Skip to content

Commit

Permalink
* New structure in definition.h so
Browse files Browse the repository at this point in the history 
* Changed how to enable/disable the different modules in the code.
* Moved user-config from Liam.ino to definition.h
* Merged Liam5_Setup_and_Debug into Liam and added a new SetupDebug mode.
* Added SetupDebug for ADXL345
  • Loading branch information
@sm6yvr
sm6yvr committed Jun 8, 2017
1 parent 60f947f commit 9f24fd4
Show file tree
Hide file tree
Showing 4 changed files with 778 additions and 460 deletions.
52 changes: 34 additions & 18 deletions Liam/Definition.cpp
View file
Original file line number Diff line number Diff line change
@@ -1,31 +1,47 @@
/// This is the library for the defaults
//
// Changelog:
// 2014-12-12 - Initial version by Jonas
/*
Definition.h is part of the project: liam - DIY Robot Lawn mover
/* ============================================
Placed under the GNU license
Description: This file holds all configuration parameters, user specific,
common and software specific parameters.
2017-06-06 Roberth Andersson:
- Restructured the file and made differens sections of parameters. Added setup debug mode.
2014-12-12 Jonas Forsell:
- Initial version.
Copyright (c) 2017 Jonas Forsell (and team)
liam - DIY Robot LAwn mower is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Foobar is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Foobar. If not, see <http://www.gnu.org/licenses/>.
===============================================
*/

#include "Definition.h"


/** Define all pins
*/
/* Define all pins */
void DEFINITION::definePinsInputOutput() {

pinMode(WHEEL_MOTOR_A_CURRENT_PIN, INPUT);
pinMode(WHEEL_MOTOR_B_CURRENT_PIN, INPUT);
pinMode(SOC_PIN, INPUT);
pinMode(CUTTER_CURRENT_PIN, INPUT);

/* Some pins are better leave undefined as default
pinMode(I2C_SDA_PIN, INPUT);
pinMode(I2C_SDL_PIN, OUTPUT);
pinMode(RX_PIN, INPUT);
pinMode(RX_PIN, INPUT);
pinMode(TX_PIN, OUTPUT);
*/
pinMode(BWF_SENSOR_INPUT_PIN, INPUT);
Expand All @@ -34,23 +50,23 @@ void DEFINITION::definePinsInputOutput() {
pinMode(DOCK_PIN, INPUT);
pinMode(CUTTER_PWM_PIN, OUTPUT);
pinMode(BWF_SELECT_B_PIN, OUTPUT);
#if defined __Bumper__

#if __Bumper__
pinMode(BUMPER, INPUT);
digitalWrite(BUMPER, HIGH);
#else
pinMode(BUMPER, OUTPUT);
digitalWrite(BUMPER, LOW);
#endif
#endif

#if defined __Lift_Sensor__
#if __Lift_Sensor__
pinMode(LIFT_SENSOR_PIN, INPUT);
digitalWrite(LIFT_SENSOR_PIN, HIGH);
#else
pinMode(LIFT_SENSOR_PIN, OUTPUT);
digitalWrite(LIFT_SENSOR_PIN, LOW);
#endif
#endif

pinMode(LED_PIN, OUTPUT);
pinMode(WHEEL_MOTOR_B_PWM_PIN, OUTPUT);
pinMode(WHEEL_MOTOR_A_DIRECTION_PIN, OUTPUT);
Expand Down
271 changes: 165 additions & 106 deletions Liam/Definition.h
View file
Original file line number Diff line number Diff line change
@@ -1,11 +1,33 @@
// This is the definition for all the defaults
//
/*
Definition.h is part of the project: liam - DIY Robot Lawn mover
/* ============================================
Placed under the GNU license
Description: This file holds all configuration parameters, user specific,
common and software specific parameters.
2017-06-06 Roberth Andersson:
- Restructured the file and made differens sections of parameters.
- Added setup debug mode.
2014-12-12 Jonas Forsell:
- Initial version.
Copyright (c) 2014-2017 Jonas Forsell (and team)
liam - DIY Robot LAwn mower is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Foobar is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Foobar. If not, see <http://www.gnu.org/licenses/>.
===============================================
*/


#include <Arduino.h>
#include "Wheelmotor.h"
#include "CutterMotor.h"
Expand All @@ -14,130 +36,167 @@ Placed under the GNU license
#ifndef _DEFINITION_H_
#define _DEFINITION_H_

const int NUMBER_OF_SENSORS = 3; // Number of BWF sensors can be 1-4 depending on shield

