EdgeBotix / Robot

Initial Commit

robot.cpp@5:a95a6243c118, 2014-10-21 (annotated)

Committer:
Throwbot
Date:
Tue Oct 21 21:29:54 2014 +0000
Revision:
5:a95a6243c118
Parent:
4:0eeea5f05e28 
Initial (Test) Commit

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 5:a95a6243c118 15 QEI right (PTA16, PTA17, NC, 300, QEI::X4_ENCODING);
Throwbot 5:a95a6243c118 16 QEI left (PTA14, PTA13, NC, 300, 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 4:0eeea5f05e28 38 TB6612 MotorA(MOT_PWMA_PIN, MOT_AIN1_PIN, MOT_AIN2_PIN);
Throwbot 4:0eeea5f05e28 39 TB6612 MotorB(MOT_PWMB_PIN, MOT_BIN1_PIN, MOT_BIN2_PIN);
Throwbot 4:0eeea5f05e28 40 Motors motors( &MotorA, &MotorB, MOT_STBY_PIN);
Throwbot 1:282467cbebb3 41
Throwbot 1:282467cbebb3 42 AnalogIn uL(ulL);
Throwbot 1:282467cbebb3 43 AnalogIn uF(ulF);
Throwbot 1:282467cbebb3 44 AnalogIn uR(ulR);
Throwbot 1:282467cbebb3 45 AnalogIn urR(ulrR);
Throwbot 1:282467cbebb3 46 AnalogIn urL(ulrL);
Throwbot 1:282467cbebb3 47 AnalogIn uB(ulB);
Throwbot 1:282467cbebb3 48 MPU6050 accelgyro;
Throwbot 1:282467cbebb3 49 int16_t ax, ay, az;
Throwbot 1:282467cbebb3 50 int16_t gx, gy, gz;
Throwbot 1:282467cbebb3 51 int rMotor = 1;
Throwbot 2:37a19a9e5f2c 52 int lMotor = 1;
Throwbot 0:b74b6d70347d 53 int m_speed = 100;
Throwbot 0:b74b6d70347d 54 int speed;
Throwbot 2:37a19a9e5f2c 55 Mutex stdio_mutex;
Throwbot 0:b74b6d70347d 56 int freq=0;
Throwbot 1:282467cbebb3 57 Timer t;
Throwbot 1:282467cbebb3 58 int heading=0;
Throwbot 1:282467cbebb3 59 int last_time=0;
Throwbot 1:282467cbebb3 60 int dy =0;
Throwbot 1:282467cbebb3 61 int dx=0;
Throwbot 1:282467cbebb3 62 float left_current_reading=0;
Throwbot 1:282467cbebb3 63 float right_current_reading= 0;
Throwbot 1:282467cbebb3 64 float left_change = 0;
Throwbot 1:282467cbebb3 65 float right_change =0;
Throwbot 1:282467cbebb3 66 float left_prev_read=0;
Throwbot 1:282467cbebb3 67 float right_prev_read=0;
Throwbot 1:282467cbebb3 68 int delta_y=0;
Throwbot 1:282467cbebb3 69 int delta_x=0;
Throwbot 1:282467cbebb3 70 float delta_thetha=0;
Throwbot 1:282467cbebb3 71 float encoder_yaw =0;
Throwbot 1:282467cbebb3 72 float G_thetha=0;
Throwbot 1:282467cbebb3 73 int Encoder_x=0;
Throwbot 1:282467cbebb3 74 int Encoder_y=0;
Throwbot 1:282467cbebb3 75 int dtheta=0;
Throwbot 2:37a19a9e5f2c 76 int software_interuupt;
Throwbot 3:3e3314102e56 77 int Rmotor_speed=0;
Throwbot 3:3e3314102e56 78 int Lmotor_speed=0;
Throwbot 4:0eeea5f05e28 79 char Selected_robot;
Throwbot 4:0eeea5f05e28 80 bool bt_connected=false;
Throwbot 1:282467cbebb3 81 int r_time ()
Throwbot 1:282467cbebb3 82 {
Throwbot 1:282467cbebb3 83 int mseconds = (int)time(NULL)+(int)t.read_ms();
Throwbot 1:282467cbebb3 84 return mseconds;
Throwbot 1:282467cbebb3 85 }
Throwbot 0:b74b6d70347d 86 void initRobot()
Throwbot 0:b74b6d70347d 87 {
Throwbot 0:b74b6d70347d 88 key = 0;
