2015-2016_Mouserat / Test

PID Test

Dependencies:   AVEncoder mbed-src-AV

main.cpp@4:112f3d35bd2d, 2015-12-01 (annotated)

Committer:
intgsull
Date:
Tue Dec 01 19:38:27 2015 +0000
Revision:
4:112f3d35bd2d
Parent:
3:40333f38771d
Child:
5:f704940c9c7e
added ir pid

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jimmery 0:13d8a77fb1d7 1 #include "mbed.h"
jimmery 0:13d8a77fb1d7 2 #include "AVEncoder.h"
jimmery 0:13d8a77fb1d7 3
jimmery 0:13d8a77fb1d7 4 // set things
jimmery 0:13d8a77fb1d7 5 Serial pc(SERIAL_TX, SERIAL_RX);
jimmery 0:13d8a77fb1d7 6 Ticker Systicker;
jimmery 0:13d8a77fb1d7 7 Timer timer;
jimmery 0:13d8a77fb1d7 8
jimmery 0:13d8a77fb1d7 9 PwmOut right_forward(PB_10);
jimmery 0:13d8a77fb1d7 10 PwmOut right_reverse(PA_6);
jimmery 0:13d8a77fb1d7 11 PwmOut left_forward(PA_7);
jimmery 0:13d8a77fb1d7 12 PwmOut left_reverse(PB_6);
jimmery 0:13d8a77fb1d7 13
jimmery 0:13d8a77fb1d7 14 // TODO: change our encoder pins from AnalogIn into:
jimmery 0:13d8a77fb1d7 15 // otherwise, we can also use the AVEncoder thing as well.
jimmery 0:13d8a77fb1d7 16 AVEncoder l_enco(PA_15, PB_3);
jimmery 0:13d8a77fb1d7 17 AVEncoder r_enco(PA_1, PA_10);
jimmery 0:13d8a77fb1d7 18
jimmery 0:13d8a77fb1d7 19 // gyro
jimmery 0:13d8a77fb1d7 20 AnalogIn _gyro(PA_0);
jimmery 0:13d8a77fb1d7 21 // AnalogIn gyro_cal(PC_1) ?? currently this isn't connected.
jimmery 0:13d8a77fb1d7 22
jimmery 0:13d8a77fb1d7 23 //Left Front IR
jimmery 0:13d8a77fb1d7 24 DigitalOut eLF(PC_3);
jimmery 0:13d8a77fb1d7 25 AnalogIn rLF(PC_0);
jimmery 0:13d8a77fb1d7 26 //PC_4 is an ADC
jimmery 0:13d8a77fb1d7 27 //Left Side IR
jimmery 0:13d8a77fb1d7 28 DigitalOut eLS(PC_2);
jimmery 0:13d8a77fb1d7 29 AnalogIn rLS(PC_1);
jimmery 0:13d8a77fb1d7 30
intgsull 3:40333f38771d 31 //Right Side IR
intgsull 3:40333f38771d 32 DigitalOut eRS(PC_12);
intgsull 3:40333f38771d 33 AnalogIn rRS(PA_4);
jimmery 0:13d8a77fb1d7 34
intgsull 3:40333f38771d 35 //Right Front IR
intgsull 3:40333f38771d 36 DigitalOut eRF(PC_15);
intgsull 3:40333f38771d 37 AnalogIn rRF(PB_0);
jimmery 0:13d8a77fb1d7 38
jimmery 0:13d8a77fb1d7 39 DigitalOut myled(LED1);
jimmery 0:13d8a77fb1d7 40
jimmery 0:13d8a77fb1d7 41 volatile float gyro_offset = 0;
jimmery 0:13d8a77fb1d7 42
jimmery 0:13d8a77fb1d7 43 volatile float line_prevError = 0;
jimmery 0:13d8a77fb1d7 44 volatile float enco_prevError = 0;
jimmery 0:13d8a77fb1d7 45 volatile float gyro_prevError = 0;
jimmery 0:13d8a77fb1d7 46
jimmery 0:13d8a77fb1d7 47 volatile float line_accumulator = 0;
jimmery 0:13d8a77fb1d7 48 volatile float line_decayFactor = 1;
jimmery 0:13d8a77fb1d7 49 volatile float enco_accumulator = 0;
intgsull 4:112f3d35bd2d 50 volatile float enco_decayFactor = 1.6;
jimmery 0:13d8a77fb1d7 51 volatile float gyro_accumulator = 0;
intgsull 3:40333f38771d 52 volatile float gyro_decayFactor = 1;
jimmery 0:13d8a77fb1d7 53
intgsull 4:112f3d35bd2d 54 volatile float set_speed = .75;
intgsull 4:112f3d35bd2d 55 volatile float left_speed = .75;
intgsull 4:112f3d35bd2d 56 volatile float right_speed = .75;
jimmery 0:13d8a77fb1d7 57
intgsull 4:112f3d35bd2d 58 const float left_max_speed = 5; // max speed is 6 encoder pulses per ms.
intgsull 4:112f3d35bd2d 59 const float right_max_speed = 5;