// Pin setup following Morgan 1.5 shield and up
#define WHEEL_MOTOR_A_CURRENT_PIN 0
#define WHEEL_MOTOR_B_CURRENT_PIN 1
#define SOC_PIN 2
#define CUTTER_CURRENT_PIN 3
#define I2C_SDA_PIN 4
#define I2C_SDL_PIN 5
// Digital pins
#define RX_PIN 0
#define TX_PIN 1
#define BWF_SENSOR_INPUT_PIN 2
#define WHEEL_MOTOR_A_PWM_PIN 3
#define BWF_SELECT_A_PIN 4
#define DOCK_PIN 5
#define CUTTER_PWM_PIN 6
#define BWF_SELECT_B_PIN 7
#define BUMPER 8
#define LIFT_SENSOR_PIN 9
#define LED_PIN 13
#define WHEEL_MOTOR_B_PWM_PIN 11
#define WHEEL_MOTOR_A_DIRECTION_PIN 12
#define WHEEL_MOTOR_B_DIRECTION_PIN 13

// Cutter motor types
#define BRUSHLESS 0
#define BRUSHED 1
#define NIDEC 2

// Battery
#define LEADACID 0
#define NIMH 1
#define LIION 2

// Wheel motor
#define WHEELMOTOR_OVERLOAD 130
#define WHEELMOTOR_SMOOTHNESS 300

// If the mower has repeated overload within the interval below (in milliseconds), it will flag as having reached a bump.
// It will then do some action as stated in the Controller.cpp file.
#define OVERLOAD_INTERVAL 3000
/* SETUP AND DEBUG MODE .
First time you start your mover the code is configured to run in debug mode.
In that mode you can send different commands to the mover to test different functions.
You can also see some values reported by the sensors. You need probably to tweek some
of the parameters in this file and when you are done remove or comment out this line to
run your mover in real mode. */
#define __SETUP_AND_DEBUG_MODE__ true

/******************************************************************
User specific settings depends on how you have built your mover.
*******************************************************************/


/* Configure which Cutter motor you have.
Types available:
BRUSHLESS 0 (for all hobbyking motors with external ESC)
BRUSHED: 1 (for all brushed motors, A3620 and NIDEC 22)
NIDEC 2 (for NIDEC 24 or NIDEC 22 connected to morgan shield without any modifications) */
const int MY_CUTTERMOTOR = 2;

/* Configure which type of battery you have.
Types availible:
LEADACID 0
NIMH 1
LIION 2
*/
const int MY_BATTERY = 2;

// CUTTER
#define CUTTER_OVERLOAD 100
/* Number of BWF sensors can be 1-4 depending on shield */
const int NUMBER_OF_SENSORS = 2;

// Cutter states
const int MOWING = 0;
const int LAUNCHING = 1;
const int DOCKING = 2;
const int CHARGING = 3;
/* BWF transmitter signals */
#define INSIDE_BWF 5
#define OUTSIDE_BWF 86

// Turning details
#define TURN_INTERVAL 15000
#define REVERSE_DELAY 2
#define TURNDELAY 20 //Reduce for smaller turning angle
/* If you have a bumper connected to pin8, set it to true. Remember to cut the brake connection on your motor shield */
#define __Bumper__ false

// BWF Detection method (true = always, false = only at wire)
#define BWF_DETECTION_ALWAYS true
#define TIMEOUT 6000 //Time without signal before error
/* If you have a lift sensor connection to front wheel (connected to pin9), set it to true */
#define __Lift_Sensor__ false

// Trigger value for the mower to leave the BWF when going home
// The higher value the more turns (in the same direction) the mower can make before leaving
#define BALANCE_TRIGGER_LEVEL 10000
/* Do you have a Sensor? If so, set one of these lines to true. */
#define __MS5883L__ false
#define __MS9150__ false
#define __ADXL345__ true

// Code for inside and outside
//#define INSIDE_BWF 103,4,103
//#define OUTSIDE_BWF 103,107,103
/* Tiltangle */
#define TILTANGLE 45

// Version 2 of the BWF transmitter
#define INSIDE_BWF 5
#define OUTSIDE_BWF 86
/* Flipangle (turn off cutter and stop everything) */
#define FLIPANGLE 75

#define MAJOR_VERSION 4
#define MINOR_VERSION_1 9
#define MINOR_VERSION_2 1
/* Do you have a Display? If so, set one of these lines to true. */
#define __OLED__ false
#define __LCD__ false

// If you have a bumper connected to pin8, uncomment the line below. Remember to cut the brake connection on your motor shield
//#define __Bumper__
/* Do you have a clock? If so, set it to true. */
#define __RTC_CLOCK__ false
#define GO_OUT_TIME 16, 00
#define GO_HOME_TIME 22, 00

// If you have a lift sensor connection to front wheel (connected to pin9), uncomment this line
//#define __Lift_Sensor__
/* Motor Speeds */
#define FULLSPEED 100
#define SLOWSPEED 30
#define CUTTERSPEED 100

