Shuto Naruse
/
eurobot_2011_main_PID
main.cpp@0:dc84eed6b8b6, 2012-03-14 (annotated)
- Committer:
- narshu
- Date:
- Wed Mar 14 17:58:49 2012 +0000
- Revision:
- 0:dc84eed6b8b6
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 0:dc84eed6b8b6 | 1 | /********************************************************************** |
narshu | 0:dc84eed6b8b6 | 2 | * @file i2c_monitor.c |
narshu | 0:dc84eed6b8b6 | 3 | * @purpose MD25 Interface |
narshu | 0:dc84eed6b8b6 | 4 | * @version 0.1 |
narshu | 0:dc84eed6b8b6 | 5 | * @date 25. Jan. 2012 |
narshu | 0:dc84eed6b8b6 | 6 | * @author Crispian Poon |
narshu | 0:dc84eed6b8b6 | 7 | * @email pooncg@gmail.com |
narshu | 0:dc84eed6b8b6 | 8 | **********************************************************************/ |
narshu | 0:dc84eed6b8b6 | 9 | |
narshu | 0:dc84eed6b8b6 | 10 | #include "mbed.h" |
narshu | 0:dc84eed6b8b6 | 11 | |
narshu | 0:dc84eed6b8b6 | 12 | //Constants declaration |
narshu | 0:dc84eed6b8b6 | 13 | const int md25Address = 0xB0; |
narshu | 0:dc84eed6b8b6 | 14 | const char cmdSetMotor1 = 0x00; |
narshu | 0:dc84eed6b8b6 | 15 | const char cmdSetMotor2 = 0x01; |
narshu | 0:dc84eed6b8b6 | 16 | const char cmdByte = 0x10; |
narshu | 0:dc84eed6b8b6 | 17 | const char cmdSetMode = 0x0F; |
narshu | 0:dc84eed6b8b6 | 18 | const char cmdResetEncoders = 0x20; |
narshu | 0:dc84eed6b8b6 | 19 | const char cmdGetEncoder1 = 0x02; |
narshu | 0:dc84eed6b8b6 | 20 | const char cmdGetEncoder2 = 0x06; |
narshu | 0:dc84eed6b8b6 | 21 | const int encoderRevCount = 1856; |
narshu | 0:dc84eed6b8b6 | 22 | const int wheelmm = 314; |
narshu | 0:dc84eed6b8b6 | 23 | const int robotCircumference = 1052; |
narshu | 0:dc84eed6b8b6 | 24 | |
narshu | 0:dc84eed6b8b6 | 25 | |
narshu | 0:dc84eed6b8b6 | 26 | //Global variables declaration |
narshu | 0:dc84eed6b8b6 | 27 | int tempByte; |
narshu | 0:dc84eed6b8b6 | 28 | |
narshu | 0:dc84eed6b8b6 | 29 | //Interface declaration |
narshu | 0:dc84eed6b8b6 | 30 | I2C i2c(p9, p10); // sda, scl |
narshu | 0:dc84eed6b8b6 | 31 | Serial pc(USBTX, USBRX); // tx, rx |
narshu | 0:dc84eed6b8b6 | 32 | DigitalOut OBLED1(LED1); |
narshu | 0:dc84eed6b8b6 | 33 | DigitalOut OBLED2(LED2); |
narshu | 0:dc84eed6b8b6 | 34 | |
narshu | 0:dc84eed6b8b6 | 35 | //Functions declaration |
narshu | 0:dc84eed6b8b6 | 36 | void resetEncoders(); |
narshu | 0:dc84eed6b8b6 | 37 | long getEncoder1(); |
narshu | 0:dc84eed6b8b6 | 38 | void move(long distance, int speed); |
narshu | 0:dc84eed6b8b6 | 39 | void turn(int angle, int speed); |
narshu | 0:dc84eed6b8b6 | 40 | int getSignOfInt(int direction); |
narshu | 0:dc84eed6b8b6 | 41 | void stop(); |
narshu | 0:dc84eed6b8b6 | 42 | void setSpeed(int speed); |
narshu | 0:dc84eed6b8b6 | 43 | void setSpeed(int speed1, int speed2); |
narshu | 0:dc84eed6b8b6 | 44 | void setMode(int mode); |
narshu | 0:dc84eed6b8b6 | 45 | long encoderToDistance(long encoder); |
narshu | 0:dc84eed6b8b6 | 46 | long distanceToEncoder(long distance); |
