From 929ffebe50a99aee3eeb30afb8eb5e7450b0a717 Mon Sep 17 00:00:00 2001 From: Shahrul Kamil bin Hassan <shahrulkamil98@g.ucla.edu> Date: Tue, 21 Sep 2021 18:14:54 +0000 Subject: [PATCH] replace normal controller with PID --- Code/feather_main_personaldemo.ino | 585 ++++++++++++++++++++++------- 1 file changed, 449 insertions(+), 136 deletions(-) diff --git a/Code/feather_main_personaldemo.ino b/Code/feather_main_personaldemo.ino index 84fe421..f50b16e 100644 --- a/Code/feather_main_personaldemo.ino +++ b/Code/feather_main_personaldemo.ino @@ -1,45 +1,52 @@ #include <Wire.h> #include <Adafruit_MotorShield.h> -#include "Adafruit_VL53L0X.h" +//#include "Adafruit_VL53L0X.h" #include "ArnholdMesh.h" +#include "LedPanel.h" #include <Arduino.h> #include <string> #include <vector> #include "Camera.h" #include <PID_v1.h> +#include "utilities.h" +//definition needed for mesh #define STATION_SSID "lemur" #define STATION_PASSWORD "" -#define DDRIVE_MIN -1 //The minimum value x or y can be. -#define DDRIVE_MAX 1 //The maximum value x or y can be. -#define MOTOR_MIN_PWM -255 //The minimum value the motor output can be. -#define MOTOR_MAX_PWM 255 //The maximum value the motor output can be. +#define MQTT_BROKER "" +#define MQTT_TOPIC "" + double Setpointx, Inputx, Outputx; double Setpointy, Inputy, Outputy; //Identify all the global constants that will be used by the robot const int BAUD_RATE = 115200; const int MAX_SPEED = 255; +const int SEEKING_SPEED = 70; const double RESOLUTION_W = 320.0; const double RESOLUTION_H = 240.0; -const int SEEKING_SPEED = 60; -const int TIME_STEP = 1; const int ENDDEMO_TAG = 0; +const uint32_t THISNODE_ID = 88789821; //Identify all the variables that will be used by the robot int findcolor = 1; //based on the same code from openMV. Determine the color you want to find -int NOMINAL_PERCENTAGE = 80; //in percent char newPTCL = '1'; -int altitude = 0; -int desiredAltitude = 0; +int pau = 0; +int displayTracking = 0; int8_t threshold[6] = {0, 0, 0, 0, 0, 0}; +int BASE_SPEED = 125; //125; -////Identify the variables that will be communicated through DASH -//bool manualMode = true; -//int verticalSpeed = 0; //0 to 255 -//bool verticalDirection = true; -//float horiAnalog = 0; //between -1 to 1 -//float vertAnalog = 0; +//The debug LEDs that we will be using. Description at: +const int DEBUG_STATE = 31; +const int DEBUG_KP = 30; +const int DEBUG_KI = 29; +const int DEBUG_KD = 28; +const int DEBUG_BASESPEED = 27; +const int DEBUG_THRESHOLD_MIN = 26; +const int DEBUG_THRESHOLD_MAX = 25; +const int DEBUG_VERTICALSPEED = 17; +const int DEBUG_RSPEED = 16; +const int DEBUG_LSPEED = 24; //Create the interface that will be used by the camera openmv::rpc_scratch_buffer<256> scratch_buffer; // All RPC objects share this buffer. @@ -47,155 +54,461 @@ openmv::rpc_i2c_master interface(0x12, 100000); //to make this more robust, cons // Create the motor shield object with the default I2C address Adafruit_MotorShield AFMS = Adafruit_MotorShield(); -Adafruit_DCMotor *motorVertical = AFMS.getMotor(1); +Adafruit_DCMotor *motorVertical = AFMS.getMotor(3); Adafruit_DCMotor *motorLeft = AFMS.getMotor(2); Adafruit_DCMotor *motorRight = AFMS.getMotor(4); -//Create the LIDAR object -//Adafruit_VL53L0X lidar = Adafruit_VL53L0X(); -//ArnholdMesh thisNode; Camera cam(&interface); +LedPanel panel(NUMPIXELS,PIN_PIXELS); +ArnholdMesh