feat: 更新第九章
This commit is contained in:
fishros
1
chapt9/fishbot_motion_control/.gitignore
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chapt9/fishbot_motion_control/.gitignore
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.pio
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chapt9/fishbot_motion_control/.vscode/c_cpp_properties.json
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chapt9/fishbot_motion_control/.vscode/c_cpp_properties.json
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//
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// !!! WARNING !!! AUTO-GENERATED FILE!
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// PLEASE DO NOT MODIFY IT AND USE "platformio.ini":
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// https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags
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//
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{
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"configurations": [
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{
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"name": "PlatformIO",
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|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/bt/esp_ble_mesh/api/models/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/bt/esp_ble_mesh/api",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/cbor/port/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/unity/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/unity/unity/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/cmock/CMock/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/coap/port/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/coap/libcoap/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/nghttp/port/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/nghttp/nghttp2/lib/includes",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-tls",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-tls/esp-tls-crypto",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_adc_cal/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_hid/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/tcp_transport/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_http_client/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_http_server/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_https_ota/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_https_server/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_lcd/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_lcd/interface",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/protobuf-c/protobuf-c",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/protocomm/include/common",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/protocomm/include/security",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/protocomm/include/transports",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/mdns/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_local_ctrl/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/sdmmc/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_serial_slave_link/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_websocket_client/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/expat/expat/expat/lib",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/expat/port/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/wear_levelling/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/fatfs/diskio",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/fatfs/vfs",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/fatfs/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/freemodbus/freemodbus/common/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/idf_test/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/idf_test/include/esp32",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/jsmn/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/json/cJSON",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/libsodium/libsodium/src/libsodium/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/libsodium/port_include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/mqtt/esp-mqtt/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/openssl/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/perfmon/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/spiffs/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/ulp/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/wifi_provisioning/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/rmaker_common/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_diagnostics/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/rtc_store/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_insights/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/json_parser/upstream/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/json_parser/upstream",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/json_generator/upstream",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_schedule/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp_secure_cert_mgr/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_rainmaker/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/gpio_button/button/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/qrcode/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/ws2812_led",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_littlefs/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/tool",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/typedef",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/image",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/math",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/nn",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/layer",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/detect",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/model_zoo",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp32-camera/driver/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp32-camera/conversions/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/dotprod/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/support/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/support/mem/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/hann/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/blackman/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/blackman_harris/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/blackman_nuttall/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/nuttall/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/flat_top/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/iir/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/fir/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/add/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/sub/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/mul/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/addc/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/mulc/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/sqrt/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/matrix/mul/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/matrix/add/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/matrix/addc/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/matrix/mulc/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/matrix/sub/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/matrix/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/fft/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/dct/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/conv/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/common/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/matrix/mul/test/