This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of autonomous Robot Android by
Actuators/MaxonESCON/MaxonESCON.cpp@1:6cd533a712c6, 2013-03-02 (annotated)
- Committer:
- chrigelburri
- Date:
- Sat Mar 02 09:39:34 2013 +0000
- Revision:
- 1:6cd533a712c6
- Parent:
- 0:31f7be68e52d
- Child:
- 2:d8e1613dc38b
Pos Regler funktioniert getestet im leerlauf;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chrigelburri | 0:31f7be68e52d | 1 | #include "MaxonESCON.h" |
chrigelburri | 0:31f7be68e52d | 2 | |
chrigelburri | 0:31f7be68e52d | 3 | using namespace std; |
chrigelburri | 0:31f7be68e52d | 4 | |
chrigelburri | 0:31f7be68e52d | 5 | MaxonESCON::MaxonESCON( |
chrigelburri | 0:31f7be68e52d | 6 | PinName enb, |
chrigelburri | 0:31f7be68e52d | 7 | PinName isenb, |
chrigelburri | 0:31f7be68e52d | 8 | PinName pwm, |
chrigelburri | 0:31f7be68e52d | 9 | PinName actualSpeed, |
chrigelburri | 0:31f7be68e52d | 10 | Hallsensor *hall |
chrigelburri | 0:31f7be68e52d | 11 | ) |
chrigelburri | 0:31f7be68e52d | 12 | : |
chrigelburri | 0:31f7be68e52d | 13 | _enb(enb), |
chrigelburri | 0:31f7be68e52d | 14 | _isenb(isenb), |
chrigelburri | 0:31f7be68e52d | 15 | _pwm(pwm), |
chrigelburri | 0:31f7be68e52d | 16 | _actualSpeed(actualSpeed), |
chrigelburri | 0:31f7be68e52d | 17 | _hall(hall) |
chrigelburri | 0:31f7be68e52d | 18 | { |
chrigelburri | 0:31f7be68e52d | 19 | |
chrigelburri | 0:31f7be68e52d | 20 | _pwm = 0; |
chrigelburri | 0:31f7be68e52d | 21 | |
chrigelburri | 0:31f7be68e52d | 22 | // Initial condition of output enables |
chrigelburri | 0:31f7be68e52d | 23 | _enb = 0; |
chrigelburri | 0:31f7be68e52d | 24 | |
chrigelburri | 0:31f7be68e52d | 25 | // Set initial condition of PWM 2kHz |
chrigelburri | 0:31f7be68e52d | 26 | period(0.0005); |
chrigelburri | 0:31f7be68e52d | 27 | |
chrigelburri | 0:31f7be68e52d | 28 | // Set the pulses to zero |
chrigelburri | 0:31f7be68e52d | 29 | _pulses = 0; |
chrigelburri | 0:31f7be68e52d | 30 | |
chrigelburri | 0:31f7be68e52d | 31 | // Set the Pull Up Resistor |
chrigelburri | 0:31f7be68e52d | 32 | _isenb.mode(PullUp); |
chrigelburri | 0:31f7be68e52d | 33 | } |
chrigelburri | 0:31f7be68e52d | 34 | |
chrigelburri | 0:31f7be68e52d | 35 | void MaxonESCON::setVelocity(float speed) |
chrigelburri | 0:31f7be68e52d | 36 | { |
chrigelburri | 0:31f7be68e52d | 37 | speed = speed / ESCON_SET_FACTOR * 60.0f; |
chrigelburri | 0:31f7be68e52d | 38 | if(speed > 1 ) { |
chrigelburri | 0:31f7be68e52d | 39 | _pwm = 0.9f; |
chrigelburri | 0:31f7be68e52d | 40 | } else if(speed < -1) { |
chrigelburri | 0:31f7be68e52d | 41 | _pwm = 0.1f; |
chrigelburri | 0:31f7be68e52d | 42 | } else { |
chrigelburri | 0:31f7be68e52d | 43 | _pwm = 0.4f*speed + 0.5f; |
chrigelburri | 0:31f7be68e52d | 44 | } |
chrigelburri | 0:31f7be68e52d | 45 | } |
chrigelburri | 0:31f7be68e52d | 46 | |
chrigelburri | 0:31f7be68e52d | 47 | float MaxonESCON::getActualSpeed(void) |
chrigelburri | 0:31f7be68e52d | 48 | { |
chrigelburri | 0:31f7be68e52d | 49 | return (_actualSpeed.read()* 2.0f - 1.0f) * ESCON_GET_FACTOR / 60.0f; |
chrigelburri | 0:31f7be68e52d | 50 | } |
chrigelburri | 0:31f7be68e52d | 51 | |
chrigelburri | 0:31f7be68e52d | 52 | void MaxonESCON::period(float period) |
chrigelburri | 0:31f7be68e52d | 53 | { |
chrigelburri | 0:31f7be68e52d | 54 | _pwm.period(period); |
chrigelburri | 0:31f7be68e52d | 55 | } |
chrigelburri | 0:31f7be68e52d | 56 | |
chrigelburri | 0:31f7be68e52d | 57 | void MaxonESCON::enable(bool enb) |
chrigelburri | 0:31f7be68e52d | 58 | { |
chrigelburri | 0:31f7be68e52d | 59 | if(enb == false) { |
chrigelburri | 1:6cd533a712c6 | 60 | _enb = 1; |
chrigelburri | 0:31f7be68e52d | 61 | } else { |
chrigelburri | 1:6cd533a712c6 | 62 | _enb = 0; |
chrigelburri | 0:31f7be68e52d | 63 | } |
