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robot_config.h
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robot_config.h
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// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#include <SPIFFS.h>
class CONFIG {
public:
static constexpr char* FW_VERSION = (char*)"0.6.0-iron";
// ESP32 pin assignment
static const uint8_t LED_PIN = 2; // ESP32 on-board LED
static const uint8_t BAT_ADC_PIN = 36;
// LiDAR
static const uint8_t LIDAR_PWM_PIN = 15;
static const uint8_t LIDAR_EN_PIN = 19;
// Brushless motors
// static const uint8_t MOT_PWM_LEFT_PIN = 33; // weaker pulldown
static const uint8_t MOT_PWM_LEFT_PIN = 27;
static const uint8_t MOT_CW_LEFT_PIN = 23;
static const uint8_t MOT_FG_LEFT_PIN = 34;
static const uint8_t MOT_PWM_RIGHT_PIN = 25; //weaker pulldown, was 13;
static const uint8_t MOT_CW_RIGHT_PIN = 13; //25;
static const uint8_t MOT_FG_RIGHT_PIN = 35;
// Brushed motors
static const uint8_t MOT_ENC_A_RIGHT_PIN = MOT_FG_RIGHT_PIN;
static const uint8_t MOT_ENC_B_RIGHT_PIN = 26;
static const uint8_t MOT_IN1_RIGHT_PIN = MOT_PWM_RIGHT_PIN;
static const uint8_t MOT_IN2_RIGHT_PIN = MOT_CW_RIGHT_PIN;
static const uint8_t MOT_ENC_A_LEFT_PIN = MOT_FG_LEFT_PIN;
static const uint8_t MOT_ENC_B_LEFT_PIN = 32;
static const uint8_t MOT_IN1_LEFT_PIN = MOT_PWM_LEFT_PIN;
static const uint8_t MOT_IN2_LEFT_PIN = MOT_CW_LEFT_PIN;
// PWM channels
enum pwm_channel {
MOT_PWM_LEFT_CHANNEL = 0,
MOT_PWM_RIGHT_CHANNEL = 1,
LIDAR_PWM_CHANNEL = 2,
};
static const uint16_t MOT_PWM_FREQ = 20000; // 15..25KHz
static const uint8_t MOT_PWM_BITS = 10;
static const uint32_t LIDAR_PWM_FREQ = 10000;
static const uint8_t LIDAR_PWM_BITS = 11;
static const uint8_t RESET_SETTINGS_HOLD_SEC = 3; // Hold BOOT button to reset WiFi
static const uint16_t BAT_PRESENT_MV_MIN = 4000;
enum param_name_index {
PARAM_SSID,
PARAM_PASS,
PARAM_DEST_IP,
PARAM_DEST_PORT,
PARAM_ROBOT_MODEL,
PARAM_ROBOT_MODEL_NAME,
PARAM_LIDAR_MODEL,
PARAM_LIDAR_SCAN_FREQ_HZ,
PARAM_MOTOR_MODEL,
PARAM_BASE_DIA,
PARAM_BASE_WHEEL_TRACK,
PARAM_BASE_WHEEL_DIA,
PARAM_MAX_WHEEL_ACCEL,
PARAM_MOTOR_MAX_RPM,
PARAM_WHEEL_PPR,
PARAM_MOTOR_VOLTAGE,
PARAM_MOTOR_DRIVER_TYPE,
PARAM_MOTOR_ENCODER_TYPE,
PARAM_MOTOR_DIRECTION_REVERSED,
PARAM_MOTOR_ENCODER_REVERSED,
PARAM_MOTOR_PID_KP,
PARAM_MOTOR_PID_KI,
PARAM_MOTOR_PID_KD,
PARAM_MOTOR_PID_MODE,
PARAM_MOTOR_PID_PERIOD,
PARAM_MOTOR_MAX_RPM_DERATE,
PARAM_BATTERY_ADC_ATTENUATION,
PARAM_COUNT,
};
public: // Misc constants
enum error_blink_count { // ESP32 blinks when firmware init fails
ERR_NONE = 0,
ERR_WIFI_CONN = 1,
ERR_LIDAR_START = 2,
ERR_UROS_AGENT_CONN = 3,
ERR_WIFI_LOST = 4,
ERR_UROS_INIT = 5,
ERR_UROS_NODE = 6,
ERR_UROS_PUBSUB = 7,