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/kalman/ekf/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/kalman/ekf_imu13states/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/fb_gfx/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/dio_qspi/include",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/cores/esp32",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/variants/esp32",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/ArduinoOTA/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/AsyncUDP/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/BLE/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/BluetoothSerial/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/DNSServer/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/EEPROM/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/ESP32/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/ESPmDNS/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/Ethernet/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/FFat/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/FS/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/HTTPClient/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/HTTPUpdate/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/HTTPUpdateServer/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/I2S/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/Insights/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/LittleFS/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/NetBIOS/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/Preferences/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/RainMaker/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/SD/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/SD_MMC/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/SPI/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/SPIFFS/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/SimpleBLE/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/Ticker/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/USB/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/Update/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/WebServer/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/WiFiClientSecure/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/WiFiProv/src",
|
||||
"/home/fishros/.platformio/packages/framework-arduinoespressif32/libraries/Wire/src",
|
||||
""
|
||||
]
|
||||
},
|
||||
"defines": [
|
||||
"PLATFORMIO=60117",
|
||||
"ARDUINO_ESP32_DEV",
|
||||
"HAVE_CONFIG_H",
|
||||
"MBEDTLS_CONFIG_FILE=\"mbedtls/esp_config.h\"",
|
||||
"UNITY_INCLUDE_CONFIG_H",
|
||||
"WITH_POSIX",
|
||||
"_GNU_SOURCE",
|
||||
"IDF_VER=\"v4.4.7-dirty\"",
|
||||
"ESP_PLATFORM",
|
||||
"_POSIX_READER_WRITER_LOCKS",
|
||||
"ARDUINO_ARCH_ESP32",
|
||||
"ESP32",
|
||||
"F_CPU=240000000L",
|
||||
"ARDUINO=10812",
|
||||
"ARDUINO_VARIANT=\"esp32\"",
|
||||
"ARDUINO_BOARD=\"Espressif ESP32 Dev Module\"",
|
||||
"ARDUINO_PARTITION_default",
|
||||
"MICRO_ROS_TRANSPORT_ARDUINO_WIFI=1",
|
||||
"MICRO_ROS_DISTRO_HUMBLE =1",
|
||||
""
|
||||
],
|
||||
"cStandard": "gnu99",
|
||||
"cppStandard": "gnu++11",
|
||||
"compilerPath": "/home/fishros/.platformio/packages/toolchain-xtensa-esp32/bin/xtensa-esp32-elf-gcc",
|
||||
"compilerArgs": [
|
||||
"-mlongcalls",
|
||||
""
|
||||
]
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
10
chapt9/fishbot_motion_control/.vscode/extensions.json
vendored
Normal file
10
chapt9/fishbot_motion_control/.vscode/extensions.json
vendored
Normal file
@@ -0,0 +1,10 @@
|
||||
{
|
||||
// See http://go.microsoft.com/fwlink/?LinkId=827846
|
||||
// for the documentation about the extensions.json format
|
||||
"recommendations": [
|
||||
"platformio.platformio-ide"
|
||||
],
|
||||
"unwantedRecommendations": [
|
||||
"ms-vscode.cpptools-extension-pack"
|
||||
]
|
||||
}
|
||||
44
chapt9/fishbot_motion_control/.vscode/launch.json
vendored
Normal file
44
chapt9/fishbot_motion_control/.vscode/launch.json
vendored
Normal file
@@ -0,0 +1,44 @@
|
||||
// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
|
||||
//
|
||||
// PlatformIO Debugging Solution
|
||||
//
|
||||
// Documentation: https://docs.platformio.org/en/latest/plus/debugging.html
|
||||
// Configuration: https://docs.platformio.org/en/latest/projectconf/sections/env/options/debug/index.html
|
||||
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"type": "platformio-debug",
|
||||
"request": "launch",
|
||||
"name": "PIO Debug",
|
||||
"executable": "/home/fishros/chapt9/fishbot_motion_control/.pio/build/fishbot/firmware.elf",
|
||||
"projectEnvName": "fishbot",
|
||||
"toolchainBinDir": "/home/fishros/.platformio/packages/toolchain-xtensa-esp32/bin",
|
||||
"internalConsoleOptions": "openOnSessionStart",
|
||||
"preLaunchTask": {
|
||||
"type": "PlatformIO",
|
||||
"task": "Pre-Debug"
|
||||
}
|
||||
},
|
||||
{
|
||||
"type": "platformio-debug",
|
||||
"request": "launch",
|
||||
"name": "PIO Debug (skip Pre-Debug)",
|
||||
"executable": "/home/fishros/chapt9/fishbot_motion_control/.pio/build/fishbot/firmware.elf",
|
||||
"projectEnvName": "fishbot",
|
||||
"toolchainBinDir": "/home/fishros/.platformio/packages/toolchain-xtensa-esp32/bin",
|
||||
"internalConsoleOptions": "openOnSessionStart"
|
||||
},
|
||||
{
|
||||
"type": "platformio-debug",
|
||||
"request": "launch",
|
||||
"name": "PIO Debug (without uploading)",
|
||||
"executable": "/home/fishros/chapt9/fishbot_motion_control/.pio/build/fishbot/firmware.elf",
|
||||
"projectEnvName": "fishbot",
|
||||
"toolchainBinDir": "/home/fishros/.platformio/packages/toolchain-xtensa-esp32/bin",
|
||||
"internalConsoleOptions": "openOnSessionStart",
|
||||
"loadMode": "manual"
|
||||
}
|
||||
]
|
||||
}
|
||||
5
chapt9/fishbot_motion_control/.vscode/settings.json
vendored
Normal file
5
chapt9/fishbot_motion_control/.vscode/settings.json
vendored
Normal file
@@ -0,0 +1,5 @@
|
||||
{
|
||||
"files.associations": {
|
||||
"cmath": "cpp"
|
||||
}
|
||||
}
|
||||
4
chapt9/fishbot_motion_control/README.md
Normal file
4
chapt9/fishbot_motion_control/README.md
Normal file
@@ -0,0 +1,4 @@
|
||||
一圈 1930 个脉冲数
|
||||
轮子的直径是 65mm
|
||||
轮子转一圈是 65*PI
|
||||
那么一个脉冲数，相当于走了多远距离 65*PI/1930 0.105805 mm
|
||||
39
chapt9/fishbot_motion_control/include/README
Normal file
39
chapt9/fishbot_motion_control/include/README
Normal file
@@ -0,0 +1,39 @@
|
||||
|
||||
This directory is intended for project header files.
|
||||
|
||||
A header file is a file containing C declarations and macro definitions
|
||||
to be shared between several project source files. You request the use of a
|
||||
header file in your project source file (C, C++, etc) located in `src` folder
|
||||
by including it, with the C preprocessing directive `#include'.
|
||||
|
||||
```src/main.c
|
||||
|
||||
#include "header.h"
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
Including a header file produces the same results as copying the header file
|
||||
into each source file that needs it. Such copying would be time-consuming
|
||||
and error-prone. With a header file, the related declarations appear
|
||||
in only one place. If they need to be changed, they can be changed in one
|
||||
place, and programs that include the header file will automatically use the
|
||||
new version when next recompiled. The header file eliminates the labor of
|
||||
finding and changing all the copies as well as the risk that a failure to
|
||||
find one copy will result in inconsistencies within a program.
|
||||
|
||||
In C, the usual convention is to give header files names that end with `.h'.
|
||||
It is most portable to use only letters, digits, dashes, and underscores in
|
||||
header file names, and at most one dot.
|
||||
|
||||
Read more about using header files in official GCC documentation:
|
||||
|
||||
* Include Syntax
|
||||
* Include Operation
