/
esp32_wifi_balancing_robot.ino
486 lines (424 loc) · 15.5 KB
/
esp32_wifi_balancing_robot.ino
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
/*
* esp32_wifi_balancing_robot.ino
*
* Created on: 23.02.2021
* Author: anonymous
*/
#include <Wire.h>
#include <WiFi.h>
#include <ArduinoOTA.h>
#include <Arduino.h>
#include <AsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include "Control.h"
#include "MPU6050.h"
#include "Motors.h"
#include "defines.h"
#include "globals.h"
#include <stdio.h>
#include "esp_types.h"
#include "soc/timer_group_struct.h"
#include "driver/periph_ctrl.h"
#include "driver/timer.h"
#include "driver/ledc.h"
#include "esp32-hal-ledc.h"
const char* PARAM_FADER1 = "fader1";
const char* PARAM_FADER2 = "fader2";
const char* PARAM_PUSH1 = "push1";
const char* PARAM_PUSH2 = "push2";
const char* PARAM_PUSH3 = "push3";
const char* PARAM_PUSH4 = "push4";
const char* PARAM_TOGGLE1 = "toggle1";
const char* PARAM_FADER3 = "fader3";
const char* PARAM_FADER4 = "fader4";
const char* PARAM_FADER5 = "fader5";
const char* PARAM_FADER6 = "fader6";
/* Wifi Crdentials */
String sta_ssid = "$your_ssid_maximum_32_characters"; // set Wifi network you want to connect to
String sta_password = "$your_pswd_maximum_32_characters"; // set password for Wifi network
unsigned long previousMillis = 0;
AsyncWebServer server(80);
void initMPU6050() {
MPU6050_setup();
delay(500);
MPU6050_calibrate();
}
void initTimers();
void notFound(AsyncWebServerRequest *request) {
request->send(404, "text/plain", "Not found");
}
void setup() {
Serial.begin(115200); // set up seriamonitor at 115200 bps
Serial.setDebugOutput(true);
Serial.println();
Serial.println("*ESP32 Camera Balancing Robot*");
Serial.println("--------------------------------------------------------");
pinMode(PIN_ENABLE_MOTORS, OUTPUT);
digitalWrite(PIN_ENABLE_MOTORS, HIGH);
pinMode(PIN_MOTOR1_DIR, OUTPUT);
pinMode(PIN_MOTOR1_STEP, OUTPUT);
pinMode(PIN_MOTOR2_DIR, OUTPUT);
pinMode(PIN_MOTOR2_STEP, OUTPUT);
pinMode(PIN_SERVO, OUTPUT);
pinMode(PIN_LED, OUTPUT);
digitalWrite(PIN_LED, LOW);
pinMode(PIN_WIFI_LED, OUTPUT);
digitalWrite(PIN_WIFI_LED, LOW);
pinMode(PIN_BUZZER, OUTPUT);
digitalWrite(PIN_BUZZER, LOW);
ledcSetup(6, 50, 16); // channel 6, 50 Hz, 16-bit width
ledcAttachPin(PIN_SERVO, 6); // GPIO 22 assigned to channel 1
delay(50);
ledcWrite(6, SERVO_AUX_NEUTRO);
Wire.begin();
initMPU6050();
// Set NodeMCU Wifi hostname based on chip mac address
char chip_id[15];
snprintf(chip_id, 15, "%04X", (uint16_t)(ESP.getEfuseMac()>>32));
String hostname = "esp32brobot-" + String(chip_id);
Serial.println();
Serial.println("Hostname: "+hostname);
// first, set NodeMCU as STA mode to connect with a Wifi network
WiFi.mode(WIFI_STA);
WiFi.begin(sta_ssid.c_str(), sta_password.c_str());
Serial.println("");
Serial.print("Connecting to: ");
Serial.println(sta_ssid);
Serial.print("Password: ");
Serial.println(sta_password);
// try to connect with Wifi network about 8 seconds
unsigned long currentMillis = millis();
previousMillis = currentMillis;
while (WiFi.status() != WL_CONNECTED && currentMillis - previousMillis <= 8000) {
delay(500);
Serial.print(".");
currentMillis = millis();
}
// if failed to connect with Wifi network set NodeMCU as AP mode
IPAddress myIP;
if (WiFi.status() == WL_CONNECTED) {
Serial.println("");
Serial.println("*WiFi-STA-Mode*");
Serial.print("IP: ");
myIP=WiFi.localIP();
Serial.println(myIP);
