Add servo controls and spinlock, fix swerve, optimize code
This commit is contained in:
evlryah
parent
55a0b6549f
commit
b4bc492f96
3
.vscode/settings.json
vendored
3
.vscode/settings.json
vendored
@ -4,6 +4,7 @@
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"cmath": "cpp",
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"*.tcc": "cpp",
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"string": "cpp",
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"ranges": "cpp"
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"ranges": "cpp",
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"numeric": "cpp"
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}
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}
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@ -15,8 +15,8 @@ extern long last_p;
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*/
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// Loop timing
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#define LOOP_DELAY_MS_CORE_0 50 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
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#define LOOP_DELAY_MS_CORE_1 50 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
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#define LOOP_DELAY_MS_CORE_0 50 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
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#define LOOP_DELAY_MS_CORE_1 20 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
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#define LOOP_DELAY_SECONDS ((float)LOOP_DELAY_MS_CORE_0 / 1000.0f) // Previous number expressed in seconds
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// Math things
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@ -57,8 +57,11 @@ extern long last_p;
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// This value must always be at least 2, otherwise the code will break due to there being an array with a zero or negative length or a division by zero
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#define ENCODER_BUFFER_ENTRY_COUNT 5
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// Number of encoder ticks per full rotation of each swerve drive steering motor
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#define STEERING_ENCODER_TICKS_PER_ROTATION (1024.0 * 8.0)
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// Number of encoder ticks per degree of rotation for the swerve drive steering motors
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#define STEERING_ENCODER_TICKS_PER_DEGREE (1024.0 * 4.0) / 360.0 // TODO check as of 20230927
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#define STEERING_ENCODER_TICKS_PER_DEGREE (STEERING_ENCODER_TICKS_PER_ROTATION / 360.0)
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// Maximum speed allowed for the steering motors (out of 127.0)
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#define STEERING_MOTOR_SPEED_LIMIT 127.0 // TODO as of 20230927, lower this if they're spinning too fast for the robot to handle
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@ -78,6 +81,7 @@ extern long last_p;
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// #define CLAW_COMMAND_STOP 1 // Stop immediately, no matter the location
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#define CLAW_COMMAND_CLOSE 2 // Close the claw
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#define CLAW_COMMAND_OPEN 3 // Open the claw
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#define CLAW_COMMAND_STAY 4 // Maintain the current position
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// Claw things
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#define CLAW_OPEN_ANGLE 90.0f // Open position of the claw
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@ -85,18 +89,32 @@ extern long last_p;
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#define CLAW_DEFAULT_ANGLE 0.0f // Default starting claw position
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// Tilt servo control parameters
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#define TILT_ANGLE_MIN_UPDATE_INTERVAL 0.2f // Update the tilt servo's target angle only after this many seconds have elapsed since the previous angle update
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#define TILT_ANGLE_MIN_UPDATE_LOOPS (TILT_ANGLE_MIN_UPDATE_INTERVAL / LOOP_DELAY_SECONDS) // Previous value expressed as a number of control loops to wait between updates
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#define TILT_ANGLE_UPDATE_DISTANCE 10.0f // Distance in degrees to shift the servo angle by each update
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#define TILT_MAX_ANGLE 90.0f // Maximum angle allowed for the tilt servo
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#define TILT_MIN_ANGLE -90.0f // Minimum angle allowed for the tilt servo
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#define TILT_FLAT_ANGLE 0.0f // Default/flat/starting angle for the tilt servo
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#define TILT_DEGREES_PER_SECOND 50.0f // Speed in degrees per second that the tilt motor will move up or down (except when resetting to a flat position)
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#define TILT_ANGLE_MIN_UPDATE_INTERVAL 0.2f // Update the tilt servo's target angle only after this many seconds have elapsed since the previous angle update
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#define TILT_ANGLE_MIN_UPDATE_LOOPS (TILT_ANGLE_MIN_UPDATE_INTERVAL / LOOP_DELAY_SECONDS) // Previous value expressed as a number of control loops to wait between updates
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#define TILT_ANGLE_UPDATE_DISTANCE (TILT_DEGREES_PER_SECOND * TILT_ANGLE_MIN_UPDATE_INTERVAL) // Distance in degrees to shift the servo angle by each update
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#define TILT_MAX_ANGLE 90.0f // Maximum angle allowed for the tilt servo
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#define TILT_MIN_ANGLE -90.0f // Minimum angle allowed for the tilt servo
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#define TILT_FLAT_ANGLE 0.0f // Default/flat/starting angle for the tilt servo
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// Tilt servo commands
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#define TILT_COMMAND_UNSET 0
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#define TILT_COMMAND_UP 1
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#define TILT_COMMAND_DOWN 2
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#define TILT_COMMAND_UNSET 0 // Command not yet set, go to default (flat) position
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#define TILT_COMMAND_RESET 1 // Reset the tilt servo to the flat position
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#define TILT_COMMAND_UP 2 // Raise the tilt servo
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#define TILT_COMMAND_DOWN 3 // Lower the silt servo