|
||||
* Once-Only Headers
|
||||
* Computed Includes
|
||||
|
||||
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
|
||||
89
chapt9/fishbot_motion_control/lib/Kinematics/Kinematics.cpp
Normal file
89
chapt9/fishbot_motion_control/lib/Kinematics/Kinematics.cpp
Normal file
@@ -0,0 +1,89 @@
|
||||
#include "Kinematics.h"
|
||||
|
||||
// 设置轮子的间距
|
||||
void Kinematics::set_wheel_distance(float distance)
|
||||
{
|
||||
wheel_distance = distance;
|
||||
}
|
||||
|
||||
void Kinematics::set_motor_param(uint8_t id, float per_pluse_distance)
|
||||
{
|
||||
motor_param[id].per_pulse_distance = per_pluse_distance;
|
||||
}
|
||||
|
||||
|
||||
// 运动学正解,将左右轮的速度转换成线速度和角速度
|
||||
void Kinematics::kinematics_forward(float left_speed, float right_speed, float *out_linear_speed, float *out_angular_speed)
|
||||
{
|
||||
*out_linear_speed = (left_speed + right_speed) / 2;
|
||||
*out_angular_speed = (right_speed - left_speed) / wheel_distance;
|
||||
}
|
||||
|
||||
|
||||
// 运动学逆解，将线速度和角速度转换成左右轮的速度
|
||||
void Kinematics::kinematics_inverse(float linear_speed, float angular_speed, float *out_left_speed, float *out_right_speed)
|
||||
{
|
||||
*out_left_speed = linear_speed - angular_speed * wheel_distance / 2;
|
||||
*out_right_speed = linear_speed + angular_speed * wheel_distance / 2;
|
||||
}
|
||||
|
||||
// 输入：左右轮脉冲数，当前时间，输出更新电机速度和编码器数据
|
||||
void Kinematics::update_motor_speed(uint64_t current_time, int32_t left_tick, int32_t right_tick)
|
||||
{
|
||||
int16_t dt = current_time - last_update_time; // ms
|
||||
delta_ticks[0] = left_tick - motor_param[0].last_encoder_ticks;
|
||||
delta_ticks[1] = right_tick - motor_param[1].last_encoder_ticks;
|
||||
|
||||
motor_param[0].motor_speed = (delta_ticks[0] * 105.805) / dt;
|
||||
motor_param[1].motor_speed = (delta_ticks[1] * 105.805) / dt;
|
||||
|
||||
// 为了下次还可以正常的计算速度
|
||||
motor_param[0].last_encoder_ticks = left_tick;
|
||||
motor_param[1].last_encoder_ticks = right_tick;
|
||||
last_update_time = current_time;
|
||||
|
||||
update_odom(dt);
|
||||
}
|
||||
// 获取电机速度,返回值是速度
|
||||
int16_t Kinematics::get_motor_speed(uint8_t id)
|
||||
{
|
||||
if (id < 0 || id > 1)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
return motor_param[id].motor_speed;
|
||||
}
|
||||
|
||||
odom_t& Kinematics::get_odom()
|
||||
{
|
||||
return odom;
|
||||
}
|
||||
|
||||
void Kinematics::TransAngleInPI(float angle,float& out_angle)
|
||||
{
|
||||
if(angle>PI)
|
||||
{
|
||||
out_angle -= 2*PI;
|
||||
}else if (angle<-PI)
|
||||
{
|
||||
out_angle += 2*PI;
|
||||
}
|
||||
}
|
||||
|
||||
void Kinematics::update_odom(uint16_t dt)
|
||||
{
|
||||
float dt_s = float(dt)/1000.0; // ms -> s
|
||||
// 获取实时的角速度和线速度呢？我们拿左右轮实时的速度，进行运动学正解
|
||||
this->kinematics_forward(motor_param[0].motor_speed,motor_param[1].motor_speed,&odom.linear_speed,&odom.angular_speed);
|
||||
// 计算里程计信息
|
||||
odom.linear_speed = odom.linear_speed/1000.0; // 转换成米每秒
|
||||
|
||||
// 角度积分
|
||||
odom.angle += odom.angular_speed*dt_s;
|
||||
TransAngleInPI(odom.angle,odom.angle);
|
||||
// 计算机器人行走的距离（沿自身前进方向的）
|
||||
float delta_distance = odom.linear_speed * dt_s;
|
||||
// 分解到X轴和Y轴
|
||||
odom.x += delta_distance * std::cos(odom.angle);
|
||||
odom.y += delta_distance * std::sin(odom.angle);
|
||||
}
|
||||
57
chapt9/fishbot_motion_control/lib/Kinematics/Kinematics.h
Normal file
57
chapt9/fishbot_motion_control/lib/Kinematics/Kinematics.h
Normal file
@@ -0,0 +1,57 @@
|
||||
#ifndef __KINEMATICS_H__
|
||||
#define __KINEMATICS_H__
|
||||
|
||||
#include "Arduino.h"
|
||||
|
||||
typedef struct
|
||||
{
|
||||
float per_pulse_distance; // 每个脉冲的前进的距离
|
||||
int16_t motor_speed; // 单位用mm/s
|
||||
int64_t last_encoder_ticks; // 上一次点击的编码器读数
|
||||
} motor_param_t;
|
||||
|
||||
|
||||
typedef struct {
|
||||
float x;
|
||||
float y;
|
||||
float angle;
|
||||
float linear_speed;
|
||||
float angular_speed;
|
||||
}odom_t;
|
||||
|
||||
/**
|
||||
* 1. 运动学正逆解（两个轮子的实时速度->当前实时的角速度和线速度 / 当前目标的角速度和线速度->两个轮子的目标速度）
|
||||
*
|
||||
*/
|
||||
class Kinematics
|
||||
{
|
||||
private:
|
||||
/* data */
|
||||
motor_param_t motor_param[2];
|
||||
int16_t delta_ticks[2] = {0, 0}; // 用于存储上一次读取的编码器数值
|
||||
uint64_t last_update_time = 0; // 用于存储上一次更新电机速度的时间,计算速度的时候使用
|
||||
float wheel_distance = 0.0; // 两个轮子之间的距离
|
||||
odom_t odom; // 用于存储里程计信息
|
||||
public:
|
||||
Kinematics(/* args */) = default;
|
||||
~Kinematics() = default;
|
||||
|
||||
odom_t& get_odom();
|
||||
void update_odom(uint16_t dt);
|
||||
void TransAngleInPI(float angle,float& out_angle);
|
||||
|
||||
void set_wheel_distance(float distance); // 设置轮子的间距
|
||||
|
||||
void set_motor_param(uint8_t id,float per_pluse_distance);
|
||||
// 运动学正解,将左右轮的速度转换成线速度和角速度
|
||||
void kinematics_forward(float left_speed,float right_speed,float* out_linear_speed,float* out_angular_speed);
|
||||
// 运动学逆解，将线速度和角速度转换成左右轮的速度
|
||||
void kinematics_inverse(float linear_speed,float angular_speed,float* out_left_speed,float* out_right_speed);
|
||||
// 更新点击速度和编码器数据
|
||||
void update_motor_speed(uint64_t current_time,int32_t left_tick,int32_t right_tick);
|
||||
// 获取电机速度,返回值是速度
|
||||
int16_t get_motor_speed(uint8_t id);
|
||||
|
||||
};
|
||||
|
||||
#endif // __KINEMATICS_H__
|
||||
@@ -0,0 +1,64 @@
|
||||
#include "Arduino.h"
|
||||
#include "PidController.h"
|
||||
|
||||
// 构造函数，传入三个PID参数
|
||||
PidController::PidController(float kp, float ki, float kd)
|
||||
{
|
||||
kp_ = kp;
|
||||
ki_ = ki;
|
||||
kd_ = kd;
|
||||
}
|
||||
|
||||
float PidController::update(float current)
|
||||
{
|
||||
error_ = target_ - current; // 计算error
|
||||
|
||||
error_sum_ += error_; // 计算error_sum,同时限制积分上下限
|
||||
if (error_sum_ > intergral_up_)
|
||||
error_sum_ = intergral_up_;
|
||||
if (error_sum_ < -1 * intergral_up_)
|
||||
error_sum_ = -1 * intergral_up_;
|
||||
|
||||
derror_ = prev_error_ - error_; // 计算误差变化率
|
||||
prev_error_ = error_; // 方便下次计算使用
|
||||
|
||||
float output = kp_ * error_ + ki_ * error_sum_ + kd_ * derror_;
|
||||
|
||||
if (output > out_max_)
|
||||
output = out_max_;
|
||||
if (output < out_min_)
|
||||
output = out_min_;
|
||||
|
||||
return output;
|
||||
}
|
||||
|
||||
void PidController::update_target(float target)
|
||||
{
|
||||
target_ = target;
|
||||
}
|
||||
|
||||
void PidController::update_pid(float kp, float ki, float kd)
|
||||
{
|
||||
kp_ = kp;
|
||||
ki_ = ki;
|
||||
kd_ = kd;
|
||||
}
|
||||
|
||||
void PidController::reset()
|
||||
{
|
||||
error_sum_ = 0;
|
||||
prev_error_ = 0;
|
||||
error_ = 0;
|
||||
derror_ = 0;
|
||||
kp_ = 0;
|
||||
ki_ = 0;
|
||||
kd_ = 0;
|
||||
intergral_up_ = 2500;
|
||||
out_min_ = 0;
|
||||
out_max_ = 0;
|
||||
}
|
||||
void PidController::out_limit(float min, float max)
|
||||
{
|
||||
out_min_ = min;
|
||||
out_max_ = max;
|
||||
}
|
||||
@@ -0,0 +1,33 @@
|
||||
#ifndef __PID_CONTROLLER_H__
|
||||
#define __PID_CONTROLLER_H__
|
||||
|
||||
class PidController
|
||||
{
|
||||
public:
|
||||
PidController() = default;
|
||||
PidController(float kp, float ki, float kd);
|
||||
|
||||
private:
|
||||
// PID 参数，可以调节的
|
||||
float target_;
|
||||
float out_min_;
|
||||
float out_max_;
|
||||
float kp_;
|
||||
float ki_;
|
||||
float kd_;
|
||||
float intergral_up_ = 2500; // 积分上限
|
||||
// pid 中间过程值
|
||||
float error_;
|
||||
float error_sum_;
|
||||
float derror_;
|
||||
float prev_error_;
|
||||
|
||||
public:
|
||||
float update(float current); // 提供当前值，返回下次输出值，也就是PID的结果
|
||||
void update_target(float target); // 更新目标值
|
||||
void update_pid(float kp, float ki, float kd); // 更新PID参数
|
||||
void reset(); // 重置PID
|
||||
void out_limit(float min, float max); // 设置输出限制
|
||||
};
|
||||
|
||||
#endif // __PID_CONTROLLER_H__
|
||||
46
chapt9/fishbot_motion_control/lib/README
Normal file
46
chapt9/fishbot_motion_control/lib/README
Normal file
@@ -0,0 +1,46 @@
|
||||
|
||||
This directory is intended for project specific (private) libraries.