// Do you have a Sensor? If so, uncomment one of these lines
//#define __MS5883L__
//#define __MS9150__
//#define __ADXL345__
/* Settings for ADXL345, what angle values the sensor reports when the mover is standing flat.
IMPORTANT! You must calibrate those values for your setup.
See the wiki:https://github.com/sm6yvr/liam/wiki/12.-Gyro-Accelerometer */
/* Try to get inside for max x seconds, then stop and error. */
#define Z_ANGLE_NORMAL 181
#define Y_ANGLE_NORMAL 195

/* Enable this if you need the mower to go backward until it's inside and then turn.
Default behavior is to turn directly when mower is outside BWF, if definition below is enabled this might help mower not to get stuck in slopes.
If mower is not inside within x seconds mower will stop. */
#define GO_BACKWARD_UNTIL_INSIDE false
#define MAX_GO_BACKWARD_TIME 5

/******************************************************************
Common settings that should be same for the most of us.
*******************************************************************/
/* Pin setup following Morgan 1.5 shield and up */
/* Analog pins */
#define WHEEL_MOTOR_A_CURRENT_PIN 0
#define WHEEL_MOTOR_B_CURRENT_PIN 1
#define SOC_PIN 2
#define CUTTER_CURRENT_PIN 3
#define I2C_SDA_PIN 4
#define I2C_SDL_PIN 5
/* Digital pins */
#define RX_PIN 0
#define TX_PIN 1
#define BWF_SENSOR_INPUT_PIN 2
#define WHEEL_MOTOR_A_PWM_PIN 3
#define BWF_SELECT_A_PIN 4
#define DOCK_PIN 5
#define CUTTER_PWM_PIN 6
#define BWF_SELECT_B_PIN 7
#define BUMPER 8
#define LIFT_SENSOR_PIN 9
#define LED_PIN 13
#define WHEEL_MOTOR_B_PWM_PIN 11
#define WHEEL_MOTOR_A_DIRECTION_PIN 12
#define WHEEL_MOTOR_B_DIRECTION_PIN 13

/******************************************************************
Program settings that shold not be changed.
*******************************************************************/

/* Cutter motor types */
#define BRUSHLESS 0
#define BRUSHED 1
#define NIDEC 2

/* Battery */
#define LEADACID 0
#define NIMH 1
#define LIION 2

/* Wheel motor */
#define WHEELMOTOR_OVERLOAD 130
#define WHEELMOTOR_SMOOTHNESS 300

// Do you have a Display? If so, uncomment one of these lines
//#define __OLED__
//#define __LCD__
/* If the mower has repeated overload within the interval below (in milliseconds),
it will flag as having reached a bump. It will then do some action as stated
in the Controller.cpp file. */
#define OVERLOAD_INTERVAL 3000

// Do you have a clock? If so, uncomment the line below
//#define __RTC_CLOCK__
#define GO_OUT_TIME 16, 00
#define GO_HOME_TIME 22, 00
/* CUTTER */
#define CUTTER_OVERLOAD 100

// Tiltangle
#define TILTANGLE 45
/* Cutter states */
const int MOWING = 0;
const int LAUNCHING = 1;
const int DOCKING = 2;
const int CHARGING = 3;

// Flipangle (turn off cutter and stop everything)
#define FLIPANGLE 75
/* Turning details */
#define TURN_INTERVAL 15000
#define REVERSE_DELAY 2
#define TURNDELAY 20 //Reduce for smaller turning angle

// Motor Speeds
#define FULLSPEED 100
#define SLOWSPEED 30
#define CUTTERSPEED 100
/* BWF Detection method (true = always, false = only at wire) */
#define BWF_DETECTION_ALWAYS true
/* Time without signal before error */
#define TIMEOUT 6000

/* Settings for ADXL345, what angle values the sensor reports when the mover is standing flat.
* IMPORTANT! You must calibrate those values for your setup, see the wiki:https://github.com/sm6yvr/liam/wiki/12.-Gyro-Accelerometer */
#define Z_ANGLE_NORMAL 195
#define Y_ANGLE_NORMAL 180
/* Trigger value for the mower to leave the BWF when going home- The higher value
the more turns (in the same direction) the mower can make before leaving */
#define BALANCE_TRIGGER_LEVEL 10000

// Enable this if you need the mower to go backward until it's inside and then turn.
// Default behavior is to turn directly when mower is outside BWF, if definition below is enabled this might help mower not to get stuck in slopes.
// If mower is not inside within x seconds mower will stop.
//#define GO_BACKWARD_UNTIL_INSIDE
//#define MAX_GO_BACKWARD_TIME 5 // try to get inside for max x seconds, then stop and error.
/* Software version */
#define MAJOR_VERSION 5
#define MINOR_VERSION_1 2
#define MINOR_VERSION_2 0

class DEFINITION {
public:
void definePinsInputOutput();
void setDefaultLevels(BATTERY* battery, WHEELMOTOR* left, WHEELMOTOR* right, CUTTERMOTOR* cutter);

private:
};

Expand Down
Loading

0 comments on commit 9f24fd4

Please sign in to comment.