internal static void TestPWMLow()
{
BBBPinManager.AddMappingPWM(BBBPin.P9_14);
BBBPinManager.ApplyPinSettings(RoverMain.ApplyDevTree);
PWMPortMM Port = new PWMPortMM(PWMPortEnum.PWM1_A);
Port.PeriodNS = 1000000;
Port.DutyPercent = 0;
Port.RunState = true;
while (true)
{
for (int i = 0; i < 100; i++)
{
Port.DutyPercent = i;
Thread.Sleep(10);
}
Port.DutyPercent = 100;
Thread.Sleep(50);
for (int i = 100; i > 0; i--)
{
Port.DutyPercent = i;
Thread.Sleep(10);
}
Port.DutyPercent = 0;
Thread.Sleep(50);
}
}
internal static void TestMotor()
{
BBBPinManager.AddMappingPWM(BBBPin.P9_14);
BBBPinManager.ApplyPinSettings(RoverMain.ApplyDevTree);
IPWMOutput MotorOut = PWMBBB.PWMDevice1.OutputA;
IFilter <float> MotorFilter = new Average <float>(5);
TalonMC Motor = new TalonMC(MotorOut, 1F, MotorFilter);
Log.SetSingleOutputLevel(Log.Source.MOTORS, Log.Severity.DEBUG);
Motor.SetSpeed(0.2f);
/*while (true)
* {
* Log.Output(Log.Severity.DEBUG, Log.Source.MOTORS, "Outputs: " + Motor.TargetSpeed + ", " + ((PWMOutputBBB)MotorOut).GetOutput() + ", " + ((PWMOutputBBB)MotorOut).GetFrequency());
* //Motor.UpdateState();
* Thread.Sleep(100);
* }*/
int Cycle = 0;
while (true)
{
Motor.SetSpeed(((Cycle / 10) % 2 == 0) ? 1 : -1);
Thread.Sleep(25);
Cycle += 1;
}
}
internal static void TestPWM()
{
BBBPinManager.AddMappingPWM(BBBPin.P9_14);
BBBPinManager.AddMappingPWM(BBBPin.P9_16);
BBBPinManager.ApplyPinSettings(RoverMain.ApplyDevTree);
IPWMOutput OutA = PWMBBB.PWMDevice1.OutputA;
IPWMOutput OutB = PWMBBB.PWMDevice1.OutputB;
PWMBBB.PWMDevice1.SetFrequency(5000);
OutA.SetEnabled(true);
OutB.SetEnabled(true);
int Cycle = 0;
while (true)
{
float A = (float)((Math.Sin(Cycle * Math.PI / 180.000D) + 1) / 2); // Sine waves! Fun!
float B = (float)((Math.Sin(Cycle * Math.PI / 360.000D) + 1) / 2);
OutA.SetOutput(A);
OutB.SetOutput(B);
Thread.Sleep(50);
Cycle += 20;
}
}
static void Main(String[] args)
{
StateStore.Start("Start code");
BeagleBone.Initialize(SystemMode.DEFAULT, true);
BBBPinManager.AddMappingPWM(BBBPin.P9_14);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE);
IPWMOutput OutA = PWMBBB.PWMDevice1.OutputA;
OutA.SetFrequency(50);
OutA.SetOutput(0f);
OutA.SetEnabled(true);
float t = 0.1f;
while (t < .9f)
{
OutA.SetOutput(t);
t += 0.0001f;
}
while (t > .1f)
{
OutA.SetOutput(t);
t -= 0.0001f;
}
OutA.Dispose();
}
public static void PinConfig()
{
BBBPinManager.AddBusCAN(0);
//BBBPinManager.AddMappingUART(Pins.MTK3339_RX);
//BBBPinManager.AddMappingUART(Pins.MTK3339_TX);
//BBBPinManager.AddMappingsI2C(Pins.BNO055_SCL, Pins.BNO055_SDA);
//BBBPinManager.AddMappingGPIO(Pins.SteeringLimitSwitch, false, Scarlet.IO.ResistorState.PULL_UP, true);
//BBBPinManager.AddMappingPWM(Pins.SteeringMotor);
//BBBPinManager.AddMappingPWM(Pins.ServoMotor);
BBBPinManager.AddMappingPWM(Pins.CameraServoMotor);
//BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.NO_CHANGES);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE);
}
static void SetupBeagleboneAndPins()
{
BBBPinManager.AddMappingUART(Pins.SlaveRX);
BBBPinManager.AddMappingUART(Pins.SlaveTX);
BBBPinManager.AddMappingPWM(Pins.BaseRotation);
BBBPinManager.AddMappingGPIO(Pins.BaseRotationDir, true, ResistorState.NONE);
BBBPinManager.AddMappingPWM(Pins.Elbow);
BBBPinManager.AddMappingPWM(Pins.Shoulder);
BBBPinManager.AddMappingADC(Pins.ShoulderPot);