Throwbot 0:b74b6d70347d 89 //btSwitch = 1;
Throwbot 0:b74b6d70347d 90 bt.start();
Throwbot 0:b74b6d70347d 91 myled = 0;
Throwbot 0:b74b6d70347d 92 wait_ms(500);
Throwbot 0:b74b6d70347d 93 bt.baud(BaudRate_bt);
Throwbot 1:282467cbebb3 94 accelgyro.initialize();
Throwbot 4:0eeea5f05e28 95 MotorA.scale = R_MOTOR_SCALE;
Throwbot 4:0eeea5f05e28 96 MotorB.scale = L_MOTOR_SCALE;
Throwbot 1:282467cbebb3 97 t.start();
Throwbot 3:3e3314102e56 98 SRX = 1;
Throwbot 3:3e3314102e56 99 wait_us(30);
Throwbot 3:3e3314102e56 100 SRX=0;
Throwbot 3:3e3314102e56 101 wait_ms(300);
Throwbot 3:3e3314102e56 102 SRX = 1;
Throwbot 3:3e3314102e56 103 wait_us(30);
Throwbot 3:3e3314102e56 104 SRX=0;
Throwbot 3:3e3314102e56 105 wait(1);
Throwbot 3:3e3314102e56 106 myled = 1;
Throwbot 0:b74b6d70347d 107 }
Throwbot 0:b74b6d70347d 108
Throwbot 0:b74b6d70347d 109 //*********************************MOTORS*********************************//
Throwbot 0:b74b6d70347d 110 void motor_control(int Lspeed, int Rspeed)
Throwbot 0:b74b6d70347d 111 {
Throwbot 0:b74b6d70347d 112 //Controls the motors. 0 = stopped, 100 = full speed, -100 = reverse speed
Throwbot 2:37a19a9e5f2c 113 if (!Lspeed && !Rspeed) { //stop//
Throwbot 2:37a19a9e5f2c 114 STBY = 0;
Throwbot 2:37a19a9e5f2c 115 } else
Throwbot 0:b74b6d70347d 116 STBY = 1;
Throwbot 0:b74b6d70347d 117 //make sure 'speeds' are between -100 and 100, and not between abs(0 to 10)
Throwbot 0:b74b6d70347d 118 if(Lspeed > 100) Lspeed = 100;
Throwbot 0:b74b6d70347d 119 else if (Lspeed < -100) Lspeed = -100;
Throwbot 0:b74b6d70347d 120 else if (Lspeed < 0 && Lspeed > -15) Lspeed = -15; //prevent speed from being less than 15
Throwbot 0:b74b6d70347d 121 else if (Lspeed > 0 && Lspeed < 15) Lspeed = 15;
Throwbot 0:b74b6d70347d 122 if(Rspeed > 100) Rspeed = 100;
Throwbot 0:b74b6d70347d 123 else if (Rspeed < -100) Rspeed = -100;
Throwbot 0:b74b6d70347d 124 else if (Rspeed < 0 && Rspeed > -15) Rspeed = -15;
Throwbot 0:b74b6d70347d 125 else if (Rspeed > 0 && Rspeed < 15) Rspeed = 15;
Throwbot 0:b74b6d70347d 126 if (!Rspeed) { //if right motor is stopped
Throwbot 0:b74b6d70347d 127 AIN1 = 0;
Throwbot 0:b74b6d70347d 128 AIN2 = 0;
Throwbot 0:b74b6d70347d 129 PWMA = 0;
Throwbot 0:b74b6d70347d 130 } else if (!Lspeed) { //if left motor is stopped
Throwbot 0:b74b6d70347d 131 BIN1 = 0;
Throwbot 0:b74b6d70347d 132 BIN2 = 0;
Throwbot 0:b74b6d70347d 133 PWMB = 0;
Throwbot 0:b74b6d70347d 134 }
Throwbot 0:b74b6d70347d 135 //RIGHT MOTOR//
Throwbot 0:b74b6d70347d 136 if(Rspeed > 0) { //Right motor fwd
Throwbot 0:b74b6d70347d 137 AIN1 = MOTOR_R_DIRECTION; //set the motor direction
Throwbot 0:b74b6d70347d 138 AIN2 = !AIN1;
Throwbot 0:b74b6d70347d 139 } else { //Right motor reverse
Throwbot 0:b74b6d70347d 140 AIN2 = MOTOR_R_DIRECTION;
Throwbot 0:b74b6d70347d 141 AIN1 = !AIN2;
Throwbot 0:b74b6d70347d 142 }
