void pre_auton()
{
initializeDisplay();
initializeGyro(); //Uncomment when we start using Gyro Sensor
initializePID();
initializeAutonomous();
while (bIfiRobotDisabled); //Keep the message displayed while robot is disabled
}
void AuRo666Plugin::Load(physics::ModelPtr model_ptr, sdf::ElementPtr sdf_element_ptr) {
this->model_ptr = model_ptr;
initializePID(sdf_element_ptr);
/* ********************* Assigning the joint pointers *********************** */
// TODO: Replace such strings with const vars
joints[front_left_yaw_id] = model_ptr->GetJoint("front_left_joint");
joints[front_right_yaw_id] = model_ptr->GetJoint("front_right_joint");
joints[back_left_velocity_id] = model_ptr->GetJoint("back_left_joint");
joints[back_right_velocity_id] = model_ptr->GetJoint("back_right_joint");
last_update_time = model_ptr->GetWorld()->GetSimTime();
connection_ptr = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&AuRo666Plugin::updateState, this));
}
/***************************************************************************
main program
***************************************************************************/
int main(int argc, char* argv[]) {
/***************************************************************************
Initialize variables
***************************************************************************/
int ret;
unsigned int n = 0;
//----- SET SPI MODE -----
//SPI_MODE_0 (0,0) CPOL = 0, CPHA = 0, Clock idle low, data is clocked in on rising edge, output data (change) on falling edge
//SPI_MODE_1 (0,1) CPOL = 0, CPHA = 1, Clock idle low, data is clocked in on falling edge, output data (change) on rising edge
//SPI_MODE_2 (1,0) CPOL = 1, CPHA = 0, Clock idle high, data is clocked in on falling edge, output data (change) on rising edge
//SPI_MODE_3 (1,1) CPOL = 1, CPHA = 1, Clock idle high, data is clocked in on rising, edge output data (change) on falling edge
uint8_t lcd_spi_config = SPI_MODE_0;
uint8_t ads_spi_config = SPI_MODE_1;
int ShmID;
pid_t pid_stdin;
pid_t pid_pwm;
Controller *ctlPTR; //this is the key structure that holds all the shared data.
/***************************************************************************
setup shared memory
***************************************************************************/
ShmID = shmget(IPC_PRIVATE, sizeof(Controller), IPC_CREAT | 0666);
if (ShmID < 0) {
fprintf(stderr,"reflowControl Exiting - could not initialize shared memory area (shmget)\n");
exit(1);
}
ctlPTR = (Controller *) shmat(ShmID, NULL, 0); //assign controller
if ((void *) ctlPTR == (void *) -1) {
fprintf(stderr,"reflowControl Exiting - could not attach to shared memory area (shmat)\n");
exit(1);
}
initializePID(ctlPTR);
/***************************************************************************
setup ADS, LCD, other GPIO
***************************************************************************/
sleep(2); //sleep for 2 seconds at start to make sure Node program has started listening for IO streams
//make sure output is not buffered (this program generally a child to a nodejs program) and set signal handler
setbuf(stdout, NULL); //set stdout to not buffer output
setbuf(stderr, NULL); //set stderr to not buffer output
signal(SIGINT, sig_handler_main); //capture signal interrupt ^C to cleanly shutdown
signal(SIGTERM, sig_handler_main); //capture process termination signal to cleanly shutdown
//Initialize GPIO - see http://elinux.org/RPi_Low-level_peripherals#C_2
// Set up gpi pointer for direct register access
setup_io();
// Set GPIO pin 23 SSR1_GPIO to output
INP_GPIO(SSR1_GPIO); // must use INP_GPIO before we can use OUT_GPIO
OUT_GPIO(SSR1_GPIO);
GPIO_CLR = 1<<SSR1_GPIO; //make sure output is turned off
// Set GPIO pin 22 BUZZER_GPIO to output
INP_GPIO(BUZZER_GPIO); // must use INP_GPIO before we can use OUT_GPIO
OUT_GPIO(BUZZER_GPIO);
GPIO_SET = 1<<BUZZER_GPIO; //make sure output is turned off - Buzzer is PNP, so pin high is buzzer off.
