EdgeBotix / Robot

Initial Commit

robot.cpp@1:282467cbebb3, 2014-10-11 (annotated)

Committer:
Throwbot
Date:
Sat Oct 11 03:53:04 2014 +0000
Revision:
1:282467cbebb3
Parent:
0:b74b6d70347d
Child:
2:37a19a9e5f2c
uLTRASONIC SEPERATE CLASS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Throwbot 0:b74b6d70347d 1 /* mbed ROBOT Library, for SUTD evobot project, Generation 1
Throwbot 0:b74b6d70347d 2 * Copyright (c) 2013, SUTD
Throwbot 0:b74b6d70347d 3 * Author: Mark VanderMeulen
Throwbot 0:b74b6d70347d 4 * Modified: Mayuran Saravanapavanantham (this code used for STARS)
Throwbot 0:b74b6d70347d 5 *
Throwbot 0:b74b6d70347d 6 * April 22, 2013
Throwbot 0:b74b6d70347d 7 */
Throwbot 0:b74b6d70347d 8
Throwbot 0:b74b6d70347d 9 #include "robot.h"
Throwbot 0:b74b6d70347d 10 #include "math.h"
Throwbot 0:b74b6d70347d 11 //*********************************CONSTRUCTOR*********************************//
Throwbot 0:b74b6d70347d 12 //*********************************CONSTRUCTOR*********************************//
Throwbot 0:b74b6d70347d 13 HC05 bt(tx_bt,rx_bt,EN_BT);
Throwbot 0:b74b6d70347d 14 //QEI wheel (PTA16, PTA17, NC, 24);
Throwbot 1:282467cbebb3 15 QEI right (PTA16, PTA17, NC, 150, QEI::X4_ENCODING);
Throwbot 1:282467cbebb3 16 QEI left (PTA14, PTA13, NC, 150, QEI::X4_ENCODING);
Throwbot 0:b74b6d70347d 17 //Serial bt(rx_bt,tx_bt);
Throwbot 0:b74b6d70347d 18 //MPU6050 mpu(PTE0, PTE1);
Throwbot 0:b74b6d70347d 19 DigitalOut myled(myledd);
Throwbot 0:b74b6d70347d 20 DigitalOut key(PTA15);
Throwbot 0:b74b6d70347d 21 DigitalOut btSwitch(EN_BT);
Throwbot 0:b74b6d70347d 22 //AnalogIn currentSensor(CURRENTSENSOR_PIN);
Throwbot 0:b74b6d70347d 23 DigitalOut buzzer(buzz);
Throwbot 0:b74b6d70347d 24
Throwbot 0:b74b6d70347d 25 AnalogIn LDRsensor1(LDR1);
Throwbot 0:b74b6d70347d 26 AnalogIn LDRsensor2(LDR2);
Throwbot 0:b74b6d70347d 27 //AnalogIn voltageSensor(VOLTAGESENSOR_PIN);
Throwbot 0:b74b6d70347d 28 //PwmOut buzzer(buzz);
Throwbot 0:b74b6d70347d 29 PwmOut PWMA(MOT_PWMA_PIN);
Throwbot 0:b74b6d70347d 30 PwmOut PWMB(MOT_PWMB_PIN);
Throwbot 0:b74b6d70347d 31 DigitalOut AIN1(MOT_AIN1_PIN);
Throwbot 0:b74b6d70347d 32 DigitalOut AIN2(MOT_AIN2_PIN);
Throwbot 0:b74b6d70347d 33 DigitalOut BIN1(MOT_BIN1_PIN);
Throwbot 0:b74b6d70347d 34 DigitalOut BIN2(MOT_BIN2_PIN);
Throwbot 0:b74b6d70347d 35 DigitalOut STBY(MOT_STBY_PIN);
Throwbot 1:282467cbebb3 36
Throwbot 1:282467cbebb3 37 DigitalOut SRX(PTB10);
Throwbot 1:282467cbebb3 38
Throwbot 1:282467cbebb3 39 AnalogIn uL(ulL);
Throwbot 1:282467cbebb3 40 AnalogIn uF(ulF);
Throwbot 1:282467cbebb3 41 AnalogIn uR(ulR);