Throwbot 0:b74b6d70347d 143 PWMA = abs(Rspeed/100.0);
Throwbot 0:b74b6d70347d 144 //LEFT MOTOR//
Throwbot 0:b74b6d70347d 145 if(Lspeed >0) {
Throwbot 0:b74b6d70347d 146 BIN1 = MOTOR_L_DIRECTION;
Throwbot 0:b74b6d70347d 147 BIN2 = !BIN1;
Throwbot 0:b74b6d70347d 148 } else {
Throwbot 0:b74b6d70347d 149 BIN2 = MOTOR_L_DIRECTION;
Throwbot 0:b74b6d70347d 150 BIN1 = !BIN2;
Throwbot 0:b74b6d70347d 151 }
Throwbot 0:b74b6d70347d 152 PWMB = abs(Lspeed/100.0);
Throwbot 0:b74b6d70347d 153 }
Throwbot 0:b74b6d70347d 154
Throwbot 0:b74b6d70347d 155 void stop()
Throwbot 0:b74b6d70347d 156 {
Throwbot 0:b74b6d70347d 157 motor_control(0,0);
Throwbot 0:b74b6d70347d 158 }
Throwbot 0:b74b6d70347d 159 void set_speed(int Speed)
Throwbot 0:b74b6d70347d 160 {
Throwbot 0:b74b6d70347d 161 speed = Speed;
Throwbot 0:b74b6d70347d 162 motor_control(speed,speed);
Throwbot 0:b74b6d70347d 163 }
Throwbot 0:b74b6d70347d 164
Throwbot 0:b74b6d70347d 165 double ldrread1()
Throwbot 0:b74b6d70347d 166 {
Throwbot 0:b74b6d70347d 167 double r = LDRsensor1.read();
Throwbot 0:b74b6d70347d 168 return r;
Throwbot 0:b74b6d70347d 169
Throwbot 0:b74b6d70347d 170 }
Throwbot 0:b74b6d70347d 171 double ldrread2()
Throwbot 0:b74b6d70347d 172 {
Throwbot 0:b74b6d70347d 173 double r = LDRsensor2.read();
Throwbot 0:b74b6d70347d 174 return r;
Throwbot 0:b74b6d70347d 175
Throwbot 0:b74b6d70347d 176 }
Throwbot 0:b74b6d70347d 177 void Led_on()
Throwbot 0:b74b6d70347d 178 {
Throwbot 0:b74b6d70347d 179 // pulseIn
Throwbot 0:b74b6d70347d 180 myled= 0;
Throwbot 0:b74b6d70347d 181 }
Throwbot 0:b74b6d70347d 182 void Led_off()
Throwbot 0:b74b6d70347d 183 {
Throwbot 0:b74b6d70347d 184 // pulseIn
Throwbot 0:b74b6d70347d 185 myled= 1;
Throwbot 0:b74b6d70347d 186 }
Throwbot 0:b74b6d70347d 187 /*double pl_buzzer()
Throwbot 0:b74b6d70347d 188 {
Throwbot 0:b74b6d70347d 189 for (int i=0;i<1000;i++)
Throwbot 0:b74b6d70347d 190 {
Throwbot 0:b74b6d70347d 191 int freq = 150+(i*10);
Throwbot 0:b74b6d70347d 192 buzzer=1;
Throwbot 0:b74b6d70347d 193 wait_us(1000000/freq);
Throwbot 0:b74b6d70347d 194 buzzer=0;
Throwbot 0:b74b6d70347d 195 wait_us(1000000/freq);
Throwbot 0:b74b6d70347d 196 wait_ms(1);
Throwbot 0:b74b6d70347d 197 }
Throwbot 0:b74b6d70347d 198
Throwbot 0:b74b6d70347d 199 }
Throwbot 0:b74b6d70347d 200 */
Throwbot 4:0eeea5f05e28 201 void pl_buzzer(int freq, int f_time)
Throwbot 0:b74b6d70347d 202 {
Throwbot 4:0eeea5f05e28 203 int elapsed_time=0;
Throwbot 4:0eeea5f05e28 204 while (elapsed_time < f_time*10) {
Throwbot 0:b74b6d70347d 205 buzzer=1;
Throwbot 4:0eeea5f05e28 206 wait_us(1000000/freq);
Throwbot 0:b74b6d70347d 207 buzzer=0;
Throwbot 4:0eeea5f05e28 208 wait_us(1000000/freq);
Throwbot 4:0eeea5f05e28 209 elapsed_time++;
Throwbot 4:0eeea5f05e28 210 }
Throwbot 2:37a19a9e5f2c 211
Throwbot 1:282467cbebb3 212 }
Throwbot 1:282467cbebb3 213 void Imu_yaw(void const *args)