// Set GPIO pin 17 LCD_RS_GPIO to output
INP_GPIO(LCD_RS_GPIO); // must use INP_GPIO before we can use OUT_GPIO
OUT_GPIO(LCD_RS_GPIO);
// Initialize LCD
ret = spi_open(&lcd_fd, 0, lcd_spi_config); //initialize lcd_fd, 0 means device 0 (LCD), SPI_MODE_0
if (ret != 0) {
fprintf(stderr,"reflowControl Exiting - Could not initialize LCD\n");
exit(1);
}
lcd_init();
lcd_clear(); // LCD clear
lcd_display_string(0,"Reflow Start", &ctlPTR->spiSemaphore); // display startup message
// Initialize ADS Thermocouple chip
ret=spi_open(&ads_fd, 1, ads_spi_config);
if (ret != 0) {
fprintf(stderr,"reflowControl Exiting - could not initialize ADS thermocouple chip\n");
exit(1);
}
/***************************************************************************
fork child process to manage SSR
***************************************************************************/
pid_pwm = fork();
switch(pid_pwm) {
case -1:
fprintf(stderr,"reflowControl Exiting - could not fork a child process for PWM (fork)\n"); exit(1);
break;
case 0: //child process
child_main(ctlPTR);
break;
default: //main process
printf("{\"item\": \"childProcess\", \"value\": \"PID_PWM\", \"pid\": %d}\n", pid_pwm);
/***************************************************************************
fork child process to manage stdin
***************************************************************************/
pid_stdin = fork();
switch(pid_stdin) {
case -1:
fprintf(stderr,"reflowControl Exiting - could not fork a child process for stdin (fork)\n"); exit(1);
break;
case 0: //child process
stdin_main(ctlPTR);
break;
default: //main process
printf("{\"item\": \"childProcess\", \"value\": \"PID_STDIN\", \"pid\": %d}\n", pid_stdin);
while (1) {
n++;
delay_ms(MS_SAMPLES);
sampleTemp(&ctlPTR->tc1, &ctlPTR->spiSemaphore);
if (n >= NSAMPLES) {
ctlPTR->tc1.value = sampleMean(&ctlPTR->tc1);
ctlPTR->tc1.stdev = sampleStddev(&ctlPTR->tc1);
printMeasurementJSON(&ctlPTR->tc1);
ctlPTR->tc1.n = 0;
ctlPTR->pv = ctlPTR->tc1.value;
n = 0;
}
}
break;
}
}
//exit
kill(pid_pwm, SIGKILL);
shutdown();
return(0);
}
int main(int argc, const char **argv) {
int i, a;
double t;
int i2c_fd;
coordData_t * waypoints;
int numWaypts = NUM_WAYPOINTS;
double w[] = WAYPOINT_ARRAY;
pthread_t thread;
//Set signals to handle
signal(SIGINT, &sighandle);
signal(SIGTERM, &sighandle);
signal(SIGABRT, &sighandle);
//allocate structs
if((hands = malloc(sizeof(api_HANDLES_t))) == NULL) {
fprintf(stderr,"Error calling malloc\n");
return -1;
}
if((filt = malloc(sizeof(FilterHandles_t))) == NULL) {
fprintf(stderr,"Error calling malloc\n");
return -1;
}
if((pids = malloc(sizeof(pidHandles_t))) == NULL) {
fprintf(stderr,"Error calling malloc\n");
return -1;
}
if((waypoints = malloc(sizeof(coordData_t) * numWaypts)) == NULL) {
fprintf(stderr,"Error calling malloc\n");
return -1;
}
if((posData = malloc(sizeof(roboPos_t))) == NULL) {
