motor.c
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/*
* Copyright (C) 2015 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup examples
* @{
*
* @file
* @brief Demonstrating the sending and receiving of UDP data
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <inttypes.h>
#include "kernel_types.h"
#include "msg.h"
#include "cpu.h"
#include "board.h"
#include "xtimer.h"
#include "periph/pwm.h"
#include "periph/gpio.h"
#include "robotcar.h"
#define PWM PWM_DEV(0)
#define MOTOR1_CHANNEL 0
#define MOTOR1_IN1 GPIO_PIN(PORT_E,0)
#define MOTOR1_IN2 GPIO_PIN(PORT_E,2)
#define MOTOR1_ECD GPIO_PIN(PORT_A,8)
#define MOTOR2_CHANNEL 1
#define MOTOR2_IN1 GPIO_PIN(PORT_E,1)
#define MOTOR2_IN2 GPIO_PIN(PORT_E,3)
#define MOTOR2_ECD GPIO_PIN(PORT_A,9)
#define STDBY GPIO_PIN(PORT_D,4)
robot_t motor_1;
robot_t motor_2;
kernel_pid_t server, client, robot_pid;
static void motor1_cb(void *arg)
{
robot_step_counter(&motor_1);
}
static void motor2_cb(void *arg)
{
robot_step_counter(&motor_2);
}
//define data type to send
typedef union
{
uint32_t msg;
struct
{
uint8_t cmd;
uint8_t step;
uint16_t speed;
};
}word;
static void send_cmd(uint32_t c)
{
msg_t msg;
msg.content.value = c;
msg_send(&msg, client);
}
int robot_cmd(int argc, char **argv)
{
word data;
uint32_t speed,steps;
if (argc < 2)
{
printf("usage: %s [move|spin]\n", argv[0]);
return 1;
}
if (strcmp(argv[1], "move") == 0)
{
if (argc < 5)
{
printf("usage: %s move [<forward|reverse>] <speed[300-999]> <distance[1-254] in cm> \n",argv[0]);
return 1;
}
if(strcmp(argv[2], "forward") == 0)
{
data.cmd = 0;
}
else if(strcmp(argv[2], "reverse") == 0)
{
data.cmd = 1;
}
else
{
puts("error: invalid command");
return 1;
}
speed = atoi(argv[3]);
steps = atoi(argv[4]);
data.speed = speed;
data.step = steps;
send_cmd(data.msg);
}
else if (strcmp(argv[1], "spin") == 0)
{
if (argc < 5)
{
printf("usage: %s spin [<right|left>] <speed[0-1000]> <distance[0-254] in cm> \n",argv[0]);
return 1;
}
if(strcmp(argv[2], "right") == 0)
{
data.cmd = 2;
}
else if(strcmp(argv[2], "left") == 0)
{
data.cmd = 3;
}
else
{
puts("error: invalid command");
return 1;
}
speed = atoi(argv[3]);
steps = atoi(argv[4]);
data.speed = speed;
data.step = steps;
send_cmd(data.msg);
}
else
{
puts("error: invalid command");
}
return 0;
}
void send_to_robot(uint32_t msg)
{
if((msg&0xff) == 0) {robot_move_forward(&motor_1,&motor_2,(msg>>16),cm_to_steps((msg>>8)&0xff));}
if((msg&0xff) == 1) {robot_move_reverse(&motor_1,&motor_2,(msg>>16),cm_to_steps((msg>>8)&0xff));}
if((msg&0xff) == 2) {robot_spin_right(&motor_1,&motor_2,(msg>>16),cm_to_steps((msg>>8)&0xff));}
if((msg&0xff) == 3) {robot_spin_left(&motor_1,&motor_2,(msg>>16),cm_to_steps((msg>>8)&0xff));}
}
int init_robot(robot_t *dev1, robot_t *dev2)
{
int res;
res = robot_init(&motor_1,PWM,MOTOR1_CHANNEL,MOTOR1_IN1,MOTOR1_IN2,STDBY,MOTOR1_ECD,1);
if (res < 0) {
puts("Errors while initializing motor");
return 1;
}
res = robot_init(&motor_2,PWM,MOTOR2_CHANNEL,MOTOR2_IN1,MOTOR2_IN2,STDBY,MOTOR2_ECD,2);
if (res < 0) {
puts("Errors while initializing motor");
return 1;
}
puts("all motors initialized.");
if (gpio_init_int(MOTOR1_ECD,GPIO_IN, GPIO_RISING, motor1_cb,
(void *)MOTOR1_ECD) < 0) {
puts("Error while initializing MOTOR1_ECD as external interrupt\n");
return 1;
}
if (gpio_init_int(MOTOR2_ECD,GPIO_IN, GPIO_RISING, motor2_cb,
(void *)MOTOR2_ECD) < 0) {
puts("Error while initializing MOTOR2_ECD as external interrupt\n");
return 1;
}
puts("motor interrupt initialized successfuly\n");
return 0;
}