narshu | 0:dc84eed6b8b6 | 47 | void sendCommand(char command); |
narshu | 0:dc84eed6b8b6 | 48 | void sendCommand(char command1, char command2 ); |
narshu | 0:dc84eed6b8b6 | 49 | |
narshu | 0:dc84eed6b8b6 | 50 | //Main loop |
narshu | 0:dc84eed6b8b6 | 51 | int main() { |
narshu | 0:dc84eed6b8b6 | 52 | //TODO declare serial |
narshu | 0:dc84eed6b8b6 | 53 | //setSpeed(-127); |
narshu | 0:dc84eed6b8b6 | 54 | //delay(5000); |
narshu | 0:dc84eed6b8b6 | 55 | //setSpeed(0); |
narshu | 0:dc84eed6b8b6 | 56 | //Serial.println(getEncoder1(), DEC); |
narshu | 0:dc84eed6b8b6 | 57 | |
narshu | 0:dc84eed6b8b6 | 58 | //REMEMBERT TO PUT PULL UP RESISTORS ON I2C!!!!!!!!!!!!!! |
narshu | 0:dc84eed6b8b6 | 59 | while (1) { |
narshu | 0:dc84eed6b8b6 | 60 | move(180, 30); |
narshu | 0:dc84eed6b8b6 | 61 | wait_ms(3000); |
narshu | 0:dc84eed6b8b6 | 62 | stop(); |
narshu | 0:dc84eed6b8b6 | 63 | turn(-180, 30); |
narshu | 0:dc84eed6b8b6 | 64 | OBLED1 = true; |
narshu | 0:dc84eed6b8b6 | 65 | } |
narshu | 0:dc84eed6b8b6 | 66 | } |
narshu | 0:dc84eed6b8b6 | 67 | |
narshu | 0:dc84eed6b8b6 | 68 | void resetEncoders() { |
narshu | 0:dc84eed6b8b6 | 69 | |
narshu | 0:dc84eed6b8b6 | 70 | sendCommand(cmdByte, cmdResetEncoders) ; |
narshu | 0:dc84eed6b8b6 | 71 | |
narshu | 0:dc84eed6b8b6 | 72 | } |
narshu | 0:dc84eed6b8b6 | 73 | |
narshu | 0:dc84eed6b8b6 | 74 | long getEncoder1() { |
narshu | 0:dc84eed6b8b6 | 75 | long tempEncoderCount = 0; |
narshu | 0:dc84eed6b8b6 | 76 | char cmd[4]; |
narshu | 0:dc84eed6b8b6 | 77 | |
narshu | 0:dc84eed6b8b6 | 78 | //i2c request encoder position 1 |
narshu | 0:dc84eed6b8b6 | 79 | sendCommand(cmdGetEncoder1); |
narshu | 0:dc84eed6b8b6 | 80 | |
narshu | 0:dc84eed6b8b6 | 81 | //TODO create abstract function for read command |
narshu | 0:dc84eed6b8b6 | 82 | //i2c read data back |
narshu | 0:dc84eed6b8b6 | 83 | i2c.read(md25Address, cmd, 4);// Request 4 bytes from MD25 |
narshu | 0:dc84eed6b8b6 | 84 | |
narshu | 0:dc84eed6b8b6 | 85 | tempEncoderCount += cmd[0] << 24; |
narshu | 0:dc84eed6b8b6 | 86 | tempEncoderCount += cmd[1] << 16; |
narshu | 0:dc84eed6b8b6 | 87 | tempEncoderCount += cmd[2] << 8; |
narshu | 0:dc84eed6b8b6 | 88 | tempEncoderCount += cmd[3] ; |
narshu | 0:dc84eed6b8b6 | 89 | |
narshu | 0:dc84eed6b8b6 | 90 | return tempEncoderCount; |
narshu | 0:dc84eed6b8b6 | 91 | |
narshu | 0:dc84eed6b8b6 | 92 | } |
narshu | 0:dc84eed6b8b6 | 93 | |
narshu | 0:dc84eed6b8b6 | 94 | long getEncoder2() { |
narshu | 0:dc84eed6b8b6 | 95 | long tempEncoderCount = 0; |
narshu | 0:dc84eed6b8b6 | 96 | char cmd[4]; |
narshu | 0:dc84eed6b8b6 | 97 | |
narshu | 0:dc84eed6b8b6 | 98 | //i2c request encoder position 1 |
narshu | 0:dc84eed6b8b6 | 99 | sendCommand(cmdGetEncoder2); |
narshu | 0:dc84eed6b8b6 | 100 | |
narshu | 0:dc84eed6b8b6 | 101 | //i2c read data back |
narshu | 0:dc84eed6b8b6 | 102 | i2c.read(md25Address, cmd, 4);// Request 4 bytes from MD25 |
narshu | 0:dc84eed6b8b6 | 103 | |
