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@36:8c75783c1eca, 2022-05-14 (annotated)

Committer:
pmic
Date:
Sat May 14 14:08:20 2022 +0000
Revision:
36:8c75783c1eca
Parent:
31:1b2a1bd1bccb
Child:
37:15c19c21c499
Updated main structure and introduced Eigen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 36:8c75783c1eca 1 #include <mbed.h>
pmic 36:8c75783c1eca 2 #include <math.h>
pmic 36:8c75783c1eca 3 #include <vector>
pmic 36:8c75783c1eca 4
pmic 17:c19b471f05cb 5 #include "PM2_Libary.h"
pmic 36:8c75783c1eca 6 #include "Eigen/Dense.h"
pmic 36:8c75783c1eca 7
pmic 36:8c75783c1eca 8 #include "IRSensor.h"
pmic 36:8c75783c1eca 9
pmic 36:8c75783c1eca 10 # define M_PI 3.14159265358979323846 // number pi
pmic 6:e1fa1a2d7483 11
pmic 24:86f1a63e35a0 12 // logical variable main task
pmic 24:86f1a63e35a0 13 bool do_execute_main_task = false; // this variable will be toggled via the user button (blue button) to or not to execute the main task
pmic 17:c19b471f05cb 14
pmic 24:86f1a63e35a0 15 // user button on nucleo board
pmic 24:86f1a63e35a0 16 Timer user_button_timer; // create Timer object which we use to check if user button was pressed for a certain time (robust against signal bouncing)
pmic 24:86f1a63e35a0 17 InterruptIn user_button(PC_13); // create InterruptIn interface object to evaluate user button falling and rising edge (no blocking code in ISR)
pmic 24:86f1a63e35a0 18 void user_button_pressed_fcn(); // custom functions which gets executed when user button gets pressed and released, definition below
pmic 24:86f1a63e35a0 19 void user_button_released_fcn();
pmic 6:e1fa1a2d7483 20
pmic 1:93d997d6b232 21 int main()
pmic 23:26b3a25fc637 22 {
pmic 36:8c75783c1eca 23 // while loop gets executed every main_task_period_ms milliseconds
pmic 36:8c75783c1eca 24 const int main_task_period_ms = 10; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
pmic 36:8c75783c1eca 25 Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms
pmic 36:8c75783c1eca 26
pmic 36:8c75783c1eca 27 // led on nucleo board
pmic 36:8c75783c1eca 28 DigitalOut user_led(LED1); // create DigitalOut object to command user led
pmic 36:8c75783c1eca 29
pmic 36:8c75783c1eca 30 // additional Led
pmic 36:8c75783c1eca 31 DigitalOut extra_led(PB_9); // create DigitalOut object to command extra led (do add an aditional resistor, e.g. 220...500 Ohm)
pmic 36:8c75783c1eca 32
pmic 36:8c75783c1eca 33 // mechanical button
pmic 36:8c75783c1eca 34 DigitalIn mechanical_button(PC_5); // create DigitalIn object to evaluate extra mechanical button, you need to specify the mode for proper usage, see below
pmic 36:8c75783c1eca 35
pmic 36:8c75783c1eca 36 // Sharp GP2Y0A41SK0F, 4-40 cm IR Sensor
pmic 36:8c75783c1eca 37 float ir_distance_mV = 0.0f; // define variable to store measurement
pmic 36:8c75783c1eca 38 AnalogIn ir_analog_in(PC_2); // create AnalogIn object to read in infrared distance sensor, 0...3.3V are mapped to 0...1
pmic 36:8c75783c1eca 39
pmic 36:8c75783c1eca 40 // 78:1, 100:1, ... Metal Gearmotor 20Dx44L mm 12V CB
pmic 36:8c75783c1eca 41 DigitalOut enable_motors(PB_15); // create DigitalOut object to enable dc motors
pmic 36:8c75783c1eca 42
pmic 36:8c75783c1eca 43 const float pwm_period_s = 0.00005f; // define pwm period time in seconds and create FastPWM objects to command dc motor M1
pmic 36:8c75783c1eca 44 FastPWM pwm_M1(PB_13); // motor M1 is used open loop
pmic 36:8c75783c1eca 45 FastPWM pwm_M2(PA_9); // motor M2 is closed-loop speed controlled (angle velocity)
