M. Stokroos
4 years ago
parent
b03a42ba89
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63f03cfd86
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# Arduino |
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This repository contains Arduino sketches and Arduino libraries maintained by the RUG/DTPA group. |
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[web link to DTPA](https://www.rug.nl/research/discrete-technology-production-automation/) |
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[web link to DTPA](https://www.rug.nl/research/discrete-technology-production-automation/) |
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## Sketches |
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- Blinky |
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A hello world example. |
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- Nexus_Omni4WD |
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Firmware for the Nexus Omni4WD chassis for setting the wheel speeds independently. It is used to control the robot from ROS. |
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 |
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*sketches/Nexus_Omni4WD* |
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This folder contains the Arduino sketch of the firmware. The program works as a simple command interpreter for controlling the wheel speeds independently. To compile, use the libraries provided in the *extra/factory_10011.zip* archive. |
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*extra/carcomm* |
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*testcarcom.py* is a small Python application to test the Nexus_Omni4WD firmware (sketch). The python application sends data packages to set the wheel speeds. |
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The Arduino controller 10009 with io expansion shield on the Omni4WD is Duemilanove/ATMEGA328 compatible. |
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## Libraries |
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- NativeDDS |
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Arduino library for a software implemented Direct Digital Synthesizer. |
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- TrueRMS |
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Arduino library that calculates the average, rms and power of DC+AC input signals, measured with the ADC. |
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@ -0,0 +1,183 @@ |
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#!/usr/bin/env python2 |
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# nog geen 3 omdat serial er nog niet bij zit. (nog steeds?) |
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# To control Nexus robot car |
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# Via /dev/ttyUSB? |
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# |
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import sys, os, serial, time, traceback |
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from struct import pack, unpack |
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import numpy as np |
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import re |
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def key_description(character): |
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"""generate a readable description for a key""" |
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ascii_code = ord(character) |
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if ascii_code < 32: |
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return 'Ctrl+%c' % (ord('@') + ascii_code) |
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else: |
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return repr(character) |
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# voorlopig alleen posix |
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if os.name == 'posix': |
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import termios, sys, os |
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class Console: |
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def __init__(self): |
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self.fd = sys.stdin.fileno() |
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def setup(self): |
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self.old = termios.tcgetattr(self.fd) |
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new = termios.tcgetattr(self.fd) |
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# new[3] = new[3] & ~termios.ICANON & ~termios.ECHO & ~termios.ISIG |
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new[3] = new[3] & ~termios.ICANON # & ~termios.ISIG |
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new[6][termios.VMIN] = 1 |
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new[6][termios.VTIME] = 0 |
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termios.tcsetattr(self.fd, termios.TCSANOW, new) |
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# Uiteindelijk willen we meer tegelijk lezen.. |
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# zeker als er grotere hoeveelheden data verstuurd worden door het target |
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def getkey(self): |
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c = os.read(self.fd, 1) |
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return c |
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def cleanup(self): |
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termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old) |
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console = Console() |
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def cleanup_console(): |
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console.cleanup() |
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console.setup() |
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sys.exitfunc = cleanup_console #terminal modes have to be restored on exit... |
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else: |
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raise NotImplementedError( "Sorry no implementation for your platform (%s) available." % sys.platform) |
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CONVERT_CRLF = 2 |
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CONVERT_CR = 1 |
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CONVERT_LF = 0 |
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NEWLINE_CONVERISON_MAP = ('\n', '\r', '\r\n') |
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LF_MODES = ('LF', 'CR', 'CR/LF') |
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REPR_MODES = ('raw', 'some control', 'all control', 'hex') |
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class CarControl: |
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def __init__(self, port, baudrate, parity, rtscts, xonxoff, echo=False, convert_outgoing=CONVERT_CRLF, repr_mode=0): |
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self.serial = serial.Serial(port, baudrate, parity=parity, rtscts=rtscts, xonxoff=xonxoff, timeout = 1) |
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self.echo = echo |
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self.repr_mode = repr_mode |
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self.convert_outgoing = convert_outgoing |
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self.newline = NEWLINE_CONVERISON_MAP[self.convert_outgoing] |
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self.dtr_state = True |
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self.rts_state = True |
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self.break_state = False |