narshu | 0:dc84eed6b8b6 | 104 | tempEncoderCount += cmd[0] << 24; |
narshu | 0:dc84eed6b8b6 | 105 | tempEncoderCount += cmd[1] << 16; |
narshu | 0:dc84eed6b8b6 | 106 | tempEncoderCount += cmd[2] << 8; |
narshu | 0:dc84eed6b8b6 | 107 | tempEncoderCount += cmd[3] ; |
narshu | 0:dc84eed6b8b6 | 108 | |
narshu | 0:dc84eed6b8b6 | 109 | return tempEncoderCount; |
narshu | 0:dc84eed6b8b6 | 110 | |
narshu | 0:dc84eed6b8b6 | 111 | |
narshu | 0:dc84eed6b8b6 | 112 | } |
narshu | 0:dc84eed6b8b6 | 113 | |
narshu | 0:dc84eed6b8b6 | 114 | void move(long distance, int speed) { |
narshu | 0:dc84eed6b8b6 | 115 | resetEncoders(); |
narshu | 0:dc84eed6b8b6 | 116 | long tempEndEncoder = 0; |
narshu | 0:dc84eed6b8b6 | 117 | long startEncoderCount = 0; |
narshu | 0:dc84eed6b8b6 | 118 | |
narshu | 0:dc84eed6b8b6 | 119 | tempEndEncoder = distanceToEncoder(abs(distance)); |
narshu | 0:dc84eed6b8b6 | 120 | startEncoderCount = getEncoder1(); |
narshu | 0:dc84eed6b8b6 | 121 | |
narshu | 0:dc84eed6b8b6 | 122 | setSpeed(getSignOfInt(distance) * speed); |
narshu | 0:dc84eed6b8b6 | 123 | |
narshu | 0:dc84eed6b8b6 | 124 | while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) { |
narshu | 0:dc84eed6b8b6 | 125 | setSpeed(getSignOfInt(distance) * speed); |
narshu | 0:dc84eed6b8b6 | 126 | } |
narshu | 0:dc84eed6b8b6 | 127 | |
narshu | 0:dc84eed6b8b6 | 128 | |
narshu | 0:dc84eed6b8b6 | 129 | resetEncoders(); |
narshu | 0:dc84eed6b8b6 | 130 | stop(); |
narshu | 0:dc84eed6b8b6 | 131 | } |
narshu | 0:dc84eed6b8b6 | 132 | |
narshu | 0:dc84eed6b8b6 | 133 | void turn(int angle, int speed) { |
narshu | 0:dc84eed6b8b6 | 134 | resetEncoders(); |
narshu | 0:dc84eed6b8b6 | 135 | long tempDistance = long((float(angle) / 360) * float(robotCircumference)); |
narshu | 0:dc84eed6b8b6 | 136 | long tempEndEncoder = 0; |
narshu | 0:dc84eed6b8b6 | 137 | long startEncoderCount = 0; |
narshu | 0:dc84eed6b8b6 | 138 | |
narshu | 0:dc84eed6b8b6 | 139 | tempEndEncoder = distanceToEncoder(abs(tempDistance)); |
narshu | 0:dc84eed6b8b6 | 140 | startEncoderCount = getEncoder1(); |
narshu | 0:dc84eed6b8b6 | 141 | setSpeed(getSignOfInt(tempDistance) * speed, -getSignOfInt(tempDistance) * speed); |
narshu | 0:dc84eed6b8b6 | 142 | |
narshu | 0:dc84eed6b8b6 | 143 | while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) { |
narshu | 0:dc84eed6b8b6 | 144 | setSpeed(getSignOfInt(tempDistance) * speed,-getSignOfInt(tempDistance) * speed); |
narshu | 0:dc84eed6b8b6 | 145 | |
narshu | 0:dc84eed6b8b6 | 146 | } |
narshu | 0:dc84eed6b8b6 | 147 | |
narshu | 0:dc84eed6b8b6 | 148 | resetEncoders(); |
narshu | 0:dc84eed6b8b6 | 149 | stop(); |
narshu | 0:dc84eed6b8b6 | 150 | } |
narshu | 0:dc84eed6b8b6 | 151 | |
narshu | 0:dc84eed6b8b6 | 152 | |
narshu | 0:dc84eed6b8b6 | 153 | int getSignOfInt(int direction) { |
narshu | 0:dc84eed6b8b6 | 154 | |
narshu | 0:dc84eed6b8b6 | 155 | direction = (direction < 0); |
narshu | 0:dc84eed6b8b6 | 156 | |
