bf1dfbaf7d
This commit is for the implementation of the request G28, M18 and M112. G28 is for Homing, M18 is for emergency stop and M112 is for a full stop.
429 lines
12 KiB
C++
429 lines
12 KiB
C++
/*******************************************************************************
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Titre : OpenCR
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Date : 6 février 2019
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Auteur : Maxime Desmarais-Laporte
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Descritpion :
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Specifications :
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Baud for motors : 57600 b/s
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Adress for motors : 11 and 12
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List of function creation :
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Functions |Function State / test / Implementation / test
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help |
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begin (BAUD) |Done / yes
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scan (RANGE) |Done / yes
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ping (ID) |Done / yes
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control_table (ID) |
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id (ID) (NEW_ID) |
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baud (ID) (NEW_BAUD) |
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torque_on (ID) |
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torque_off (ID) |
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joint (ID) (GOAL_POSITION) |
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wheel (ID) (GOAL_VELOCITY) |Done / yes
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write (ID) (ADDRESS_NAME) (DATA) |
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read (ID) (ADDRESS_NAME) |
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sync_write_handler (Ref_ID) (ADDRESS_NAME) |
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sync_write (ID_1) (ID_2) (HANDLER_INDEX) (PARAM_1) (PARAM_2)|
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sync_read_handler (Ref_ID) (ADDRESS_NAME) |
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sync_read (ID_1) (ID_2) (HANDLER_INDEX) |
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bulk_write_handler |
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bulk_write_param (ID) (ADDRESS_NAME) (PARAM) |
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bulk_write |
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bulk_read_handler |
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bulk_read_param (ID) (ADDRESS_NAME) |
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bulk_read |
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reboot (ID) |
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reset (ID) |
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end |
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*******************************************************************************/
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#include <DynamixelWorkbench.h>
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#if defined(__OPENCM904__)
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#define DEVICE_NAME "3" //Dynamixel on Serial3(USART3) <-OpenCM 485EXP
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#elif defined(__OPENCR__)
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#define DEVICE_NAME ""
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#endif
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#define STRING_BUF_NUM 64
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String cmd[STRING_BUF_NUM];
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DynamixelWorkbench dxl_wb;
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uint8_t get_id[16];
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uint8_t scan_cnt = 0;
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uint8_t ping_cnt = 0;
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const char *NULL_POINTER = NULL;
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bool HOMING = 0;
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// Motors Propertys :
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uint8_t idX = 11;
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uint8_t idY = 12;
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uint8_t idZ = 13;
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// Positions Propertys :
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int XPosition = 0;
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int yPosition = 0;
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int ZPosition = 0;
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// Limit Switch propertys
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int XSwitchPin = 8;
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int YSwitchPin = 9;
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int ZSwitchPin = 10;
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int EmergencySwitchPin = 2;
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// Homing variables
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bool homing = 0;
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bool homingX = 0;
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bool homingY = 0;
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bool homingZ = 0;
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int offsetX = 10; //mm
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int offsetY = 10; //mm
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int offsetZ = 10; //mm
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// Fonctions prototypes :
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void Begin(uint32_t baud);
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void Ping(int identification);
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void Scan();
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void Joint(uint8_t id, uint16_t goal);
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void Wheel(uint8_t id, int32_t goal);
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void Torque_on(uint8_t id);
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void Torque_off(uint8_t id);
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void Write(uint8_t id, uint32_t value, String commande);
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int32_t Read(uint8_t id, String commande);
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void Led(uint8_t ID, bool state);
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void EmergencyStop();
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void HomeAxe(String axe, uint8_t ID, int offset);
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void LimiteSwitch(uint8_t IDX, uint8_t IDY, uint8_t IDZ, bool homing);
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int MovingDistance(String axe, float value_mm, uint8_t IDX, uint8_t IDY, uint8_t IDZ);
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Homing(uint8_t IDX, uint8_t IDY, uint8_t IDZ);
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// Initialisation :
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void setup()
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{
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// Initialisation des pins :
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pinMode(XSwitchPin, INPUT_PULLUP);
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pinMode(YSwitchPin, INPUT_PULLUP);
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pinMode(ZSwitchPin, INPUT_PULLUP);
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attachInterrupt(digitalPinToInterrupt(EmergencySwitchPin), LimiteSwitch, RISING);
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Serial.begin(57600);
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while(!Serial); // Open a Serial Monitor
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//Motor Initialisation Section :
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Begin((uint32_t)57600);
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Ping(idX);
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Ping(idY);
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Ping(idZ);
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Scan();
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delay(1000);
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Torque_off(idX);
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Torque_off(idY);
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Torque_off(idZ);
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Write(idX, (uint32_t)4,"Operating_Mode");
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Write(idY, (uint32_t)4,"Operating_Mode");
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Write(idZ, (uint32_t)4,"Operating_Mode");
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Torque_on(idX);
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Torque_on(idY);
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Torque_on(idZ);
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//Serial.println("Ready");
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}
