84 lines
1.8 KiB
C++
84 lines
1.8 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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const float ACCEL_LIMIT = 4.0; // cm/s/s
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const float VEL_LIMIT = 16.0; // cm/s
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const float BACKLASH_RIGHT = 0.0; // degrees
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const float BACKLASH_LEFT = 0.0; // degrees
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const float WHEEL_DIAMETER = 6.37; // cm
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const float WHEEL_TO_WHEEL = 0.0; // cm
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const float FORWARD_DISTANCE = 100.0; // cm
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const float TURN_AMOUNT = 180.0; // degrees
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const float RETURN_DISTANCE = 100.0; // cm
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SmartMotor left_motor(0x0A);
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SmartMotor right_motor(0x0B);
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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 POSITION PID
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left_motor.tune_vel_pid(9.0, 0.0,0.0,0.0);
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right_motor.tune_vel_pid(1.0, 0.65,0.060,0.065);
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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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}
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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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enum ROBOT_STATE robot_state = FORWARD;
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float CURRENT_POSITION = 0.0;
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float CURRENT_ROTATION = 0.0;
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float velocity = 40.0;
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void loop() {
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switch (robot_state) {
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case FORWARD:
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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(velocity);
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//right_motor.write_rpm(robot_state == TURN ? velocity : -velocity);
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delay(20);
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// READ MOTOR POSITION
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int32_t rpm = left_motor.read_rpm();
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int32_t error = velocity - rpm;
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Serial.print("RPM: ");
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Serial.print(rpm);
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Serial.print(" Setpoint: ");
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Serial.print(velocity);
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Serial.print(" Err: ");
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Serial.print(error);
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Serial.println("");
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}
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