Throwbot 1:282467cbebb3 42 AnalogIn urR(ulrR);
Throwbot 1:282467cbebb3 43 AnalogIn urL(ulrL);
Throwbot 1:282467cbebb3 44 AnalogIn uB(ulB);
Throwbot 1:282467cbebb3 45 MPU6050 accelgyro;
Throwbot 1:282467cbebb3 46 int16_t ax, ay, az;
Throwbot 1:282467cbebb3 47 int16_t gx, gy, gz;
Throwbot 1:282467cbebb3 48 int rMotor = 1;
Throwbot 0:b74b6d70347d 49 int lMotor = -1;
Throwbot 0:b74b6d70347d 50 int m_speed = 100;
Throwbot 0:b74b6d70347d 51 int speed;
Throwbot 0:b74b6d70347d 52 Mutex stdio_mutex;
Throwbot 0:b74b6d70347d 53 int freq=0;
Throwbot 1:282467cbebb3 54 Timer t;
Throwbot 1:282467cbebb3 55 int heading=0;
Throwbot 1:282467cbebb3 56 int last_time=0;
Throwbot 1:282467cbebb3 57 int dy =0;
Throwbot 1:282467cbebb3 58 int dx=0;
Throwbot 1:282467cbebb3 59 float left_current_reading=0;
Throwbot 1:282467cbebb3 60 float right_current_reading= 0;
Throwbot 1:282467cbebb3 61 float left_change = 0;
Throwbot 1:282467cbebb3 62 float right_change =0;
Throwbot 1:282467cbebb3 63 float left_prev_read=0;
Throwbot 1:282467cbebb3 64 float right_prev_read=0;
Throwbot 1:282467cbebb3 65 int delta_y=0;
Throwbot 1:282467cbebb3 66 int delta_x=0;
Throwbot 1:282467cbebb3 67 float delta_thetha=0;
Throwbot 1:282467cbebb3 68 float encoder_yaw =0;
Throwbot 1:282467cbebb3 69 float G_thetha=0;
Throwbot 1:282467cbebb3 70 int Encoder_x=0;
Throwbot 1:282467cbebb3 71 int Encoder_y=0;
Throwbot 1:282467cbebb3 72 int dtheta=0;
Throwbot 1:282467cbebb3 73 int r_time ()
Throwbot 1:282467cbebb3 74 {
Throwbot 1:282467cbebb3 75 int mseconds = (int)time(NULL)+(int)t.read_ms();
Throwbot 1:282467cbebb3 76 return mseconds;
Throwbot 1:282467cbebb3 77 }
Throwbot 0:b74b6d70347d 78 void initRobot()
Throwbot 0:b74b6d70347d 79 {
Throwbot 0:b74b6d70347d 80 key = 0;
Throwbot 0:b74b6d70347d 81 //btSwitch = 1;
Throwbot 0:b74b6d70347d 82 bt.start();
Throwbot 0:b74b6d70347d 83 myled = 0;
Throwbot 0:b74b6d70347d 84 wait_ms(500);
Throwbot 0:b74b6d70347d 85 bt.baud(BaudRate_bt);
Throwbot 0:b74b6d70347d 86 myled = 1;
Throwbot 1:282467cbebb3 87 accelgyro.initialize();
Throwbot 1:282467cbebb3 88 t.start();
Throwbot 1:282467cbebb3 89 SRX = 0;
Throwbot 0:b74b6d70347d 90 }
Throwbot 0:b74b6d70347d 91
Throwbot 0:b74b6d70347d 92 //*********************************MOTORS*********************************//
Throwbot 0:b74b6d70347d 93 void motor_control(int Lspeed, int Rspeed)
Throwbot 0:b74b6d70347d 94 {
Throwbot 0:b74b6d70347d 95 //Controls the motors. 0 = stopped, 100 = full speed, -100 = reverse speed
Throwbot 0:b74b6d70347d 96 if (!Lspeed && !Rspeed) //stop//
Throwbot 0:b74b6d70347d 97 { STBY = 0;
Throwbot 0:b74b6d70347d 98 }