|
||||
PlatformIO will compile them to static libraries and link into executable file.
|
||||
|
||||
The source code of each library should be placed in an own separate directory
|
||||
("lib/your_library_name/[here are source files]").
|
||||
|
||||
For example, see a structure of the following two libraries `Foo` and `Bar`:
|
||||
|
||||
|--lib
|
||||
| |
|
||||
| |--Bar
|
||||
| | |--docs
|
||||
| | |--examples
|
||||
| | |--src
|
||||
| | |- Bar.c
|
||||
| | |- Bar.h
|
||||
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
|
||||
| |
|
||||
| |--Foo
|
||||
| | |- Foo.c
|
||||
| | |- Foo.h
|
||||
| |
|
||||
| |- README --> THIS FILE
|
||||
|
|
||||
|- platformio.ini
|
||||
|--src
|
||||
|- main.c
|
||||
|
||||
and a contents of `src/main.c`:
|
||||
```
|
||||
#include <Foo.h>
|
||||
#include <Bar.h>
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
|
||||
```
|
||||
|
||||
PlatformIO Library Dependency Finder will find automatically dependent
|
||||
libraries scanning project source files.
|
||||
|
||||
More information about PlatformIO Library Dependency Finder
|
||||
- https://docs.platformio.org/page/librarymanager/ldf.html
|
||||
19
chapt9/fishbot_motion_control/platformio.ini
Normal file
19
chapt9/fishbot_motion_control/platformio.ini
Normal file
@@ -0,0 +1,19 @@
|
||||
; PlatformIO Project Configuration File
|
||||
;
|
||||
; Build options: build flags, source filter
|
||||
; Upload options: custom upload port, speed and extra flags
|
||||
; Library options: dependencies, extra library storages
|
||||
; Advanced options: extra scripting
|
||||
;
|
||||
; Please visit documentation for the other options and examples
|
||||
; https://docs.platformio.org/page/projectconf.html
|
||||
[env:fishbot]
|
||||
platform = espressif32
|
||||
board = esp32dev
|
||||
framework = arduino
|
||||
board_microros_transport = wifi
|
||||
monitor_speed = 115200
|
||||
lib_deps =
|
||||
http://github.fishros.org/https://github.com/fishros/Esp32McpwmMotor.git
|
||||
http://github.fishros.org/https://github.com/fishros/Esp32PcntEncoder.git
|
||||
https://gitee.com/ohhuo/micro_ros_platformio.git
|
||||
152
chapt9/fishbot_motion_control/src/main.cpp
Normal file
152
chapt9/fishbot_motion_control/src/main.cpp
Normal file
@@ -0,0 +1,152 @@
|
||||
#include <Arduino.h>
|
||||
#include <Esp32PcntEncoder.h>
|
||||
#include <Esp32McpwmMotor.h>
|
||||
#include <PidController.h>
|
||||
#include <Kinematics.h>
|
||||
|
||||
// 引入Microros和wifi相关的库
|
||||
#include <WiFi.h>
|
||||
#include <micro_ros_platformio.h>
|
||||
#include <rcl/rcl.h>
|
||||
#include <rclc/rclc.h>
|
||||
#include <rclc/executor.h>
|
||||
#include <geometry_msgs/msg/twist.h> // 消息接口
|
||||
#include <nav_msgs/msg/odometry.h> // 里程计消息接口
|
||||
#include <micro_ros_utilities/string_utilities.h> // 引入字符串内存分配初始化工具
|
||||
|
||||
// 声明一些相关的结构体对象
|
||||
rcl_allocator_t allocator; // 内存分配器，用于动态内存分配管理
|
||||
rclc_support_t support; // 用于存储时钟，内存分配器和上下文，用于提供支持
|
||||
rclc_executor_t executor; // 执行器，用于管理订阅和计时器回调的执行
|
||||
rcl_node_t node; // 节点，用于创建节点
|
||||
rcl_subscription_t sub_cmd_vel; // 创建一个订阅者
|
||||
geometry_msgs__msg__Twist msg_cmd_vel; // 订阅到的数据存储到这里
|
||||
|
||||
rcl_publisher_t pub_odom; // 创建一个里程计发布者
|
||||
nav_msgs__msg__Odometry msg_odom; // 里程计消息存储到这里
|
||||
rcl_timer_t timer; // 定时器，可以定时调用某个函数
|
||||
|
||||
|
||||
|
||||
|
||||
Esp32PcntEncoder encoders[2]; // 创建一个数组用于存储两个编码器
|
||||
Esp32McpwmMotor motor; // 创建一个名为motor的对象，用于控制电机
|
||||
PidController pid_controller[2];
|
||||
Kinematics kinematics;
|
||||
|
||||
float target_linear_speed = 0.0; // 单位 毫米每秒
|
||||
float target_angular_speed = 0.0; // 单位 弧度每秒
|
||||
float out_left_speed = 0.0; // 输出的左右轮速度，不是反馈的左右轮速度
|
||||
float out_right_speed = 0.0;
|
||||
|
||||
// 定时器的回调函数
|
||||
void timer_callback(rcl_timer_t* timer,int64_t last_call_time)
|
||||
{
|
||||
// 完成里程计的发布
|
||||
odom_t odom = kinematics.get_odom(); // 获取当前的里程计
|
||||
int64_t stamp = rmw_uros_epoch_millis(); // 获取当前的时间
|
||||
msg_odom.header.stamp.sec = static_cast<int32_t>(stamp/1000); // 秒部分
|
||||
msg_odom.header.stamp.nanosec = static_cast<int32_t>((stamp%1000)*1e6); // 纳秒部分
|
||||
msg_odom.pose.pose.position.x = odom.x;
|
||||
msg_odom.pose.pose.position.y = odom.y;
|
||||
msg_odom.pose.pose.orientation.w = cos(odom.angle*0.5);
|
||||
msg_odom.pose.pose.orientation.x = 0;
|
||||
msg_odom.pose.pose.orientation.y = 0;
|
||||