thisNode; //Specify the links and initial tuning parameters -double Kp=1, Ki=0.05, Kd=0.25; -PID PID_x(&Inputx, &Outputx, &Setpointx, Kp, Ki, Kd, DIRECT); -PID PID_y(&Inputy, &Outputy, &Setpointy, Kp, Ki, Kd, DIRECT); +double Kpx=1, Kix=0.05, Kdx=0.25; +double Kpy=2, Kiy=0.1, Kdy=0.25; +PID PID_x(&Inputx, &Outputx, &Setpointx, Kpx, Kix, Kdx, DIRECT); +PID PID_y(&Inputy, &Outputy, &Setpointy, Kpy, Kiy, Kdy, DIRECT); void setup() { Serial.begin(BAUD_RATE); translateCodetoThreshold(findcolor); Wire.begin(); AFMS.begin(); // create with the default frequency 1.6KHz - interface.begin(); + interface.begin(); //communication between ESP and OpenMV + panel.beginPanel(); + + thisNode.setPanel(&panel); + thisNode.setStationInfo(STATION_SSID, STATION_PASSWORD); + thisNode.setMQTTInfo(MQTT_BROKER, MQTT_TOPIC); + thisNode.amIMQTTBridge(false); + thisNode.init(); - Setpointx = 160.0; - Setpointy = 120.0; - PID_y.SetOutputLimits(-255, 255); - PID_x.SetOutputLimits(-255, 255); + Setpointx = 160.0; + Setpointy = 120.0; //the values that the PID will try to reach + PID_y.SetOutputLimits(-255, 255); //up positive + PID_x.SetOutputLimits(-255, 255); //left positive PID_x.SetMode(AUTOMATIC); PID_y.SetMode(AUTOMATIC); +} + +void loop() { + // + panel.singleLED(DEBUG_BASESPEED, BASE_SPEED, BASE_SPEED, BASE_SPEED); + +// float r = 0; +// float g = 0; +// float b = 0; +// lab2rgb((float)threshold[0], (float)threshold[2], (float)threshold[4], r, g, b); +// panel.singleLED(DEBUG_THRESHOLD_MIN, (int)r, (int)g, (int)b); +// lab2rgb((float)threshold[1], (float)threshold[3], (float)threshold[5], r, g, b); +// panel.singleLED(DEBUG_THRESHOLD_MAX, (int)r, (int)g, (int)b); +// + // + thisNode.update(); + + while(pau == 1){ + thisNode.update(); + int zero = 0; + moveVertical(zero); + moveHorizontal(zero,zero); + panel.singleLED(DEBUG_STATE, 10, 10, 0); + Serial.println("pause"); + } - //thisNode.setStationInfo(STATION_SSID, STATION_PASSWORD); - //thisNode.init(); -// if (!lidar.begin()) { -// while(1){ -// //NEED: Light up red LED -// } + //Check to see if we want to end the demo + int xtemp = 0; + int ytemp = 0; + int angletemp = 0; + if(cam.exe_apriltag_detection(ENDDEMO_TAG, &xtemp, &ytemp, &angletemp)){ + int zero = 0; + moveVertical(zero); + moveHorizontal(zero,zero); + panel.singleLED(DEBUG_STATE, 0, 0, 10); + while(1){ + Serial.println("end of demo"); + } + } + + //if the demo is still ongoing, check to see if there is a desired-color blob + int x = 0; + int y = 0; + panel.singleLED(DEBUG_STATE, 10, 0, 0); //standby +// Serial.print("current threshold: "); +// for (int j = 0; j < 6; j++){ +// Serial.print(threshold[j]); +// Serial.print(" "); // } +// Serial.println(""); + if(cam.exe_color_detection_biggestblob(threshold[0], threshold[1], threshold[2], threshold[3], threshold[4], threshold[5], x, y)){ + if (displayTracking > 0){ + displayTrackedObject(x, y, RESOLUTION_W, RESOLUTION_H); //THIS NEEDS WORK + } + panel.singleLED(DEBUG_STATE, 0, 10, 0); + Serial.println("blob detected"); + Serial.print("x value: "); + Serial.println(x); + Serial.print("y value: "); + Serial.println(y); + Inputx = x/1.00; + Inputy = y/1.00; + PID_x.Compute(); + PID_y.Compute(); + + Serial.println(Outputy); + Serial.println(Outputx); + + //actuate the vertical motor + moveVertical(Outputy); + moveHorizontal(Outputx, BASE_SPEED); + + } else { //seeking