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// Main Program
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void loop() {
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if (Serial.available())
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{
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String read_string = Serial.readStringUntil('\n');
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//Serial.println("[CMD] : " + String(read_string));
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String words[] = {"", "", ""};
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int start = 0;
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int wordIndex = 0;
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int statut[3] = {0, 0, 0};
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for(int i = 1; i < read_string.length(); i++)
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{
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if(read_string.charAt(i) == ' ')
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{
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words[wordIndex++] = read_string.substring(start, i);
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start = i+1;
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}
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}
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words[wordIndex] = read_string.substring(start, read_string.length());
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// Absolute Move G0
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// Call exemple : G0 X100 Y200 Z10
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if(words[0] == "G0")
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{
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Serial.println("2");
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for(int i = 1; i < wordIndex+1; i++)
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{
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float value = words[i].substring(1, words[i].length()).toFloat();
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statut[i] = MovingDistance((String)words[i].charAt(0), value, idX, idY, idZ);
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}
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if((statut[0] == 1 || statut[0] == 0) && (statut[1] == 1 || statut[1] == 0) && (statut[2] == 1|| statut[2] == 0)){
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Serial.println("1");
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}
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else{
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Serial.println("-1");
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}
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}
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// Homing G28 (home all axes)
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// Call exemple : G28
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else if(words[0] == "G28"){
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Serial.println("2");
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Homing(idX, idY, idZ);
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Serial.println("1");
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}
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// Torque OFF all M18
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// Call exemple : M18
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else if(words[0] == "M18"){
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Serial.println("2");
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EmergencyStop();
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Serial.println("1");
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}
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// Emergency state M112
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// Call exemple : M112
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else if(words[0] == "M112"){
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Serial.println("2");
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EmergencyStop();
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for(int i=0; i<10; i++){
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Led(idX, 1);
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Led(idY, 1);
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Led(idZ, 1);
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delay(200);
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Led(idX, 0);
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Led(idY, 0);
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Led(idZ, 0);
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delay(200);
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}
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Serial.println("1");
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}
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// Request not recognized
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else{
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Serial.println("-1");
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}
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}
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}
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//---------------------------------------------------------------------------------------------------------------------------------------------------------------------
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// Functions :
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//---------------------------------------------------------------------------------------------------------------------------------------------------------------------
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//---------------------------------------------------------------------------------------------------------------------------------------------------------------------
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// Functions of Robotics Engeneering UdeS :
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//---------------------------------------------------------------------------------------------------------------------------------------------------------------------
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//##################
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// Gcode Functions :
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//##################
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//########################
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// High level Functions :
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//########################
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int Homing(uint8_t IDX, uint8_t IDY, uint8_t IDZ){
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homing = 1;
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// home Z :
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homingZ = HIGH;
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homingY = LOW;
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homingX = LOW;
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Torque_on(IDZ);
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Wheel(IDZ, -50);
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// home y :
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homingZ = LOW;
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homingY = HIGH;
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homingX = LOW;
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Torque_on(IDY);
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Wheel(IDZ, -100);
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// home x :
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homingZ = LOW;
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homingY = LOW;
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homingX = HIGH;
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Torque_on(IDX);
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Wheel(IDZ, -100);
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}
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int MovingDistance(String axe, float value_mm, uint8_t IDX, uint8_t IDY, uint8_t IDZ){
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// Physicals propertys:
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float pouleyPitch = 2; //mm
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float nbTheets = 20;
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float pouleyCircumference = pouleyPitch*nbTheets; //mm
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float pouleyRay = pouleyCircumference/6.2832; //mm
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int resMotorTick = 4096; //Ticks per revolution
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float resMotorLinear = pouleyCircumference/resMotorTick; //mm
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int32_t value = (value_mm/resMotorLinear);
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if(axe == "X"){
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return MovingTick(IDX, value);
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}