BBBPinManager.AddMappingGPIO(Pins.ElbowLimitSwitch, false, ResistorState.PULL_UP);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE);
Slave = UARTBBB.UARTBus1;
BeagleBone.Initialize(SystemMode.DEFAULT, true);
}
public ArmMotorController()
{
Scarlet.Utilities.StateStore.Start("ARM");
BBBPinManager.AddMappingPWM(ShoulderPin);
BBBPinManager.AddMappingPWM(ElbowPin);
BBBPinManager.AddMappingPWM(WristPin1);
BBBPinManager.AddMappingPWM(WristPin2);
BBBPinManager.AddMappingGPIO(WristDirectionPin1, true, ResistorState.PULL_UP);
BBBPinManager.AddMappingGPIO(WristDirectionPin2, true, ResistorState.PULL_UP);
BBBPinManager.AddMappingADC(ShoulderPotPin);
BBBPinManager.AddMappingADC(ElbowPotPin);
BBBPinManager.AddMappingADC(WristPotPin);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE);
BeagleBone.Initialize(SystemMode.DEFAULT, true);
const double DegToRad = Math.PI / 180.0;
a = new Arm((0, 0, Math.PI / 2, Math.PI / 2, 0, 0, 6.8),
(0, 0, -76 * DegToRad, 100 * DegToRad, 0, 0, 28.0),
(0, 0, -168.51 * DegToRad, -10 * DegToRad, 0, 0, 28.0),
(-2 * Math.PI, 2 * Math.PI, -Math.PI / 2, Math.PI / 2, 0, 0, 12.75));
//(0, 12.75, -Math.PI / 2, Math.PI / 2));
LowPass <float> ShoulderFilter = new LowPass <float>();
LowPass <float> ElbowFilter = new LowPass <float>();
ShoulderPWM = PWMBBB.PWMDevice1.OutputB;
ElbowPWM = PWMBBB.PWMDevice1.OutputA;
IPWMOutput WristPWM1 = PWMBBB.PWMDevice2.OutputB;
IPWMOutput WristPWM2 = PWMBBB.PWMDevice2.OutputA;
IDigitalOut WristDirectionGPIO1 = new DigitalOutBBB(WristDirectionPin1);
IDigitalOut WristDirectionGPIO2 = new DigitalOutBBB(WristDirectionPin2);
IAnalogueIn ShoulderADC = new AnalogueInBBB(ShoulderPotPin);
IAnalogueIn ElbowADC = new AnalogueInBBB(ElbowPotPin);
IAnalogueIn WristADC = new AnalogueInBBB(WristPotPin);
Shoulder = new TalonMC(ShoulderPWM, 0.2f, ShoulderFilter);
Elbow = new TalonMC(ElbowPWM, 0.2f, ElbowFilter);
Wrist1 = new CytronMD30C(WristPWM1, WristDirectionGPIO1, 0.3f);
Wrist2 = new CytronMD30C(WristPWM2, WristDirectionGPIO2, 0.3f);
ShoulderPot = new Potentiometer(ShoulderADC, 300);
ElbowPot = new Potentiometer(ElbowADC, 300);
WristPot = new Potentiometer(WristADC, 300);
}
static void Main(string[] args)
{
// Begin setup of Beaglebone pins
StateStore.Start("SmartFlatbot");
BeagleBone.Initialize(SystemMode.DEFAULT, true);
// Add Beaglebone mapings with Scarlet
BBBPinManager.AddMappingPWM(BBBPin.P9_14);
BBBPinManager.AddMappingPWM(BBBPin.P9_16);
BBBPinManager.AddMappingGPIO(BBBPin.P9_15, true, ResistorState.NONE, true);
BBBPinManager.AddMappingGPIO(BBBPin.P9_27, true, ResistorState.NONE, true);
// Apply mappings to Beaglebone
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE);
IDigitalOut Motor1Output = new DigitalOutBBB(BBBPin.P9_15);
IDigitalOut Motor2Output = new DigitalOutBBB(BBBPin.P9_27);
IPWMOutput OutA = PWMBBB.PWMDevice1.OutputA;
IPWMOutput OutB = PWMBBB.PWMDevice1.OutputB;
Motor1Output.SetOutput(false);
Motor2Output.SetOutput(false);
PWMBBB.PWMDevice1.SetFrequency(10000);;
OutA.SetEnabled(true);
OutB.SetEnabled(true);
// Setup Motor Controls
CytronMD30C[] Motor = new CytronMD30C[2];
Motor[0] = new CytronMD30C(OutA, Motor1Output, (float).5);
Motor[1] = new CytronMD30C(OutB, Motor2Output, (float).5);
Motor[0].SetSpeed(0);
Motor[1].SetSpeed(0);
}
public static void Main(string[] args)
{
Boolean turnMode = false;
Boolean lineMode = false;
double SetTurn = 0;
