124 lines
2.8 KiB
C++
124 lines
2.8 KiB
C++
#include <Arduino.h>
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#include <Wire.h>
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#include <smartmotor.h>
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#include <SMC_gains.h>
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#include <SMC_pid_directions.h>
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#include "trapezoidal.h"
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#include "constants.h"
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SmartMotor left_motor(0x0A);
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SmartMotor right_motor(0x0B);
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enum ROBOT_STATE {
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FORWARD,
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TURN,
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RETURN,
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COMPLETE,
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};
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float CURRENT_POSITION = 0.0;
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float CURRENT_ROTATION = 0.0;
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struct Setpoint setpoint;
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float velocity = 40.0;
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// start of current state
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float phase_start;
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enum ROBOT_STATE robot_state;
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struct Trapezoidal forward = {VEL_LIMIT, ACCEL_LIMIT, FORWARD_DISTANCE};
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void setup() {
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// INIT SERIAL
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Serial.begin(115200);
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while(!Serial);
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Wire.begin(); // INIT ARDUINO UNO AS I2C CONTROLLER
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// TUNE VELOCITY PID
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left_motor.tune_vel_pid(0.9, 3.7,0.3,0.0);
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delay(10);
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right_motor.tune_vel_pid(0.0, 3.7,0.3,0.0);
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delay(10);
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right_motor.set_direction(PIDDirection::DIRECT);
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uint16_t ratio = right_motor.get_gear_ratio();
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Serial.print("ratio: ");
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Serial.println(ratio);
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ratio = left_motor.get_gear_ratio();
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Serial.print("ratio: ");
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Serial.println(ratio);
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delay(1000);
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// SET MOTOR POSITION
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//int32_t angle=360;
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//uint8_t status= left_motor.write_angle(angle);
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//delay(1000);
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// READ MOTOR POSITION
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int32_t pos = left_motor.read_angle();
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Serial.print("Pos: ");
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Serial.print(pos);
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Serial.println(" deg");
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phase_start = (float)millis() / 1000.0;
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robot_state = FORWARD;
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}
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void loop() {
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float time = (float)millis() / 1000.0 - phase_start;
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switch (robot_state) {
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case FORWARD:
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setpoint = trapezoidal_planner(&forward, time);
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break;
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case TURN:
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break;
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case RETURN:
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break;
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}
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left_motor.write_rpm(setpoint.velocity * CMS_RPM);
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delay(10);
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right_motor.write_rpm(robot_state == TURN ? -velocity : velocity);
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delay(10);
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// READ MOTOR POSITION
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int32_t rpm = right_motor.read_rpm();
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int32_t pos = right_motor.read_angle();
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int32_t error = setpoint.velocity * CMS_RPM - rpm;
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Serial.print("time:");
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Serial.print(time);
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Serial.print(",dist goal:");
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Serial.print(setpoint.position);
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Serial.print(",dist:");
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Serial.print(pos * DEG_CM);
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Serial.print(",cms/s:");
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Serial.print(rpm / CMS_RPM);
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Serial.print(",Setpoint:");
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Serial.print(setpoint.velocity);
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Serial.print(",Err:");
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Serial.print(error / CMS_RPM);
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Serial.println("");
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// move on if at setpoint TODO: check that the error is low as well
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if (setpoint.complete) {
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switch (robot_state) {
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case FORWARD:
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robot_state = TURN;
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phase_start = (float)millis() / 1000.0;
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// end (temp)
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left_motor.write_rpm(0.0);
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delay(10);
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right_motor.write_rpm(0.0);
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for (;;) {};
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break;
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case TURN:
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break;
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case RETURN:
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break;
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}
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}
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}
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