Init

.gitignore

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+.DS_Store

Arduino/mobileBase_IIC/beep_ring.h

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+/**********************************************************
+Description: 下位机arduino Due上的蜂鸣器模块头文件，
+  定义蜂鸣器连接的引脚，各种声音的宏定义。
+Author: ROS小课堂 www.corvin.cn
+History: 20190927: init this file;
+***********************************************************/
+#ifndef _BEEP_RING_H_
+#define _BEEP_RING_H_
+
+#define  BEEP_PIN   36
+
+#define  POWEROFF_BEEP  0
+#define  POWERON_BEEP   1
+
+#define  BEEP_ON  HIGH
+#define  BEEP_OFF LOW
+
+void initBeepPin();
+void powerOnBeep();
+void powerOffBeep();
+
+#endif

Arduino/mobileBase_IIC/beep_ring.ino

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+/************************************************
+  Description: 在arduino DUE板上接蜂鸣器来生成各种声音
+  反馈当前下位机的运行状态。
+  Author: ROS小课堂 www.corvin.cn
+  History: 20190927: init this file;
+*************************************************/
+
+void initBeepPin()
+{
+  pinMode(BEEP_PIN, OUTPUT);
+  digitalWrite(BEEP_PIN, HIGH);//init beep not ring
+  delay(100);
+  digitalWrite(BEEP_PIN, LOW);
+}
+
+void basePowerOnBeep()
+{
+  for (int i = 0; i < 2; i++)
+  {
+    digitalWrite(BEEP_PIN, BEEP_ON);
+    delay(100);
+    digitalWrite(BEEP_PIN, BEEP_OFF);
+    delay(100);
+  }
+//  digitalWrite(BEEP_PIN, HIGH);
+}
+
+void basePowerOffBeep()
+{
+  for (int i = 0; i < 2; i++)
+  {
+    digitalWrite(BEEP_PIN, BEEP_ON);
+    delay(500);
+    digitalWrite(BEEP_PIN, BEEP_OFF);
+    delay(500);
+  }
+//  digitalWrite(BEEP_PIN, HIGH);
+}

Arduino/mobileBase_IIC/commands.h

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+/***********************************************************************************
+Description:Define single-letter commands that will be sent by the PC over the
+   serial link.
+Author: www.corvin.cn
+History: 20180209:init this file,add CODE_VERSION command;
+************************************************************************************/
+#ifndef _COMMANDS_H_
+#define _COMMANDS_H_
+
+#define  ANALOG_READ     'a'
+#define  GET_BAUDRATE    'b'
+#define  PIN_MODE        'c'
+#define  DIGITAL_READ    'd'
+#define  READ_ENCODERS   'e'
+#define  GET_CURRENT     'f'
+#define  GET_VOLTAGE     'g'
+#define  MOTOR_SPEEDS    'm'
+#define  RESET_ENCODERS  'r'
+#define  SET_SERVO_POS   's'
+#define  GET_SERVO_POS   't'
+#define  UPDATE_PID      'u'
+#define  DIGITAL_WRITE   'w'
+#define  ANALOG_WRITE    'x'
+#define  READ_PIDIN      'i'
+#define  READ_PIDOUT     'o'
+#define  BEEP_RING       'p'
+#define  CODE_VERSION    'v'
+
+#endif

Arduino/mobileBase_IIC/current_detect.h

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+/**************************************************************
+Description: 锂电池输出电流检测
+Author: www.corvin.cn
+History: 20190927:init this file;
+*************************************************************/
+#ifndef _CURRENT_DETECT_
+#define _CURRENT_DETECT_
+
+#define CURRENT_AREF    3.3
+#define CURRENT_PIN     A1
+#define CURRENT_SENS    0.2
+#define ADC_RESOLUTION  12
+#define ADC_SENS        4095.0
+#define CURRENT_OFFSET  1.48   //偏置电压,空载是A1的输出电压
+
+void initCurrentDetect();
+float detectCurrent();
+
+#endif

Arduino/mobileBase_IIC/current_detect.ino

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+/***************************************************************
+  Description:锂电池输出电流检测功能。
+  Author: www.corvin.cn
+  History: 20190927: init this file;
+****************************************************************/
+void initCurrentDetect()
+{
+  pinMode(CURRENT_PIN, INPUT);
+  analogReference(AR_DEFAULT); //调用板载3.3V默认基准源
+  analogReadResolution(ADC_RESOLUTION);
+}
+
+float detectCurrent()
+{
+  int sum = 0;
+  int cnt = 10;
+
+  for (int index = 0; index < cnt; index++)
+  {
+    sum += analogRead(CURRENT_PIN);
+  }
+
+  int readValue = sum / cnt;
+  float current = (readValue / ADC_SENS * CURRENT_AREF - CURRENT_OFFSET) / CURRENT_SENS;
+
+  return current;
+}