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else if(axe == "Y"){
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return MovingTick(IDY, value);
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}
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else if(axe == "Z"){
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return MovingTick(IDZ, value);
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}
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}
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int MovingTick(uint8_t id, int32_t value){
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String commande = "Goal_Position";
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int32_t CurrentPosition = Read(id, "Present_Position");
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int MaxTick = 1048575;
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int MinTick = 0;
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bool Front_Back = 0;
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if(value > Read(id, "Present_Position")){
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Front_Back = 1;
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}
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else if(value < Read(id, "Present_Position")){
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Front_Back = 0;
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}
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if((Front_Back && (CurrentPosition < MaxTick)) || (!Front_Back && (CurrentPosition > MinTick)))
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{
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Torque_on(id);
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Write(id, value, commande);
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}
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else
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{
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Torque_off(id);
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Serial.println(CurrentPosition);
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return -1;
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}
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// Moving to front request
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if(Front_Back){
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while(CurrentPosition < value-1){
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CurrentPosition = Read(id, "Present_Position");
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if(CurrentPosition >= MaxTick){
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Torque_off(id);
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return -1;
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}
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}
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}
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// Moving to back request
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else {
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while(CurrentPosition > value+1){
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CurrentPosition = Read(id, "Present_Position");
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if(CurrentPosition <= MinTick){
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Torque_off(id);
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return -1;
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}
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}
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}
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return 1;
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}
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//########################
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// Low Levels functions :
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//########################
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void Begin(uint32_t baud){
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if (cmd[1] == '\0')
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cmd[1] = String("57600");
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dxl_wb.init(DEVICE_NAME, baud);
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}
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void Ping(int identification){
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get_id[ping_cnt] = identification;
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uint16_t model_number = 0;
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dxl_wb.ping(get_id[ping_cnt], &model_number, &NULL_POINTER);
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}
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void Scan(){
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uint8_t range = 253;
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dxl_wb.scan(get_id, &scan_cnt, range);
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}
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void Joint(uint8_t id, int32_t goal){
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dxl_wb.jointMode(id, 0, 0, &NULL_POINTER);
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dxl_wb.goalPosition(id, goal, &NULL_POINTER);
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}
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void Wheel(uint8_t id, int32_t goal){
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dxl_wb.wheelMode(id, 0, &NULL_POINTER);
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dxl_wb.goalVelocity(id, goal, &NULL_POINTER);
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}
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void Torque_on(uint8_t id){
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dxl_wb.torqueOn(id, &NULL_POINTER);
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}
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void Torque_off(uint8_t id){
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dxl_wb.torqueOff(id, &NULL_POINTER);
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}
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void Write(uint8_t id, uint32_t value, String commande){
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dxl_wb.writeRegister(id, commande.c_str(), value, &NULL_POINTER);
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}
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int32_t Read(uint8_t id, String commande){
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int32_t data = 0;
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dxl_wb.readRegister(id, commande.c_str(), &data, &NULL_POINTER);
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return data;
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}
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void Led(uint8_t ID, bool state){
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Write(ID, (uint32_t)state, "LED");
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}
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void EmergencyStop(){
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Torque_off(idX);
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Torque_off(idY);
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Torque_off(idZ);
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Serial.println(-1);
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}
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void HomeAxe(String axe, uint8_t ID, int offset){
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Torque_off(ID);
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Torque_on(ID);
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MovingDistance(axe, offset, idX, idY, idZ);
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int homingPosition = Read(ID, "Present_Position");
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Write(ID, (uint32_t)homingPosition, "Homing_Offset");
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}
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void LimiteSwitch(){
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if(homing){
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if(homingZ == HIGH && digitalRead(ZSwitchPin) == HIGH){
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HomeAxe("Z", idZ, offsetZ);
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}
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else if(homingY == HIGH && digitalRead(YSwitchPin) == HIGH){
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HomeAxe("Y", idY, offsetY);
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}
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else if(homingX == HIGH && digitalRead(XSwitchPin) == HIGH){
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HomeAxe("X", idX, offsetX);
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}
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}
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else{
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EmergencyStop();
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Serial.flush();
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Serial.println("-1");
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}
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}
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