msg_odom.pose.pose.orientation.z = sin(odom.angle*0.5);
|
||||
msg_odom.twist.twist.linear.x = odom.linear_speed;
|
||||
msg_odom.twist.twist.angular.z = odom.angular_speed;
|
||||
// 发布里程计，把数据发出去
|
||||
if(rcl_publish(&pub_odom,&msg_odom,NULL)!=RCL_RET_OK)
|
||||
{
|
||||
Serial.println("error: odom pub failed!");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void twist_callback(const void * msg_in)
|
||||
{
|
||||
// 将受到的消息指针转换成 geometry_msgs__msg__Twist 类型的指针
|
||||
const geometry_msgs__msg__Twist* msg = (const geometry_msgs__msg__Twist*)msg_in;
|
||||
target_linear_speed = msg->linear.x * 1000;
|
||||
target_angular_speed = msg->angular.z;
|
||||
kinematics.kinematics_inverse(target_linear_speed, target_angular_speed, &out_left_speed, &out_right_speed);
|
||||
Serial.printf("OUT:left_speed=%f,right_speed=%f\n", out_left_speed, out_right_speed);
|
||||
pid_controller[0].update_target(out_left_speed);
|
||||
pid_controller[1].update_target(out_right_speed);
|
||||
}
|
||||
|
||||
// 单独创建一个任务运行 micro-ROS 相当于一个线程
|
||||
void microros_task(void *args)
|
||||
{
|
||||
// 1.设置传输协议并延迟一段时间等待设置的完成
|
||||
IPAddress agent_ip;
|
||||
agent_ip.fromString("192.168.1.103"); // 设置agent的IP地址
|
||||
set_microros_wifi_transports("fishros", "88888888", agent_ip, 8888); // 设置传输协议
|
||||
delay(3000); // 等待2秒,等待WIFI连接
|
||||
// 2.初始化内存分配器
|
||||
allocator = rcl_get_default_allocator(); // 获取默认的内存分配器
|
||||
// 3.初始化支持
|
||||
rclc_support_init(&support, 0, NULL, &allocator); // 初始化支持
|
||||
// 4.初始化节点
|
||||
rclc_node_init_default(&node, "fishbot_motion_control", "", &support); // 初始化节点
|
||||
// 5.初始化执行器
|
||||
unsigned int num_handles = 2; // 订阅和计时器的回调数量,注意这是一个要改的参数
|
||||
rclc_executor_init(&executor, &support.context, num_handles, &allocator); // 初始化执行器
|
||||
// 初始化订阅者，并将其添加到执行其中
|
||||
rclc_subscription_init_best_effort(&sub_cmd_vel,&node, ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs,msg,Twist),"/cmd_vel");
|
||||
rclc_executor_add_subscription(&executor,&sub_cmd_vel,&msg_cmd_vel,&twist_callback,ON_NEW_DATA);
|
||||
// 初始化msg
|
||||
msg_odom.header.frame_id = micro_ros_string_utilities_set(msg_odom.header.frame_id, "odom");
|
||||
msg_odom.child_frame_id = micro_ros_string_utilities_set(msg_odom.child_frame_id, "base_footprint");
|
||||
// 初始化发布者和定时器
|
||||
rclc_publisher_init_best_effort(&pub_odom,&node,ROSIDL_GET_MSG_TYPE_SUPPORT(nav_msgs,msg,Odometry),"/odom");
|
||||
rclc_timer_init_default(&timer,&support,RCL_MS_TO_NS(50),timer_callback);
|
||||
rclc_executor_add_timer(&executor,&timer);
|
||||
// 时间同步
|
||||
while (!rmw_uros_epoch_synchronized())
|
||||
{
|
||||
rmw_uros_sync_session(1000);
|
||||
delay(10);
|
||||
}
|
||||
// 循环执行器
|
||||
rclc_executor_spin(&executor);
|
||||
}
|
||||
|
||||
// v=w*r
|
||||
// r = v/w = 0.05/0.1 = 0.5 0.02/0.1 = 0.2 m
|
||||
void setup()
|
||||
{
|
||||
// 初始化串口
|
||||
Serial.begin(115200); // 初始化串口通信，设置通信速率为115200
|
||||
// 初始化电机驱动器
|
||||
motor.attachMotor(0, 22, 23); // 将电机0连接到引脚22和引脚23
|
||||
motor.attachMotor(1, 12, 13); // 将电机1连接到引脚12和引脚13
|
||||
// 初始化编码器
|
||||
encoders[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接
|
||||
encoders[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接
|
||||
// 初始化PID控制器的参数
|
||||
pid_controller[0].update_pid(0.625, 0.125, 0.0);
|
||||
pid_controller[1].update_pid(0.625, 0.125, 0.0);
|
||||
pid_controller[0].out_limit(-100, 100);
|
||||
pid_controller[1].out_limit(-100, 100);
|
||||
// 初始化运动学参数
|
||||
kinematics.set_wheel_distance(175); // mm
|
||||
kinematics.set_motor_param(0, 0.105805);
|
||||
kinematics.set_motor_param(1, 0.105805);
|
||||
// 测试下运动学逆解
|
||||
|
||||
|
||||
// 创建一个任务运行 micro-ROS
|
||||
xTaskCreate(microros_task, "microros_task", 10240, NULL, 1, NULL);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
delay(10); // 等待10毫秒
|
||||
kinematics.update_motor_speed(millis(), encoders[0].getTicks(), encoders[1].getTicks()); // 记得调用更新电机速度函数
|
||||
motor.updateMotorSpeed(0, pid_controller[0].update(
|
||||
kinematics.get_motor_speed(0)));
|
||||
motor.updateMotorSpeed(1, pid_controller[1].update(kinematics.get_motor_speed(1)));
|
||||
// Serial.printf("speed1=%d,speed2=%d\n",kinematics.get_motor_speed(0),kinematics.get_motor_speed(1));
|
||||
// Serial.printf("x,y,yaw=%f,%f,%f\n", kinematics.get_odom().x, kinematics.get_odom().y, kinematics.get_odom().angle);
|
||||
}
|
||||
91
chapt9/fishbot_motion_control/test/9.4.1.cpp
Normal file
