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New version of BROBOT EVO2

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This is the first oficial version of BROBOT EVO2. Enjoy!
This commit is contained in:
JJROBOTS
2017-06-27 16:30:41 +01:00
parent b4ae198db0
commit 818138ef8a
101 changed files with 30657 additions and 27 deletions
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60
Arduino/BROBOT_EVO2/BROBOT_EVO2.ino
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@@ -1,23 +1,23 @@
// BROBOT EVO 2 by JJROBOTS
// SELF BALANCE ARDUINO ROBOT WITH STEPPER MOTORS
// SELF BALANCE ARDUINO ROBOT WITH STEPPER MOTORS CONTROLLED WITH YOUR SMARTPHONE
// JJROBOTS BROBOT KIT: (Arduino Leonardo + BROBOT ELECTRONIC BRAIN SHIELD + STEPPER MOTOR drivers)
// This code is prepared for new BROBOT shield with ESP8266 Wifi module
// This code doesn´t need external libraries
// Author: JJROBOTS.COM
// Date: 02/09/2014
// Updated: 06/05/2017
// Version: 2.81
// Updated: 25/06/2017
// Version: 2.82
// License: GPL v2
// Project URL: http://jjrobots.com/b-robot (Features,documentation,build instructions,how it works, SHOP,...)
// Compiled and tested with Arduino 1.6.8. This new version of code does not need external libraries (only Arduino standard libraries)
// Project URL: http://jjrobots.com/b-robot-evo-2-much-more-than-a-self-balancing-robot (Features,documentation,build instructions,how it works, SHOP,...)
// New updates:
// - New default parameters specially tuned for BROBOT EVO 2 version
// - New Move mode with position control (for externally programming the robot)
// - New default parameters specially tuned for BROBOT EVO 2 version (More agile, more stable...)
// - New Move mode with position control (for externally programming the robot with a Blockly or pyhton programming interfaces)
// - New telemtry packets send to TELEMETRY IP for monitoring Battery, Angle, ... (old battery packets for touch osc not working now)
// - Default telemetry server is 192.168.4.2 (first client connected to the robot)
// Get the free android app (jjrobots) from google play. For IOS users you need to use TouchOSC App + special template (info on jjrobots page)
// Thanks to our users on the forum for the new ideas. Specially sasa999, KomX, ...
// The board needs at least 10-15 seconds with no motion (robot steady) at beginning to give good values...
// The board needs at least 10-15 seconds with no motion (robot steady) at beginning to give good values... Robot move slightly when it´s ready!
// MPU6050 IMU connected via I2C bus. Angle estimation using complementary filter (fusion between gyro and accel)
// Angle calculations and control part is running at 100Hz
@@ -61,14 +61,14 @@
#define MAX_TARGET_ANGLE 14
// PRO MODE = MORE AGGRESSIVE (MAXIMUN SETTINGS)
#define MAX_THROTTLE_PRO 860
#define MAX_STEERING_PRO 280
#define MAX_TARGET_ANGLE_PRO 32
#define MAX_THROTTLE_PRO 780 // Max recommended value: 860
#define MAX_STEERING_PRO 260 // Max recommended value: 280
#define MAX_TARGET_ANGLE_PRO 26 // Max recommended value: 32
// Default control terms for EVO 2
#define KP 0.32
#define KD 0.050
#define KP_THROTTLE 0.075
#define KP_THROTTLE 0.080
#define KI_THROTTLE 0.1
#define KP_POSITION 0.06
#define KD_POSITION 0.45
@@ -84,20 +84,23 @@
#define ITERM_MAX_ERROR 30 // Iterm windup constants for PI control
#define ITERM_MAX 10000
#define ANGLE_OFFSET -1.0 // Offset angle for balance (to compensate robot own weitght distribution)
#define ANGLE_OFFSET 0.0 // Offset angle for balance (to compensate robot own weight distribution)
// Servo definitions
#define SERVO_AUX_NEUTRO 1500 // Servo neutral position
#define SERVO_MIN_PULSEWIDTH 700
#define SERVO_MAX_PULSEWIDTH 2500
#define SERVO2_NEUTRO 1500
#define SERVO2_RANGE 1400
// Telemetry
#define TELEMETRY_BATTERY 1
#define TELEMETRY_ANGLE 1
//#define TELEMETRY_DEBUG 1 // Dont use TELEMETRY_ANGLE and TELEMETRY_DEBUG at the same time!
#define ZERO_SPEED 65535
#define MAX_ACCEL 15 // Maximun motor acceleration (MAX RECOMMENDED VALUE: 20) (default:15)
#define MAX_ACCEL 14 // Maximun motor acceleration (MAX RECOMMENDED VALUE: 20) (default:14)
#define MICROSTEPPING 16 // 8 or 16 for 1/8 or 1/16 driver microstepping (default:16)
@@ -125,6 +128,7 @@ float dt;
// Angle of the robot (used for stability control)
float angle_adjusted;
float angle_adjusted_Old;
float angle_adjusted_filtered=0.0;
// Default control values from constant definitions
float Kp = KP;
@@ -152,6 +156,7 @@ float max_throttle = MAX_THROTTLE;
float max_steering = MAX_STEERING;
float max_target_angle = MAX_TARGET_ANGLE;
float control_output;
float angle_offset = ANGLE_OFFSET;
boolean positionControlMode = false;
uint8_t mode; // mode = 0 Normal mode, mode = 1 Pro mode (More agressive)
@@ -311,20 +316,23 @@ void setup()
setMotorSpeedM1(5);
setMotorSpeedM2(5);
BROBOT_moveServo1(SERVO_AUX_NEUTRO + 100);
BROBOT_moveServo2(SERVO2_NEUTRO + 100);
delay(200);
setMotorSpeedM1(-5);
setMotorSpeedM2(-5);
BROBOT_moveServo1(SERVO_AUX_NEUTRO - 100);
BROBOT_moveServo2(SERVO2_NEUTRO - 100);
delay(200);
}
BROBOT_moveServo1(SERVO_AUX_NEUTRO);
BROBOT_moveServo2(SERVO2_NEUTRO);
#if TELEMETRY_BATTERY==1
BatteryValue = BROBOT_readBattery(true);
Serial.print("BATT:");
Serial.println(BatteryValue);
#endif
Serial.println("BROBOT by JJROBOTS v2.81");
Serial.println("BROBOT by JJROBOTS v2.82");
Serial.println("Start...");
timer_old = micros();
}
@@ -414,12 +422,19 @@ void loop()
angle_adjusted_Old = angle_adjusted;
// Get new orientation angle from IMU (MPU6050)
angle_adjusted = MPU6050_getAngle(dt) + ANGLE_OFFSET;
float MPU_sensor_angle = MPU6050_getAngle(dt);
angle_adjusted = MPU_sensor_angle + angle_offset;
if ((MPU_sensor_angle>-15)&&(MPU_sensor_angle<15))
angle_adjusted_filtered = angle_adjusted_filtered*0.99 + MPU_sensor_angle*0.01;
#if DEBUG==1
Serial.print(dt);
Serial.print(" ");
Serial.println(angle_adjusted);
Serial.print(angle_offset);
Serial.print(" ");
Serial.print(angle_adjusted);
Serial.print(",");
Serial.println(angle_adjusted_filtered);
#endif
//Serial.print("\t");
@@ -480,7 +495,7 @@ void loop()
int angle_ready;
if (OSCpush[0]) // If we press the SERVO button we start to move
angle_ready = 80;
angle_ready = 82;
else
angle_ready = 74; // Default angle
if ((angle_adjusted < angle_ready) && (angle_adjusted > -angle_ready)) // Is robot ready (upright?)
@@ -504,6 +519,10 @@ void loop()
// RESET steps
steps1 = 0;
steps2 = 0;
positionControlMode = false;
OSCmove_mode = false;
throttle = 0;
steering = 0;
}
// Push1 Move servo arm
@@ -517,6 +536,9 @@ void loop()
else
BROBOT_moveServo1(SERVO_AUX_NEUTRO);
// Servo2
BROBOT_moveServo2(SERVO2_NEUTRO + (OSCfader[2] - 0.5) * SERVO2_RANGE);
// Normal condition?
if ((angle_adjusted < 56) && (angle_adjusted > -56))
{

