Revision 45:d47b1b112a04, committed 2022-05-20

Comitter:

pmic

Date:

Fri May 20 07:20:10 2022 +0000

Parent:

44:a65bc3e11481

Commit message:

Restored final solution

Changed in this revision

--- a/PM2_Libary.lib	Wed May 18 07:53:31 2022 +0200
+++ b/PM2_Libary.lib	Fri May 20 07:20:10 2022 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/pmic/code/PM2_Libary/#05abc1d2a2b9
+https://os.mbed.com/users/pmic/code/PM2_Libary/#f62a64ffb273

--- a/main.cpp	Wed May 18 07:53:31 2022 +0200
+++ b/main.cpp	Fri May 20 07:20:10 2022 +0000
@@ -14,6 +14,8 @@
 void user_button_pressed_fcn();     // custom functions which gets executed when user button gets pressed and released, definition below
 void user_button_released_fcn();
 
+float ir_distance_mV2cm(float ir_distance_mV);
+
 int main()
 {
     // while loop gets executed every main_task_period_ms milliseconds
@@ -26,6 +28,44 @@
     // led on nucleo board
     DigitalOut user_led(LED1);      // create DigitalOut object to command user led
 
+    // Sharp GP2Y0A41SK0F, 4-40 cm IR Sensor
+    float ir_distance_mV = 0.0f;    // define variable to store measurement
+    float ir_distance_cm = 0.0f;    // compensated sensor value in cm
+    AnalogIn ir_analog_in(PC_2);    // create AnalogIn object to read in infrared distance sensor, 0...3.3V are mapped to 0...1
+
+    // create SensorBar object for sparkfun line follower array, only use this if it is connected (blocking your code if not)
+    float sensor_bar_avgAngleRad = 0.0f;
+    I2C i2c(PB_9, PB_8);
+    //SensorBar sensor_bar(i2c, 0.1175f); // second input argument is distance from bar to wheel axis
+
+    // 78:1, 100:1, ... Metal Gearmotor 20Dx44L mm 12V CB
+    DigitalOut enable_motors(PB_15);    // create DigitalOut object to enable dc motors
+
+    FastPWM pwm_M1(PB_13);               // motor M1 is closed-loop speed controlled (angle velocity)
+    FastPWM pwm_M2(PA_9);                // motor M2 is closed-loop position controlled (angle controlled)
+
+    EncoderCounter  encoder_M1(PA_6, PC_7); // create encoder objects to read in the encoder counter values
+    EncoderCounter  encoder_M2(PB_6, PB_7);
+
+    // create SpeedController and PositionController objects, default parametrization is for 78.125:1 gear box
+    const float max_voltage = 12.0f;                  // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack
+    const float counts_per_turn = 20.0f * 78.125f;    // define counts per turn at gearbox end: counts/turn * gearratio
+    const float kn = 180.0f / 12.0f;                  // define motor constant in rpm per V
+    //const float k_gear = 100.0f / 78.125f;            // define additional ratio in case you are using a dc motor with a different gear box, e.g. 100:1
+    //const float kp = 0.1f;                            // define custom kp, this is the default speed controller gain for gear box 78.125:1
+
+    SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwm_M1, encoder_M1); // default 78.125:1 gear box  with default contoller parameters
+    //SpeedController speedController_M1(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M1, encoder_M1); // parameters adjusted to 100:1 gear
+    speedController_M1.setMaxAccelerationRPS(999.0f);  // disable internal trajectory planer
+
+    PositionController positionController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear with default contoller parameters
+    //PositionController positionController_M2(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M2, encoder_M2); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
+    //positionController_M2.setSpeedCntrlGain(kp * k_gear);
+    positionController_M2.setMaxAccelerationRPS(999.0f);  // disable internal trajectory planer
+    // define maximum speed that the position controller is changig the speed, has to be smaller or equal to kn * max_voltage
+    float max_speed_rps = 2.0f;
+    positionController_M2.setMaxVelocityRPS(max_speed_rps);
+
     // attach button fall and rise functions to user button object
     user_button.fall(&user_button_pressed_fcn);
     user_button.rise(&user_button_released_fcn);
@@ -33,14 +73,31 @@
     // start timer
     main_task_timer.start();
 
+    // enable hardwaredriver dc motors: 0 -> disabled, 1 -> enabled
+    enable_motors = 1;
+
     while (true) { // this loop will run forever
 
         main_task_timer.reset();
         
-       
+        // read analog input
+        ir_distance_mV = 1.0e3f * ir_analog_in.read() * 3.3f;
+        ir_distance_cm = ir_distance_mV2cm(ir_distance_mV);
+        
+        // read SensorBar, only use this if it is connected (blocking your code if not)
+        //if (sensor_bar.isAnyLedActive()) {
+        //    sensor_bar_avgAngleRad = sensor_bar.getAvgAngleRad();
+        //}
+
         if (do_execute_main_task) {
 
+            speedController_M1.setDesiredSpeedRPS(2.0f);
+            positionController_M2.setDesiredRotation(3.0f);
+
         } else {
+
+            speedController_M1.setDesiredSpeedRPS(0.0f);
+            positionController_M2.setDesiredRotation(0.0f);
             
         }
 
@@ -80,4 +137,13 @@
     if (user_button_elapsed_time_ms > 200) {
         do_execute_main_task = !do_execute_main_task;
     }
+}
+
+float ir_distance_mV2cm(float ir_distance_mV)
+{
+    // defining these variables static makes them persistent within the function
+    static float a =    -4.685f; //  (-6.581, -2.79)
+    static float c = 3.017e+04f; //  (2.853e+04, 3.181e+04)
+
+    return c/(ir_distance_mV + 1) + a;
 }
\ No newline at end of file