Throwbot 1:282467cbebb3 214 {
Throwbot 2:37a19a9e5f2c 215 while(true)
Throwbot 1:282467cbebb3 216
Throwbot 2:37a19a9e5f2c 217 {
Throwbot 2:37a19a9e5f2c 218 accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
Throwbot 2:37a19a9e5f2c 219 int m_seconds = r_time();
Throwbot 1:282467cbebb3 220 float dt = ((float)(m_seconds-last_time))/1000;
Throwbot 2:37a19a9e5f2c 221 last_time=m_seconds;
Throwbot 1:282467cbebb3 222 if ((gz)<800&& gz>-800) {
Throwbot 1:282467cbebb3 223 gz=0;
Throwbot 1:282467cbebb3 224 }
Throwbot 1:282467cbebb3 225 stdio_mutex.lock();
Throwbot 2:37a19a9e5f2c 226 heading = heading + (dt*gz)*3/4/100;
Throwbot 2:37a19a9e5f2c 227 if(heading>360)
Throwbot 2:37a19a9e5f2c 228 heading= heading -360;
Throwbot 2:37a19a9e5f2c 229 else if (heading <0)
Throwbot 2:37a19a9e5f2c 230 heading = heading +360;
Throwbot 1:282467cbebb3 231 stdio_mutex.unlock();
Throwbot 2:37a19a9e5f2c 232 Thread:: wait(50);
Throwbot 2:37a19a9e5f2c 233 }
Throwbot 1:282467cbebb3 234 }
Throwbot 1:282467cbebb3 235 void encoder_thread(void const *args)
Throwbot 1:282467cbebb3 236 {
Throwbot 2:37a19a9e5f2c 237 while(true) {
Throwbot 5:a95a6243c118 238 left_current_reading=left.getPulses()*(-1)/9.85;
Throwbot 5:a95a6243c118 239 right_current_reading= right.getPulses()/10;
Throwbot 2:37a19a9e5f2c 240 left_change = left_current_reading- left_prev_read;
Throwbot 2:37a19a9e5f2c 241 right_change =right_current_reading- right_prev_read;
Throwbot 2:37a19a9e5f2c 242 left_prev_read=left_current_reading;
Throwbot 2:37a19a9e5f2c 243 right_prev_read=right_current_reading;
Throwbot 2:37a19a9e5f2c 244 delta_y=(left_change *cos(encoder_yaw) + right_change *cos(encoder_yaw))/2;
Throwbot 2:37a19a9e5f2c 245 delta_x=(left_change *sin(encoder_yaw) + right_change *sin(encoder_yaw))/2;
Throwbot 2:37a19a9e5f2c 246 delta_thetha=atan((right_change-left_change)/100);
Throwbot 2:37a19a9e5f2c 247 encoder_yaw =encoder_yaw+delta_thetha;
Throwbot 2:37a19a9e5f2c 248 G_thetha=encoder_yaw*180/M_PI; //global thetha, overall
Throwbot 2:37a19a9e5f2c 249 Encoder_x=Encoder_x+delta_x;
Throwbot 2:37a19a9e5f2c 250 Encoder_y=Encoder_y+delta_y;
Throwbot 2:37a19a9e5f2c 251 stdio_mutex.lock();
Throwbot 2:37a19a9e5f2c 252 dx=delta_x+dx;
Throwbot 2:37a19a9e5f2c 253 dy=delta_y+dy;
Throwbot 2:37a19a9e5f2c 254 dtheta=delta_thetha*180/M_PI;
Throwbot 3:3e3314102e56 255 //bt.lock();
Throwbot 3:3e3314102e56 256 //bt.printf(">>D;%0.2lf;%0.2lf;%0.2lf;%0.2lf;%d;%d;%d;\r\n",
Throwbot 3:3e3314102e56 257 // left_current_reading,right_current_reading,left_change ,right_change,\
Throwbot 3:3e3314102e56 258 // dx,dy,\
Throwbot 3:3e3314102e56 259 // dtheta);
Throwbot 3:3e3314102e56 260 //bt.unlock();
Throwbot 2:37a19a9e5f2c 261 stdio_mutex.unlock();
Throwbot 2:37a19a9e5f2c 262 Thread:: wait(50);
Throwbot 2:37a19a9e5f2c 263 }
Throwbot 0:b74b6d70347d 264 }