narshu | 0:dc84eed6b8b6 | 157 | switch (direction) { |
narshu | 0:dc84eed6b8b6 | 158 | case 1: |
narshu | 0:dc84eed6b8b6 | 159 | return -1; |
narshu | 0:dc84eed6b8b6 | 160 | case 0: |
narshu | 0:dc84eed6b8b6 | 161 | return 1; |
narshu | 0:dc84eed6b8b6 | 162 | } |
narshu | 0:dc84eed6b8b6 | 163 | |
narshu | 0:dc84eed6b8b6 | 164 | return 0; |
narshu | 0:dc84eed6b8b6 | 165 | } |
narshu | 0:dc84eed6b8b6 | 166 | |
narshu | 0:dc84eed6b8b6 | 167 | void stop() { |
narshu | 0:dc84eed6b8b6 | 168 | sendCommand(cmdSetMotor1, 0); |
narshu | 0:dc84eed6b8b6 | 169 | sendCommand(cmdSetMotor2, 0); |
narshu | 0:dc84eed6b8b6 | 170 | } |
narshu | 0:dc84eed6b8b6 | 171 | |
narshu | 0:dc84eed6b8b6 | 172 | void setSpeed(int speed) { |
narshu | 0:dc84eed6b8b6 | 173 | setMode(1); |
narshu | 0:dc84eed6b8b6 | 174 | ///sendCommand(cmdByte, 0x30); |
narshu | 0:dc84eed6b8b6 | 175 | sendCommand(cmdSetMotor1, speed); |
narshu | 0:dc84eed6b8b6 | 176 | sendCommand(cmdSetMotor2, speed); |
narshu | 0:dc84eed6b8b6 | 177 | } |
narshu | 0:dc84eed6b8b6 | 178 | |
narshu | 0:dc84eed6b8b6 | 179 | void setSpeed(int speed1, int speed2) { |
narshu | 0:dc84eed6b8b6 | 180 | setMode(1), |
narshu | 0:dc84eed6b8b6 | 181 | // sendCommand(cmdByte, 0x30); |
narshu | 0:dc84eed6b8b6 | 182 | sendCommand(cmdSetMotor1, speed1); |
narshu | 0:dc84eed6b8b6 | 183 | sendCommand(cmdSetMotor2, speed2); |
narshu | 0:dc84eed6b8b6 | 184 | } |
narshu | 0:dc84eed6b8b6 | 185 | |
narshu | 0:dc84eed6b8b6 | 186 | void setMode(int mode) { |
narshu | 0:dc84eed6b8b6 | 187 | sendCommand(cmdSetMode, mode); |
narshu | 0:dc84eed6b8b6 | 188 | } |
narshu | 0:dc84eed6b8b6 | 189 | |
narshu | 0:dc84eed6b8b6 | 190 | long encoderToDistance(long encoder) { |
narshu | 0:dc84eed6b8b6 | 191 | return long((float(encoder) / float(encoderRevCount)) * wheelmm); |
narshu | 0:dc84eed6b8b6 | 192 | } |
narshu | 0:dc84eed6b8b6 | 193 | |
narshu | 0:dc84eed6b8b6 | 194 | long distanceToEncoder(long distance) { |
narshu | 0:dc84eed6b8b6 | 195 | return long((float(distance) / float(wheelmm)) * encoderRevCount); |
narshu | 0:dc84eed6b8b6 | 196 | } |
narshu | 0:dc84eed6b8b6 | 197 | |
narshu | 0:dc84eed6b8b6 | 198 | void sendCommand(char command) { |
narshu | 0:dc84eed6b8b6 | 199 | char buffer[1]; |
narshu | 0:dc84eed6b8b6 | 200 | buffer[0] = command; |
narshu | 0:dc84eed6b8b6 | 201 | i2c.write(md25Address, &buffer[0], 1); |
narshu | 0:dc84eed6b8b6 | 202 | } |
narshu | 0:dc84eed6b8b6 | 203 | |
narshu | 0:dc84eed6b8b6 | 204 | void sendCommand(char command1, char command2 ) { |
narshu | 0:dc84eed6b8b6 | 205 | |
narshu | 0:dc84eed6b8b6 | 206 | char buffer[2]; |
narshu | 0:dc84eed6b8b6 | 207 | buffer[0] = command1; |
narshu | 0:dc84eed6b8b6 | 208 | buffer[1] = command2; |
narshu | 0:dc84eed6b8b6 | 209 | |
narshu | 0:dc84eed6b8b6 | 210 | i2c.write(md25Address, &buffer[0], 2); |
narshu | 0:dc84eed6b8b6 | 211 | } |
narshu | 0:dc84eed6b8b6 | 212 | |
narshu | 0:dc84eed6b8b6 | 213 | |
narshu | 0:dc84eed6b8b6 | 214 |