kopia lustrzana https://github.com/pimoroni/pimoroni-pico
213 wiersze
5.4 KiB
C++
213 wiersze
5.4 KiB
C++
#include <cstdio>
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#include "pico/stdlib.h"
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#include "inventor.hpp"
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#include "pid.hpp"
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/*
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A demonstration of driving both of Inventor 2040 W's motor outputs through a
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sequence of velocities, with the help of their attached encoders and PID control.
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Press "User" to exit the program.
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*/
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using namespace inventor;
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enum Wheels {
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LEFT = MOTOR_A,
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RIGHT = MOTOR_B,
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};
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const char* NAMES[] = {"LEFT", "RIGHT"};
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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 scaling to apply to the motor's speed to match its real-world speed
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constexpr 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 speed to drive the wheels at
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constexpr float DRIVING_SPEED = 1.0f;
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// PID values
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constexpr float VEL_KP = 30.0f; // Velocity proportional (P) gain
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constexpr float VEL_KI = 0.0f; // Velocity integral (I) gain
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constexpr float VEL_KD = 0.4f; // Velocity derivative (D) gain
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// LED Constants
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// The brightness of the LEDs
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constexpr float BRIGHTNESS = 0.4f;
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// The factor to convert between motor speed and LED cycle rate
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constexpr float SPEED_TO_CYCLING = 0.02f / SPEED_SCALE;
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// The percentage of the colour spectrum to have the LEDs gradient over
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constexpr float BAR_GRADIENT = 0.125f;
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const uint HALF_LEDS = NUM_LEDS / 2;
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// Create a new Inventor2040W
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Inventor2040W board(GEAR_RATIO);
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// Create an array of PID pointers
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PID vel_pids[NUM_MOTORS];
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// LED Hue Variables
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float offset_l;
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float offset_r;
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// Helper functions for driving in common directions
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void drive_forward(float speed) {
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vel_pids[LEFT].setpoint = speed;
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vel_pids[RIGHT].setpoint = speed;
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offset_l += speed * SPEED_TO_CYCLING;
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offset_r += speed * SPEED_TO_CYCLING;
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}
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void turn_right(float speed) {
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vel_pids[LEFT].setpoint = speed;
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vel_pids[RIGHT].setpoint = -speed;
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offset_l += speed * SPEED_TO_CYCLING;
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offset_r -= speed * SPEED_TO_CYCLING;
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}
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void stop() {
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vel_pids[LEFT].setpoint = 0.0f;
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vel_pids[RIGHT].setpoint = 0.0f;
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}
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int main() {
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stdio_init_all();
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// Attempt to initialise the board
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if(board.init()) {
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offset_l = 0.0f;
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offset_r = 0.0f;
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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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board.motors[i].speed_scale(SPEED_SCALE);
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vel_pids[i] = PID(VEL_KP, VEL_KI, VEL_KD, UPDATE_RATE);
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}
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// Reverse the direction of the left motor and encoder
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board.motors[LEFT].direction(REVERSED_DIR);
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board.encoders[LEFT].direction(REVERSED_DIR);
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// Enable all motors
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for(auto i = 0u; i < NUM_MOTORS; i++) {
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board.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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uint sequence = 0;
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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(!board.switch_pressed()) {
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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] = board.encoders[i].capture();
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}
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for(auto i = 0u; i < NUM_MOTORS; i++) {
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// Calculate the acceleration to apply to the motor to move it closer to the velocity setpoint
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float accel = vel_pids[i].calculate(captures[i].revolutions_per_second());
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// Accelerate or decelerate the motor
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board.motors[i].speed(board.motors[i].speed() + (accel * UPDATE_RATE));
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}
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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_MOTORS; i++) {
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printf("%s = %f, ", NAMES[i], captures[i].revolutions_per_second());
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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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// Move on to the next part of the sequence
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sequence += 1;
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// Loop the sequence back around
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if(sequence >= 5) {
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sequence = 0;
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}
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}
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// Set the motor speeds, based on the sequence
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switch(sequence) {
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case 0:
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drive_forward(DRIVING_SPEED);
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break;
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case 1:
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drive_forward(-DRIVING_SPEED);
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break;
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case 2:
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turn_right(DRIVING_SPEED);
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break;
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case 3:
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turn_right(-DRIVING_SPEED);
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break;
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default:
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stop();
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break;
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}
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if(offset_l < 0.0f) {
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offset_l += 1.0f;
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}
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if(offset_r < 0.0) {
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offset_r += 1.0;
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}
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// Update the LED bars
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for(auto i = 0u; i < HALF_LEDS; i++) {
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float hue = ((float)i / (float)HALF_LEDS) * BAR_GRADIENT;
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board.leds.set_hsv(i, hue + offset_l, 1.0, BRIGHTNESS);
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board.leds.set_hsv(NUM_LEDS - i - 1, hue + offset_r, 1.0, BRIGHTNESS);
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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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board.motors[m].disable();
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}
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// Turn off the LED bars
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board.leds.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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}
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