91
chapt9/fishbot_motion_control/test/9.4.1.cpp
Normal file
@@ -0,0 +1,91 @@
|
||||
#include <Arduino.h>
|
||||
#include <Esp32PcntEncoder.h>
|
||||
#include <Esp32McpwmMotor.h>
|
||||
#include <PidController.h>
|
||||
#include <Kinematics.h>
|
||||
|
||||
// 引入Microros和wifi相关的库
|
||||
#include <WiFi.h>
|
||||
#include <micro_ros_platformio.h>
|
||||
#include <rcl/rcl.h>
|
||||
#include <rclc/rclc.h>
|
||||
#include <rclc/executor.h>
|
||||
|
||||
// 声明一些相关的结构体对象
|
||||
rcl_allocator_t allocator; // 内存分配器，用于动态内存分配管理
|
||||
rclc_support_t support; // 用于存储时钟，内存分配器和上下文，用于提供支持
|
||||
rclc_executor_t executor; // 执行器，用于管理订阅和计时器回调的执行
|
||||
rcl_node_t node; // 节点，用于创建节点
|
||||
|
||||
// 单独创建一个任务运行 micro-ROS 相当于一个线程
|
||||
void microros_task(void *args)
|
||||
{
|
||||
// 1.设置传输协议并延迟一段时间等待设置的完成
|
||||
IPAddress agent_ip;
|
||||
agent_ip.fromString("192.168.1.103"); // 设置agent的IP地址
|
||||
set_microros_wifi_transports("fishros", "88888888", agent_ip, 8888); // 设置传输协议
|
||||
delay(3000); // 等待2秒,等待WIFI连接
|
||||
// 2.初始化内存分配器
|
||||
allocator = rcl_get_default_allocator(); // 获取默认的内存分配器
|
||||
// 3.初始化支持
|
||||
rclc_support_init(&support, 0, NULL, &allocator); // 初始化支持
|
||||
// 4.初始化节点
|
||||
rclc_node_init_default(&node, "fishbot_motion_control", "", &support); // 初始化节点
|
||||
// 5.初始化执行器
|
||||
unsigned int num_handles = 1; // 订阅和计时器的回调数量,注意这是一个要改的参数
|
||||
rclc_executor_init(&executor, &support.context, num_handles, &allocator); // 初始化执行器
|
||||
// 循环执行器
|
||||
rclc_executor_spin(&executor);
|
||||
}
|
||||
|
||||
Esp32PcntEncoder encoders[2]; // 创建一个数组用于存储两个编码器
|
||||
Esp32McpwmMotor motor; // 创建一个名为motor的对象，用于控制电机
|
||||
PidController pid_controller[2];
|
||||
Kinematics kinematics;
|
||||
|
||||
float target_linear_speed = 0.0; // 单位 毫米每秒
|
||||
float target_angular_speed = 0.0; // 单位 弧度每秒
|
||||
float out_left_speed = 0.0; // 输出的左右轮速度，不是反馈的左右轮速度
|
||||
float out_right_speed = 0.0;
|
||||
|
||||
// v=w*r
|
||||
// r = v/w = 0.05/0.1 = 0.5 0.02/0.1 = 0.2 m
|
||||
void setup()
|
||||
{
|
||||
// 初始化串口
|
||||
Serial.begin(115200); // 初始化串口通信，设置通信速率为115200
|
||||
// 初始化电机驱动器
|
||||
motor.attachMotor(0, 22, 23); // 将电机0连接到引脚22和引脚23
|
||||
motor.attachMotor(1, 12, 13); // 将电机1连接到引脚12和引脚13
|
||||
// 初始化编码器
|
||||
encoders[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接
|
||||
encoders[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接
|
||||
// 初始化PID控制器的参数
|
||||
pid_controller[0].update_pid(0.625, 0.125, 0.0);
|
||||
pid_controller[1].update_pid(0.625, 0.125, 0.0);
|
||||
pid_controller[0].out_limit(-100, 100);
|
||||
pid_controller[1].out_limit(-100, 100);
|
||||
// 初始化运动学参数
|
||||
kinematics.set_wheel_distance(175); // mm
|
||||
kinematics.set_motor_param(0, 0.105805);
|
||||
kinematics.set_motor_param(1, 0.105805);
|
||||
// 测试下运动学逆解
|
||||
kinematics.kinematics_inverse(target_linear_speed, target_angular_speed, &out_left_speed, &out_right_speed);
|
||||
Serial.printf("OUT:left_speed=%f,right_speed=%f\n", out_left_speed, out_right_speed);
|
||||
pid_controller[0].update_target(out_left_speed);
|
||||
pid_controller[1].update_target(out_right_speed);
|
||||
|
||||
// 创建一个任务运行 micro-ROS
|
||||
xTaskCreate(microros_task, "microros_task", 10240, NULL, 1, NULL);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
delay(10); // 等待10毫秒
|
||||
kinematics.update_motor_speed(millis(), encoders[0].getTicks(), encoders[1].getTicks()); // 记得调用更新电机速度函数
|
||||
motor.updateMotorSpeed(0, pid_controller[0].update(
|
||||
kinematics.get_motor_speed(0)));
|
||||
motor.updateMotorSpeed(1, pid_controller[1].update(kinematics.get_motor_speed(1)));
|
||||
// Serial.printf("speed1=%d,speed2=%d\n",kinematics.get_motor_speed(0),kinematics.get_motor_speed(1));
|
||||
// Serial.printf("x,y,yaw=%f,%f,%f\n", kinematics.get_odom().x, kinematics.get_odom().y, kinematics.get_odom().angle);
|
||||
}
|
||||
108
chapt9/fishbot_motion_control/test/9.4.2.cpp
Normal file
108
chapt9/fishbot_motion_control/test/9.4.2.cpp
Normal file
@@ -0,0 +1,108 @@
|
||||
#include <Arduino.h>
|
||||
#include <Esp32PcntEncoder.h>
|
||||
#include <Esp32McpwmMotor.h>
|
||||
#include <PidController.h>
|
||||
#include <Kinematics.h>
|
||||
|
||||
// 引入Microros和wifi相关的库
|
||||
#include <WiFi.h>
|
||||
#include <micro_ros_platformio.h>
|
||||
#include <rcl/rcl.h>
|
||||
#include <rclc/rclc.h>
|
||||
#include <rclc/executor.h>
|
||||
#include <geometry_msgs/msg/twist.h> // 消息接口