ERR_UROS_EXEC = 8,
ERR_UROS_TIME_SYNC = 9,
ERR_UROS_SPIN = 10,
ERR_UROS_PARAM = 11,
ERR_SPIFFS_INIT = 12,
};
protected:
String param_value[PARAM_COUNT] = {"", "", "", "8888",
"MAKERSPET_LOKI", "MAKERSPET_LOKI", "YDLIDAR X4",
"204.2", "159.063", "12V_280RPM_234.3PPR_TB6612FNG",
"67", "2.0", "280", "234.3", "12",
"TB6612FNG", "ENCA_ENCB_QUAD", "NONE", "NONE",
"0.001", "0.001", "0", "ON_MEASUREMENT", "0.03", "0.9", "11"};
char* PARAM_NAME[PARAM_COUNT] = {(char *)"ssid", (char *)"pass",
(char *)"dest_ip", (char *)"dest_port", (char *)"robot_model",
(char *)"robot_model_name", (char *)"lidar_model",
(char *)"lidar_scan_freq_hz", (char *)"motor_model",
(char *)"base_dia", (char *)"wheel_track",
(char *)"base_wheel_dia", (char *)"max_wheel_accel",
(char *)"motor_max_rpm", (char *)"wheel_ppr", (char *)"motor_voltage",
(char *)"motor_driver_type", (char *)"motor_encoder_type",
(char *)"motor_direction_reversed", (char *)"motor_encoder_reversed",
(char *)"motor_pid_kp", (char *)"motor_pid_ki",
(char *)"motor_pid_kd", (char *)"motor_pid_mode",
(char *)"motor_pid_period", (char *)"motor_max_rpm_derate",
(char *)"battery_adc_attenuation",};
public:
static const uint8_t ERR_REBOOT_BLINK_CYCLES = 3; // Blink out an error a few times, then reboot
static const uint32_t LONG_BLINK_MS = 1000;
static const uint32_t LONG_BLINK_PAUSE_MS = 2000;
static const uint32_t SHORT_BLINK_MS = 200;
static const uint32_t SHORT_BLINK_PAUSE_MS = 500;
static const uint32_t SPIN_TELEM_STATS = 100;
// Micro-ROS config
static constexpr char * UROS_NODE_NAME = (char *)"pet"; // temp hardcoded
static constexpr char * UROS_TELEM_TOPIC_NAME = (char *)"telemetry";
static constexpr char * UROS_LOG_TOPIC_NAME = (char *)"rosout";
//static constexpr char * UROS_DIAG_TOPIC_NAME = (char *)"diagnostics";
static constexpr char * UROS_CMD_VEL_TOPIC_NAME = (char *)"cmd_vel";
static const uint32_t UROS_PING_PUB_PERIOD_US = 10*1000*1000;
static const uint32_t UROS_TELEM_PUB_PERIOD_US = 50*1000;
static const uint32_t UROS_TIME_SYNC_TIMEOUT_MS = 1000;
static const uint32_t UROS_PARAMS_UPDATE_PERIOD_US = 500*1000;
// ROS Parameters
const uint8_t UROS_PARAM_COUNT = 25;
static constexpr char * UROS_PARAM_LIDAR_SCAN_FREQ_TARGET = (char *)"lidar.scan.freq.target";
static constexpr char * UROS_PARAM_LIDAR_SCAN_FREQ_NOW = (char *)"lidar.scan.freq.now";
static constexpr char * UROS_PARAM_MOTOR_LEFT_ENCODER_NOW = (char *)"motor.left.encoder.now";
static constexpr char * UROS_PARAM_MOTOR_RIGHT_ENCODER_NOW = (char *)"motor.right.encoder.now";
static constexpr char * UROS_PARAM_MOTOR_LEFT_RPM_NOW = (char *)"motor.left.rpm.now";
static constexpr char * UROS_PARAM_MOTOR_LEFT_RPM_TARGET = (char *)"motor.left.rpm.target";
