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https://github.com/OSURoboticsClub/Rover_2017_2018.git
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303 lines
7.2 KiB
C++
303 lines
7.2 KiB
C++
////////// Includes //////////
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#include "HX711.h"
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#include <ModbusRtu.h>
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////////// Hardware / Data Enumerations //////////
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enum HARDWARE {
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RS485_EN = 6,
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RS485_RX = 9,
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RS485_TX = 10,
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MOTOR_LIFT_A = 27,
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MOTOR_LIFT_B = 28,
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MOTOR_LIFT_PWM = 25,
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MOTOR_LIFT_CS = 31,
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MOTOR_LIFT_EN = 24,
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MOTOR_LIFT_FB = A10,
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MOTOR_TILT_A = 30,
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MOTOR_TILT_B = 29,
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MOTOR_TILT_PWM = 32,
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MOTOR_TILT_CS = 26,
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MOTOR_TILT_EN = 33,
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MOTOR_TILT_FB = A11,
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LED_13 = 13,
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LED_RED = 20,
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LED_BLUE = 21,
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LED_GREEN = 22,
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SCALE_DOUT = 8,
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SCALE_CLK = 7
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};
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enum MOTORS {
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LIFT = 0,
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TILT = 1,
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};
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enum MODBUS_REGISTERS {
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// Inputs
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SET_POSITION_LIFT = 0,
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SET_POSITION_TILT = 1,
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TARE = 2,
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CALIBRATION_FACTOR = 3,
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// Outputs
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CURRENT_POSITION_LIFT = 4,
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CURRENT_POSITION_TILT = 5,
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MEASURED_WEIGHT = 6,
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};
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////////// Global Variables //////////
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int set_position_lift = 0;
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int set_position_tilt = 0;
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int current_position_lift = 0;
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int current_position_tilt = 0;
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int tolerance = 20; //tolerance for position
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float calibration_factor = -120000; //for the scale
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// modbus stuff
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const uint8_t node_id = 2;
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const uint8_t mobus_serial_port_number = 2;
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uint16_t modbus_data[] = {1023, 350, 0, 0, 0, 0, 0};
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uint8_t num_modbus_registers = 0;
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int8_t poll_state = 0;
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bool communication_good = false;
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uint8_t message_count = 0;
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// nice human words for motor states
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#define BRAKEVCC 0
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#define CW 1
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#define CCW 2
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#define BRAKEGND 3
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////////// Class Instantiations //////////
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HX711 scale(HARDWARE::SCALE_DOUT, HARDWARE::SCALE_CLK);
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Modbus slave(node_id, mobus_serial_port_number, HARDWARE::RS485_EN);
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void setup() {
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Serial.begin(9600); // debug
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setup_hardware();
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num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
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slave.begin(115200); // baud-rate at 19200
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slave.setTimeOut(500);
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}
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void loop() {
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poll_modbus();
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set_leds();
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set_motors();
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set_scale();
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poll_scale();
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}
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void setup_hardware() {
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pinMode(HARDWARE::RS485_EN, OUTPUT);
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pinMode(HARDWARE::MOTOR_LIFT_A, OUTPUT);
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pinMode(HARDWARE::MOTOR_LIFT_B, OUTPUT);
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pinMode(HARDWARE::MOTOR_LIFT_PWM, OUTPUT);
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pinMode(HARDWARE::MOTOR_LIFT_EN, OUTPUT);
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pinMode(HARDWARE::MOTOR_LIFT_CS, INPUT);
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pinMode(HARDWARE::MOTOR_LIFT_FB, INPUT);
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pinMode(HARDWARE::MOTOR_TILT_A, OUTPUT);
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pinMode(HARDWARE::MOTOR_TILT_B, OUTPUT);
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pinMode(HARDWARE::MOTOR_TILT_PWM, OUTPUT);
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pinMode(HARDWARE::MOTOR_TILT_EN, OUTPUT);
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pinMode(HARDWARE::MOTOR_TILT_CS, INPUT);
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pinMode(HARDWARE::MOTOR_TILT_FB, INPUT);
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pinMode(HARDWARE::LED_13, OUTPUT);
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pinMode(HARDWARE::LED_RED, OUTPUT);
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pinMode(HARDWARE::LED_BLUE, OUTPUT);
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pinMode(HARDWARE::LED_GREEN, OUTPUT);
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// set defualt states
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digitalWrite(HARDWARE::LED_RED, LOW);
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digitalWrite(HARDWARE::LED_GREEN, HIGH);
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digitalWrite(HARDWARE::LED_BLUE, HIGH);
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digitalWrite(HARDWARE::LED_13, LOW);
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digitalWrite(HARDWARE::MOTOR_LIFT_EN, HIGH);
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digitalWrite(HARDWARE::MOTOR_TILT_EN, HIGH);
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// Change motor PWM frequency so it's not in the audible range
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analogWriteFrequency(HARDWARE::MOTOR_LIFT_PWM, 25000);
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analogWriteFrequency(HARDWARE::MOTOR_TILT_PWM, 25000);
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// set the current desired position to the current position
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set_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
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set_position_tilt = analogRead(HARDWARE::MOTOR_TILT_FB);
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current_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
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current_position_tilt = analogRead(HARDWARE::MOTOR_TILT_FB);
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// setup scale
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scale.set_scale(calibration_factor);
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scale.tare(); //Reset the scale to 0
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}
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void poll_modbus(){
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poll_state = slave.poll(modbus_data, num_modbus_registers);
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communication_good = !slave.getTimeOutState();
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}
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void set_leds(){
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if(poll_state > 4){