Throwbot 0:b74b6d70347d 99 else
Throwbot 0:b74b6d70347d 100 STBY = 1;
Throwbot 0:b74b6d70347d 101 //make sure 'speeds' are between -100 and 100, and not between abs(0 to 10)
Throwbot 0:b74b6d70347d 102 if(Lspeed > 100) Lspeed = 100;
Throwbot 0:b74b6d70347d 103 else if (Lspeed < -100) Lspeed = -100;
Throwbot 0:b74b6d70347d 104 else if (Lspeed < 0 && Lspeed > -15) Lspeed = -15; //prevent speed from being less than 15
Throwbot 0:b74b6d70347d 105 else if (Lspeed > 0 && Lspeed < 15) Lspeed = 15;
Throwbot 0:b74b6d70347d 106 if(Rspeed > 100) Rspeed = 100;
Throwbot 0:b74b6d70347d 107 else if (Rspeed < -100) Rspeed = -100;
Throwbot 0:b74b6d70347d 108 else if (Rspeed < 0 && Rspeed > -15) Rspeed = -15;
Throwbot 0:b74b6d70347d 109 else if (Rspeed > 0 && Rspeed < 15) Rspeed = 15;
Throwbot 0:b74b6d70347d 110 if (!Rspeed) { //if right motor is stopped
Throwbot 0:b74b6d70347d 111 AIN1 = 0;
Throwbot 0:b74b6d70347d 112 AIN2 = 0;
Throwbot 0:b74b6d70347d 113 PWMA = 0;
Throwbot 0:b74b6d70347d 114 } else if (!Lspeed) { //if left motor is stopped
Throwbot 0:b74b6d70347d 115 BIN1 = 0;
Throwbot 0:b74b6d70347d 116 BIN2 = 0;
Throwbot 0:b74b6d70347d 117 PWMB = 0;
Throwbot 0:b74b6d70347d 118 }
Throwbot 0:b74b6d70347d 119 //RIGHT MOTOR//
Throwbot 0:b74b6d70347d 120 if(Rspeed > 0) { //Right motor fwd
Throwbot 0:b74b6d70347d 121 AIN1 = MOTOR_R_DIRECTION; //set the motor direction
Throwbot 0:b74b6d70347d 122 AIN2 = !AIN1;
Throwbot 0:b74b6d70347d 123 } else { //Right motor reverse
Throwbot 0:b74b6d70347d 124 AIN2 = MOTOR_R_DIRECTION;
Throwbot 0:b74b6d70347d 125 AIN1 = !AIN2;
Throwbot 0:b74b6d70347d 126 }
Throwbot 0:b74b6d70347d 127 PWMA = abs(Rspeed/100.0);
Throwbot 0:b74b6d70347d 128 //LEFT MOTOR//
Throwbot 0:b74b6d70347d 129 if(Lspeed >0) {
Throwbot 0:b74b6d70347d 130 BIN1 = MOTOR_L_DIRECTION;
Throwbot 0:b74b6d70347d 131 BIN2 = !BIN1;
Throwbot 0:b74b6d70347d 132 } else {
Throwbot 0:b74b6d70347d 133 BIN2 = MOTOR_L_DIRECTION;
Throwbot 0:b74b6d70347d 134 BIN1 = !BIN2;
Throwbot 0:b74b6d70347d 135 }
Throwbot 0:b74b6d70347d 136 PWMB = abs(Lspeed/100.0);
Throwbot 0:b74b6d70347d 137 }
Throwbot 0:b74b6d70347d 138
Throwbot 0:b74b6d70347d 139 void stop()
Throwbot 0:b74b6d70347d 140 {
Throwbot 0:b74b6d70347d 141 motor_control(0,0);
Throwbot 0:b74b6d70347d 142 }
Throwbot 0:b74b6d70347d 143 void set_speed(int Speed)
Throwbot 0:b74b6d70347d 144 {
Throwbot 0:b74b6d70347d 145 speed = Speed;
Throwbot 0:b74b6d70347d 146 motor_control(speed,speed);
Throwbot 0:b74b6d70347d 147 }
Throwbot 0:b74b6d70347d 148
Throwbot 0:b74b6d70347d 149 double ldrread1()
Throwbot 0:b74b6d70347d 150 {
Throwbot 0:b74b6d70347d 151 double r = LDRsensor1.read();