algorithm + //panel.resetPanel(); + panel.singleLED(DEBUG_STATE, 10, 10, 10); + Serial.println("seeking..."); + int zero = 0; + moveVertical(zero); + moveHorizontal(SEEKING_SPEED, zero); + } } -void loop() { - int x = 0; - int y = 0; - if(cam.exe_color_detection_biggestblob(threshold[1], threshold[2], threshold[3], threshold[4], threshold[5], threshold[6], x, y)){ - Serial.print("x value: "); - Serial.println(x); - Serial.print("y value: "); - Serial.println(y); - Inputx = x/1.00; - Inputy = y/1.00; - PID_x.Compute(); - PID_y.Compute(); - Serial.print("the x output is: "); - Serial.println(Outputx); - Serial.print("the y output is: "); - Serial.println(Outputy); +//vel value should be between -255 to 255 with positive values moving the blimp +//upward. +void moveVertical(int vel){ + if (vel > 0) { //up + panel.singleLED(DEBUG_VERTICALSPEED, abs(vel), 0, 0); + motorVertical->setSpeed(abs((int) vel)); + motorVertical->run(BACKWARD); + } else if(vel < 0) { //down + panel.singleLED(DEBUG_VERTICALSPEED, 0, 0, abs(vel)); + motorVertical->setSpeed(abs((int) Outputy)); + motorVertical->run(FORWARD); } else { - Serial.println("not detected"); + panel.singleLED(DEBUG_VERTICALSPEED, 0, 0, 0); + motorVertical->setSpeed(0); } - -// //Check to see if we want to end the demo -// int xtemp = 0; -// int ytemp = 0; -// int angletemp = 0; -// if(cam.exe_apriltag_detection(ENDDEMO_TAG, &xtemp, &ytemp, &angletemp)){ -// motorVertical->setSpeed(0); -// motorVertical->run(FORWARD); -// // turn on motor -// motorVertical->run(RELEASE); -// motorLeft->setSpeed(0); -// motorLeft->run(FORWARD); -// motorRight->setSpeed(0); -// motorRight->run(BACKWARD); -// while(1){ -// Serial.println("end of demo"); -// } -// } -// -// int x = 0; -// int y = 0; -// if(cam.exe_color_detection_biggestblob(threshold[1], threshold[2], threshold[3], threshold[4], threshold[5], threshold[6], x, y)){ -// Serial.println("blob detected"); -// Input = x; -// myPID.Compute(); -// Serial.print("the output is: "); -// Serial.println(Output); -// int dy = y - RESOLUTION_H/2.0; -// int dx = x - RESOLUTION_W/2.0; -// int y_speed = abs(dy/(RESOLUTION_H/2.0))*MAX_SPEED*NOMINAL_PERCENTAGE/100.0; -// int x_speed = abs(dx/(RESOLUTION_W/2.0))*MAX_SPEED*NOMINAL_PERCENTAGE/100.0; -// int lockon_speed = MAX_SPEED*NOMINAL_PERCENTAGE/200.0; -// Serial.print("y value: "); -// Serial.println(y); -// Serial.print("velocity: "); -// Serial.println(y_speed); -// if (dy < 0) { -// motorVertical->setSpeed(100 + y_speed); -// motorVertical->run(BACKWARD); -// } else { -// motorVertical->setSpeed(100 + y_speed); -// motorVertical->run(FORWARD); -// } -// if (dx < 0) { // -// motorRight->setSpeed(SEEKING_SPEED/2); //(SEEKING_SPEED); -// motorRight->run(BACKWARD); -// motorLeft->setSpeed(min(255, (SEEKING_SPEED/2) + x_speed)); //this need to be higher -// motorLeft->run(BACKWARD); -// } else { -// motorRight->setSpeed(min(255,(SEEKING_SPEED/2) + x_speed)); //this need to be higher -// motorRight->run(BACKWARD); -// motorLeft->setSpeed(SEEKING_SPEED/2); //(SEEKING_SPEED); -// motorLeft->run(BACKWARD); -// } -// } else { //seeking algorithm -// Serial.println("seeking..."); -// motorVertical->setSpeed(0); -// motorVertical->run(FORWARD); -// // turn on motor -// motorVertical->run(RELEASE); -// Serial.println(SEEKING_SPEED*NOMINAL_PERCENTAGE/100.0); -// motorLeft->setSpeed(SEEKING_SPEED*NOMINAL_PERCENTAGE/100.0); -// motorLeft->run(FORWARD); -// motorRight->setSpeed(SEEKING_SPEED*NOMINAL_PERCENTAGE/100.0); -// motorRight->run(BACKWARD); -// } } +void moveHorizontal(int vel_hori,int base_speed){ + int lspeed = -1*vel_hori + base_speed; + int rspeed = vel_hori + base_speed; + + if (rspeed > 0){ + motorLeft->run(BACKWARD); + } else { + motorLeft->run(FORWARD); + } + + if (lspeed > 0){ + motorRight->run(BACKWARD); + } else { + motorRight->run(FORWARD); + } + displaySpeed(lspeed, rspeed); + motorLeft->setSpeed(min(MAX_SPEED, abs(rspeed))); + motorRight->setSpeed(min(MAX_SPEED, abs(lspeed))); +} + +void displaySpeed(int lspeed, int rspeed){ + //Serial.println("display speed"); + if (lspeed < 0){ + panel.singleLED(DEBUG_LSPEED, 0, 0, abs(lspeed)); + } else { + panel.singleLED(DEBUG_LSPEED, abs(lspeed), 0, 0); + } + + if (rspeed < 0){ + panel.singleLED(DEBUG_RSPEED, 0, 0, abs(rspeed)); + } else { + panel.singleLED(DEBUG_RSPEED, abs(rspeed), 0, 0); + } +} + +//When using the camera to detect objects such as colored blobs or april tags. This function is +//useful when only a single object is the target. The approximate position will be marked with an +//led turning white in the 8*4 panel of the NeoPixel LED Panel. Therefore, this function can be +//called assuming that you have created the LED panel object, which in this code is named "panel". +//If the LED panel is called something else, just edit the code here +void displayTrackedObject(int cx, int cy, int w_res, int h_res){ + int lednum = 0; + int vertshift = 0; + panel.resetPanel(); + lednum = cx/(w_res/8); //because lednum is an int, it will handle flooring the value + vertshift = cy/(h_res/4); + lednum = lednum + 8*vertshift; + panel.singleLED(lednum, 10, 10 , 10); +} + + +//Interpret a message to change what color the camera is detecting +void setColor(String msg) { + if (msg.length() < 3){ + int val = msg.toInt(); + translateCodetoThreshold(val); + Serial.println("code detected"); + } else { + Serial.println("new threshold detected"); + setColorThreshold(msg, threshold, 6); + } + for (int j = 0; j < 6; j++){ + Serial.print(threshold[j]); + Serial.print(" "); + } + Serial.println(""); +} + +//in case we don't want to maually set each LAB threshold, we can send over an int to +//use preset threshold values instead void translateCodetoThreshold(int code){ switch(code){ case 1: //green - threshold[1] = 30; - threshold[2] = 100; - threshold[3] = -68; - threshold[4] = -13; - threshold[5] = 30; - threshold[6] = 127; + threshold[0] = 30; + threshold[1] = 100; + threshold[2] = -68; + threshold[3] = -13; + threshold[4] = 30; + threshold[5] = 127; break; case 2: //blue - threshold[1] = 30; - threshold[2] = 100; - threshold[3] = -108; - threshold[4] = -9; - threshold[5] = 0; - threshold[6] = -42; + threshold[0] = 30; + threshold[1] = 100; + threshold[2] = -108; + threshold[3] = -9; + threshold[4] = 0; + threshold[5] = -42; break; - case 5: //red - threshold[1] = 30; - threshold[2] = 100; - threshold[3] = 127; - threshold[4] = 23; - threshold[5] = 127; - threshold[6] = -13; + case 5: //red (30, 100, 127, 41, 127, 13) + threshold[0] = 30; + threshold[1] = 100; + threshold[2] = 127; + threshold[3] = 41; + threshold[4] = 127; + threshold[5] = 13; + } +} + + +//threshold array must have at least six elements. This function helps +//translating a message with