Arduino/mobileBase_IIC/encoder_driver.h

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+/**************************************************************
+Description: Encoder driver function definitions
+Author: www.corvin.cn
+History: 20180209:init this file;
+*************************************************************/
+#ifndef __ENCODER_DRIVER_H__
+#define __ENCODER_DRIVER_H__
+
+//A wheel encode pin
+#define ENC_A_PIN_A  26  //pin 26 
+#define ENC_A_PIN_B  27  //pin 27 
+
+//B wheel encode pin
+#define ENC_B_PIN_A  30  //pin 30
+#define ENC_B_PIN_B  31  //pin 31 
+
+//C wheel encode pin
+#define ENC_C_PIN_A  34  //pin 34 
+#define ENC_C_PIN_B  35  //pin 35 
+
+#define A_WHEEL      1
+#define B_WHEEL      2
+#define C_WHEEL      3
+
+void initEncoders(void);
+long readEncoder(int i);
+void resetEncoders(void);
+
+#endif

Arduino/mobileBase_IIC/encoder_driver.ino

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+/**************************************************************
+Description:  Encoder definitions需要连接到arduino DUE的正确引脚上：
+   Encoder A: connect interrupt [pin 26, 27];
+   Encoder B: connect interrupt [pin 30, 31];
+   Encoder C: connect intterupt [pin 34, 35]
+Author: www.corvin.cn ROS小课堂
+History: 20190909:init this file;
+**************************************************************/
+#include "motor_driver.h"
+#include "encoder_driver.h"
+
+static volatile long A_enc_cnt = 0L;
+static volatile long B_enc_cnt = 0L;
+static volatile long C_enc_cnt = 0L;
+
+/*init encoder connect pin, config ISR functions*/
+void initEncoders(void)
+{
+  pinMode(ENC_A_PIN_A, INPUT);
+  pinMode(ENC_A_PIN_B, INPUT);
+  attachInterrupt(ENC_A_PIN_A, encoderA_ISR, FALLING);
+  attachInterrupt(ENC_A_PIN_B, encoderA_ISR, FALLING);
+
+  pinMode(ENC_B_PIN_A, INPUT);
+  pinMode(ENC_B_PIN_B, INPUT);
+  attachInterrupt(ENC_B_PIN_A, encoderB_ISR, FALLING);
+  attachInterrupt(ENC_B_PIN_B, encoderB_ISR, FALLING);
+
+  pinMode(ENC_C_PIN_A, INPUT);
+  pinMode(ENC_C_PIN_B, INPUT);
+  attachInterrupt(ENC_C_PIN_A, encoderC_ISR, FALLING);
+  attachInterrupt(ENC_C_PIN_B, encoderC_ISR, FALLING);
+}
+
+/* Interrupt routine for A encoder, taking care of actual counting */
+void encoderA_ISR (void)
+{
+  if (directionWheel(A_WHEEL) == BACKWARDS)
+  {
+    A_enc_cnt--;
+  }
+  else 
+  {
+    A_enc_cnt++;
+  }
+}
+
+/* Interrupt routine for B encoder, taking care of actual counting */
+void encoderB_ISR (void) 
+{
+  if (directionWheel(B_WHEEL) == BACKWARDS)
+  {
+    B_enc_cnt--;
+  }
+  else 
+  {
+    B_enc_cnt++;
+  }
+}
+
+/* Interrupt routine for C encoder, taking care of actual counting */
+void encoderC_ISR (void) 
+{
+  if (directionWheel(C_WHEEL) == BACKWARDS)
+  {
+    C_enc_cnt--;
+  }
+  else 
+  {
+    C_enc_cnt++;
+  }
+}
+
+/* Wrap the encoder reading function */
+long readEncoder(int i) 
+{
+  if (i == A_WHEEL)
+  {
+    return A_enc_cnt;
+  }
+  else if (i == B_WHEEL)
+  {
+    return B_enc_cnt;
+  }
+  else
+  {
+    return C_enc_cnt;
+  }
+}
+
+/* Wrap the encoder count reset function */
+void resetEncoders(void) 
+{
+  A_enc_cnt = 0L;
+  B_enc_cnt = 0L;
+  C_enc_cnt = 0L;
+}