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# Het lijkt er op of er na een power up van de Nexus twee characters (waarde 0) gezonden worden. FTDI chip? |
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# De writer pas wat laten doen als we daar geen last meer van hebben. |
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tmp = self.serial.read(1) |
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#print 'pretmp', len(tmp) |
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#if len(tmp) > 0: |
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# print ord(tmp[0]) |
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time.sleep(1) |
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tmp = self.serial.read(1) |
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#print 'prettmp', len(tmp) |
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#if len(tmp) > 0: |
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# print ord(tmp[0]) |
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def stop(self): |
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print 'Waar is de stop?' |
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self.serial.close() |
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def getinfopacket(self): |
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try: |
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d = self.serial.read(24) |
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print len(d) #, ord(d[0]) |
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if ord(d[0]) <> 2 or ord(d[23]) <> 3: # STX and ETX |
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print 'Packet framing error!' |
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else: |
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print 'New info packet received.' |
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if ord(d[1]) == 1: # scope data packet (try that first) |
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status_control = ord(d[3]); |
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error_code = ord(d[4]); |
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status_car = ord(d[5]); |
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#(sensor,) = unpack('h', d[10:12]); |
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(speed,) = unpack('h', d[6:8]); |
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(debtime,) = unpack('h', d[10:12]); |
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# we gebruiken dit in de write thread en bij autoreply. |
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# evt. korte lock bij uitpakken data |
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waitreq = 1 |
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else: |
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print 'Packet type %x received, not implemented.' % d[1] |
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print 'Info packet received with error code %x %x %d and %d' % (error_code, status_car, speed, debtime) |
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except: |
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print 'Wanneer hier?' |
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traceback.print_exc(file=sys.stdout) |
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""" |
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Packets are 8 bytes. |
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{ stx, command, par's ..., etx } |
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parameters dependant upon the command |
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Nexus robot functions of type void(*function[11])(unsigned int speedMMPS) : |
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{goAhead, turnLeft, turnRight, rotateRight, rotateLeft, allStop, backOff, upperLeft, lowerLeft, upperRight, lowerRight}; |
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{ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 } |
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this wil go in command. |
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Parameter speedMMPS in par |
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-700 < speedMMPS < 700 |
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speedMMPS = 200 komt overeen met 0.21 m/sec |
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maximale snelheid 0.735 m/sec |
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van m/s naar speedMMPS : maal 952 |
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Other commands: |
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12: setWheelspeedcommand (set speed of 4 wheels) |
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13: set speedMMPS on Nexus |
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20: ask info packet |
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a 24 byte packet will be received |
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21: autoshutdown off (default) |
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22: autoshutdown on |
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23: autoreply off (default) |
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24: autoreply on. reply with a infopacket |
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25: start standalone? |
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26: stop standalone |
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27: keep alive |
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28: repeat mode info packets off (default) |
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29: repeat mode info packete on |
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""" |
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def sendpacket(self, command, par): |
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outpkt = bytearray(16) |
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outpkt[0] = 2 # STX |
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outpkt[1] = command |
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outpkt[2:4] = pack('h', par) |
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outpkt[15] = 3 # ETX |
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self.serial.write(outpkt) # send packet |
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print 'sendpacket', outpkt[0], outpkt[1], outpkt[2], outpkt[3], outpkt[4], outpkt[5], outpkt[6], ' ... ', outpkt[15] |
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def sendwheelscommand(self, frontleft, backleft, frontright, backright): |
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outpkt = bytearray(16) |
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outpkt[0] = 2 # STX |
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outpkt[1] = 12 # setwheels command |
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outpkt[2:4] = pack('h', frontleft) |
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outpkt[4:6] = pack('h', backleft) |
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outpkt[6:8] = pack('h', frontright) |
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outpkt[8:10] = pack('h', backright) |
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outpkt[15] = 3 # ETX |
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self.serial.write(outpkt) # send packet |
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#print 'outpkt: ', unpack('h', outpkt[2:4]), unpack('h', outpkt[4:6]), unpack('h', outpkt[6:8]), unpack('h',outpkt[8:10]) |
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def setspeed(self, lin,rot): |
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# lineaire (m/sec) and rotatie (rad/sec) snelheid |
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# convert to nexus (calibrated with nexus1) |
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speed = lin * 1024 |