threshold values to ints. Example msg that would +//be received by this function are "1 2 3 4 5 6" or "-100 70 9 -9 -50 128". +//NOTE: - the threshold value should be between -128 to 128 +// - the message should not include the command character used by the mesh +// - suggested command character: 'C'[olor] +void setColorThreshold(String msg, int8_t thres[], int arraySize){ + int len = msg.length(); + int temp = 0; + int startpoint = 0; + for (int i = 0; i < len; i++){ + if (msg[i] == ' '){ + thres[temp] = msg.substring(startpoint,i).toInt(); + startpoint = i + 1; + temp++; + } + if (temp == 5){ + thres[temp] = msg.substring(startpoint).toInt(); + break; + } + } +} + +//This function translate a string of message into the constants for a PID controller. Ignoring the +//first command character, user can input any one, two, or all three parameter to be changed by identifying +//the new parameter with the capital letter of that specific parameter, each separated with a space. +//Some of the valid msg examples are: +// - "P0.02" +// - "D1.23" +// - "P0.14 D9.5" +// - "P0.1 I0.1 D0.1" +// +//NOTE: +// - the parameter doesn't have to be in order. You can do DI or IP in whichever order as long as it follows a valid double value +// - while the function works if you passed a negative double, the PID controller will not and will produce error. +// - suggested command character: 'T'[uning] +void setPIDConstants(String msg, double &p_constant, double &i_constant, double &d_constant){ + double new_p = Kpx; + double new_i = Kix; + double new_d = Kdx; + + int len = msg.length(); + int startpoint = 0; + int endpoint = 0; + for (int i = 0; i < len; i++){ + if (msg[i] == 'P'){ + startpoint = i + 1; + for (int j = i + 1; j < len; j++){ + if (msg[j] == ' '){ + endpoint = j; + break; + } else { + endpoint = len; + } + } + if (endpoint > startpoint){ //check to see if it is a valid value + //Serial.println(msg.substring(startpoint, endpoint)); + new_p = msg.substring(startpoint, endpoint).toDouble(); + } + } + + if (msg[i] == 'I'){ + startpoint = i + 1; + for (int j = i + 1; j < len; j++){ + if (msg[j] == ' '){ + endpoint = j; + break; + } else { + endpoint = len; + } + } + if (endpoint > startpoint){ //check to see if it is a valid value + //Serial.println(msg.substring(startpoint, endpoint)); + //i_constant = msg.substring(startpoint, endpoint).toDouble(); + new_i = msg.substring(startpoint, endpoint).toDouble(); + } + } + + if (msg[i] == 'D'){ + startpoint = i + 1; + for (int j = i + 1; j <= len; j++){ + if (msg[j] == ' ' || msg[j] == '\0'){ + endpoint = j; + break; + } else { + endpoint = len; + } + } + if (endpoint > startpoint){ //check to see if it is a valid value + //Serial.println(msg.substring(startpoint, endpoint)); + //d_constant = msg.substring(startpoint, endpoint).toDouble(); + new_d = msg.substring(startpoint, endpoint).toDouble(); + } + } + } + + //DEBUGGING SECTION + unsigned long t = millis(); + debugPIDConstants(DEBUG_KP, p_constant, new_p); + debugPIDConstants(DEBUG_KI, i_constant, new_i); + debugPIDConstants(DEBUG_KD, d_constant, new_d); + + p_constant = new_p; + i_constant = new_i; + d_constant = new_d; + + while(millis() < t+2000); //debugging LED will light up for 2 seconds + panel.singleLED(DEBUG_KP, 0, 0, 0); + panel.singleLED(DEBUG_KI, 0, 0, 0); + panel.singleLED(DEBUG_KD, 0, 0, 0); +} + +void