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// Control parameters, specify which buttons control new_angle actions
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#define ARM_UP_BUTTON DPAD_UP
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#define ARM_DOWN_BUTTON DPAD_DOWN
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#define CLAW_OPEN_BUTTON DPAD_LEFT
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#define CLAW_CLOSE_BUTTON DPAD_RIGHT
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#define TILT_UP_BUTTON DIAMOND_UP
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#define TILT_DOWN_BUTTON DIAMOND_DOWN
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#define TILT_RESET_BUTTON DIAMOND_LEFT
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// Button definitions
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#define SerComm Serial1 //Serial port connected to Xbee
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#define DIAMOND_LEFT 0
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#define DIAMOND_DOWN 1
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343
src/main.cpp
343
src/main.cpp
@ -15,6 +15,7 @@
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#include <107-Arduino-Servo-RP2040.h>
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#include "swerve.h"
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#include "manipulator.h"
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#include "spinlock.h"
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const char* ssid = "TEST";
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const char* password = "pink4bubble";
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@ -43,9 +44,9 @@ PCF8574 ioex2(0x21, 20, 21);
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// JANK: soldered to pico or headers
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PioEncoder enc1(18); // Front Left
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PioEncoder enc2(14); // Front Right
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PioEncoder enc3(27); // Back Left
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PioEncoder enc4(0); // Back Right
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PioEncoder enc2(0); // Front Right // TODO WIRING AND CONFIRMATION 20230929
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PioEncoder enc3(27); // Back Left // TODO WIRING AND CONFIRMATION 20230929
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PioEncoder enc4(14); // Back Right
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@ -68,10 +69,25 @@ int stepperX_pos = 0;
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int stepperY_pos = 0;
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int stepperZ_pos = 0;
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// Loop management
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uint64_t previous_loop_start_time_core_0 = 0, previous_loop_start_time_core_1 = 0; // Track the previous loop start time, used to calculate how long to sleep for until the start of the next loop
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uint64_t previous_loop_processing_duration_core_0 = 0, previous_loop_processing_duration_core_1 = 0; // Processing time for the previous loop on each core
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uint64_t loop_counter_core_0 = 0, loop_counter_core_1 = 0; // Counter for loop() and loop1() respectively, incremented at the end of each loop
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// Motor power communication between cores
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byte drive_power_command_spinlock_flag = SPINLOCK_UNSET; // Spinlock tracking flag
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// Variables used to transfer steering motor power between cores, covered by spinlock
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int power_data_transfer_fl = 0;
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int power_data_transfer_fr = 0;
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int power_data_transfer_bl = 0;
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int power_data_transfer_br = 0;
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// Variables used to track previous requested motor power, only used by core 1, sabertooth not called if motor power unchanged since previous loop
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int power_data_transfer_prev_fl = 0;
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int power_data_transfer_prev_fr = 0;
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int power_data_transfer_prev_bl = 0;
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int power_data_transfer_prev_br = 0;
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#define defMaxSpeed 8000
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#define defAcceleration 8000
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@ -112,14 +128,14 @@ int right_cooldown = 0;
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int olddisplay = 99999; // guarantee a change when first value comes in
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// motor indeces for set_motor() function
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#define FLSTEER 1
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#define FRSTEER 2
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#define BLSTEER 3
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#define BRSTEER 4
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#define FRSTEER 1
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#define FLSTEER 2
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#define BRSTEER 3
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#define BLSTEER 4
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#define FLDRIVE 5
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#define FRDRIVE 6
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#define BRDRIVE 6
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#define BLDRIVE 7
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#define BRDRIVE 8
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#define FRDRIVE 8
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#define EXTEND1 9
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#define EXTEND2 10
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#define LIFT1 11
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@ -384,8 +400,8 @@ void set_dec(byte num) {
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}
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void set_motor(byte motor, int speed) {
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// 1 - 4 : swivel motors on Sabertooth 1-2
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// 5 - 8 : drive motors on Talon SRX
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// 1 - 4 : swivel motors on Sabertooth 1-2 (Clockwise: FR, FL, BR, BL)