digitalWrite(PIN_WIFI_LED, HIGH); // Wifi LED on when connected to Wifi as STA mode
delay(2000);
} else {
WiFi.mode(WIFI_AP);
WiFi.softAP(hostname.c_str());
myIP = WiFi.softAPIP();
Serial.println("");
Serial.println("WiFi failed connected to " + sta_ssid);
Serial.println("");
Serial.println("*WiFi-AP-Mode*");
Serial.print("AP IP address: ");
Serial.println(myIP);
digitalWrite(PIN_WIFI_LED, LOW); // Wifi LED off when status as AP mode
delay(2000);
}
// Send a GET request to <ESP_IP>/?fader=<inputValue>
server.on("/", HTTP_GET, [] (AsyncWebServerRequest *request) {
String inputValue;
String inputMessage;
OSCnewMessage = 1;
// Get value for Forward/Backward
if (request->hasParam(PARAM_FADER1)) {
OSCpage = 1;
inputValue = request->getParam(PARAM_FADER1)->value();
inputMessage = PARAM_FADER1;
OSCfader[0] = inputValue.toFloat();
}
// Get value for Right/Left
else if (request->hasParam(PARAM_FADER2)) {
OSCpage = 1;
inputValue = request->getParam(PARAM_FADER2)->value();
inputMessage = PARAM_FADER2;
OSCfader[1] = inputValue.toFloat();
}
// Get value for Servo0
else if (request->hasParam(PARAM_PUSH1)) {
OSCpage = 1;
inputValue = request->getParam(PARAM_PUSH1)->value();
inputMessage = PARAM_PUSH1;
if(inputValue.equals("1")) OSCpush[0]=1;
else OSCpush[0]=0;
}
// Get value for Setting
else if (request->hasParam(PARAM_PUSH2)) {
OSCpage = 2;
inputValue = request->getParam(PARAM_PUSH2)->value();
inputMessage = PARAM_PUSH2;
if(inputValue.equals("1")) OSCpush[2]=1;
else OSCpush[2]=0;
}
// Get value for Buzzer
else if (request->hasParam(PARAM_PUSH3)) {
inputValue = request->getParam(PARAM_PUSH3)->value();
inputMessage = PARAM_PUSH3;
if(inputValue.equals("1")) {
digitalWrite(PIN_BUZZER, HIGH);
delay(150);
digitalWrite(PIN_BUZZER, LOW);
delay(80);
digitalWrite(PIN_BUZZER, HIGH);
delay(150);
digitalWrite(PIN_BUZZER, LOW);
delay(80);
}
}
// Get value for Led
else if (request->hasParam(PARAM_PUSH4)) {
inputValue = request->getParam(PARAM_PUSH4)->value();
inputMessage = PARAM_PUSH4;
if(inputValue.equals("1")) digitalWrite(PIN_LED, HIGH);
else digitalWrite(PIN_LED, LOW);
}
// Get value for mode PRO
else if (request->hasParam(PARAM_TOGGLE1)) {
OSCpage = 1;
inputValue = request->getParam(PARAM_TOGGLE1)->value();
inputMessage = PARAM_TOGGLE1;
if(inputValue.equals("1")) OSCtoggle[0]=1;
else OSCtoggle[0]=0;
}
// Get value for P-Stability
else if (request->hasParam(PARAM_FADER3)) {
OSCpage = 2;
inputValue = request->getParam(PARAM_FADER3)->value();
inputMessage = PARAM_FADER3;
OSCfader[0] = inputValue.toFloat();
}
// Get value for D-Stability
else if (request->hasParam(PARAM_FADER4)) {
OSCpage = 2;
inputValue = request->getParam(PARAM_FADER4)->value();
inputMessage = PARAM_FADER4;
OSCfader[0] = inputValue.toFloat();
}
// Get value for P-Speed
else if (request->hasParam(PARAM_FADER5)) {
OSCpage = 2;
inputValue = request->getParam(PARAM_FADER5)->value();
inputMessage = PARAM_FADER5;
OSCfader[0] = inputValue.toFloat();
}
// Get value for I-Speed
else if (request->hasParam(PARAM_FADER6)) {
OSCpage = 2;
inputValue = request->getParam(PARAM_FADER6)->value();
inputMessage = PARAM_FADER6;
OSCfader[0] = inputValue.toFloat();
}
else {
inputValue = "No message sent";
}
Serial.println(inputMessage+'='+inputValue);
request->send(200, "text/text", "");
});
server.onNotFound (notFound); // when a client requests an unknown URI (i.e. something other than "/"), call function "handleNotFound"