double PTurn = 0;
double ITurn = 0;
double DTurn = 0;
double SetDis = 0;
double PDis = 0;
double IDis = 0;
double DDis = 0;
// Begin setup of Beaglebone pins
StateStore.Start("SmartFlatbot");
BeagleBone.Initialize(SystemMode.DEFAULT, true);
// Add Beaglebone mapings with Scarlet
BBBPinManager.AddMappingPWM(BBBPin.P9_14);
BBBPinManager.AddMappingPWM(BBBPin.P9_16);
BBBPinManager.AddMappingGPIO(BBBPin.P9_15, true, ResistorState.NONE, true);
BBBPinManager.AddMappingGPIO(BBBPin.P9_27, true, ResistorState.NONE, true);
// Apply mappings to Beaglebone
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE);
IDigitalOut Motor1Output = new DigitalOutBBB(BBBPin.P9_15);
IDigitalOut Motor2Output = new DigitalOutBBB(BBBPin.P9_27);
IPWMOutput OutA = PWMBBB.PWMDevice1.OutputA;
IPWMOutput OutB = PWMBBB.PWMDevice1.OutputB;
Motor1Output.SetOutput(false);
Motor2Output.SetOutput(false);
PWMBBB.PWMDevice1.SetFrequency(10000);;
OutA.SetEnabled(true);
OutB.SetEnabled(true);
// Setup Motor Controls
CytronMD30C[] Motor = new CytronMD30C[2];
Motor[0] = new CytronMD30C(OutA, Motor1Output, (float).5);
Motor[1] = new CytronMD30C(OutB, Motor2Output, (float).5);
// Make rover (hopefully) stay still in begining.
Motor[0].SetSpeed(0);
Motor[1].SetSpeed(0);
// Set the rover in turn only mode for testing
if (args.Length > 0)
{
if (args[0].Equals("turn"))
{
turnMode = true;
}
else if (args[0].Equals("line"))
{
lineMode = true;
}
}
/* Get the PID values from file PIDValues.txt
* All values will be in double format
* Data must be in this format below:
* ------------------------------------------
* Line 1 Ignored
* Line 2 Ignored
* Line 3 Direction target value
* Line 4 Direction P value
* Line 5 Direction I value
* Line 6 Direction D value
* Line 7 Ignored
* Line 8 Distance target value
* Line 9 Distance P value
* Line 10 Distance I value
* Line 11 Distance D value
* All lines after are ignored
* -----------------------------------------
*/
try
{ // Open the text file using a stream reader.
using (StreamReader sr = new StreamReader("PIDValues.txt"))
{
// Read the stream to a string, and write the string to the console.
sr.ReadLine();
sr.ReadLine(); // Ignore first two lines
SetTurn = Convert.ToDouble(sr.ReadLine());
PTurn = Convert.ToDouble(sr.ReadLine());
ITurn = Convert.ToDouble(sr.ReadLine());
DTurn = Convert.ToDouble(sr.ReadLine());
sr.ReadLine();
SetDis = Convert.ToDouble(sr.ReadLine());
PDis = Convert.ToDouble(sr.ReadLine());
IDis = Convert.ToDouble(sr.ReadLine());
DDis = Convert.ToDouble(sr.ReadLine());
}
}
catch (Exception e)
{
Console.WriteLine("PIDValues.txt is either missing or in improper format:");
Console.WriteLine(e.Message);
}
Console.WriteLine("Direction Target, P, I, D: " + SetTurn + " " + PTurn + " " + ITurn + " " + DTurn);
Console.WriteLine("Distance Target, P, I, D: " + SetDis + " " + PDis + " " + IDis + " " + DDis);
// Set the PIDs
PID directionPID = new PID(PTurn, ITurn, DTurn);
directionPID.SetTarget(SetTurn);
PID distancePID = new PID(PDis, IDis, DDis);
directionPID.SetTarget(SetDis);
// Start UDP communication
// Listen for any IP with port 9000
UdpClient udpServer = new UdpClient(9000);
IPEndPoint remoteEP = new IPEndPoint(IPAddress.Any, 9000);
// Main Loop. Keep running until program is stopped
do
{
// Get data from UDP. Convert it to a String
// Note this is a blocking call.