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// 5 - 8 : drive motors on Talon SRX (Forward: FL, BR, BL, FL)
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// 9 - 10 : actuators on Sabertooth 3
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// 11 - 13 : Steppers on slave board
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// 14 : drive 11-13 with identical position & speed
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@ -397,6 +413,7 @@ void set_motor(byte motor, int speed) {
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Serial.println(speed);
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if (motor <= 4) {
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// swerve controls
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speed *= (((motor % 2) * 2) - 1); // Flip motors 2 and 4
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swivel[(motor - 1) / 2].motor((motor - 1) % 2 + 1, speed);
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}
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else if (motor == 5)
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@ -675,7 +692,7 @@ void setup() {
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Serial.print("Initializing encoders..");
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set_hex(0x5);
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enc1.begin();
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enc1.flip();
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//enc1.flip();
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enc2.begin();
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enc3.begin();
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enc4.begin();
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@ -859,7 +876,8 @@ void print_status() {
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}
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void telemetry(float zeroed_lx_float, float zeroed_ly_float, float zeroed_rx_float, float zeroed_ry_float, int drive_mode, \
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float left_joystick_angle, float left_joystick_magnitude, float right_joystick_angle, float right_joystick_magnitude) { // Print encoder positions for steering motors
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float left_joystick_angle, float left_joystick_magnitude, float right_joystick_angle, float right_joystick_magnitude, \
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uint64_t processing_time) { // Print encoder positions for steering motors
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char buffer[300] = "\0";
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@ -868,10 +886,11 @@ void telemetry(float zeroed_lx_float, float zeroed_ly_float, float zeroed_rx_flo
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//SerComm.println(buffer);
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// Encoder data and loop number
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sprintf(buffer, "Loop = %llu E1 = %i E2 = %i E3 = %i E4 = %i z_lx = %f z_ly = %f z_rx = %f z_ry = %f mode = %i mag-L = %f ang-L = %f mag-R = %f ang-R = %f", \
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sprintf(buffer, "Loop = %llu E1 = %i E2 = %i E3 = %i E4 = %i z_lx = %f z_ly = %f z_rx = %f z_ry = %f mode = %i mag-L = %f ang-L = %f mag-R = %f ang-R = %f proctime = %llu", \
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loop_counter_core_0, enc1.getCount(), enc2.getCount(), enc3.getCount(), enc4.getCount(), \
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zeroed_lx_float, zeroed_ly_float, zeroed_rx_float, zeroed_ry_float, drive_mode, \
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left_joystick_magnitude, left_joystick_angle, right_joystick_magnitude, right_joystick_angle);
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left_joystick_magnitude, left_joystick_angle, right_joystick_magnitude, right_joystick_angle, \
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processing_time);
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Serial.println(buffer);
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SerComm.println(buffer);
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}
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@ -952,36 +971,46 @@ void loop() {
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swrv = updateEncoderData(swrv, enc1.getCount(), enc2.getCount(), enc3.getCount(), enc4.getCount()); // Update encoder data in the swerve_drive struct
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swrv = updateSwerveCommand(swrv); // Calculate power for each drive and steering motor
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// Arm motor control (stepper motors)
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float arm_speed = 0.0f; // TODO as of 20230928: PLACEHOLDER for input for arm speed
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// Arm motor control (stepper motors), DPAD_UP to move arm up, DPAD_DOWN to move arm down, both or neither being pressed stops the arm
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float arm_speed = (float) (((int) getButton(DPAD_UP)) - ((int) getButton(DPAD_DOWN))); // TODO 20230929 confirm speed and polarity
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clawarm = setArmSpeed(clawarm, arm_speed);
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// Claw servo control
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int new_claw_command = CLAW_COMMAND_UNSET;
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/*
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// TODO select action for claw
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*/
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int claw_direction = getButton(CLAW_OPEN_BUTTON) - getButton(CLAW_CLOSE_BUTTON);
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switch(claw_direction) {
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case 0:
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new_claw_command = CLAW_COMMAND_STAY;
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break;
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case 1:
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new_claw_command = CLAW_COMMAND_OPEN;
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break;
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case -1:
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new_claw_command = CLAW_COMMAND_CLOSE;
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break;
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}
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clawarm = updateClawCommand(clawarm, new_claw_command);
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// Tilt servo control
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int new_tilt_command = TILT_COMMAND_UNSET;
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/*
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// TODO select action for the tilt servo
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*/