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rot = rot * 300 |
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self.sendwheelscommand(speed -rot, speed - rot, speed + rot , speed + rot) |
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@ -0,0 +1,64 @@ |
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#!/usr/bin/env python |
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import sys, time |
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import carcomm |
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if __name__ == "__main__": |
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try: |
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# voorlopig vast |
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port = "/dev/ttyUSB0" |
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baudrate = 28800 |
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parity = 'N' |
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rtscts = False |
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xonxoff = False |
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echo = False |
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convert_outgoing = carcomm.CONVERT_CRLF |
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repr_mode = 0 |
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carcon = carcomm.CarControl( |
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port, |
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baudrate, |
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parity, |
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rtscts, |
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xonxoff, |
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echo, |
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convert_outgoing, |
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repr_mode, |
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) |
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time.sleep(2) # de nexus robot is niet zo snel.. |
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carcon.sendpacket(20,0) |
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carcon.getinfopacket() |
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carcon.sendpacket(20,22) |
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speed = 400 |
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for x in range(0, 50): |
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# carcon.setspeed(0.5, 0) |
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carcon.sendwheelscommand(speed, speed, speed, speed) |
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# carcon.getinfopacket() |
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time.sleep(0.05) |
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carcon.sendwheelscommand(0, 0, 0, 0) |
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# carcon.setspeed( 0, 0) |
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time.sleep(1) # de nexus robot is niet zo snel.. |
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for x in range(0, 50): |
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# carcon.setspeed(0.5, 0) |
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carcon.sendwheelscommand(-speed, -speed, -speed, -speed) |
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# carcon.getinfopacket() |
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time.sleep(0.05) |
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carcon.sendwheelscommand(0, 0, 0, 0) |
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# carcon.setspeed( 0, 0) |
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except carcomm.serial.SerialException as e: |
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sys.stderr.write("could not open port %r: %s\n" % (port, e)) |
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sys.exit(1) |
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Binary file not shown.
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After Width: | Height: | Size: 190 KiB |
@ -0,0 +1,7 @@ |
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# NativeDDS |
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An Arduino library for a software implemented Direct Digital Synthesizer. |
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Please follow: |
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[https://github.com/MartinStokroos/NativeDDS](https://github.com/MartinStokroos/NativeDDS) |
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@ -0,0 +1,7 @@ |
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# TrueRMS |
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An Arduino library that calculates the average, rms and power of DC+AC input signals, measured with the ADC. |
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Please follow: |
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[https://github.com/MartinStokroos/TrueRMS](https://github.com/MartinStokroos/TrueRMS) |
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@ -0,0 +1,348 @@ |
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/*
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* Sensors cannot be used together with serial interface! |
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* Build for Duemilanove with 328.
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*
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* Changes to version 30-10-2018:
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* - The Sonar code has been completely stripped out because the serial port is not available for the Sonars. |
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* - Brackets has been placed in the two code lines for setting the PWM frequency, because it was causing compiler warnings. |
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* - The function allStop has been modified according the solution provided by asantiago@bnl.gov |
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*/ |
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template<class T> inline Print &operator <<(Print &obj, T arg) { obj.print(arg); return obj; } |
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#include <MotorWheel.h> |
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#include <Omni4WD.h> |
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#include <PID_Beta6.h> |
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#include <PinChangeInt.h> |
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#include <PinChangeIntConfig.h> |
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//#include <SONAR.h>
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/*
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************************************************************************************ |
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Sonar:0x12 |
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------------------------------ |
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M3| |M2 |
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Sonar:0x13| |Sonar:0x11 |
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| |Power Switch |
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------------------------------- |
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M4| |M1 |
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------------------------------- |
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Sonar:0x14
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************************************************************************************ |
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*/ |
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int speedRampTime = 1000; //speed ramping time in ms.
