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Radio Control Support #13

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Radio Control Support #13

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ddcd4ef
Radio Control Support
comeadhra Jul 31, 2015
b5bd35c
Adding Complete RC support
comeadhra Jul 31, 2015
d9ccfc9
Adding Dynamite ESC Support
comeadhra Jul 31, 2015
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94 changes: 66 additions & 28 deletions firmware/Components.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,8 @@ void Seaking::arm()
{
disable();
delay(500);
disable();
delay(500);
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Why do we disable twice here? We could just wait 1s after the first disable, right?

Or is this a typo?

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It's a typo. I removed it before, but it must have got back in somehow.


velocity(1.0);
enable();
Expand All @@ -75,7 +77,7 @@ void Swordfish::arm()
{
disable();
delay(500);

velocity(1.0);
enable();
delay(5000);
Expand All @@ -84,6 +86,18 @@ void Swordfish::arm()
delay(3000);
}

//Default Dynamite arming routine
//Sets 1500 to neutral (0 velocity) and 2000 to high (1.0 velocity)
void Dynamite::arm()
{
disable();
delay(500);

velocity(0.0);
enable();
delay(2000);
}

AnalogSensor::AnalogSensor(int channel)
: Sensor(channel), scale_(1.0f), offset_(0.0f) {}

Expand Down Expand Up @@ -218,14 +232,14 @@ void ES2::loop()
// Enable +12V output.
pinMode(board::SENSOR[channel_].PWR_ENABLE, OUTPUT);
digitalWrite(board::SENSOR[channel_].PWR_ENABLE, HIGH);

// Read response from sensor.
delay(250);

// Turn off +12V output.
pinMode(board::SENSOR[channel_].PWR_ENABLE, OUTPUT);
digitalWrite(board::SENSOR[channel_].PWR_ENABLE, LOW);

// Wait a while for next sensor reading.
delay(1750);
}
Expand All @@ -234,18 +248,18 @@ void ES2::onSerial()
{
// TODO: verify checksum.
char c = SERIAL_PORTS[channel_]->read();
if (c == '\0') {
if (c == '\0') {
return;
}
}
else if (c != '\r' && c != '\n' && recv_index_ < DEFAULT_BUFFER_SIZE)
{
recv_buffer_[recv_index_] = c;
++recv_index_;
}
else if (recv_index_ > 0)
{
{
recv_buffer_[recv_index_] = '\0';

if (recv_index_ > 6) // Only send data strings
{
char output_str[DEFAULT_BUFFER_SIZE+3];
Expand All @@ -272,7 +286,7 @@ AtlasSensor::AtlasSensor(int channel)
{
// Start up serial port.
SERIAL_PORTS[channel]->begin(38400);

// Tell the sensor to output continuously.
SERIAL_PORTS[channel_]->print("C\r");
}
Expand All @@ -291,9 +305,9 @@ void AtlasSensor::onSerial()
++recv_index_;
}
else if (recv_index_ > 0)
{
{
recv_buffer_[recv_index_] = '\0';

char output_str[DEFAULT_BUFFER_SIZE+3];
snprintf(output_str, DEFAULT_BUFFER_SIZE,
"{"
Expand All @@ -304,10 +318,10 @@ void AtlasSensor::onSerial()
"}",
channel_,
recv_buffer_
);
);
send(output_str);

memset(recv_buffer_, 0, recv_index_);
memset(recv_buffer_, 0, recv_index_);
recv_index_ = 0;
}
}
Expand All @@ -334,7 +348,7 @@ Hds5::Hds5(int channel)
// Select RS485 (deselect RS232)
pinMode(board::SENSOR[channel].RS485_232, OUTPUT);
digitalWrite(board::SENSOR[channel].RS485_232, HIGH);