server.begin(); // actually start the server
initTimers();
// default neutral values
OSCfader[0] = 0.5;
OSCfader[1] = 0.5;
OSCfader[2] = 0.5;
OSCfader[3] = 0.5;
digitalWrite(PIN_ENABLE_MOTORS, LOW);
for (uint8_t k = 0; k < 5; k++) {
setMotorSpeedM1(5);
setMotorSpeedM2(5);
ledcWrite(6, SERVO_AUX_NEUTRO + 250);
delay(200);
setMotorSpeedM1(-5);
setMotorSpeedM2(-5);
ledcWrite(6, SERVO_AUX_NEUTRO - 250);
delay(200);
}
ledcWrite(6, SERVO_AUX_NEUTRO);
ArduinoOTA.begin(); // enable to receive update/upload firmware via Wifi OTA
}
void loop() {
ArduinoOTA.handle();
if (OSCnewMessage) {
OSCnewMessage = 0;
processOSCMsg();
}
timer_value = micros();
if (MPU6050_newData()) {
MPU6050_read_3axis();
dt = (timer_value - timer_old) * 0.000001; // dt in seconds
//Serial.println(timer_value - timer_old);
timer_old = timer_value;
angle_adjusted_Old = angle_adjusted;
// Get new orientation angle from IMU (MPU6050)
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;
// We calculate the estimated robot speed:
// Estimated_Speed = angular_velocity_of_stepper_motors(combined) - angular_velocity_of_robot(angle measured by IMU)
actual_robot_speed = (speed_M1 + speed_M2) / 2; // Positive: forward
int16_t angular_velocity = (angle_adjusted - angle_adjusted_Old) * 25.0; // 25 is an empirical extracted factor to adjust for real units
int16_t estimated_speed = -actual_robot_speed + angular_velocity;
estimated_speed_filtered = estimated_speed_filtered * 0.9 + (float) estimated_speed * 0.1; // low pass filter on estimated speed
if (positionControlMode) {
// POSITION CONTROL. INPUT: Target steps for each motor. Output: motors speed
motor1_control = positionPDControl(steps1, target_steps1, Kp_position, Kd_position, speed_M1);
motor2_control = positionPDControl(steps2, target_steps2, Kp_position, Kd_position, speed_M2);
// Convert from motor position control to throttle / steering commands
throttle = (motor1_control + motor2_control) / 2;
throttle = constrain(throttle, -190, 190);
steering = motor2_control - motor1_control;
steering = constrain(steering, -50, 50);
}
// ROBOT SPEED CONTROL: This is a PI controller.
// input:user throttle(robot speed), variable: estimated robot speed, output: target robot angle to get the desired speed
target_angle = speedPIControl(dt, estimated_speed_filtered, throttle, Kp_thr, Ki_thr);
target_angle = constrain(target_angle, -max_target_angle, max_target_angle); // limited output
// Stability control (100Hz loop): This is a PD controller.
// input: robot target angle(from SPEED CONTROL), variable: robot angle, output: Motor speed
// We integrate the output (sumatory), so the output is really the motor acceleration, not motor speed.
control_output += stabilityPDControl(dt, angle_adjusted, target_angle, Kp, Kd);
control_output = constrain(control_output, -MAX_CONTROL_OUTPUT, MAX_CONTROL_OUTPUT); // Limit max output from control
// The steering part from the user is injected directly to the output
motor1 = control_output + steering;
motor2 = control_output - steering;
// Limit max speed (control output)
motor1 = constrain(motor1, -MAX_CONTROL_OUTPUT, MAX_CONTROL_OUTPUT);
motor2 = constrain(motor2, -MAX_CONTROL_OUTPUT, MAX_CONTROL_OUTPUT);
int angle_ready;
if (OSCpush[0]) // If we press the SERVO button we start to move
angle_ready = 82;
else
angle_ready = 74; // Default angle
if ((angle_adjusted < angle_ready) && (angle_adjusted > -angle_ready)) // Is robot ready (upright?)