|
||||
|
||||
// 声明一些相关的结构体对象
|
||||
rcl_allocator_t allocator; // 内存分配器，用于动态内存分配管理
|
||||
rclc_support_t support; // 用于存储时钟，内存分配器和上下文，用于提供支持
|
||||
rclc_executor_t executor; // 执行器，用于管理订阅和计时器回调的执行
|
||||
rcl_node_t node; // 节点，用于创建节点
|
||||
rcl_subscription_t sub_cmd_vel; // 创建一个订阅者
|
||||
geometry_msgs__msg__Twist msg_cmd_vel; // 订阅到的数据存储到这里
|
||||
|
||||
|
||||
Esp32PcntEncoder encoders[2]; // 创建一个数组用于存储两个编码器
|
||||
Esp32McpwmMotor motor; // 创建一个名为motor的对象，用于控制电机
|
||||
PidController pid_controller[2];
|
||||
Kinematics kinematics;
|
||||
|
||||
float target_linear_speed = 0.0; // 单位 毫米每秒
|
||||
float target_angular_speed = 0.0; // 单位 弧度每秒
|
||||
float out_left_speed = 0.0; // 输出的左右轮速度，不是反馈的左右轮速度
|
||||
float out_right_speed = 0.0;
|
||||
|
||||
|
||||
void twist_callback(const void * msg_in)
|
||||
{
|
||||
// 将受到的消息指针转换成 geometry_msgs__msg__Twist 类型的指针
|
||||
const geometry_msgs__msg__Twist* msg = (const geometry_msgs__msg__Twist*)msg_in;
|
||||
target_linear_speed = msg->linear.x * 1000;
|
||||
target_angular_speed = msg->angular.z;
|
||||
kinematics.kinematics_inverse(target_linear_speed, target_angular_speed, &out_left_speed, &out_right_speed);
|
||||
Serial.printf("OUT:left_speed=%f,right_speed=%f\n", out_left_speed, out_right_speed);
|
||||
pid_controller[0].update_target(out_left_speed);
|
||||
pid_controller[1].update_target(out_right_speed);
|
||||
}
|
||||
|
||||
// 单独创建一个任务运行 micro-ROS 相当于一个线程
|
||||
void microros_task(void *args)
|
||||
{
|
||||
// 1.设置传输协议并延迟一段时间等待设置的完成
|
||||
IPAddress agent_ip;
|
||||
agent_ip.fromString("192.168.1.103"); // 设置agent的IP地址
|
||||
set_microros_wifi_transports("fishros", "88888888", agent_ip, 8888); // 设置传输协议
|
||||
delay(3000); // 等待2秒,等待WIFI连接
|
||||
// 2.初始化内存分配器
|
||||
allocator = rcl_get_default_allocator(); // 获取默认的内存分配器
|
||||
// 3.初始化支持
|
||||
rclc_support_init(&support, 0, NULL, &allocator); // 初始化支持
|
||||
// 4.初始化节点
|
||||
rclc_node_init_default(&node, "fishbot_motion_control", "", &support); // 初始化节点
|
||||
// 5.初始化执行器
|
||||
unsigned int num_handles = 1; // 订阅和计时器的回调数量,注意这是一个要改的参数
|
||||
rclc_executor_init(&executor, &support.context, num_handles, &allocator); // 初始化执行器
|
||||
// 初始化订阅者，并将其添加到执行其中
|
||||
rclc_subscription_init_best_effort(&sub_cmd_vel,&node, ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs,msg,Twist),"/cmd_vel");
|
||||
rclc_executor_add_subscription(&executor,&sub_cmd_vel,&msg_cmd_vel,&twist_callback,ON_NEW_DATA);
|
||||
// 循环执行器
|
||||
rclc_executor_spin(&executor);
|
||||
}
|
||||
|
||||
// v=w*r
|
||||
// r = v/w = 0.05/0.1 = 0.5 0.02/0.1 = 0.2 m
|
||||
void setup()
|
||||
{
|
||||
// 初始化串口
|
||||
Serial.begin(115200); // 初始化串口通信，设置通信速率为115200
|
||||
// 初始化电机驱动器
|
||||
motor.attachMotor(0, 22, 23); // 将电机0连接到引脚22和引脚23
|
||||
motor.attachMotor(1, 12, 13); // 将电机1连接到引脚12和引脚13
|
||||
// 初始化编码器
|
||||
encoders[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接
|
||||
encoders[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接
|
||||
// 初始化PID控制器的参数
|
||||
pid_controller[0].update_pid(0.625, 0.125, 0.0);
|
||||
pid_controller[1].update_pid(0.625, 0.125, 0.0);
|
||||
pid_controller[0].out_limit(-100, 100);
|
||||
pid_controller[1].out_limit(-100, 100);
|
||||
// 初始化运动学参数
|
||||
kinematics.set_wheel_distance(175); // mm
|
||||
kinematics.set_motor_param(0, 0.105805);
|
||||
kinematics.set_motor_param(1, 0.105805);
|
||||
// 测试下运动学逆解
|
||||
|
||||
|
||||
// 创建一个任务运行 micro-ROS
|
||||
xTaskCreate(microros_task, "microros_task", 10240, NULL, 1, NULL);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
delay(10); // 等待10毫秒
|
||||
kinematics.update_motor_speed(millis(), encoders[0].getTicks(), encoders[1].getTicks()); // 记得调用更新电机速度函数
|
||||
motor.updateMotorSpeed(0, pid_controller[0].update(
|
||||
kinematics.get_motor_speed(0)));
|
||||
motor.updateMotorSpeed(1, pid_controller[1].update(kinematics.get_motor_speed(1)));
|
||||
// Serial.printf("speed1=%d,speed2=%d\n",kinematics.get_motor_speed(0),kinematics.get_motor_speed(1));
|
||||
// Serial.printf("x,y,yaw=%f,%f,%f\n", kinematics.get_odom().x, kinematics.get_odom().y, kinematics.get_odom().angle);
|
||||
}
|
||||
91
chapt9/fishbot_motion_control/test/9.4.3.cpp
Normal file
91
chapt9/fishbot_motion_control/test/9.4.3.cpp
Normal file
@@ -0,0 +1,91 @@
|
||||
#include <Arduino.h>
|
||||
#include <Esp32PcntEncoder.h>
|
||||
#include <Esp32McpwmMotor.h>
|
||||
#include <PidController.h>