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clawarm = updateTiltCommand(clawarm, new_tilt_command);
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telemetry(zeroed_lx_float, zeroed_ly_float, zeroed_rx_float, zeroed_ry_float, loop_drive_mode, left_joystick_angle, left_joystick_magnitude, right_joystick_angle, right_joystick_magnitude); // DEBUG ONLY, print steering motor encoder positions
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telemetry(zeroed_lx_float, zeroed_ly_float, zeroed_rx_float, zeroed_ry_float, loop_drive_mode, left_joystick_angle, left_joystick_magnitude, right_joystick_angle, right_joystick_magnitude, previous_loop_processing_duration_core_0); // DEBUG ONLY, telemetry
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// update motors after calculation
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set_motor(FLSTEER, swrv.front_left_spin_power);
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set_motor(BRSTEER, swrv.back_right_spin_power);
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set_motor(FRSTEER, swrv.front_right_spin_power);
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set_motor(BLSTEER, swrv.back_left_spin_power);
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set_motor(FLDRIVE, swrv.front_left_power);
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set_motor(BRDRIVE, swrv.back_right_power);
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set_motor(FRDRIVE, swrv.front_right_power);
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set_motor(BLDRIVE, swrv.back_left_power);
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// Lock the spinlock and transfer the steering motor data to core 1, which will send the data to the sabertooth motor controllers
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spinlock_lock_core_0(&drive_power_command_spinlock_flag);
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power_data_transfer_fl = swrv.front_left_power;
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power_data_transfer_fr = swrv.front_right_spin_power;
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power_data_transfer_bl = swrv.back_left_spin_power;
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power_data_transfer_br = swrv.back_right_spin_power;
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spinlock_release(&drive_power_command_spinlock_flag);
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// update stepper motors
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set_motor(LIFTALL, clawarm.arm_set_motor_int);
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@ -994,155 +1023,6 @@ void loop() {
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*/
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/////////////////////////////////////////////////////////////
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// END OF MODULUS PLUS CODE UNTIL THE END OF THIS FUNCTION //
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/////////////////////////////////////////////////////////////
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// Goliath / 2 side arcade tank drive code below
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/*int zeroed_power = -1 * ((int)(astate->stickX) - 127);
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int zeroed_turn = ((int)(astate->stickY) - 127);
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if (true) { //fb != NULL) {
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//int x = fb->x - 127;
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//int y = - fb->y + 127;
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int x = zeroed_turn;
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int y = zeroed_power;
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//Serial.print(x);
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//Serial.print(" ");
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//Serial.println(y);
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double rawdriveangle = atan2(x, y);
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double driveangle = rawdriveangle * 180 / 3.1415926;
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target_left_power = y;
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target_right_power = y;
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target_left_power += x;
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target_right_power += -x;
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target_left_power = constrain(target_left_power, -127, 127);
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target_right_power = constrain(target_right_power, -127, 127);
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if(turbo) {
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target_left_power *= 2;
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target_right_power *= 2;
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}
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target_left_power = target_left_power * 0.675;
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target_right_power = target_right_power * 0.675;
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}
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if(turbo)
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acceleration = 8;
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else
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acceleration = 3;
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if(left_cooldown > 0)
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left_cooldown --;
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if(abs(target_left_power) <= 4 && abs(left_power) > 5) {
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left_power = 0;
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left_cooldown = 2;
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}
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else if(target_left_power >= left_power + acceleration && left_cooldown == 0)
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left_power += acceleration;
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else if(acceleration > target_left_power - left_power && left_cooldown == 0)
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left_power = target_left_power;
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else if(target_left_power <= left_power - acceleration && left_cooldown == 0)
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left_power -= acceleration;
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else if(acceleration > left_power - target_left_power && left_cooldown == 0)
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left_power = target_left_power;
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if(right_cooldown > 0)
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right_cooldown --;
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if(abs(target_right_power) <= 4 && abs(right_power) > 5) {
