 46 float max_voltage = 12.0f; // adjust this to 6.0f if only one batterypack is used
pmic 10:c5d85e35758c 47 SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwmOut_M1, encoderCounter_M1);
pmic 10:c5d85e35758c 48 SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwmOut_M2, encoderCounter_M2);
pmic 6:e1fa1a2d7483 49
pmic 11:af0f165f8761 50 // Futaba Servo S3001 20mm 3kg Analog
pmic 11:af0f165f8761 51 // https://www.modellmarkt24.ch/pi/RC-Elektronik/Servos/Standard-Servo-20mm/futaba-servo-s3001-20mm-3kg-analog.html?gclid=CjwKCAjw3pWDBhB3EiwAV1c5rK_-x_Bt19_wIY-IcS2C-RULXKBtYfY0byxejkZLjASro-EMPBUhrxoCgaQQAvD_BwE
pmic 6:e1fa1a2d7483 52 /* create servo objects */
pmic 10:c5d85e35758c 53 Servo servo_S1(PB_2);
pmic 10:c5d85e35758c 54 Servo servo_S2(PC_8);
pmic 11:af0f165f8761 55 // Servo servo_S3(PC_6); // PC_6 is used for ultra sonic sensor below
pmic 12:3dfd8f2939ac 56 int Ts_pwm_mus = 20000;
pmic 10:c5d85e35758c 57 int servoOutput_mus_S1 = 0;
pmic 10:c5d85e35758c 58 int servoOutput_mus_S2 = 0;
pmic 10:c5d85e35758c 59 int servo_counter = 0;
pmic 10:c5d85e35758c 60 int loops_per_second = static_cast<int>(ceilf(1.0f/(0.001f*(float)Ts_ms)));
pmic 1:93d997d6b232 61
pmic 11:af0f165f8761 62 // Groove Ultrasonic Ranger V2.0
pmic 11:af0f165f8761 63 // https://ch.rs-online.com/web/p/entwicklungstools-sensorik/1743238/?cm_mmc=CH-PLA-DS3A-_-google-_-CSS_CH_DE_Raspberry_Pi_%26_Arduino_und_Entwicklungstools_Whoop-_-(CH:Whoop!)+Entwicklungstools+Sensorik-_-1743238&matchtype=&pla-306637898829&gclid=Cj0KCQjwpdqDBhCSARIsAEUJ0hOLQOOaw_2-Ob03u4YGwXthQPeSyjaazFqNuMkTIT8Ie18B1pD7P9AaAn18EALw_wcB&gclsrc=aw.ds
pmic 11:af0f165f8761 64 /* create range finder object (ultra sonic distance sensor) */
pmic 11:af0f165f8761 65 RangeFinder rangeFinder(PC_6, 5782.0f, 0.02f, 17500); // 1/Ts_ms = 20 Hz parametrization
pmic 11:af0f165f8761 66 // RangeFinder rangefinder(PB_6, 5782.0f, 0.02f, 7000); // 1/Ts_ms = 50 Hz parametrization
pmic 11:af0f165f8761 67 float dist_USSensor = 0.0f;
pmic 11:af0f165f8761 68
pmic 1:93d997d6b232 69 int main()
pmic 9:f10b974d01e0 70 {
pmic 6:e1fa1a2d7483 71 user_button.fall(&button_fall);
pmic 6:e1fa1a2d7483 72 user_button.rise(&button_rise);
pmic 6:e1fa1a2d7483 73 loop_timer.start();
pmic 6:e1fa1a2d7483 74
pmic 10:c5d85e35758c 75 /* enable hardwaredriver dc motors */
pmic 10:c5d85e35758c 76 enable_motors = 1;
pmic 10:c5d85e35758c 77 /* initialize pwm for motor M3*/
pmic 10:c5d85e35758c 78 pwmOut_M3.period(Ts_pwm_s);
pmic 6:e1fa1a2d7483 79 /* set pwm output zero at the beginning, range: 0...1 -> u_min...u_max */
pmic 10:c5d85e35758c 80 pwmOut_M3.write(0.5);
pmic 9:f10b974d01e0 81
pmic 10:c5d85e35758c 82 /* enable servos, you can also disable them */
pmic 12:3dfd8f2939ac 83 servo_S1.Enable(servoOutput_mus_S1, Ts_pwm_mus);
pmic 12:3dfd8f2939ac 84 servo_S2.Enable(servoOutput_mus_S2, Ts_pwm_mus);
pmic 6:e1fa1a2d7483 85
pmic 1:93d997d6b232 86 while (true) {
pmic 6:e1fa1a2d7483 87
pmic 6:e1fa1a2d7483 88 loop_timer.reset();
pmic 6:e1fa1a2d7483 89
pmic 6:e1fa1a2d7483 90 /* ------------- start hacking ------------- -------------*/
pmic 6:e1fa1a2d7483 91
pmic 6:e1fa1a2d7483 92 if (executeMainTask) {
pmic 6:e1fa1a2d7483 93
pmic 6:e1fa1a2d7483 94 /* read analog input */
pmic 11:af0f165f8761 95 dist_IRSensor = analogIn.read() * 3.3f;
pmic 6:e1fa1a2d7483 96
pmic 10:c5d85e35758c 97 /* command a speed to dc motors M1 and M2*/
pmic 10:c5d85e35758c 98 speedController_M1.setDesiredSpeedRPS( 1.0f);