|
||||
#include <Kinematics.h>
|
||||
|
||||
// 引入Microros和wifi相关的库
|
||||
#include <WiFi.h>
|
||||
#include <micro_ros_platformio.h>
|
||||
#include <rcl/rcl.h>
|
||||
#include <rclc/rclc.h>
|
||||
#include <rclc/executor.h>
|
||||
|
||||
// 声明一些相关的结构体对象
|
||||
rcl_allocator_t allocator; // 内存分配器，用于动态内存分配管理
|
||||
rclc_support_t support; // 用于存储时钟，内存分配器和上下文，用于提供支持
|
||||
rclc_executor_t executor; // 执行器，用于管理订阅和计时器回调的执行
|
||||
rcl_node_t node; // 节点，用于创建节点
|
||||
|
||||
// 单独创建一个任务运行 micro-ROS 相当于一个线程
|
||||
void microros_task(void *args)
|
||||
{
|
||||
// 1.设置传输协议并延迟一段时间等待设置的完成
|
||||
IPAddress agent_ip;
|
||||
agent_ip.fromString("192.168.1.103"); // 设置agent的IP地址
|
||||
set_microros_wifi_transports("fishros", "88888888", agent_ip, 8888); // 设置传输协议
|
||||
delay(3000); // 等待2秒,等待WIFI连接
|
||||
// 2.初始化内存分配器
|
||||
allocator = rcl_get_default_allocator(); // 获取默认的内存分配器
|
||||
// 3.初始化支持
|
||||
rclc_support_init(&support, 0, NULL, &allocator); // 初始化支持
|
||||
// 4.初始化节点
|
||||
rclc_node_init_default(&node, "fishbot_motion_control", "", &support); // 初始化节点
|
||||
// 5.初始化执行器
|
||||
unsigned int num_handles = 1; // 订阅和计时器的回调数量,注意这是一个要改的参数
|
||||
rclc_executor_init(&executor, &support.context, num_handles, &allocator); // 初始化执行器
|
||||
// 循环执行器
|
||||
rclc_executor_spin(&executor);
|
||||
}
|
||||
|
||||
Esp32PcntEncoder encoders[2]; // 创建一个数组用于存储两个编码器
|
||||
Esp32McpwmMotor motor; // 创建一个名为motor的对象，用于控制电机
|
||||
PidController pid_controller[2];
|
||||
Kinematics kinematics;
|
||||
|
||||
float target_linear_speed = 0.0; // 单位 毫米每秒
|
||||
float target_angular_speed = 0.0; // 单位 弧度每秒
|
||||
float out_left_speed = 0.0; // 输出的左右轮速度，不是反馈的左右轮速度
|
||||
float out_right_speed = 0.0;
|
||||
|
||||
// v=w*r
|
||||
// r = v/w = 0.05/0.1 = 0.5 0.02/0.1 = 0.2 m
|
||||
void setup()
|
||||
{
|
||||
// 初始化串口
|
||||
Serial.begin(115200); // 初始化串口通信，设置通信速率为115200
|
||||
// 初始化电机驱动器
|
||||
motor.attachMotor(0, 22, 23); // 将电机0连接到引脚22和引脚23
|
||||
motor.attachMotor(1, 12, 13); // 将电机1连接到引脚12和引脚13
|
||||
// 初始化编码器
|
||||
encoders[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接
|
||||
encoders[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接
|
||||
// 初始化PID控制器的参数
|
||||
pid_controller[0].update_pid(0.625, 0.125, 0.0);
|
||||
pid_controller[1].update_pid(0.625, 0.125, 0.0);
|
||||
pid_controller[0].out_limit(-100, 100);
|
||||
pid_controller[1].out_limit(-100, 100);
|
||||
// 初始化运动学参数
|
||||
kinematics.set_wheel_distance(175); // mm
|
||||
kinematics.set_motor_param(0, 0.105805);
|
||||
kinematics.set_motor_param(1, 0.105805);
|
||||
// 测试下运动学逆解
|
||||
kinematics.kinematics_inverse(target_linear_speed, target_angular_speed, &out_left_speed, &out_right_speed);
|
||||
Serial.printf("OUT:left_speed=%f,right_speed=%f\n", out_left_speed, out_right_speed);
|
||||
pid_controller[0].update_target(out_left_speed);
|
||||
pid_controller[1].update_target(out_right_speed);
|
||||
|
||||
// 创建一个任务运行 micro-ROS
|
||||
xTaskCreate(microros_task, "microros_task", 10240, NULL, 1, NULL);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
delay(10); // 等待10毫秒
|
||||
kinematics.update_motor_speed(millis(), encoders[0].getTicks(), encoders[1].getTicks()); // 记得调用更新电机速度函数
|
||||
motor.updateMotorSpeed(0, pid_controller[0].update(
|
||||
kinematics.get_motor_speed(0)));
|
||||
motor.updateMotorSpeed(1, pid_controller[1].update(kinematics.get_motor_speed(1)));
|
||||
// Serial.printf("speed1=%d,speed2=%d\n",kinematics.get_motor_speed(0),kinematics.get_motor_speed(1));
|
||||
// Serial.printf("x,y,yaw=%f,%f,%f\n", kinematics.get_odom().x, kinematics.get_odom().y, kinematics.get_odom().angle);
|
||||
}
|
||||
11
chapt9/fishbot_motion_control/test/README
Normal file
11
chapt9/fishbot_motion_control/test/README
Normal file
@@ -0,0 +1,11 @@
|
||||
|
||||
This directory is intended for PlatformIO Test Runner and project tests.
|
||||
|
||||
Unit Testing is a software testing method by which individual units of
|
||||
source code, sets of one or more MCU program modules together with associated
|
||||
control data, usage procedures, and operating procedures, are tested to
|
||||
determine whether they are fit for use. Unit testing finds problems early
|
||||
in the development cycle.
|
||||
|
||||
More information about PlatformIO Unit Testing:
|
||||
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
|
||||
Reference in New Issue
Block a user