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right_power = 0;
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right_cooldown = 2;
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}
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else if(target_right_power >= right_power + acceleration && right_cooldown == 0)
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right_power += acceleration;
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else if(acceleration > target_right_power - right_power && right_cooldown == 0)
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right_power = target_right_power;
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else if(target_right_power <= right_power - acceleration && right_cooldown == 0)
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right_power -= acceleration;
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else if(acceleration > right_power - target_right_power && right_cooldown == 0)
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right_power = target_right_power;
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int avg_speed = (abs(right_power) + abs(left_power))/2;
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//SerComm.println();
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set_hex(avg_speed);
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//drive_right(right_enabled, right_power);
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//drive_left(left_enabled, -left_power);
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SerComm.println(" L: " + String(left_power) + " LT: " + String(target_left_power) + " R: " + String(right_power) + " RT: " + String(target_right_power) + " MEM FREE: "+ String(rp2040.getFreeHeap()));
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*/
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//if(left_power != target_left_power || right_power != target_right_power)
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//delay(1000);
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//set_digit(0, 6);
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//set_digit(0, 10);
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//set_digit(1, 9);
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//set_digit(1, 10);
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//set_digit(2, 8);
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//set_digit(2, 10);
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//set_digit(3, 8);
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//set_digit(3, 10);
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//set_digit(4, 8);
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//set_digit(4, 10);
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/*if (mode == 0) {
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set_raw(count / 8, count % 8);
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if (count < 39) {
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count ++;
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} else {
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count = 0;
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mode = 1;
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delay(100);
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}
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}*/
|
||||
//print_status();
|
||||
//drive_right(right_enabled, 10);
|
||||
//drive_left(left_enabled, 10);
|
||||
/*if (millis() % 3000 > 1500) {
|
||||
set_mosfet(0, LOW);
|
||||
set_mosfet(1, LOW);
|
||||
//ioex2.digitalWrite(7, LOW);
|
||||
}
|
||||
if (millis() % 3000 < 1500) {
|
||||
set_mosfet(0, HIGH);
|
||||
set_mosfet(1, HIGH);
|
||||
//ioex2.digitalWrite(7, HIGH);
|
||||
|
||||
}*/
|
||||
/*if (mode == 1) {
|
||||
set_dec(count);
|
||||
drive_right(right_enabled, count);
|
||||
//set_hex(count);
|
||||
if (count < 40) {
|
||||
count += 5;
|
||||
} else {
|
||||
//count = 0;
|
||||
|
||||
mode = 2;
|
||||
}
|
||||
}
|
||||
if (mode == 2) {
|
||||
set_dec(count);
|
||||
drive_right(right_enabled, count);
|
||||
//set_hex(count);
|
||||
if (count > 5) {
|
||||
count -= 5;
|
||||
} else {
|
||||
//count = 0;
|
||||
|
||||
mode = 1;
|
||||
}
|
||||
}*/
|
||||
//delay(200);
|
||||
|
||||
previous_loop_processing_duration_core_0 = millis() - previous_loop_start_time_core_0;
|
||||
int64_t delay_time_ms = LOOP_DELAY_MS_CORE_0 - (int64_t) previous_loop_processing_duration_core_0; // Dynamically calculate delay time
|
||||
if(delay_time_ms > 0 && delay_time_ms < 100) { // Only delay if the processing time has not exceeded LOOP_DELAY_MS_CORE_0
|
||||
@ -1153,88 +1033,41 @@ void loop() {
|
||||
|
||||
}
|
||||
|
||||
void drive_control_core_1() { // Control drive motors from core 1 from loop1() function
|
||||
// Lock the steering motor power data to read it
|
||||
spinlock_lock_core_1(&drive_power_command_spinlock_flag);
|
||||
int local_fl = power_data_transfer_fl;
|
||||
int local_fr = power_data_transfer_fr;
|
||||
int local_bl = power_data_transfer_bl;
|
||||
int local_br = power_data_transfer_br;
|
||||
spinlock_release(&drive_power_command_spinlock_flag); // Release the spinlock
|
||||
|
||||
// Set motors if the requested power is different than the previously requested power
|
||||
if(local_fl != power_data_transfer_prev_fl) {
|
||||
set_motor(FLSTEER, local_fl);
|
||||
}
|
||||
if(local_fr != power_data_transfer_prev_fr) {
|
||||
set_motor(FRSTEER, local_fr);
|
||||
}
|
||||
if(local_bl != power_data_transfer_prev_bl) {
|
||||
set_motor(BLSTEER, local_bl);
|
||||
}
|
||||
if(local_br != power_data_transfer_prev_br) {
|
||||
set_motor(BRSTEER, local_br);
|
||||
}
|
||||
|
||||
// Set the previously requested power data to the current power data, will be read in the next loop
|
||||
power_data_transfer_prev_fl = local_fl;
|
||||
power_data_transfer_prev_fr = local_fr;
|
||||
power_data_transfer_prev_bl = local_bl;
|
||||
power_data_transfer_prev_br = local_br;
|
||||
}
|
||||
|
||||
void loop1() {
|
||||
previous_loop_start_time_core_1 = millis();
|
||||
rp2040.wdt_reset();
|
||||
//drive_left(left_enabled, 255);
|
||||
//digitalWrite(LED_BUILTIN, HIGH);
|
||||
if(loop_counter_core_1 == 20) {
|
||||
//print_status();
|
||||
loop_counter_core_1 = 0;
|
||||
delay(25);
|
||||
}
|
||||
else {
|
||||
delay(25);
|
||||
//loop_counter_core_1++;
|
||||
}
|
||||
|
||||
//SerComm.println("update");
|
||||
//left_enabled = try_enable_left(left_enabled, get_voltage(1));
|
||||
//right_enabled = try_enable_right(right_enabled, get_voltage(0));
|
||||
//digitalWrite(LED_BUILTIN, LOW);
|
||||
|
||||
/*if (stepperX.distanceToGo() == 0) { // Give stepper something to do...
|
||||
if (stepperXdir) {
|
||||
Serial.println("Driving stepper");
|
||||
stepperX.moveTo(stepsToGo);
|
||||
} else {
|
||||
Serial.println("Driving stepper");
|
||||
stepperX.moveTo(-stepsToGo);
|
||||
}
|
||||
stepperX.runState();
|
||||
stepperXdir = !stepperXdir;
|
||||
}
|
||||
if (stepperY.distanceToGo() == 0) { // Give stepper something to do...