pmic 36:8c75783c1eca 46 FastPWM pwm_M3(PA_10); // motor M3 is closed-loop position controlled (angle controlled)
pmic 36:8c75783c1eca 47
pmic 36:8c75783c1eca 48 EncoderCounter encoder_M1(PA_6, PC_7); // create encoder objects to read in the encoder counter values
pmic 36:8c75783c1eca 49 EncoderCounter encoder_M2(PB_6, PB_7);
pmic 36:8c75783c1eca 50 EncoderCounter encoder_M3(PA_0, PA_1);
pmic 36:8c75783c1eca 51
pmic 36:8c75783c1eca 52 // create SpeedController and PositionController objects, default parametrization is for 78.125:1 gear box
pmic 36:8c75783c1eca 53 const float max_voltage = 12.0f; // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack
pmic 36:8c75783c1eca 54 const float counts_per_turn = 20.0f * 78.125f; // define counts per turn at gearbox end: counts/turn * gearratio
pmic 36:8c75783c1eca 55 const float kn = 180.0f / 12.0f; // define motor constant in rpm per V
pmic 36:8c75783c1eca 56 const float k_gear = 100.0f / 78.125f; // define additional ratio in case you are using a dc motor with a different gear box, e.g. 100:1
pmic 36:8c75783c1eca 57 const float kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1
pmic 36:8c75783c1eca 58
pmic 36:8c75783c1eca 59 // SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear box with default contoller parameters
pmic 36:8c75783c1eca 60 SpeedController speedController_M2(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M2, encoder_M2); // parameters adjusted to 100:1 gear
pmic 36:8c75783c1eca 61
pmic 36:8c75783c1eca 62 float max_speed_rps = 0.5f; // define maximum speed that the position controller is changig the speed, has to be smaller or equal to kn * max_voltage
pmic 36:8c75783c1eca 63 // PositionController positionController_M3(counts_per_turn, kn, max_voltage, pwm_M3, encoder_M3); // default 78.125:1 gear with default contoller parameters
pmic 36:8c75783c1eca 64 PositionController positionController_M3(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M3, encoder_M3); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
pmic 36:8c75783c1eca 65 positionController_M3.setSpeedCntrlGain(kp * k_gear);
pmic 36:8c75783c1eca 66 positionController_M3.setMaxVelocityRPS(max_speed_rps);
pmic 36:8c75783c1eca 67
pmic 36:8c75783c1eca 68 // Futaba Servo S3001 20mm 3kg Analog
pmic 36:8c75783c1eca 69 Servo servo_S1(PB_2); // create servo objects
pmic 36:8c75783c1eca 70 Servo servo_S2(PC_8);
pmic 36:8c75783c1eca 71 float servo_S1_angle = 0; // servo S1 normalized angle
pmic 36:8c75783c1eca 72 float servo_S2_angle = 0; // servo S2 normalized angle
pmic 36:8c75783c1eca 73 const int servo_period_mus = 20000; // define servo period time in mus
pmic 36:8c75783c1eca 74
pmic 36:8c75783c1eca 75 int servo_counter = 0; // define servo counter, this is an additional variable to make the servos move
pmic 36:8c75783c1eca 76 const int loops_per_seconds = static_cast<int>(ceilf(1.0f/(0.001f*(float)main_task_period_ms))); // define loops per second
pmic 36:8c75783c1eca 77
pmic 36:8c75783c1eca 78 // Groove Ultrasonic Ranger V2.0
pmic 36:8c75783c1eca 79 float us_distance_cm = 0.0f; // define variable to store measurement
pmic 36:8c75783c1eca 80 RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 17500); // create range finder object (ultra sonic distance sensor), 20 Hz parametrization
pmic 36:8c75783c1eca 81 // RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 7000); // create range finder object (ultra sonic distance sensor), 50 Hz parametrization
pmic 36:8c75783c1eca 82
pmic 36:8c75783c1eca 83 // LSM9DS1 IMU, carefull: not all PES boards have an imu (chip shortage)