fprintf(stderr,"Error calling malloc\n");
return -1;
}
for(i=0; i<numWaypts; i++) {
waypoints[i].X = w[i*2];
waypoints[i].Y = w[i*2+1];
}
// allocate devices
if((hands->c = create_create(COMPORT)) == NULL) {
fprintf(stderr,"Error connecting create\n");
return -1;
}
if((hands->t = turret_create()) == NULL) {
fprintf(stderr,"Error connecting turrett\n");
return -1;
}
//open serial com port
if(create_open(hands->c, FULLCONTROL) < 0) {
fprintf(stderr,"Failed to open create\n");
return -1;
}
//open i2c device
if(turret_open(hands->t) < 0) {
fprintf(stderr,"Failed to connect to robostix\n");
return -1;
}
//initialize the robostix board
turret_init(hands->t);
//Initialize Filter structs
filt->sonar0 = initializeFilter(FILT_SONAR);
filt->sonar1 = initializeFilter(FILT_SONAR);
filt->ir0 = initializeFilter(FILT_IR);
filt->ir1 = initializeFilter(FILT_IR);
//Initialize PID structs
pids->trans = initializePID(TRANS_PID);
pids->angle = initializePID(ANGLE_PID);
pids->sonar = initializePID(SONAR_PID);
pids->angleT = initializePID(ANGLET_PID);
// process command line args
i = 1;
while( i < argc ) {
if(!strcmp(argv[i], "-w")) {
//Accept command line waypoints
if(argc >= i+1) {
numWaypts = atoi(argv[++i]);
if(argc >= i+(2*numWaypts)) {
free(waypoints);
if((waypoints = malloc(sizeof(coordData_t) * numWaypts)) == NULL) {
fprintf(stderr,"Error calling malloc\n");
return -1;
}
for(a=0; a<numWaypts; a++) {
waypoints[a].X = atoi(argv[++i]);
waypoints[a].Y = atoi(argv[++i]);
}
i++;
} else {
printf("Error using [-w].\n\tUsage: -w numPoints X1 Y1 X2 Y2...\n");
}
} else {
printf("Error using [-w].\n\tUsage: -w numPoints X1 Y1 X2 Y2...\n");
}
} else {
printf("Unrecognized option [%s]\n",argv[i]);
return -1;
}
}
//Create thread to monitor robot movement
pthread_create(&thread, NULL, mapRobot, (void *)hands);
// robot is ready
#ifdef DEBUG
printf("All connections established, ready to go\n");
#endif
//Rotate the Servo
turret_SetServo(hands->t, T_ANGLE);
for(i=0; i<FILT_IR_SAMPLES; i++) {
filterIR(hands, filt, &t, &t);
#ifndef USE_IR_MODE
filterSonar(hands, filt, &t, &t);
#endif
}
//Iterate over all of the waypoints
for(i=0; i<numWaypts; i++) {
#ifdef DEBUG
printf("Waypoint %d (%f,%f).\n",i+1,waypoints[i].X,waypoints[i].Y);
#endif
Move(hands,filt,pids,waypoints[i].X,waypoints[i].Y);
#ifdef DEBUG
printf("\nArrived at waypoint %d (%f,%f).\n\n", i+1,waypoints[i].X,waypoints[i].Y);
#endif
}
// Shutdown and tidy up. Close all of the proxy handles
cleanup();
return 0;
}
//#subregion targeting
void initializeTargetingPID(motorGroup *group, float kP, float kI, float kD, int errorMargin=100, int minSampleTime=10, bool useTimeCorrection=true, int integralMax=127) { //TODO: integralMax DOES NOT WORK with autoStillSpeeding
initializePID(group->posPID, 0, kP, kI, kD, minSampleTime, useTimeCorrection, integralMax);
group->waitErrorMargin = errorMargin;
group->autoStillSpeeding = false;
}