|
||||
if (stepperYdir)
|
||||
stepperY.moveTo(stepsToGo);
|
||||
else
|
||||
stepperY.moveTo(-stepsToGo);
|
||||
stepperY.runState();
|
||||
stepperYdir = !stepperYdir;
|
||||
}
|
||||
|
||||
if (stepperZ.distanceToGo() == 0) { // Give stepper something to do...
|
||||
if (stepperZdir)
|
||||
stepperZ.moveTo(stepsToGo);
|
||||
else
|
||||
stepperZ.moveTo(-stepsToGo);
|
||||
stepperZ.runState();
|
||||
stepperZdir = !stepperZdir;
|
||||
}*/
|
||||
if (mode == 1) {
|
||||
//set_hex(count);
|
||||
if (count < 125) {
|
||||
count += 1;
|
||||
} else {
|
||||
//count = 0;
|
||||
|
||||
mode = 2;
|
||||
}
|
||||
}
|
||||
if (mode == 2) {
|
||||
|
||||
//set_hex(count);
|
||||
if (count > -125) {
|
||||
count -= 1;
|
||||
} else {
|
||||
//count = 0;
|
||||
|
||||
mode = 1;
|
||||
}
|
||||
}
|
||||
/*for (int x = 5; x < 9; x++) {
|
||||
set_motor(x, count);
|
||||
}
|
||||
swivel[0].motor(0, 127);
|
||||
swivel[0].motor(1, 127);
|
||||
swivel[1].motor(0, 127);
|
||||
swivel[1].motor(1, 127);
|
||||
set_motor(14, count); // drive all steppers in sync
|
||||
digitalWrite(0, HIGH);
|
||||
digitalWrite(1, HIGH);
|
||||
digitalWrite(2, HIGH);
|
||||
digitalWrite(3, HIGH);*/
|
||||
|
||||
drive_control_core_1();
|
||||
|
||||
previous_loop_processing_duration_core_1 = millis() - previous_loop_start_time_core_1;
|
||||
int64_t delay_time_ms = LOOP_DELAY_MS_CORE_1 - (int64_t) previous_loop_processing_duration_core_1; // Dynamically calculate delay time
|
||||
|
||||
@ -39,22 +39,28 @@ manipulator_arm setTiltAngle(manipulator_arm input, float new_tilt_angle) // Int
|
||||
manipulator_arm updateTiltCommand(manipulator_arm input, int new_tilt_command) // Update the command for the tilt motor
|
||||
{
|
||||
manipulator_arm out = input;
|
||||
if(new_tilt_command != TILT_COMMAND_UNSET && out.tilt_angle_loops_since_update >= TILT_ANGLE_MIN_UPDATE_LOOPS) { // Ignore value of 0, make sure that its been long enough since the last update
|
||||
float tilt_angle_offset_direction = 0.0f;
|
||||
if(new_tilt_command != out.tilt_command || out.tilt_angle_loops_since_update >= TILT_ANGLE_MIN_UPDATE_LOOPS) { // Make sure that it's been long enough since the last update to not spam the servo command
|
||||
float new_angle = out.tilt_target_angle; // Maintain the existing angle by default
|
||||
switch(new_tilt_command) {
|
||||
case TILT_COMMAND_UNSET:
|
||||
new_angle = out.tilt_target_angle; // Maintain the existing angle
|
||||
case TILT_COMMAND_RESET:
|
||||
new_angle = TILT_FLAT_ANGLE;
|
||||
case TILT_COMMAND_UP:
|
||||
tilt_angle_offset_direction = 1.0f;
|
||||
new_angle = out.tilt_target_angle + TILT_ANGLE_UPDATE_DISTANCE;
|
||||
break;
|
||||
case TILT_COMMAND_DOWN:
|
||||
tilt_angle_offset_direction = -1.0f;
|
||||
new_angle = out.tilt_target_angle - TILT_ANGLE_UPDATE_DISTANCE;
|
||||
break;
|
||||
}
|
||||
float angle_offset = TILT_ANGLE_UPDATE_DISTANCE * tilt_angle_offset_direction; // Degrees that the target angle is being changed by
|
||||
out = setTiltAngle(out, out.tilt_target_angle + angle_offset);
|
||||
out = setTiltAngle(out, new_angle);
|
||||
out.tilt_angle_loops_since_update = 0; // Reset the counter tracking loops since the last update, since an update was just performed
|
||||
} else { // Increment the number of loops since the previous update, since an update was not performed during this loop
|
||||
out.tilt_angle_loops_since_update++;
|
||||
}
|
||||
|
||||
|
||||
out.tilt_command = new_tilt_command; // Save the new command to check whether it has changed in the next loop
|
||||
|
||||
return out;
|
||||
}
|
||||
|
||||
@ -81,6 +87,9 @@ manipulator_arm updateClawCommand(manipulator_arm input, int new_claw_command) /
|
||||
case CLAW_COMMAND_CLOSE:
|
||||
new_claw_angle = CLAW_CLOSED_ANGLE;
|
||||
break;
|
||||
case CLAW_COMMAND_STAY:
|
||||
new_claw_angle = out.claw_position;
|
||||
break;
|
||||
default:
|
||||
new_claw_angle = CLAW_DEFAULT_ANGLE;
|
||||
}
|
||||