pmic 36:8c75783c1eca 84 // LSM9DS1 imu(PC_9, PA_8); // create LSM9DS1 comunication object, if you want to be able to use the imu you need to #include "LSM9DS1_i2c.h"
pmic 36:8c75783c1eca 85
pmic 24:86f1a63e35a0 86 // attach button fall and rise functions to user button object
pmic 24:86f1a63e35a0 87 user_button.fall(&user_button_pressed_fcn);
pmic 24:86f1a63e35a0 88 user_button.rise(&user_button_released_fcn);
pmic 17:c19b471f05cb 89
pmic 29:d6f1ccf42a31 90 // start timer
pmic 24:86f1a63e35a0 91 main_task_timer.start();
pmic 6:e1fa1a2d7483 92
pmic 24:86f1a63e35a0 93 // set pullup mode: add resistor between pin and 3.3 V, so that there is a defined potential
pmic 24:86f1a63e35a0 94 mechanical_button.mode(PullUp);
pmic 24:86f1a63e35a0 95
pmic 24:86f1a63e35a0 96 // enable hardwaredriver dc motors: 0 -> disabled, 1 -> enabled
pmic 10:c5d85e35758c 97 enable_motors = 1;
pmic 17:c19b471f05cb 98
pmic 24:86f1a63e35a0 99 // motor M1 is used open-loop, we need to initialize the pwm and set pwm output to zero at the beginning, range: 0...1 -> u_min...u_max: 0.5 -> 0 V
pmic 25:ea1d6e27c895 100 pwm_M1.period(pwm_period_s);
pmic 30:1e8295770bc1 101 pwm_M1.write(0.5f);
pmic 9:f10b974d01e0 102
pmic 31:1b2a1bd1bccb 103 // set the soft pwm period for the servo objects
pmic 31:1b2a1bd1bccb 104 servo_S1.SetPeriod(servo_period_mus);
pmic 31:1b2a1bd1bccb 105 servo_S2.SetPeriod(servo_period_mus);
pmic 6:e1fa1a2d7483 106
pmic 24:86f1a63e35a0 107 while (true) { // this loop will run forever
pmic 6:e1fa1a2d7483 108
pmic 24:86f1a63e35a0 109 main_task_timer.reset();
pmic 6:e1fa1a2d7483 110
pmic 24:86f1a63e35a0 111 if (do_execute_main_task) {
pmic 17:c19b471f05cb 112
pmic 24:86f1a63e35a0 113 // read analog input
pmic 24:86f1a63e35a0 114 ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f;
pmic 6:e1fa1a2d7483 115
pmic 24:86f1a63e35a0 116 // command dc motors if mechanical button is pressed
pmic 29:d6f1ccf42a31 117 if (mechanical_button.read()) {
pmic 30:1e8295770bc1 118 pwm_M1.write(0.75f); // write output voltage to motor M1
pmic 24:86f1a63e35a0 119 speedController_M2.setDesiredSpeedRPS(0.5f); // set a desired speed for speed controlled dc motors M2
pmic 36:8c75783c1eca 120 positionController_M3.setDesiredRotation(1.5f); // set a desired rotation for position controlled dc motors M3
pmic 24:86f1a63e35a0 121 } else {
pmic 30:1e8295770bc1 122 pwm_M1.write(0.5f);
pmic 24:86f1a63e35a0 123 speedController_M2.setDesiredSpeedRPS(0.0f);
pmic 36:8c75783c1eca 124 positionController_M3.setDesiredRotation(0.0f);
pmic 24:86f1a63e35a0 125 }
pmic 6:e1fa1a2d7483 126
pmic 30:1e8295770bc1 127 // check if servos are enabled
pmic 31:1b2a1bd1bccb 128 if (!servo_S1.isEnabled()) servo_S1.Enable();
pmic 31:1b2a1bd1bccb 129 if (!servo_S2.isEnabled()) servo_S2.Enable();
pmic 24:86f1a63e35a0 130 // command servo position, this needs to be calibrated
pmic 30:1e8295770bc1 131 servo_S1.SetPosition(servo_S1_angle);
pmic 31:1b2a1bd1bccb 132 if (servo_S1_angle < 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) {
pmic 30:1e8295770bc1 133 servo_S1_angle += 0.01f;
pmic 8:9bb806a7f585 134 }
pmic 30:1e8295770bc1 135 servo_S2.SetPosition(servo_S2_angle);
pmic 31:1b2a1bd1bccb 136 if (servo_S2_angle < 1.0f & servo_counter%loops_per_seconds == 0 & servo_counter != 0) {
pmic 30:1e8295770bc1 137 servo_S2_angle += 0.01f;
pmic 8:9bb806a7f585 138 }
pmic 10:c5d85e35758c 139 servo_counter++;
pmic 6:e1fa1a2d7483 140
pmic 24:86f1a63e35a0 141 // read ultra sonic distance sensor
pmic 24:86f1a63e35a0 142 us_distance_cm = us_range_finder.read_cm();
