机器人微控制器编程（CoCube）-突破边界

Posted 2022-09-08 zhangrelay

将C语言+嵌入式+单片机+ROS2等相关知识点，有机融合到一门课程之中。

突破windows或linux的限制，突破电脑或手机的限制，突破单片机原有的理论实践体系，全面提升到CoCube机器人平台。

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模拟量采集和转换：

#include "Arduino.h"
#include <ESP32AnalogRead.h>
ESP32AnalogRead adc;
void setup()

	adc.attach(34);
	Serial.begin(115200);

 
void loop()

	delay(50);
	Serial.println("Voltage = "+String(adc.readVoltage()));

 

机器人电池电压的实时监控：

#include <micro_ros_arduino.h>
 
#include <stdio.h>
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
 
#include <std_msgs/msg/float32.h>
 
#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT)
#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect and ESP32 Dev module
#endif
 
#define BAT_DET 34
 
rcl_publisher_t publisher;
std_msgs__msg__Float32 msg;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
 
#define LED_PIN 13
 
#define RCCHECK(fn)  rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK))error_loop();
#define RCSOFTCHECK(fn)  rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK))
 
 
void error_loop()
  while(1)
    digitalWrite(LED_PIN, !digitalRead(LED_PIN));
    delay(100);
  

 
void timer_callback(rcl_timer_t * timer, int64_t last_call_time)

  RCLC_UNUSED(last_call_time);
  if (timer != NULL) 
    RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
    msg.data++;
  

 
void setup() 
  set_microros_wifi_transports("***", "***", "***", 8888);
 
  pinMode(BAT_DET, INPUT);
  
  pinMode(LED_PIN, OUTPUT);
  digitalWrite(LED_PIN, HIGH);
  
 
  delay(2000);
 
  allocator = rcl_get_default_allocator();
 
  //create init_options
  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
 
  // create node
  RCCHECK(rclc_node_init_default(&node, "robot_battery_wifi_node", "", &support));
 
  // create publisher
  RCCHECK(rclc_publisher_init_best_effort(
    &publisher,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float32),
    "robot_battery"));
 
  msg.data = 0.66;

 
void loop() 
    float battery = 4.21 * analogRead(BAT_DET) / 2435;
    RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
    msg.data=battery;
    delay(1000);

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不仅掌握的模拟量基本读取，也能知道其应用，例如电池电量测量，环境亮度监测等一系列涉及到具体机器人各环节的基础知识点。

从原有枯燥的单片机知识点融合到机器人细节设计的实际调试。

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C和C++的区别，电脑C++编程和嵌入式C编程，代码如何保持相似的风格。

 

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ESP32：

  RCCHECK(rclc_publisher_init_best_effort(
    &publisher,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
    "topic_name"));

 

  RCCHECK(rclc_publisher_init_default(
    &publisher,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
    "topic_name"));

PC：

rclcpp::QoS qos(rclcpp::KeepLast(7));

pub_ = this->create_publisher<std_msgs::msg::String>("chatter", qos);

sub_ = create_subscription<std_msgs::msg::String>("chatter", rclcpp::SensorDataQoS(), callback);

sub_ = create_subscription<std_msgs::msg::String>("chatter", 10, callback);

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