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irqISR(irq1,isr1); |
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MotorWheel wheel1(3,2,4,5,&irq1); |
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irqISR(irq2,isr2); |
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MotorWheel wheel2(11,12,14,15,&irq2); |
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irqISR(irq3,isr3); |
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MotorWheel wheel3(9,8,16,17,&irq3); |
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irqISR(irq4,isr4); |
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MotorWheel wheel4(10,7,18,19,&irq4); |
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Omni4WD Omni(&wheel1,&wheel2,&wheel3,&wheel4); |
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// er zitten delays in deze functies.
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void goAhead(int speedMMPS){ |
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if(Omni.getCarStat()!=Omni4WD::STAT_ADVANCE) Omni.setCarSlow2Stop(speedRampTime); |
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Omni.setCarAdvance(0); |
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Omni.setCarSpeedMMPS(speedMMPS, speedRampTime); |
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} |
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void turnLeft(int speedMMPS){ |
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if(Omni.getCarStat()!=Omni4WD::STAT_LEFT) Omni.setCarSlow2Stop(speedRampTime); |
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Omni.setCarLeft(0); |
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Omni.setCarSpeedMMPS(speedMMPS, speedRampTime); |
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} |
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void turnRight(int speedMMPS){ |
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if(Omni.getCarStat()!=Omni4WD::STAT_RIGHT) Omni.setCarSlow2Stop(speedRampTime); |
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Omni.setCarRight(0); |
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Omni.setCarSpeedMMPS(speedMMPS, speedRampTime); |
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} |
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void rotateRight(int speedMMPS){ |
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if(Omni.getCarStat()!=Omni4WD::STAT_ROTATERIGHT) Omni.setCarSlow2Stop(speedRampTime); |
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Omni.setCarRotateRight(0); |
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Omni.setCarSpeedMMPS(speedMMPS, speedRampTime); |
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} |
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void rotateLeft(int speedMMPS){ |
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if(Omni.getCarStat()!=Omni4WD::STAT_ROTATELEFT) Omni.setCarSlow2Stop(speedRampTime); |
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Omni.setCarRotateLeft(0); |
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Omni.setCarSpeedMMPS(speedMMPS, speedRampTime); |
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} |
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void allStop(int speedMMPS){ |
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if(Omni.getCarStat()!=Omni4WD::STAT_STOP) Omni.setCarSlow2Stop(speedRampTime); |
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Omni.setCarStop(); |
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//this sets the PWM pins Low to enforce a stop. Solution from asantiago@bnl.gov via email conversation.
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digitalWrite(3, LOW);digitalWrite(11, LOW); |
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digitalWrite(9, LOW);digitalWrite(10, LOW); |
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} |
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void backOff(int speedMMPS){ |
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if(Omni.getCarStat()!=Omni4WD::STAT_BACKOFF) Omni.setCarSlow2Stop(speedRampTime); |
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Omni.setCarBackoff(0); |
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Omni.setCarSpeedMMPS(speedMMPS, speedRampTime); |
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} |
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void upperLeft(int speedMMPS){ |
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if(Omni.getCarStat()!=Omni4WD::STAT_UPPERLEFT) Omni.setCarSlow2Stop(speedRampTime); |
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Omni.setCarUpperLeft(speedMMPS); |
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Omni.setCarSpeedMMPS(speedMMPS, speedRampTime); |
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} |
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void lowerLeft(int speedMMPS){ |
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if(Omni.getCarStat()!=Omni4WD::STAT_LOWERLEFT) Omni.setCarSlow2Stop(speedRampTime); |
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Omni.setCarLowerLeft(speedMMPS); |
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Omni.setCarSpeedMMPS(speedMMPS, speedRampTime); |
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} |
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void upperRight(int speedMMPS){ |
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if(Omni.getCarStat()!=Omni4WD::STAT_UPPERRIGHT) Omni.setCarSlow2Stop(speedRampTime); |
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Omni.setCarUpperRight(speedMMPS); |
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Omni.setCarSpeedMMPS(speedMMPS, speedRampTime); |
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} |