8
Arduino/BROBOT_EVO2/Network.ino
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@@ -39,6 +39,14 @@ void readControlParameters()
Serial.println(Ki_thr_user);
#endif
// Calibration mode??
if (OSCpush[2]==1)
{
Serial.print("Calibration MODE ");
angle_offset = angle_adjusted_filtered;
Serial.println(angle_offset);
}
// Kill robot => Sleep
while (OSCtoggle[0] == 1)
{

10
Arduino/BROBOT_EVO2/OSC.ino
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@@ -98,8 +98,6 @@ void OSC_MsgRead()
// New bytes available to process?
if (Serial1.available() > 0) {
//Serial.print("B:");
//Serial.println(Serial1_available());
// We rotate the Buffer (we could implement a ring buffer in future)
for (i = 7; i > 0; i--) {
UDPBuffer[i] = UDPBuffer[i - 1];
@@ -211,7 +209,7 @@ void OSC_MsgRead()
}
#ifdef OSCDEBUG
Serial.print("$F1:");
Serial.println(OSCfadder[0]);
Serial.println(OSCfader[0]);
#endif
break;
case 2:
@@ -224,21 +222,21 @@ void OSC_MsgRead()
}
#ifdef OSCDEBUG
Serial.print("$F2:");
Serial.println(OSCfadder[1]);
Serial.println(OSCfader[1]);
#endif
break;
case 3:
OSCfader[2] = OSC_extractParamFloat(0);
#ifdef OSCDEBUG
Serial.print("$F3:");
Serial.println(OSCfadder[2]);
Serial.println(OSCfader[2]);
#endif
break;
case 4:
OSCfader[3] = OSC_extractParamFloat(0);
#ifdef OSCDEBUG
Serial.print("$F4:");
Serial.println(OSCfadder[3]);
Serial.println(OSCfader[3]);
#endif
break;
case 11:

4
Arduino/BROBOT_EVO2/Servos.ino
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@@ -70,8 +70,8 @@ void BROBOT_moveServo2(int pwm)
pwm = constrain(pwm,SERVO2_MIN_PULSEWIDTH,SERVO2_MAX_PULSEWIDTH)>>3; // Check max values and Resolution: 8us
// 11 bits => 3 MSB bits on TC4H, LSB bits on OCR4B
TC4H = pwm>>8;
OCR4A = pwm & 0xFF; // Old 2.0 boards servo2 output
OCR4D = pwm & 0xFF; // New 2.1 boards servo2 output
OCR4A = pwm & 0xFF; // 2.0 or 2.3 boards servo2 output
OCR4D = pwm & 0xFF; // 2.1 or 2.4 boards servo2 output
}
// output : Battery voltage*10 (aprox) and noise filtered