{
// NORMAL MODE
digitalWrite(PIN_ENABLE_MOTORS, LOW); // Motors enable
// NOW we send the commands to the motors
setMotorSpeedM1(motor1);
setMotorSpeedM2(motor2);
} else // Robot not ready (flat), angle > angle_ready => ROBOT OFF
{
digitalWrite(PIN_ENABLE_MOTORS, HIGH); // Disable motors
setMotorSpeedM1(0);
setMotorSpeedM2(0);
PID_errorSum = 0; // Reset PID I term
Kp = KP_RAISEUP; // CONTROL GAINS FOR RAISE UP
Kd = KD_RAISEUP;
Kp_thr = KP_THROTTLE_RAISEUP;
Ki_thr = KI_THROTTLE_RAISEUP;
// RESET steps
steps1 = 0;
steps2 = 0;
positionControlMode = false;
OSCmove_mode = false;
throttle = 0;
steering = 0;
}
// Push1 Move servo arm
if (OSCpush[0]) {
if (angle_adjusted > -40)
ledcWrite(6, SERVO_MAX_PULSEWIDTH);
else
ledcWrite(6, SERVO_MIN_PULSEWIDTH);
} else
ledcWrite(6, SERVO_AUX_NEUTRO);
// Servo2
//ledcWrite(6, SERVO2_NEUTRO + (OSCfader[2] - 0.5) * SERVO2_RANGE);
// Normal condition?
if ((angle_adjusted < 56) && (angle_adjusted > -56)) {
Kp = Kp_user; // Default user control gains
Kd = Kd_user;
Kp_thr = Kp_thr_user;
Ki_thr = Ki_thr_user;
} else // We are in the raise up procedure => we use special control parameters
{
Kp = KP_RAISEUP; // CONTROL GAINS FOR RAISE UP
Kd = KD_RAISEUP;
Kp_thr = KP_THROTTLE_RAISEUP;
Ki_thr = KI_THROTTLE_RAISEUP;
}
} // End of new IMU data
}
void processOSCMsg() {
if (OSCpage == 1) {
if (modifing_control_parameters) // We came from the settings screen
{
OSCfader[0] = 0.5; // default neutral values
OSCfader[1] = 0.5; // default neutral values
OSCtoggle[0] = 0; // Normal mode
mode = 0;
modifing_control_parameters = false;
}
if (OSCmove_mode) {
Serial.print("M ");
Serial.print(OSCmove_speed);
Serial.print(" ");
Serial.print(OSCmove_steps1);
Serial.print(",");
Serial.println(OSCmove_steps2);
positionControlMode = true;
OSCmove_mode = false;
target_steps1 = steps1 + OSCmove_steps1;
target_steps2 = steps2 + OSCmove_steps2;
} else {
positionControlMode = false;
throttle = (OSCfader[0] - 0.5) * max_throttle;
// We add some exponential on steering to smooth the center band
steering = OSCfader[1] - 0.5;
if (steering > 0)
steering = (steering * steering + 0.5 * steering) * max_steering;
else
steering = (-steering * steering + 0.5 * steering) * max_steering;
}
if ((mode == 0) && (OSCtoggle[0])) {
// Change to PRO mode
max_throttle = MAX_THROTTLE_PRO;
max_steering = MAX_STEERING_PRO;
max_target_angle = MAX_TARGET_ANGLE_PRO;
mode = 1;
}
if ((mode == 1) && (OSCtoggle[0] == 0)) {
// Change to NORMAL mode
max_throttle = MAX_THROTTLE;
max_steering = MAX_STEERING;
max_target_angle = MAX_TARGET_ANGLE;
mode = 0;
}
} else if (OSCpage == 2) { // OSC page 2
if (!modifing_control_parameters) {
for (uint8_t i = 0; i < 4; i++)
OSCfader[i] = 0.5;
OSCtoggle[0] = 0;
modifing_control_parameters = true;
//OSC_MsgSend("$P2", 4);
}
// User could adjust KP, KD, KP_THROTTLE and KI_THROTTLE (fadder3,4,5,6)
// Now we need to adjust all the parameters all the times because we dont know what parameter has been moved
Kp_user = KP * 2 * OSCfader[0];
Kd_user = KD * 2 * OSCfader[1];
Kp_thr_user = KP_THROTTLE * 2 * OSCfader[2];
Ki_thr_user = KI_THROTTLE * 2 * OSCfader[3];
// Send a special telemetry message with the new parameters
char auxS[50];
sprintf(auxS, "$tP,%d,%d,%d,%d", int(Kp_user * 1000), int(Kd_user * 1000), int(Kp_thr_user * 1000), int(Ki_thr_user * 1000));
//OSC_MsgSend(auxS, 50);
// 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) {
//Reset external parameters
PID_errorSum = 0;
timer_old = millis();
setMotorSpeedM1(0);
setMotorSpeedM2(0);
digitalWrite(PIN_ENABLE_MOTORS, HIGH); // Disable motors
}
}
}