@ -92,7 +101,7 @@ manipulator_arm updateClawCommand(manipulator_arm input, int new_claw_command) /
|
||||
|
||||
// Arm functions (stepper motors)
|
||||
|
||||
manipulator_arm setArmSpeed(manipulator_arm input, float arm_speed) // Set the arm's speed
|
||||
manipulator_arm setArmSpeed(manipulator_arm input, float arm_speed) // Set the arm's speed, must be between -1.0 and 1.0
|
||||
{
|
||||
manipulator_arm out = input;
|
||||
arm_speed = out.arm_speed_coefficient * min(out.arm_speed_limit, max(-out.arm_speed_limit, arm_speed));
|
||||
|
||||
@ -51,7 +51,7 @@ manipulator_arm updateClawCommand(manipulator_arm input, int new_claw_command);
|
||||
|
||||
// Arm functions (stepper motors)
|
||||
|
||||
manipulator_arm setArmSpeed(manipulator_arm input, float arm_speed); // Set the arm's speed
|
||||
manipulator_arm setArmSpeed(manipulator_arm input, float arm_speed); // Set the arm's speed, must be between -1.0 and 1.0
|
||||
|
||||
manipulator_arm setArmSpeedLimit(manipulator_arm input, float arm_speed_limit); // Set the arm's speed limit (applied before coefficient), limit must be between 0.0 and 1.0
|
||||
|
||||
|
||||
34
src/spinlock.cpp
Normal file
34
src/spinlock.cpp
Normal file
@ -0,0 +1,34 @@
|
||||
#include <Arduino.h>
|
||||
#include "globals.h"
|
||||
#include "spinlock.h"
|
||||
|
||||
void spinlock_lock_core_0(byte* spinlock_flag) // Lock a spinlock from core 0
|
||||
{
|
||||
while(*spinlock_flag == SPINLOCK_LOCK_CORE_1) {} // Wait until the data is not locked by the other core
|
||||
*spinlock_flag = SPINLOCK_LOCK_CORE_0; // Try setting the flag to lock the data
|
||||
// Wait to see if the memory was overwritten by the other core
|
||||
delay(1);
|
||||
if(*spinlock_flag == SPINLOCK_LOCK_CORE_1 || *spinlock_flag == SPINLOCK_OPEN) { // The other core locked the data (and currently holds a lock or has released it), recurse to try again
|
||||
spinlock_lock_core_0(spinlock_flag);
|
||||
return;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
void spinlock_lock_core_1(byte* spinlock_flag) // Lock a spinlock from core 1
|
||||
{
|
||||
while(*spinlock_flag == SPINLOCK_LOCK_CORE_1) {} // Wait until the data is not locked by the other core
|
||||
*spinlock_flag = SPINLOCK_LOCK_CORE_0; // Try setting the flag to lock the data
|
||||
// Wait to see if the memory was overwritten by the other core
|
||||
delay(1);
|
||||
if(*spinlock_flag == SPINLOCK_LOCK_CORE_1 || *spinlock_flag == SPINLOCK_OPEN) { // The other core locked the data (and currently holds a lock or has released it), recurse to try again
|
||||
spinlock_lock_core_0(spinlock_flag);
|
||||
return;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
void spinlock_release(byte* spinlock_flag) // Release a spinlock
|
||||
{
|
||||
*spinlock_flag = SPINLOCK_OPEN;
|
||||
}
|
||||
14
src/spinlock.h
Normal file
14
src/spinlock.h
Normal file
@ -0,0 +1,14 @@
|
||||
#include "globals.h"
|
||||
|
||||
|
||||
// Spinlock flags
|
||||
#define SPINLOCK_UNSET 0
|
||||
#define SPINLOCK_OPEN 1
|
||||
#define SPINLOCK_LOCK_CORE_0 2
|
||||
#define SPINLOCK_LOCK_CORE_1 3
|
||||
|
||||
void spinlock_lock_core_0(byte* spinlock_flag); // Lock a spinlock from core 0
|
||||
|
||||
void spinlock_lock_core_1(byte* spinlock_flag); // Lock a spinlock from core 1
|
||||
|
||||
void spinlock_release(byte* spinlock_flag); // Release a spinlock
|
||||
@ -146,15 +146,27 @@ swerve_drive updateEncoderData(swerve_drive in, int front_left_encoder, int fron
|
||||
return out;
|
||||
}
|
||||
|
||||
float normalizeAngle(float angle) { // Takes an input angle and normalizes it to an angle between 0.0 and 360.0 degrees, results excluding exactly 360.0 degrees
|
||||
int normalizeEncoderData(int encoder_data) // Normalize encoder data to a range of [0, STEERING_ENCODER_TICKS_PER_ROTATION)
|
||||
{
|
||||
encoder_data %= (int) STEERING_ENCODER_TICKS_PER_ROTATION;
|
||||
encoder_data += (STEERING_ENCODER_TICKS_PER_ROTATION * (encoder_data < 0));
|
||||
return encoder_data;
|
||||
}
|
||||
|
||||