var data = udpServer.Receive(ref remoteEP);
String dataString = Encoding.ASCII.GetString(data);
Console.WriteLine(dataString);
// Set the wheel values to be zero for now
Double leftWheel = 0;
Double rightWheel = 0;
// Make sure the data received is not an empty string
if (!String.IsNullOrEmpty(dataString))
{
// Split the String into distance and direction
// Is in format "Distance,Direction"
// Distance is from 1 to 150 ish
// Direction is from -10 to 10 degrees
String[] speedDis = dataString.Split(',');
Double distance = Convert.ToDouble(speedDis[0]);
Double direction = (Convert.ToDouble(speedDis[1]));
// If mode is set to not turn only the run
if (!turnMode)
{
distancePID.Feed(distance);
if (!Double.IsNaN(distancePID.Output))
{
rightWheel += distancePID.Output;
leftWheel += distancePID.Output;
}
}
if (!lineMode)
{
directionPID.Feed(direction);
if (!Double.IsNaN(directionPID.Output))
{
rightWheel += directionPID.Output;
leftWheel -= directionPID.Output;
}
}
}
// If data received is not a full string, stop motors.
else
{
leftWheel = 0;
rightWheel = 0;
}
// Set the speed for the motor controllers
// Max speed is one
Motor[0].SetSpeed((float)(rightWheel));
Motor[1].SetSpeed((float)(leftWheel));
} while (true);
}
public Turntable()
{
BBBPinManager.AddMappingPWM(BBBPin.P9_14);
BBBPinManager.AddMappingGPIO(BBBPin.P8_12, false, ResistorState.PULL_UP);
}
public Toolhead()
{
BBBPinManager.AddMappingPWM(BBBPin.P9_16);
}
public static void Start(string[] args)
{
if (args.Length < 3)
{
TestMain.ErrorExit("io bbb command requires functionality to test.");
}
BeagleBone.Initialize(SystemMode.DEFAULT, true);
switch (args[2].ToLower())
{
case "digin":
{
if (args.Length < 4)
{
TestMain.ErrorExit("io bbb digin command requires pin to test.");
}
BBBPin InputPin = StringToPin(args[3]);
Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Testing digital input on BBB pin " + InputPin.ToString());
BBBPinManager.AddMappingGPIO(InputPin, false, ResistorState.PULL_DOWN);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_REGARDLESS);
IDigitalIn Input = new DigitalInBBB(InputPin);
while (true)
{
Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Current pin state: " + (Input.GetInput() ? "HIGH" : "LOW"));
Thread.Sleep(250);
}
}
case "digout":
{
if (args.Length < 4)
{
TestMain.ErrorExit("io bbb digout command requires pin to test.");
}
BBBPin OutputPin = StringToPin(args[3]);
if (args.Length < 5)
{
TestMain.ErrorExit("io bbb digout command requires output mode (high/low/blink).");
}
if (args[4] != "high" && args[4] != "low" && args[4] != "blink")
{
TestMain.ErrorExit("Invalid digout test mode supplied.");
}
Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Testing digital output on BBB pin " + OutputPin.ToString());
BBBPinManager.AddMappingGPIO(OutputPin, true, ResistorState.PULL_DOWN);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_REGARDLESS);
IDigitalOut Output = new DigitalOutBBB(OutputPin);
if (args[4] == "high")
{
Output.SetOutput(true);
}
else if (args[4] == "low")
{
Output.SetOutput(false);
}
else
{
bool Out = false;
while (true)
{
Output.SetOutput(Out);
Out = !Out;
Thread.Sleep(250);
}
}
break;
}
case "pwm":
{
if (args.Length < 4)
{
TestMain.ErrorExit("io bbb pwm command requires pin to test.");
}
BBBPin OutputPin = StringToPin(args[3]);
if (args.Length < 5)
{
TestMain.ErrorExit("io bbb pwm command requires frequency.");
}
int Frequency = int.Parse(args[4]);
if (args.Length < 6)
{
TestMain.ErrorExit("io bbb pwm command requires output mode.");
}
if (args[5] != "per" && args[5] != "sine")
{
TestMain.ErrorExit("io bbb pwm command invalid (per/sine).");
}
if (args[5] == "per" && args.Length < 7)
{
TestMain.ErrorExit("io bbb pwm per must be provided duty cycle.");
}
BBBPinManager.AddMappingPWM(OutputPin);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_REGARDLESS);
IPWMOutput Output = PWMBBB.GetFromPin(OutputPin);
Output.SetFrequency(Frequency);
Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Testing PWM output on BBB pin " + OutputPin.ToString() + " at " + Frequency + "Hz.");
if (args[5] == "per")
{
Output.SetOutput(int.Parse(args[6]) / 100F);
Output.SetEnabled(true);
Thread.Sleep(15000); // Not sure if it stops outputting when the program exits.