pmic 11:af0f165f8761 143
pmic 24:86f1a63e35a0 144 // visual feedback that the main task is executed
pmic 24:86f1a63e35a0 145 extra_led = 1;
pmic 9:f10b974d01e0 146
pmic 1:93d997d6b232 147 } else {
pmic 6:e1fa1a2d7483 148
pmic 24:86f1a63e35a0 149 ir_distance_mV = 0.0f;
pmic 1:93d997d6b232 150
pmic 30:1e8295770bc1 151 pwm_M1.write(0.5f);
pmic 17:c19b471f05cb 152 speedController_M2.setDesiredSpeedRPS(0.0f);
pmic 36:8c75783c1eca 153 positionController_M3.setDesiredRotation(0.0f);
pmic 6:e1fa1a2d7483 154
pmic 30:1e8295770bc1 155 servo_S1_angle = 0;
pmic 30:1e8295770bc1 156 servo_S2_angle = 0;
pmic 30:1e8295770bc1 157 // servo_S1.SetPosition(servo_S1_angle);
pmic 30:1e8295770bc1 158 // servo_S2.SetPosition(servo_S2_angle);
pmic 30:1e8295770bc1 159 if (servo_S1.isEnabled()) servo_S1.Disable();
pmic 30:1e8295770bc1 160 if (servo_S2.isEnabled()) servo_S2.Disable();
pmic 17:c19b471f05cb 161
pmic 24:86f1a63e35a0 162 us_distance_cm = 0.0f;
pmic 6:e1fa1a2d7483 163
pmic 24:86f1a63e35a0 164 extra_led = 0;
pmic 1:93d997d6b232 165 }
pmic 6:e1fa1a2d7483 166
pmic 24:86f1a63e35a0 167 user_led = !user_led;
pmic 24:86f1a63e35a0 168
pmic 24:86f1a63e35a0 169 // do only output via serial what's really necessary (this makes your code slow)
pmic 30:1e8295770bc1 170 printf("IR sensor (mV): %3.3f, Encoder M1: %3d, Speed M2 (rps) %3.3f, Position M3 (rot): %3.3f, Servo S1 angle (normalized): %3.3f, Servo S2 angle (normalized): %3.3f, US sensor (cm): %3.3f\r\n",
pmic 24:86f1a63e35a0 171 ir_distance_mV,
pmic 17:c19b471f05cb 172 encoder_M1.read(),
pmic 17:c19b471f05cb 173 speedController_M2.getSpeedRPS(),
pmic 17:c19b471f05cb 174 positionController_M3.getRotation(),
pmic 30:1e8295770bc1 175 servo_S1_angle,
pmic 30:1e8295770bc1 176 servo_S2_angle,
pmic 24:86f1a63e35a0 177 us_distance_cm);
pmic 6:e1fa1a2d7483 178
pmic 24:86f1a63e35a0 179 // read out the imu, the actual frames of the sensor reading needs to be figured out
pmic 24:86f1a63e35a0 180 // imu.updateGyro();
pmic 24:86f1a63e35a0 181 // imu.updateAcc();
pmic 24:86f1a63e35a0 182 // imu.updateMag();
pmic 24:86f1a63e35a0 183 // printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f\r\n", imu.readGyroX(), imu.readGyroY(), imu.readGyroZ(),
pmic 24:86f1a63e35a0 184 // imu.readAccX(), imu.readAccY(), imu.readAccZ(), imu.readMagX(), imu.readMagY(), imu.readMagZ());
pmic 17:c19b471f05cb 185
pmic 24:86f1a63e35a0 186 // read timer and make the main thread sleep for the remaining time span (non blocking)
pmic 24:86f1a63e35a0 187 int main_task_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(main_task_timer.elapsed_time()).count();
pmic 24:86f1a63e35a0 188 thread_sleep_for(main_task_period_ms - main_task_elapsed_time_ms);
pmic 1:93d997d6b232 189 }
pmic 1:93d997d6b232 190 }
pmic 6:e1fa1a2d7483 191
pmic 24:86f1a63e35a0 192 void user_button_pressed_fcn()
pmic 25:ea1d6e27c895 193 {
pmic 26:28693b369945 194 user_button_timer.start();
pmic 6:e1fa1a2d7483 195 user_button_timer.reset();
pmic 6:e1fa1a2d7483 196 }
pmic 6:e1fa1a2d7483 197
pmic 24:86f1a63e35a0 198 void user_button_released_fcn()
pmic 6:e1fa1a2d7483 199 {
pmic 24:86f1a63e35a0 200 // read timer and toggle do_execute_main_task if the button was pressed longer than the below specified time
pmic 24:86f1a63e35a0 201 int user_button_elapsed_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 202 user_button_timer.stop();
pmic 24:86f1a63e35a0 203 if (user_button_elapsed_time_ms > 200) {
pmic 24:86f1a63e35a0 204 do_execute_main_task = !do_execute_main_task;
pmic 8:9bb806a7f585 205 }
pmic 6:e1fa1a2d7483 206 }