Jason Wessel
Repository for verBOT robot project, hopefully featuring two branches: Dev/Test and Prod.
Dependencies: PM2_Libary Eigen
Diff: main.cpp
- Revision:
- 17:c19b471f05cb
- Parent:
- 16:1be4a1c2d08a
- Child:
- 20:7e7325edcf5c
--- a/main.cpp Sat Jan 22 13:25:25 2022 +0000
+++ b/main.cpp Thu Feb 10 12:04:51 2022 +0000
@@ -1,157 +1,167 @@
#include "mbed.h"
-#include "platform/mbed_thread.h"
-
-/* PM2_Libary */
-#include "EncoderCounter.h"
-#include "Servo.h"
-#include "SpeedController.h"
-#include "PositionController.h"
-#include "FastPWM.h"
-#include "RangeFinder.h"
-
-using namespace std::chrono;
+#include "PM2_Libary.h"
InterruptIn user_button(PC_13);
DigitalOut led(LED1);
-bool executeMainTask = false;
+
+bool do_execute_main = false;
Timer user_button_timer, loop_timer;
-int Ts_ms = 50;
+int loop_period_ms = 50;
+
/* declaration of custom button functions */
void button_fall();
void button_rise();
+
// SHARP GP2Y0A21Y IR Sensor
-// https://www.digitec.ch/de/s1/product/sharp-distanz-sensor-1-st-gp2y0a21y-aktive-bauelemente-8425699?gclid=Cj0KCQjwpdqDBhCSARIsAEUJ0hMUr4sljdd8LfsdhBBlhxKY5gyDmZQ49ghgiIRZaKWdj85ISUw5r4oaAmM9EALw_wcB&gclsrc=aw.ds
/* create analog input object */
-AnalogIn analogIn(PC_2);
-float dist_IRSensor = 0.0f;
+AnalogIn analog_in(PC_2);
+float dist_ir_sensor = 0.0f;
+
// 78:1 Metal Gearmotor 20Dx43L mm 12V CB
-// https://www.pololu.com/product/3477
/* create enable dc motor digital out object */
DigitalOut enable_motors(PB_15);
+
/* create pwm objects */
-FastPWM pwmOut_M1(PB_13);
-FastPWM pwmOut_M2(PA_9);
-FastPWM pwmOut_M3(PA_10);
-double Ts_pwm_s = 0.00005; // this needs to be a double value (no f at the end)
+FastPWM pwm_M1(PB_13);
+FastPWM pwm_M2(PA_9);
+FastPWM pwm_M3(PA_10);
+float pwm_period_s = 0.00005f;
+
/* create encoder read objects */
-EncoderCounter encoderCounter_M1(PA_6, PC_7);
-EncoderCounter encoderCounter_M2(PB_6, PB_7);
-EncoderCounter encoderCounter_M3(PA_0, PA_1);
-/* create speed controller objects, only M1 and M2, M3 is used open-loop */
-float counts_per_turn = 20.0f*78.125f; // counts/turn * gearratio
-float kn = 180.0f/12.0f; // (RPM/V)
-float max_voltage = 12.0f; // adjust this to 6.0f if only one batterypack is used
-SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwmOut_M1, encoderCounter_M1);
-PositionController positionController_M2(counts_per_turn, kn, max_voltage, pwmOut_M2, encoderCounter_M2);
-float max_speed_rps = 1.0f; // has to be smaller or equal to kn * max_voltage
+EncoderCounter encoder_M1(PA_6, PC_7);
+EncoderCounter encoder_M2(PB_6, PB_7);
+EncoderCounter encoder_M3(PA_0, PA_1);
+
+/* create speed and position controller objects, default parametrization is for 78.125:1 gear */
+float max_voltage = 12.0f; // adjust this to 6.0f if only one batterypack is used
+float counts_per_turn = 20.0f * 78.125f; // counts/turn * gearratio
+float kn = 180.0f / 12.0f; // motor constant (RPM/V)
-// Futaba Servo S3001 20mm 3kg Analog
-// 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
+float k_gear = 25.0f / 78.125f; // in case you are using a dc motor with a different gear box
+float kp = 0.1f; // this is the default speed controller gain for gear box 78.125:1
+
+SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear with default contoller parameters