pmic 10:c5d85e35758c 99 speedController_M2.setDesiredSpeedRPS(-0.5f);
pmic 10:c5d85e35758c 100 /* write output voltage to motor M3 */
pmic 10:c5d85e35758c 101 pwmOut_M3.write(0.75);
pmic 6:e1fa1a2d7483 102
pmic 10:c5d85e35758c 103 /* command servo position via output time, this needs to be calibrated */
pmic 10:c5d85e35758c 104 servo_S1.SetPosition(servoOutput_mus_S1);
pmic 10:c5d85e35758c 105 servo_S2.SetPosition(servoOutput_mus_S2);
pmic 12:3dfd8f2939ac 106 if (servoOutput_mus_S1 <= Ts_pwm_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
pmic 10:c5d85e35758c 107 servoOutput_mus_S1 += 100;
pmic 8:9bb806a7f585 108 }
pmic 12:3dfd8f2939ac 109 if (servoOutput_mus_S2 <= Ts_pwm_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
pmic 10:c5d85e35758c 110 servoOutput_mus_S2 += 100;
pmic 8:9bb806a7f585 111 }
pmic 10:c5d85e35758c 112 servo_counter++;
pmic 6:e1fa1a2d7483 113
pmic 11:af0f165f8761 114 /* read ultra sonic distance sensor */
pmic 11:af0f165f8761 115 dist_USSensor = rangeFinder.read_cm();
pmic 11:af0f165f8761 116
pmic 6:e1fa1a2d7483 117 /* visual feedback that the main task is executed */
pmic 6:e1fa1a2d7483 118 led = !led;
pmic 9:f10b974d01e0 119
pmic 1:93d997d6b232 120 } else {
pmic 6:e1fa1a2d7483 121
pmic 11:af0f165f8761 122 dist_IRSensor = 0.0f;
pmic 1:93d997d6b232 123
pmic 10:c5d85e35758c 124 speedController_M1.setDesiredSpeedRPS(0.0f);
pmic 10:c5d85e35758c 125 speedController_M2.setDesiredSpeedRPS(0.0f);
pmic 10:c5d85e35758c 126 pwmOut_M3.write(0.5);
pmic 6:e1fa1a2d7483 127
pmic 10:c5d85e35758c 128 servoOutput_mus_S1 = 0;
pmic 10:c5d85e35758c 129 servoOutput_mus_S2 = 0;
pmic 10:c5d85e35758c 130 servo_S1.SetPosition(servoOutput_mus_S1);
pmic 10:c5d85e35758c 131 servo_S2.SetPosition(servoOutput_mus_S2);
pmic 11:af0f165f8761 132
pmic 11:af0f165f8761 133 dist_USSensor = 0.0f;
pmic 6:e1fa1a2d7483 134
pmic 6:e1fa1a2d7483 135 led = 0;
pmic 1:93d997d6b232 136 }
pmic 6:e1fa1a2d7483 137
pmic 10:c5d85e35758c 138 /* do only output via serial what's really necessary (this makes your code slow)*/
pmic 11:af0f165f8761 139 printf("%3.3f, %3d, %3d, %3d, %3.3f, %3.3f, %3.3f;\r\n",
pmic 11:af0f165f8761 140 dist_IRSensor,
pmic 10:c5d85e35758c 141 servoOutput_mus_S1,
pmic 10:c5d85e35758c 142 servoOutput_mus_S2,
pmic 10:c5d85e35758c 143 encoderCounter_M3.read(),
pmic 10:c5d85e35758c 144 speedController_M1.getSpeedRPS(),
pmic 11:af0f165f8761 145 speedController_M2.getSpeedRPS(),
pmic 11:af0f165f8761 146 dist_USSensor);
pmic 8:9bb806a7f585 147
pmic 6:e1fa1a2d7483 148 /* ------------- stop hacking ------------- -------------*/
pmic 6:e1fa1a2d7483 149
pmic 6:e1fa1a2d7483 150 int T_loop_ms = duration_cast<milliseconds>(loop_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 151 int dT_loop_ms = Ts_ms - T_loop_ms;
pmic 6:e1fa1a2d7483 152 thread_sleep_for(dT_loop_ms);
pmic 1:93d997d6b232 153 }
pmic 1:93d997d6b232 154 }
pmic 6:e1fa1a2d7483 155
pmic 6:e1fa1a2d7483 156 void button_fall()
pmic 6:e1fa1a2d7483 157 {
pmic 6:e1fa1a2d7483 158 user_button_timer.reset();
pmic 6:e1fa1a2d7483 159 user_button_timer.start();
pmic 6:e1fa1a2d7483 160 }
pmic 6:e1fa1a2d7483 161
pmic 6:e1fa1a2d7483 162 void button_rise()
pmic 6:e1fa1a2d7483 163 {
pmic 6:e1fa1a2d7483 164 int t_button_ms = duration_cast<milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 165 user_button_timer.stop();
pmic 8:9bb806a7f585 166 if (t_button_ms > 200) {
pmic 6:e1fa1a2d7483 167 executeMainTask = !executeMainTask;
pmic 8:9bb806a7f585 168 }
pmic 6:e1fa1a2d7483 169 }