static constexpr char * UROS_PARAM_MOTOR_LEFT_PWM_NOW = (char *)"motor.left.pwm.now";
static constexpr char * UROS_PARAM_MOTOR_RIGHT_RPM_NOW = (char *)"motor.right.rpm.now";
static constexpr char * UROS_PARAM_MOTOR_RIGHT_RPM_TARGET = (char *)"motor.right.rpm.target";
static constexpr char * UROS_PARAM_MOTOR_RIGHT_PWM_NOW = (char *)"motor.right.pwm.now";
static constexpr char * UROS_PARAM_MOTOR_ENCODER_PPR = (char *)"motor.encoder.ppr";
static constexpr char * UROS_PARAM_MOTOR_ENCODER_TPR = (char *)"motor.encoder.tpr";
static constexpr char * UROS_PARAM_MOTOR_RPM_MAX_DERATED = (char *)"motor.rpm.max.derated";
static constexpr char * UROS_PARAM_MOTOR_PID_KP = (char *)"motor.pid.kp";
static constexpr char * UROS_PARAM_MOTOR_PID_KI = (char *)"motor.pid.ki";
static constexpr char * UROS_PARAM_MOTOR_PID_KD = (char *)"motor.pid.kd";
static constexpr char * UROS_PARAM_MOTOR_PID_ON_ERROR = (char *)"motor.pid.on_error";
static constexpr char * UROS_PARAM_MOTOR_PID_PERIOD = (char *)"motor.pid.period";
static constexpr char * UROS_PARAM_MAX_WHEEL_ACCEL = (char *)"base.wheel.accel.max";
static constexpr char * UROS_PARAM_BASE_DIA = (char *)"base.diameter";
static constexpr char * UROS_PARAM_BASE_WHEEL_TRACK = (char *)"base.wheel.track";
static constexpr char * UROS_PARAM_BASE_WHEEL_DIA = (char *)"base.wheel.diameter";
static const uint16_t LIDAR_BUF_LEN = 400;
static const uint16_t LIDAR_SERIAL_RX_BUF_LEN = 1024;
static const uint32_t WIFI_CONN_TIMEOUT_MS = 30000;
static constexpr char * PARAM_AP_WIFI_SSID = (char *) "MAKER'S PET";
public:
// Hack
// Cache divisions
float speed_diff_to_us;
float base_wheel_accel_max;
float wheel_track_recip;
float wheel_track_radius;
float wheel_radius;
float wheel_perim_len_div60;
float wheel_perim_len_div60_recip;
public:
char* const* getParamNames() {
return PARAM_NAME;
}
String * getParamValues() {
return param_value;
}
// Hack
void setWheelDia(float wheel_dia) {
wheel_radius = wheel_dia * 0.5;
wheel_perim_len_div60 = PI * wheel_dia / 60;
wheel_perim_len_div60_recip = 1/wheel_perim_len_div60;
}
void setMaxWheelAccel(float max_wheel_accel) {
base_wheel_accel_max = max_wheel_accel;
speed_diff_to_us = 1e6/max_wheel_accel;
}
void setWheelTrack(float wheel_track) {
wheel_track_radius = wheel_track*0.5f;
wheel_track_recip = 1/wheel_track;
}
// Hack
float speed_to_rpm(float speed_ms) {
return speed_ms*wheel_perim_len_div60_recip;
}
float rpm_to_speed(float rpm) {
return rpm*wheel_perim_len_div60;
}
void twistToWheelSpeeds(float speed_lin_x, float speed_ang_z,
float *speed_right, float *speed_left) {
float ang_component = speed_ang_z*wheel_track_radius;
*speed_right = speed_lin_x + ang_component;
*speed_left = speed_lin_x - ang_component;
}
};