4WD Mecanum Wheel Mobile Robotic Platform, Speed ControlHi

[pintion]

Hi,

I am working with the “4WD Mecanum Wheel Mobile Robotic Platform”.
I have some questions regarding the motor encoders. From my understanding the PID of the motors should handle the the speed of the motors, but needs an speedRPMInput which is set in Motor::PIDRegulate() with speedRPMInput=SPEEDPPS2SPEEDRPM(isr->speedPPS). And isr->speedPPS should be set by an interrupt i guess. The interrupt is initialized in Motor::PIDEnable() with setupInterrupt(), which calls attachInterrupt(isr->pinIRQ,isr->ISRfunc,TRIGGER), so pinIRQ is the interrupt pin which schould call isr->ISRfunc on trigger. And isr->ISRfunc is an function pointer which is not declared, or at least i cant find its declaration.

So in short what does ISRfunc do? How do the encoders work?

[bdaouas]

Hi,

We have contacted the manufacturer of the 4WD Mecanum Wheel Mobile Robotic Platform to provide us information on this. We will post their answer as soon as we receive it.

[bdaouas]

We have received a reply from the manufacturer :

Here, the Interrupt Service Routine is defined in Macro Style, please refer to MotorWheel.h for detail definition.

// Interrupt Type: RISING --> CHANGE 201207
#define irqISR(y,x)
void x();
struct ISRVars y={x};
void x() {
static bool first_pulse=true;
y.pulseEndMicros=micros();
if(first_pulse==false && y.pulseEndMicros>y.pulseStartMicros) {
y.speedPPS=MICROS_PER_SEC/(y.pulseEndMicros-y.pulseStartMicros);
/* y.accPPSS=(y.speedPPS-y.lastSpeedPPS)*y.speedPPS; /
} else first_pulse=false;
y.pulseStartMicros=y.pulseEndMicros;
/ y.lastSpeedPPS=y.speedPPS; */
if(y.pinIRQB!=PIN_UNDEFINED)
y.currDirection=DIR_INVERSE(digitalRead(y.pinIRQ)^digitalRead(y.pinIRQB));
y.currDirection==DIR_ADVANCE?++y.pulses:–y.pulses;
}

struct ISRVars {
void (*ISRfunc)();
//volatile unsigned long pulses;
volatile long pulses; // 201104, direction sensitive
volatile unsigned long pulseStartMicros;
volatile unsigned long pulseEndMicros;
volatile unsigned int speedPPS;
//volatile unsigned int lastSpeedPPS;
//volatile int accPPSS; // acceleration, Pulse Per Sec^2
volatile bool currDirection;
unsigned char pinIRQB;
unsigned char pinIRQ; // pinIRQA 201207
};

And the following is something about “Interrupt Service Routines” from Arduino.cc
arduino.cc/reference/en/lan … interrupt/