chrigelburri | 0:31f7be68e52d | 64 | } |
chrigelburri | 0:31f7be68e52d | 65 | |
chrigelburri | 0:31f7be68e52d | 66 | bool MaxonESCON::isEnabled() |
chrigelburri | 0:31f7be68e52d | 67 | { |
chrigelburri | 0:31f7be68e52d | 68 | if(_isenb.read() == 1) { |
chrigelburri | 0:31f7be68e52d | 69 | return true; |
chrigelburri | 0:31f7be68e52d | 70 | } else { |
chrigelburri | 0:31f7be68e52d | 71 | return false; |
chrigelburri | 0:31f7be68e52d | 72 | } |
chrigelburri | 0:31f7be68e52d | 73 | } |
chrigelburri | 0:31f7be68e52d | 74 | |
chrigelburri | 0:31f7be68e52d | 75 | int MaxonESCON::getPulses(void) |
chrigelburri | 0:31f7be68e52d | 76 | { |
chrigelburri | 0:31f7be68e52d | 77 | _pulses = _hall->getPulses(); |
chrigelburri | 0:31f7be68e52d | 78 | return _pulses; |
chrigelburri | 0:31f7be68e52d | 79 | } |
chrigelburri | 0:31f7be68e52d | 80 | |
chrigelburri | 0:31f7be68e52d | 81 | int MaxonESCON::setPulses(int setPos) |
chrigelburri | 0:31f7be68e52d | 82 | { |
chrigelburri | 0:31f7be68e52d | 83 | _hall->reset(); |
chrigelburri | 0:31f7be68e52d | 84 | _pulses = _hall->getPulses(); |
chrigelburri | 0:31f7be68e52d | 85 | return _pulses; |
chrigelburri | 0:31f7be68e52d | 86 | } |
chrigelburri | 0:31f7be68e52d | 87 | |
chrigelburri | 0:31f7be68e52d | 88 | |
chrigelburri | 0:31f7be68e52d | 89 | ///// Für Polling muss mit unter Code gearbeitet werden. |
chrigelburri | 0:31f7be68e52d | 90 | |
chrigelburri | 0:31f7be68e52d | 91 | /* |
chrigelburri | 0:31f7be68e52d | 92 | int MaxonESCON::getHallPosition(void) |
chrigelburri | 0:31f7be68e52d | 93 | { |
chrigelburri | 0:31f7be68e52d | 94 | return HALL_POSITION[(_hall1.read() ? 1 : 0)+(_hall2.read() ? 2 : 0)+(_hall3.read() ? 4 : 0)]; |
chrigelburri | 0:31f7be68e52d | 95 | } |
chrigelburri | 0:31f7be68e52d | 96 | |
chrigelburri | 0:31f7be68e52d | 97 | int MaxonESCON::getPosition(void) |
chrigelburri | 0:31f7be68e52d | 98 | { |
chrigelburri | 0:31f7be68e52d | 99 | position calculation |
chrigelburri | 0:31f7be68e52d | 100 | |
chrigelburri | 0:31f7be68e52d | 101 | int actualHallPosition = getHallPosition(); |
chrigelburri | 0:31f7be68e52d | 102 | |
chrigelburri | 0:31f7be68e52d | 103 | if (actualHallPosition > 0) { |
chrigelburri | 0:31f7be68e52d | 104 | if ((actualHallPosition == 1) && (hallPosition >= 5)) { |
chrigelburri | 0:31f7be68e52d | 105 | turns++; |
chrigelburri | 0:31f7be68e52d | 106 | } else if ((actualHallPosition == 2) && (hallPosition == 6)) { |
chrigelburri | 0:31f7be68e52d | 107 | turns++; |
chrigelburri | 0:31f7be68e52d | 108 | } else if ((actualHallPosition == 5) && (hallPosition == 1)) { |
chrigelburri | 0:31f7be68e52d | 109 | turns--; |
chrigelburri | 0:31f7be68e52d | 110 | } else if ((actualHallPosition == 6) && (hallPosition <= 2)) { |
chrigelburri | 0:31f7be68e52d | 111 | turns--; |
chrigelburri | 0:31f7be68e52d | 112 | } |
chrigelburri | 0:31f7be68e52d | 113 | hallPosition = actualHallPosition; |
chrigelburri | 0:31f7be68e52d | 114 | } |
chrigelburri | 0:31f7be68e52d | 115 | return turns; |
chrigelburri | 0:31f7be68e52d | 116 | } |
chrigelburri | 0:31f7be68e52d | 117 | |
chrigelburri | 0:31f7be68e52d | 118 | float MaxonESCON::getTransPosition(void) |
chrigelburri | 0:31f7be68e52d | 119 | { |
chrigelburri | 0:31f7be68e52d | 120 | return (turns * 2 * _wheelRadius * pi) / (_gear * _polePairs); // PULSES_PER_STEP muss weg da nach 6 hallimpus ein turn gibt |
chrigelburri | 0:31f7be68e52d | 121 | } |
chrigelburri | 0:31f7be68e52d | 122 | |
chrigelburri | 0:31f7be68e52d | 123 | int MaxonESCON::setPosition(int setPos) |
chrigelburri | 0:31f7be68e52d | 124 | { |
chrigelburri | 0:31f7be68e52d | 125 | turns = setPos; |
chrigelburri | 0:31f7be68e52d | 126 | return turns; |
chrigelburri | 0:31f7be68e52d | 127 | } |
chrigelburri | 0:31f7be68e52d | 128 | */ |