float relativeAngleFromEncoder(int encoder_data_relative ) // Calculate the relative angle from the difference between 2 encoder data points
|
||||
{
|
||||
return ((float) normalizeEncoderData(encoder_data_relative)) / ((float) STEERING_ENCODER_TICKS_PER_DEGREE);
|
||||
}
|
||||
|
||||
float normalizeAngle(float angle) // Takes an input angle and normalizes it to an angle between 0.0 and 360.0 degrees, results excluding exactly 360.0 degrees
|
||||
{
|
||||
angle = fmod(angle, 360);
|
||||
if(angle < 0.0) {
|
||||
angle += 360;
|
||||
}
|
||||
angle += (360 * (angle < 0.0));
|
||||
return angle;
|
||||
}
|
||||
|
||||
swerve_drive setMotorCoefficients(swerve_drive input, float front_left, float front_right, float back_left, float back_right) { // Set the motor speed coefficients for each motor
|
||||
swerve_drive setMotorCoefficients(swerve_drive input, float front_left, float front_right, float back_left, float back_right) // Set the motor speed coefficients for each motor
|
||||
{
|
||||
swerve_drive out = input;
|
||||
out.front_left_coefficient = front_left;
|
||||
out.front_right_coefficient = front_right;
|
||||
@ -163,7 +175,8 @@ swerve_drive setMotorCoefficients(swerve_drive input, float front_left, float fr
|
||||
return out;
|
||||
}
|
||||
|
||||
swerve_drive setTargetSpin(swerve_drive input, float front_left, float front_right, float back_left, float back_right) { // Set the target spin for each wheel
|
||||
swerve_drive setTargetSpin(swerve_drive input, float front_left, float front_right, float back_left, float back_right) // Set the target spin for each wheel
|
||||
{
|
||||
swerve_drive out = input;
|
||||
out.front_left_target_spin = front_left + input.spin_offset;
|
||||
out.front_right_target_spin = front_right + input.spin_offset;
|
||||
@ -172,7 +185,8 @@ swerve_drive setTargetSpin(swerve_drive input, float front_left, float front_rig
|
||||
return out;
|
||||
}
|
||||
|
||||
swerve_drive setSpinOffset(swerve_drive input, float new_spin_offset) { // Set a new spin offset, and maintain the current target spin on each motor relative to the robot body as the offset is changed
|
||||
swerve_drive setSpinOffset(swerve_drive input, float new_spin_offset) // Set a new spin offset, and maintain the current target spin on each motor relative to the robot body as the offset is changed
|
||||
{
|
||||
swerve_drive out = input;
|
||||
|
||||
float delta_spin_offset = new_spin_offset - input.spin_offset;
|
||||
@ -184,7 +198,8 @@ swerve_drive setSpinOffset(swerve_drive input, float new_spin_offset) { // Set a
|
||||
return out;
|
||||
}
|
||||
|
||||
swerve_drive setDriveTargetPower(swerve_drive input, float target_drive_power) { // Set a new drive power
|
||||
swerve_drive setDriveTargetPower(swerve_drive input, float target_drive_power) // Set a new drive power
|
||||
{
|
||||
swerve_drive out = input;
|
||||
out.target_drive_power = target_drive_power;
|
||||
return out;
|
||||
|
||||
@ -85,6 +85,10 @@ float calculateSteeringMotorSpeed(float steering_delta); // Calculate the speed
|
||||
|
||||
swerve_drive updateEncoderData(swerve_drive in, int front_left_encoder, int front_right_encoder, int back_left_encoder, int back_right_encoder); // Process new encoder data, calculate the speed and angle of the steering motors
|
||||
|
||||
int normalizeEncoderData(int encoder_data); // Normalize encoder data to a range of [0, STEERING_ENCODER_TICKS_PER_ROTATION)
|
||||
|
||||
float relativeAngleFromEncoder(int encoder_data_relative ); // Calculate the relative angle from the difference between 2 encoder data points
|
||||
|
||||
float normalizeAngle(float angle); // Takes an input angle and normalizes it to an angle between 0.0 and 360.0 degrees, results excluding exactly 360.0 degrees
|
||||
|
||||
swerve_drive setMotorCoefficients(swerve_drive input, float front_left, float front_right, float back_left, float back_right); // Set the motor speed coefficients for each motor
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user