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void lowerRight(int speedMMPS){ |
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if(Omni.getCarStat()!=Omni4WD::STAT_LOWERRIGHT) Omni.setCarSlow2Stop(speedRampTime); |
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Omni.setCarLowerRight(speedMMPS); |
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Omni.setCarSpeedMMPS(speedMMPS, speedRampTime); |
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} |
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/*
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backoff = achteruit |
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turnLeft = opzij links |
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upperLeft = diagonaal links naar voren |
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*/ |
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void(*function[11])(int speedMMPS) = |
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{goAhead, turnLeft, turnRight, rotateRight, rotateLeft, allStop, |
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backOff, upperLeft, lowerLeft, upperRight, lowerRight}; |
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#define NULLCHAR 0 |
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#define SPACE 32 |
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#define ESC 27 |
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#define BACKSPACE 8 |
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#define TAB 9 |
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#define LF 10 |
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#define CR 13 |
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// Last active time
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unsigned long int lastactime, currMillis, debtime; |
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char autoshutdown = 0; |
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char autoreply = 0; |
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char repeatmode = 0; |
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char sendpacket[24]; |
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char error_code = 0; |
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int speedMMPS = 0; |
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void setup() { |
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delay(2000);
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TCCR1B = (TCCR1B & 0xf8) | 0x01; // Pin9,Pin10 PWM 31250Hz
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TCCR2B = (TCCR2B & 0xf8) | 0x01; // Pin3,Pin11 PWM 31250Hz
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//SONAR::init(13);
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//Omni.switchMotors();
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Omni.PIDEnable(0.35,0.02,0,10); |
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Serial.begin(28800); // opens serial port, sets data rate to 28800 bps.
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// Faster does not work with all motor running fast.
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lastactime = currMillis = millis(); |
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sendpacket[0] = 2; // STX
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sendpacket[23] = 3;// ETX
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} |
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void sendinfo(void) { |
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int i; |
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sendpacket[1] = 1; // info packet
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sendpacket[2] = 1; // version
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sendpacket[3] = 1; |
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sendpacket[4] = error_code; |
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sendpacket[5] = Omni.getCarStat(); |
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sendpacket[6] = (speedMMPS ) & 0xff ; |
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sendpacket[7] = (speedMMPS >> 8) & 0xff; |
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Serial.write(sendpacket, 24); |
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/* getCarStat --> info
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Serial.print("Info: "); |
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Serial.print(" "); |
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Serial.print((char)Omni.getCarStat()); |
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Serial.print(" "); |
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Serial.print(distBuf[0]); |
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Serial.print(" "); |
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Serial.print(distBuf[0]); |
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Serial.print(" "); |
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Serial.print(distBuf[0]); |
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Serial.print(" "); |
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Serial.print(distBuf[0]); |
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Serial.println(); |
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*/ |
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} |
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// number of received chars from next packet
|
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unsigned char nmbr = 0;
|
||||
unsigned char packet[16]; |
||||
char dosendinfo = 0; |
||||
|
||||
void loop() { |
||||
char c; |
||||
//unsigned char sonarcurrent = 0;
|
||||
short frontleft, backleft, frontright, backright; |
||||
|
||||
// try to complete getting a packet and then process it.