+// SpeedController speedController_M2(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M2, encoder_M2); // parameters adjusted to 25:1 gear
+
+PositionController positionController_M3(counts_per_turn, kn, max_voltage, pwm_M3, encoder_M3); // default 78.125:1 gear with default contoller parameters
+// PositionController positionController_M3(counts_per_turn * k_gear, kn / k_gear, kp * k_gear, max_voltage, pwm_M3, encoder_M3); // parameters adjusted to 25:1 gear, we need a different speed controller gain here
+float max_speed_rps = 0.5f; // has to be smaller or equal to kn * max_voltage
+
+
+// Futaba Servo S3001 20mm 3kg Analog
/* create servo objects */
Servo servo_S1(PB_2);
Servo servo_S2(PC_8);
// Servo servo_S3(PC_6); // PC_6 is used for ultra sonic sensor below
-int Ts_pwm_mus = 20000;
-int servoOutput_mus_S1 = 0;
-int servoOutput_mus_S2 = 0;
+int servo_position_S1_mus = 0;
+int servo_position_S2_mus = 0;
+int servo_period_mus = 20000;
int servo_counter = 0;
-int loops_per_second = static_cast<int>(ceilf(1.0f/(0.001f*(float)Ts_ms)));
+int loops_per_second = static_cast<int>(ceilf(1.0f/(0.001f*(float)loop_period_ms)));
+
// Groove Ultrasonic Ranger V2.0
-// 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
+// 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
/* create range finder object (ultra sonic distance sensor) */
-RangeFinder rangeFinder(PC_6, 5782.0f, 0.02f, 17500); // 1/Ts_ms = 20 Hz parametrization
-// RangeFinder rangefinder(PB_6, 5782.0f, 0.02f, 7000); // 1/Ts_ms = 50 Hz parametrization
-float dist_USSensor = 0.0f;
+// RangeFinder range_finder(PC_6, 5782.0f, 0.02f, 17500); // 1/loop_period_ms = 20 Hz parametrization
+RangeFinder range_finder(PB_6, 5782.0f, 0.02f, 7000); // 1/loop_period_ms = 50 Hz parametrization
+float dist_us_sensor = 0.0f;
+
int main()
{
+ /* attach button fall and rise functions */
user_button.fall(&button_fall);
user_button.rise(&button_rise);
+
+ /* start loop_timer */
loop_timer.start();
- /* enable hardwaredriver dc motors */
+ /* enable hardwaredriver dc motors: 0 -> disabled, 1 -> enabled */
enable_motors = 1;
- /* initialize pwm for motor M3*/
- pwmOut_M3.period(Ts_pwm_s);
- /* set pwm output zero at the beginning, range: 0...1 -> u_min...u_max */
- pwmOut_M3.write(0.5);
+
+ /* initialize pwm for motor M1*/
+ pwm_M1.period(pwm_period_s);
+ /* set pwm output zero at the beginning, range: 0...1 -> u_min...u_max , 0.5 -> 0 V */
+ pwm_M1.write(0.5);
/* enable servos, you can also disable them */
- servo_S1.Enable(servoOutput_mus_S1, Ts_pwm_mus);
- servo_S2.Enable(servoOutput_mus_S2, Ts_pwm_mus);
+ servo_S1.Enable(servo_position_S1_mus, servo_period_mus);
+ servo_S2.Enable(servo_position_S2_mus, servo_period_mus);
while (true) {
loop_timer.reset();
- /* ------------- start hacking ------------- -------------*/
-
- if (executeMainTask) {
+ if (do_execute_main) {
/* read analog input */
- dist_IRSensor = analogIn.read() * 3.3f;
+ dist_ir_sensor = analog_in.read() * 3.3f;
+
+ /* write output voltage to motor M1 */
+ pwm_M1.write(0.75);
- /* command a speed to dc motors M1 and M2*/
- speedController_M1.setDesiredSpeedRPS( 1.0f);
- positionController_M2.setDesiredRotation(0.5f, max_speed_rps);
- /* write output voltage to motor M3 */
- pwmOut_M3.write(0.75);
+ /* set a desired speed for speed controlled dc motors M2 */