debugPIDConstants(int lednum, double oldval, double newval){ + int r, g, b; + if (newval > oldval){ + panel.singleLED(lednum, 0, 10, 0); + } else if (newval < oldval){ + panel.singleLED(lednum, 10, 0, 0); + } else { //equal + panel.singleLED(lednum, 10, 10, 10); + } +} + + + + +////MESH COMMUNICATION UTILITY FUNCTIONS//// +void interpretDashInstructions(String& msg){ + // Deserialize different dash topics as they are received + String result; + std::list<uint32_t> nodesToSend; + Serial.println(msg); + // If dash topic is Command + if(thisNode.dashDeserialize(msg, "Command", result, nodesToSend)){ + // Interpret what command on the dash means + char numChar = result[0]; + String commandContent = result.substring(1); + if(numChar == 'G'){ + String topo = thisNode.mesh.subConnectionJson(); + thisNode.sendJsonToDash("Debug", topo); + return; + } + else { + thisNode.sendOverAllFreqs(nodesToSend, result); + } + } + // If the dash topic is MasterJoystick + else if(thisNode.dashDeserialize(msg, "MasterJoystick", result, nodesToSend)){ + // Interpret what a dash MasterJoystick message means + String joystickcontrol = "J"; + joystickcontrol += result; + thisNode.sendOverAllFreqs(nodesToSend, result); + return; + } +} + +void vehicleInstruction(char instructionType, String instrData, uint32_t from){ + // Do something with the data receieved over the network + // Based on what the instructionType is, do something different with the instrData + // instructionType CAN NOT BE: + // 'B', 'O', 'g', 'm', 'u', 'R', 'D' + // I am using those within ArnholdMesh for testing purposes + switch(instructionType){ + case 'C': + setColor(instrData); + Serial.print("color: "); + Serial.println(instrData); + break; + case 'T': + setPIDConstants(instrData, Kpx, Kix, Kdx); + Serial.print("new PID constants: "); + Serial.print(Kpx); + Serial.print(" "); + Serial.print(Kix); + Serial.print(" "); + Serial.print(Kdx); + Serial.println(""); + break; + case 'P': //pause the program + pau = instrData.toInt(); + Serial.print("paused: "); + Serial.println(pau); + break; + case 'S': //change the base speed + int new_base_speed = instrData.toInt(); + if (new_base_speed >= 0 && new_base_speed <= 255){ + BASE_SPEED = new_base_speed; + Serial.print("base speed: "); + Serial.println(BASE_SPEED); + } else { + Serial.println("invalid base speed"); + } + break; + } +} + +// Callback function needed for painlessMesh +void receivedCallback(uint32_t from, String &msg) { + Serial.printf("startHere: Received from %u msg=%s\n", from, msg.c_str()); + thisNode.lastMsgReceieved = millis(); + thisNode.colorsL[2] = 5; + thisNode.panel->topLeftQuadrant(thisNode.colorsL[0], thisNode.colorsL[1], thisNode.colorsL[2]); + thisNode.interpretInstruction(from, msg); +} + + +// Callback function needed for MQTT +void mqttCallback(char* topic, uint8_t* payload, unsigned int length) { + char* cleanPayload = (char*)malloc(length+1); + memcpy(cleanPayload, payload, length); + cleanPayload[length] = '\0'; + String msg = String(cleanPayload); + free(cleanPayload); + Serial.println(msg); + interpretDashInstructions(msg); +} + +void newConnectionCallback(uint32_t nodeId) { + Serial.printf("--> startHere: New Connection, nodeId = %u\n", nodeId); + digitalWrite(LED_BUILTIN, HIGH); + if(thisNode.bridgeId == 0){ + String askpayload = "g"; + thisNode.sendOverAllFreqs(nodeId, askpayload); } } -- GitLab