|
||||
if (Serial.available() > 0) { |
||||
c = Serial.read(); |
||||
packet[nmbr++] = c; |
||||
if (nmbr > 15) { // process next packet
|
||||
if (packet[0] != 2 || packet[15] != 3) { |
||||
// set error in info packet
|
||||
error_code = 1; |
||||
//Serial.println("Packet framing error");
|
||||
} |
||||
/* Serial.println((int)packet[0]);
|
||||
Serial.println((int)packet[1]); |
||||
Serial.println((int)packet[2]); |
||||
Serial.println((int)packet[3]); |
||||
Serial.println((int)packet[4]); |
||||
Serial.println((int)packet[5]); |
||||
Serial.println((int)packet[6]); |
||||
Serial.println((int)packet[7]); |
||||
Serial.println(); |
||||
|
||||
Serial.println("Process Command"); |
||||
*/ |
||||
if (packet[1] < 11) { |
||||
speedMMPS = (int)((unsigned int)packet[2]+((unsigned int)packet[3])*256); |
||||
(*function[packet[1]])(speedMMPS); |
||||
//Serial.println(packet[1]);
|
||||
//Serial.println(speedMMPS);
|
||||
} |
||||
else { |
||||
switch (packet[1]) { |
||||
case 12: // set speed of all four motors
|
||||
//debtime = millis();
|
||||
frontleft = (short)((unsigned short)packet[2]+((unsigned short)packet[3])*256); |
||||
backleft = (short)((unsigned short)packet[4]+((unsigned short)packet[5])*256); |
||||
frontright = (short)((unsigned short)packet[6]+((unsigned short)packet[7])*256); |
||||
backright = (short)((unsigned short)packet[8]+((unsigned short)packet[9])*256); |
||||
if (frontleft > 700) frontleft = 700; |
||||
else if (frontleft < -700) frontleft = -700; |
||||
if (frontright > 700) frontright = 700; |
||||
else if (frontright < -700) frontright = -700; |
||||
if (backleft > 700) backleft = 700; |
||||
else if (backleft < -700) backleft = -700; |
||||
if (backright > 700) backright = 700; |
||||
else if (backright < -700) backright = -700; |
||||
|
||||
if ( (frontleft==0) && (backleft==0) ) { |
||||
allStop(0); |
||||
} |
||||
else { |
||||
|
||||
Omni.wheelULSetSpeedMMPS(frontleft); |
||||
Omni.wheelLLSetSpeedMMPS(backleft); |
||||
Omni.wheelLRSetSpeedMMPS(-frontright); |
||||
Omni.wheelURSetSpeedMMPS(-backright); |
||||
} |
||||
|
||||
/*
|
||||
debtime = millis()- debtime;
|
||||
debtime = (short int) debtime; |
||||
sendpacket[10] = (debtime ) & 0xff ; |
||||
sendpacket[11] = (debtime >> 8) & 0xff; |
||||
sendinfo(); |
||||
*/ |
||||
break; |
||||
case 13: // set speedMMPS
|
||||
speedMMPS = (int)((unsigned short)packet[2]+((unsigned short)packet[3])*256); |
||||
if (speedMMPS > 700) speedMMPS = 700; |
||||
else if (speedMMPS < -700) speedMMPS = -700; |
||||
break; |
||||
case 20: // ask info packet
|
||||
dosendinfo = 1; |
||||
break; |
||||
case 21: |
||||
autoshutdown = 0; |
||||
break; |
||||
case 22: |
||||
autoshutdown = 1; |
||||
break; |
||||
case 23: |
||||
autoreply = 0; |
||||
break; |
||||
case 24: |
||||
autoreply = 1; |
||||
break; |
||||
case 25: |
||||
error_code = 2; |
||||
//Serial.println("25 Not implemented");
|
||||
break; |
||||
case 26: |
||||
error_code = 3; |
||||
//Serial.println("Not implemented");
|
||||
break; |
||||
case 27: // keep alive
|
||||
break; |
||||
case 28: |
||||
repeatmode = 0; |
||||
break; |
||||
case 29: |
||||
repeatmode = 1; |
||||
break; |
||||
default: |
||||
error_code = 3; |
||||
//Serial.println("Unrecognized command");
|
||||
break; |
||||
} |
||||
} |
||||
|
||||
if (autoreply || dosendinfo) sendinfo(); |
||||
dosendinfo = 0; |
||||
|
||||
// clear packet buffer
|
||||
nmbr = 0; |
||||
lastactime = millis();
|
||||
} |
||||
} |
||||
|
||||
|
||||
if (autoshutdown) { |
||||
if ((millis() - lastactime) > 3000) { |
||||
//Serial.print("Connection lost?");
|
||||
//Serial.print(millis());
|
||||
//Serial.println();
|
||||
allStop(0); |
||||
lastactime = millis(); |
||||
} |
||||
} |
||||
Omni.PIDRegulate(); |
||||
} |
||||
|
||||
Loading…
Reference in new issue