}
else
{
int Cycle = 0;
while (true)
{
float Val = (float)((Math.Sin(Cycle * Math.PI / 180.000D) + 1) / 2);
Output.SetOutput(Val);
Thread.Sleep(50);
Cycle += 20;
}
}
break;
}
case "adc":
{
if (args.Length < 4)
{
TestMain.ErrorExit("io bbb adc command requires pin to test.");
}
BBBPin InputPin = StringToPin(args[3]);
BBBPinManager.AddMappingADC(InputPin);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_REGARDLESS);
IAnalogueIn Input = new AnalogueInBBB(InputPin);
Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Testing analogue input on BBB pin " + InputPin.ToString());
while (true)
{
Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "ADC Input: " + Input.GetInput() + " (Raw: " + Input.GetRawInput() + ")");
Thread.Sleep(250);
}
}
case "int":
{
if (args.Length < 4)
{
TestMain.ErrorExit("io bbb int command requires pin to test.");
}
BBBPin InputPin = StringToPin(args[3]);
if (args.Length < 5)
{
TestMain.ErrorExit("io bbb int command requires interrupt mode (rise/fall/both).");
}
if (args[4] != "rise" && args[4] != "fall" && args[4] != "both")
{
TestMain.ErrorExit("Invalid interrupt mode supplied.");
}
BBBPinManager.AddMappingGPIO(InputPin, true, ResistorState.PULL_DOWN);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_REGARDLESS);
IDigitalIn Input = new DigitalInBBB(InputPin);
Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Testing interrupts on BBB pin " + InputPin.ToString());
switch (args[4])
{
case "rise": ((IInterruptSource)Input).RegisterInterruptHandler(GetInterrupt, InterruptType.RISING_EDGE); break;
case "fall": ((IInterruptSource)Input).RegisterInterruptHandler(GetInterrupt, InterruptType.FALLING_EDGE); break;
case "both": ((IInterruptSource)Input).RegisterInterruptHandler(GetInterrupt, InterruptType.ANY_EDGE); break;
}
while (true)
{
Thread.Sleep(50);
} // Program needs to be running to receive.
}
case "mtk3339":
{
BBBPinManager.AddMappingUART(BBBPin.P9_24);
BBBPinManager.AddMappingUART(BBBPin.P9_26);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_REGARDLESS);
IUARTBus UART = UARTBBB.UARTBus1;
Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "Press any key to stop.");
while (Console.KeyAvailable)
{
Console.ReadKey();
}
byte[] Buffer = new byte[32];
while (true)
{
Thread.Sleep(10);
if (UART.BytesAvailable() > 0)
{
int Count = UART.Read(32, Buffer);
Console.Write(System.Text.Encoding.ASCII.GetString(UtilMain.SubArray(Buffer, 0, Count)));
}
if (Console.KeyAvailable)
{
break;
}
}
break;
}
}
}
/// <summary>
/// Handles moving the linear rail up and down for the various experiments.
/// </summary>
public Rail()
{
BBBPinManager.AddMappingPWM(BBBPin.P8_13); // Linear Actuator
BBBPinManager.AddMappingGPIO(BBBPin.P8_08, false, ResistorState.PULL_UP); // Limit Switch
}
public Drill()
{
BBBPinManager.AddMappingPWM(BBBPin.P8_19); // Drill Motor
BBBPinManager.AddMappingPWM(BBBPin.P9_21); // Door Servo
}