Throwbot 0:b74b6d70347d 152 return r;
Throwbot 0:b74b6d70347d 153
Throwbot 0:b74b6d70347d 154 }
Throwbot 0:b74b6d70347d 155 double ldrread2()
Throwbot 0:b74b6d70347d 156 {
Throwbot 0:b74b6d70347d 157 double r = LDRsensor2.read();
Throwbot 0:b74b6d70347d 158 return r;
Throwbot 0:b74b6d70347d 159
Throwbot 0:b74b6d70347d 160 }
Throwbot 0:b74b6d70347d 161 void Led_on()
Throwbot 0:b74b6d70347d 162 {
Throwbot 0:b74b6d70347d 163 // pulseIn
Throwbot 0:b74b6d70347d 164 myled= 0;
Throwbot 0:b74b6d70347d 165 }
Throwbot 0:b74b6d70347d 166 void Led_off()
Throwbot 0:b74b6d70347d 167 {
Throwbot 0:b74b6d70347d 168 // pulseIn
Throwbot 0:b74b6d70347d 169 myled= 1;
Throwbot 0:b74b6d70347d 170 }
Throwbot 0:b74b6d70347d 171 /*double pl_buzzer()
Throwbot 0:b74b6d70347d 172 {
Throwbot 0:b74b6d70347d 173 for (int i=0;i<1000;i++)
Throwbot 0:b74b6d70347d 174 {
Throwbot 0:b74b6d70347d 175 int freq = 150+(i*10);
Throwbot 0:b74b6d70347d 176 buzzer=1;
Throwbot 0:b74b6d70347d 177 wait_us(1000000/freq);
Throwbot 0:b74b6d70347d 178 buzzer=0;
Throwbot 0:b74b6d70347d 179 wait_us(1000000/freq);
Throwbot 0:b74b6d70347d 180 wait_ms(1);
Throwbot 0:b74b6d70347d 181 }
Throwbot 0:b74b6d70347d 182
Throwbot 0:b74b6d70347d 183 }
Throwbot 0:b74b6d70347d 184 */
Throwbot 0:b74b6d70347d 185 void pl_buzzer(void const *args)
Throwbot 0:b74b6d70347d 186 {
Throwbot 0:b74b6d70347d 187 while(true)
Throwbot 0:b74b6d70347d 188 {
Throwbot 0:b74b6d70347d 189 stdio_mutex.lock();
Throwbot 0:b74b6d70347d 190 float pulse_delay = 150+((float)freq*10);
Throwbot 0:b74b6d70347d 191 pulse_delay= 1000/pulse_delay;
Throwbot 0:b74b6d70347d 192 stdio_mutex.unlock();
Throwbot 0:b74b6d70347d 193 // bt.lock();
Throwbot 0:b74b6d70347d 194 //bt.printf("s;%lf;s\n\r",pulse_delay);
Throwbot 0:b74b6d70347d 195 //bt.unlock();
Throwbot 0:b74b6d70347d 196 buzzer=1;
Throwbot 1:282467cbebb3 197 //Thread::wait(pulse_delay);
Throwbot 0:b74b6d70347d 198 buzzer=0;
Throwbot 1:282467cbebb3 199 //Thread::wait(pulse_delay);
Throwbot 0:b74b6d70347d 200 }
Throwbot 0:b74b6d70347d 201
Throwbot 0:b74b6d70347d 202 //freq = 150+(freq*10);
Throwbot 0:b74b6d70347d 203 //buzzer.period_us(1000000/freq); // 4 second period
Throwbot 0:b74b6d70347d 204 //buzz.pulsewidth(2); // 2 second pulse (on)
Throwbot 0:b74b6d70347d 205 //buzzer.write(0.5f); // 50% duty cycle
Throwbot 1:282467cbebb3 206 }
Throwbot 1:282467cbebb3 207 void Imu_yaw(void const *args)
Throwbot 1:282467cbebb3 208 {
Throwbot 1:282467cbebb3 209 while(true)
Throwbot 1:282467cbebb3 210
Throwbot 1:282467cbebb3 211 {
Throwbot 1:282467cbebb3 212 accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