// Start up serial port
SERIAL_PORTS[channel]->begin(4800);
}
Expand All @@ -353,9 +367,9 @@ void Hds5::onSerial()
++recv_index_;
}
else if (recv_index_ > 0)
{
{
recv_buffer_[recv_index_] = '\0';

char output_str[DEFAULT_BUFFER_SIZE+3];
snprintf(output_str, DEFAULT_BUFFER_SIZE,
"{"
Expand All @@ -366,9 +380,9 @@ void Hds5::onSerial()
"}",
channel_,
recv_buffer_
);
);
send(output_str);

memset(recv_buffer_, 0, recv_index_);
recv_index_ = 0;
}
Expand All @@ -381,14 +395,14 @@ Winch::Winch(int channel, uint8_t address)
, desired_position_(0)
, desired_velocity_(0)
, desired_acceleration_(12000)
{
{
// Enable +12V output.
pinMode(board::SENSOR[channel].PWR_ENABLE, OUTPUT);
digitalWrite(board::SENSOR[channel].PWR_ENABLE, HIGH);

// TODO: specifically enable e-stop line.
// (Right now it is just pulled up by default.)

// Start up Roboclaw.
roboclaw_.begin(38400);
}
Expand All @@ -404,20 +418,20 @@ bool Winch::set(char* param, char* value)
if (!strncmp("p", param, 2))
{
uint32_t pos = atol(value);

position(pos);
return true;
}
else if (!strncmp("v", param, 2))
{
int32_t vel = atol(value);

velocity(vel);
return true;
return true;
}
else if (!strncmp("reset", param, 6))
{

reset();
return true;
}
Expand All @@ -444,10 +458,10 @@ void Winch::velocity(int32_t vel)
{
desired_velocity_ = vel;
roboclaw_.SetM1VelocityPID(addr, Kd, Kp, Ki, Qpps);
roboclaw_.SpeedAccelDistanceM1(addr,
desired_acceleration_,
roboclaw_.SpeedAccelDistanceM1(addr,
desired_acceleration_,
desired_velocity_,
desired_position_);
desired_position_);
}

uint32_t Winch::encoder(bool *valid)
Expand All @@ -456,3 +470,27 @@ uint32_t Winch::encoder(bool *valid)
return enc1;
}

//Cosntruct RC "sensor" by calling RC_Controller
RC::RC(int channel)
: Sensor(channel),
RC_Controller(board::SENSOR[channel].GPIO[board::RX_NEG],
board::SENSOR[channel].GPIO[board::TX_NEG],
board::SENSOR[channel].GPIO[board::RX_POS])
{
// Disable RSxxx receiver
pinMode(board::SENSOR[channel].RX_DISABLE, OUTPUT);
digitalWrite(board::SENSOR[channel].RX_DISABLE, HIGH);

// Disable TSxxx transmitter
pinMode(board::SENSOR[channel].TX_ENABLE, OUTPUT);
digitalWrite(board::SENSOR[channel].TX_ENABLE, LOW);


}

char * RC::name()
{
return "RC_Controller";
}


20 changes: 19 additions & 1 deletion firmware/Components.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@

#include "Platypus.h"
#include "RoboClaw.h"
#include "RC.h"

namespace platypus
{
Expand Down Expand Up @@ -36,6 +37,13 @@ namespace platypus
void arm();
};

class Dynamite : public Motor
{
public:
Dynamite(int channel) : Motor(channel) {}
void arm();
};

class AnalogSensor : public Sensor
{
public:
Expand Down Expand Up @@ -69,7 +77,7 @@ namespace platypus

private:
Servo servo_;
Servo servo_legacy_; // TODO: remove this once we only have v3+ boards
Servo servo_legacy_;
float position_;
};

Expand Down Expand Up @@ -138,6 +146,16 @@ namespace platypus
int32_t desired_velocity_;
uint32_t desired_acceleration_;
};

class RC : public Sensor, public RC_Controller
{
public:
RC(int channel);
char *name();



};
}

#endif //COMPONENTS_H
4 changes: 4 additions & 0 deletions firmware/Platypus.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -170,6 +170,10 @@ void Motor::velocity(float velocity)
if (velocity < -1.0) {
velocity = -1.0;
}

//Clip velocity to prevent high current cut-out
velocity *= 0.6;

velocity_ = velocity;

float command = (velocity * 500) + 1500;
Expand Down
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