+ speedController_M2.setDesiredSpeedRPS(0.5f);
+
+ /* set a desired rotation for position controlled dc motors M3 */
+ positionController_M3.setDesiredRotation(1.5f, max_speed_rps);
+
/* command servo position via output time, this needs to be calibrated */
- servo_S1.SetPosition(servoOutput_mus_S1);
- servo_S2.SetPosition(servoOutput_mus_S2);
- if (servoOutput_mus_S1 <= Ts_pwm_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
- servoOutput_mus_S1 += 100;
+ servo_S1.SetPosition(servo_position_S1_mus);
+ servo_S2.SetPosition(servo_position_S2_mus);
+ if (servo_position_S1_mus <= servo_period_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
+ servo_position_S1_mus += 100;
}
- if (servoOutput_mus_S2 <= Ts_pwm_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
- servoOutput_mus_S2 += 100;
+ if (servo_position_S2_mus <= servo_period_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
+ servo_position_S2_mus += 100;
}
servo_counter++;
/* read ultra sonic distance sensor */
- dist_USSensor = rangeFinder.read_cm();
+ dist_us_sensor = range_finder.read_cm();
/* visual feedback that the main task is executed */
led = !led;
} else {
- dist_IRSensor = 0.0f;
+ dist_ir_sensor = 0.0f;
- speedController_M1.setDesiredSpeedRPS(0.0f);
- positionController_M2.setDesiredRotation(0.0f, max_speed_rps);
- pwmOut_M3.write(0.5);
+ pwm_M1.write(0.5);
+ speedController_M2.setDesiredSpeedRPS(0.0f);
+ positionController_M3.setDesiredRotation(0.0f, max_speed_rps);
- servoOutput_mus_S1 = 0;
- servoOutput_mus_S2 = 0;
- servo_S1.SetPosition(servoOutput_mus_S1);
- servo_S2.SetPosition(servoOutput_mus_S2);
-
- dist_USSensor = 0.0f;
+ servo_position_S1_mus = 0;
+ servo_position_S2_mus = 0;
+ servo_S1.SetPosition(servo_position_S1_mus);
+ servo_S2.SetPosition(servo_position_S2_mus);
+
+ dist_us_sensor = 0.0f;
led = 0;
}
/* do only output via serial what's really necessary (this makes your code slow)*/
- printf("%3.3f, %3d, %3d, %3.3f, %3.3f, %3d, %3.3f;\r\n",
- dist_IRSensor,
- servoOutput_mus_S1,
- servoOutput_mus_S2,
- speedController_M1.getSpeedRPS(),
- positionController_M2.getRotation(),
- encoderCounter_M3.read(),
- dist_USSensor);
-
- /* ------------- stop hacking ------------- -------------*/
+ printf("%3.3f, %3d, %3.3f, %3.3f, %3d, %3d, %3.3f;\r\n",
+ dist_ir_sensor * 1e3,
+ encoder_M1.read(),
+ speedController_M2.getSpeedRPS(),
+ positionController_M3.getRotation(),
+ servo_position_S1_mus,
+ servo_position_S2_mus,
+ dist_us_sensor);
- int T_loop_ms = duration_cast<milliseconds>(loop_timer.elapsed_time()).count();
- int dT_loop_ms = Ts_ms - T_loop_ms;
- thread_sleep_for(dT_loop_ms);
+
+ /* ------------- stop hacking ----------------------------------------*/
+
+ int loop_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(loop_timer.elapsed_time()).count();
+ thread_sleep_for(loop_period_ms - loop_time_ms);
}
}
@@ -163,9 +173,9 @@
void button_rise()
{
- int t_button_ms = duration_cast<milliseconds>(user_button_timer.elapsed_time()).count();
+ int user_button_time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(user_button_timer.elapsed_time()).count();
user_button_timer.stop();
- if (t_button_ms > 200) {
- executeMainTask = !executeMainTask;
+ if (user_button_time_ms > 200) {
+ do_execute_main = !do_execute_main;
}
}
\ No newline at end of file