Throwbot 1:282467cbebb3 213 int m_seconds = r_time();
Throwbot 1:282467cbebb3 214 float dt = ((float)(m_seconds-last_time))/1000;
Throwbot 1:282467cbebb3 215 last_time=m_seconds;
Throwbot 1:282467cbebb3 216 if ((gz)<800&& gz>-800) {
Throwbot 1:282467cbebb3 217 gz=0;
Throwbot 1:282467cbebb3 218 }
Throwbot 1:282467cbebb3 219 stdio_mutex.lock();
Throwbot 1:282467cbebb3 220 heading = heading + (dt*gz)*3/4/100;
Throwbot 1:282467cbebb3 221 if(heading>360)
Throwbot 1:282467cbebb3 222 heading= heading -360;
Throwbot 1:282467cbebb3 223 else if (heading <0)
Throwbot 1:282467cbebb3 224 heading = heading +360;
Throwbot 1:282467cbebb3 225 stdio_mutex.unlock();
Throwbot 1:282467cbebb3 226 Thread:: wait(20);
Throwbot 1:282467cbebb3 227 }
Throwbot 1:282467cbebb3 228 }
Throwbot 1:282467cbebb3 229 void encoder_thread(void const *args)
Throwbot 1:282467cbebb3 230 {
Throwbot 1:282467cbebb3 231 while(true)
Throwbot 1:282467cbebb3 232 {
Throwbot 1:282467cbebb3 233 left_current_reading=left.getPulses()*(-1)/5;
Throwbot 1:282467cbebb3 234 right_current_reading= right.getPulses()/5;
Throwbot 1:282467cbebb3 235 left_change = left_current_reading- left_prev_read;
Throwbot 1:282467cbebb3 236 right_change =right_current_reading- right_prev_read;
Throwbot 1:282467cbebb3 237 left_prev_read=left_current_reading;
Throwbot 1:282467cbebb3 238 right_prev_read=right_current_reading;
Throwbot 1:282467cbebb3 239 delta_y=(left_change *cos(encoder_yaw) + right_change *cos(encoder_yaw))/2;
Throwbot 1:282467cbebb3 240 delta_x=(left_change *sin(encoder_yaw) + right_change *sin(encoder_yaw))/2;
Throwbot 1:282467cbebb3 241 delta_thetha=atan((right_change-left_change)/100);
Throwbot 1:282467cbebb3 242 encoder_yaw =encoder_yaw+delta_thetha;
Throwbot 1:282467cbebb3 243 G_thetha=encoder_yaw*180/M_PI; //global thetha, overall
Throwbot 1:282467cbebb3 244 Encoder_x=Encoder_x+delta_x;
Throwbot 1:282467cbebb3 245 Encoder_y=Encoder_y+delta_y;
Throwbot 1:282467cbebb3 246 stdio_mutex.lock();
Throwbot 1:282467cbebb3 247 dx=delta_x+dx;
Throwbot 1:282467cbebb3 248 dy=delta_y+dy;
Throwbot 1:282467cbebb3 249 dtheta=delta_thetha*180/M_PI;
Throwbot 1:282467cbebb3 250 stdio_mutex.unlock();
Throwbot 1:282467cbebb3 251 //bt.lock();
Throwbot 1:282467cbebb3 252 //bt.printf("%0.2lf\t%0.2lf;\t%d;\t%d;\t%d;\t%d;\t%lf;\t%lf;\t :s\n\r",left_current_reading,right_current_reading,Encoder_x,Encoder_y,delta_y,delta_x,delta_thetha,G_thetha);
Throwbot 1:282467cbebb3 253 //bt.unlock();
Throwbot 1:282467cbebb3 254 Thread:: wait(50);
Throwbot 1:282467cbebb3 255 }
Throwbot 0:b74b6d70347d 256 }