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message_count++;
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if(message_count > 2){
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digitalWrite(HARDWARE::LED_13, !digitalRead(HARDWARE::LED_13));
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message_count = 0;
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}
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digitalWrite(HARDWARE::LED_GREEN, LOW);
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digitalWrite(HARDWARE::LED_RED, HIGH);
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}else if(!communication_good){
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digitalWrite(HARDWARE::LED_13, LOW);
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digitalWrite(HARDWARE::LED_GREEN, HIGH);
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digitalWrite(HARDWARE::LED_RED, LOW);
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}
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}
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void set_motors() {
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set_position_lift = modbus_data[MODBUS_REGISTERS::SET_POSITION_LIFT];
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set_position_tilt = modbus_data[MODBUS_REGISTERS::SET_POSITION_TILT];
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current_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
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current_position_tilt = analogRead(HARDWARE::MOTOR_TILT_FB);
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modbus_data[MODBUS_REGISTERS::CURRENT_POSITION_LIFT] = current_position_lift;
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modbus_data[MODBUS_REGISTERS::CURRENT_POSITION_TILT] = current_position_tilt;
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if (abs(current_position_lift - set_position_lift) > tolerance) {
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if (current_position_lift < set_position_lift) {
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set_motor_output(MOTORS::LIFT, CCW, 255);
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}
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else {
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set_motor_output(MOTORS::LIFT, CW, 255);
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}
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}
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else {
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motor_off(MOTORS::LIFT);
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}
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if (abs(current_position_tilt - set_position_tilt) > tolerance) {
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if (current_position_tilt < set_position_tilt) {
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set_motor_output(MOTORS::TILT, CCW, 255);
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}
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else {
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set_motor_output(MOTORS::TILT, CW, 255);
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}
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}
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else {
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motor_off(MOTORS::TILT);
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}
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}
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void set_scale(){
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scale.set_scale(modbus_data[MODBUS_REGISTERS::CALIBRATION_FACTOR]*-1000);
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if (modbus_data[MODBUS_REGISTERS::TARE] == 1){
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scale.tare();
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modbus_data[MODBUS_REGISTERS::TARE] = 0;
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}
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}
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void poll_scale(){
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modbus_data[MODBUS_REGISTERS::MEASURED_WEIGHT] = scale.get_units()*-1000;
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}
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//---Set Motor Output---//
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/*
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Inputs: motor number, direction, pwm value
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Returns: nothing
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Will set a motor going in a specific direction the motor will continue
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going in that direction, at that speed until told to do otherwise.
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direct: Should be between 0 and 3, with the following result
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0: Brake to VCC
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1: Clockwise
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2: CounterClockwise
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3: Brake to GND
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pwm: should be a value between 0 and 255, higher the number, the faster
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it'll go
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----------------
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Control Logic:
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----------------
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A | B
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Brake VCC: 1 1
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CW: 1 0
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CCW: 0 1
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Brake GND: 0 0
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----------------
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*/
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void set_motor_output(int motor, int direction, int pwm_input) {
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int a;
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int b;
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int pwm;
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if (motor == MOTORS::LIFT) {
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a = HARDWARE::MOTOR_LIFT_A;
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b = HARDWARE::MOTOR_LIFT_B;
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pwm = HARDWARE::MOTOR_LIFT_PWM;
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}
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else if (motor == MOTORS::TILT) {
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a = HARDWARE::MOTOR_TILT_A;
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b = HARDWARE::MOTOR_TILT_B;
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pwm = HARDWARE::MOTOR_TILT_PWM;
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}
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else {
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return;
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}
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if (direction <= 4) {
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// Set A
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if (direction <= 1) {
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digitalWrite(a, HIGH);
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}
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else {
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digitalWrite(a, LOW);
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}
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// Set B
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if ((direction == 0) || (direction == 2)) {
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digitalWrite(b, HIGH);
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}
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else {
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digitalWrite(b, LOW);
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}
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analogWrite(pwm, pwm_input);
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}
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}
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void motor_off(int motor) {
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int a;
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int b;
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int pwm;
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if (motor == MOTORS::LIFT) {
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a = HARDWARE::MOTOR_LIFT_A;
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b = HARDWARE::MOTOR_LIFT_B;
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pwm = HARDWARE::MOTOR_LIFT_PWM;
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}
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else if (motor == MOTORS::TILT) {
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a = HARDWARE::MOTOR_TILT_A;
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b = HARDWARE::MOTOR_TILT_B;
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pwm = HARDWARE::MOTOR_TILT_PWM;
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}
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else {
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return;
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}
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digitalWrite(a, LOW);
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digitalWrite(b, LOW);
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analogWrite(pwm, 0);
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}
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