kopia lustrzana https://github.com/pimoroni/pimoroni-pico
170 wiersze
4.8 KiB
C++
170 wiersze
4.8 KiB
C++
#include <cstdio>
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#include "pico/stdlib.h"
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#include "motor2040.hpp"
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#include "button.hpp"
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#include "pid.hpp"
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/*
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A demonstration of driving all four of Motor 2040's motor outputs between
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positions, with the help of their attached encoders and PID control.
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Press "Boot" to exit the program.
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*/
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using namespace plasma;
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using namespace motor;
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using namespace encoder;
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// The gear ratio of the motor
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constexpr float GEAR_RATIO = 50.0f;
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// The counts per revolution of the motor's output shaft
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constexpr float COUNTS_PER_REV = MMME_CPR * GEAR_RATIO;
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// The scaling to apply to the motor's speed to match its real-world speed
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float SPEED_SCALE = 5.4f;
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// How many times to update the motor per second
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const uint UPDATES = 100;
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constexpr float UPDATE_RATE = 1.0f / (float)UPDATES;
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// The time to travel between each random value
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constexpr float TIME_FOR_EACH_MOVE = 2.0f;
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const uint UPDATES_PER_MOVE = TIME_FOR_EACH_MOVE * UPDATES;
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// How many of the updates should be printed (i.e. 2 would be every other update)
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const uint PRINT_DIVIDER = 4;
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// The brightness of the RGB LED
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constexpr float BRIGHTNESS = 0.4f;
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// PID values
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constexpr float POS_KP = 0.14f; // Position proportional (P) gain
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constexpr float POS_KI = 0.0f; // Position integral (I) gain
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constexpr float POS_KD = 0.002f; // Position derivative (D) gain
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// Create an array of motor pointers
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const pin_pair motor_pins[] = {motor2040::MOTOR_A, motor2040::MOTOR_B,
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motor2040::MOTOR_C, motor2040::MOTOR_D};
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const uint NUM_MOTORS = count_of(motor_pins);
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Motor *motors[NUM_MOTORS];
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// Create an array of encoder pointers
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const pin_pair encoder_pins[] = {motor2040::ENCODER_A, motor2040::ENCODER_B,
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motor2040::ENCODER_C, motor2040::ENCODER_D};
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const char* ENCODER_NAMES[] = {"A", "B", "C", "D"};
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const uint NUM_ENCODERS = count_of(encoder_pins);
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Encoder *encoders[NUM_ENCODERS];
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// Create the LED, using PIO 1 and State Machine 0
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WS2812 led(motor2040::NUM_LEDS, pio1, 0, motor2040::LED_DATA);
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// Create the user button
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Button user_sw(motor2040::USER_SW);
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// Create an array of PID pointers
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PID pos_pids[NUM_MOTORS];
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int main() {
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stdio_init_all();
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// Fill the arrays of motors, encoders, and pids, and initialise them
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for(auto i = 0u; i < NUM_MOTORS; i++) {
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motors[i] = new Motor(motor_pins[i], NORMAL_DIR, SPEED_SCALE);
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motors[i]->init();
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encoders[i] = new Encoder(pio0, i, encoder_pins[i], PIN_UNUSED, NORMAL_DIR, COUNTS_PER_REV, true);
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encoders[i]->init();
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pos_pids[i] = PID(POS_KP, POS_KI, POS_KD, UPDATE_RATE);
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}
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// Reverse the direction of the B and D motors and encoders
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motors[1]->direction(REVERSED_DIR);
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motors[3]->direction(REVERSED_DIR);
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encoders[1]->direction(REVERSED_DIR);
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encoders[3]->direction(REVERSED_DIR);
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// Start updating the LED
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led.start();
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// Enable all motors
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for(auto i = 0u; i < NUM_MOTORS; i++) {
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motors[i]->enable();
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}
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uint update = 0;
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uint print_count = 0;
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// Set the initial and end values
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float start_value = 0.0f;
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float end_value = 270.0f;
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Encoder::Capture captures[NUM_MOTORS];
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// Continually move the motor until the user button is pressed
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while(!user_sw.raw()) {
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// Capture the state of all the encoders
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for(auto i = 0u; i < NUM_MOTORS; i++) {
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captures[i] = encoders[i]->capture();
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}
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// Calculate how far along this movement to be
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float percent_along = (float)update / (float)UPDATES_PER_MOVE;
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for(auto i = 0u; i < NUM_MOTORS; i++) {
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// Move the motor between values using cosine
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pos_pids[i].setpoint = (((-cosf(percent_along * (float)M_PI) + 1.0) / 2.0) * (end_value - start_value)) + start_value;
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// Calculate the velocity to move the motor closer to the position setpoint
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float vel = pos_pids[i].calculate(captures[i].degrees(), captures[i].degrees_per_second());
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// Set the new motor driving speed
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motors[i]->speed(vel);
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}
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// Update the LED
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led.set_hsv(0, percent_along, 1.0f, BRIGHTNESS);
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// Print out the current motor values and their setpoints, but only on every multiple
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if(print_count == 0) {
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for(auto i = 0u; i < NUM_ENCODERS; i++) {
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printf("%s = %f, ", ENCODER_NAMES[i], captures[i].degrees());
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}
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printf("\n");
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}
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// Increment the print count, and wrap it
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print_count = (print_count + 1) % PRINT_DIVIDER;
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update++; // Move along in time
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// Have we reached the end of this movement?
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if(update >= UPDATES_PER_MOVE) {
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update = 0; // Reset the counter
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// Swap the start and end values
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float temp = start_value;
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start_value = end_value;
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end_value = temp;
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}
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sleep_ms(UPDATE_RATE * 1000.0f);
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}
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// Stop all the motors
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for(auto m = 0u; m < NUM_MOTORS; m++) {
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motors[m]->disable();
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}
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// Turn off the LED
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led.clear();
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// Sleep a short time so the clear takes effect
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sleep_ms(100);
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}
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