jimmery 0:13d8a77fb1d7 60
jimmery 2:82a11e992619 61 const float gyro_propo = 6.5;
jimmery 0:13d8a77fb1d7 62 const float gyro_integ = 0;
jimmery 2:82a11e992619 63 const float gyro_deriv = 10;
jimmery 0:13d8a77fb1d7 64
intgsull 4:112f3d35bd2d 65 const float enco_propo = 10;
intgsull 4:112f3d35bd2d 66 const float enco_integ = 15;//1;
intgsull 4:112f3d35bd2d 67 const float enco_deriv = 2000;//.0002;
jimmery 0:13d8a77fb1d7 68
intgsull 3:40333f38771d 69 const float spin_enco_weight = 1;
jimmery 0:13d8a77fb1d7 70 const float spin_gyro_weight = 1 - spin_enco_weight;
jimmery 0:13d8a77fb1d7 71
intgsull 4:112f3d35bd2d 72 const float frontWall = 0.2; //need to calibrate this threshold to a value where mouse can stop in time
intgsull 1:98efd8dd9077 73 //something like this may be useful
intgsull 1:98efd8dd9077 74
jimmery 0:13d8a77fb1d7 75 volatile float enco_error;
jimmery 0:13d8a77fb1d7 76 volatile float enco_pid;
jimmery 0:13d8a77fb1d7 77 volatile float gyro_error;
jimmery 0:13d8a77fb1d7 78 volatile float gyro_pid;
jimmery 0:13d8a77fb1d7 79 volatile float w_error;
jimmery 0:13d8a77fb1d7 80
intgsull 4:112f3d35bd2d 81 ////////////////////////////////////ir PID constants////////////////////////////////////////////////
intgsull 4:112f3d35bd2d 82 const float leftWall= 0;
intgsull 4:112f3d35bd2d 83 const float rightWall= 0; //we need to find the threshold value for when
intgsull 4:112f3d35bd2d 84 //left or right walls are present
intgsull 4:112f3d35bd2d 85 const float irOffset= 0; // difference between right and left ir sensors when
intgsull 4:112f3d35bd2d 86 //mouse is in the middle
intgsull 4:112f3d35bd2d 87 const float lirOffset= 0; //middle value for when there is only a wall on one
intgsull 4:112f3d35bd2d 88 const float rirOffset= 0; //side of the mouse (left and right)
intgsull 4:112f3d35bd2d 89 volatile float irError = 0;
intgsull 4:112f3d35bd2d 90 volatile float irErrorD = 0;
intgsull 4:112f3d35bd2d 91 volatile float irErrorI = 0;
intgsull 4:112f3d35bd2d 92 volatile float oldirError = 0;
intgsull 4:112f3d35bd2d 93 volatile float totalirError= 0; //errors
intgsull 4:112f3d35bd2d 94 const float irKp = 0;
intgsull 4:112f3d35bd2d 95 const float irKd = 0;
intgsull 4:112f3d35bd2d 96 const float irKi = 0; //constants
intgsull 4:112f3d35bd2d 97 volatile float leftD;
intgsull 4:112f3d35bd2d 98 volatile float rightD;
intgsull 4:112f3d35bd2d 99 void irPID()
intgsull 4:112f3d35bd2d 100 {
intgsull 4:112f3d35bd2d 101 eLS = 1;
intgsull 4:112f3d35bd2d 102 leftD = rLS.read();
intgsull 4:112f3d35bd2d 103 eLS = 0;
intgsull 4:112f3d35bd2d 104 eRS = 1;
intgsull 4:112f3d35bd2d 105 rightD = rRS.read();
intgsull 4:112f3d35bd2d 106 eRS = 0;
intgsull 4:112f3d35bd2d 107 if(leftD > leftWall && rightD > rightWall)//walls on both sides
intgsull 4:112f3d35bd2d 108 {
intgsull 4:112f3d35bd2d 109 irError = rightD-leftD-irOffset;
intgsull 4:112f3d35bd2d 110
intgsull 4:112f3d35bd2d 111 irErrorD = irError-oldirError;
intgsull 4:112f3d35bd2d 112
intgsull 4:112f3d35bd2d 113 irErrorI += irError;
intgsull 4:112f3d35bd2d 114 }
intgsull 4:112f3d35bd2d 115 else if(leftD > leftWall) //just left wall
intgsull 4:112f3d35bd2d 116 {
intgsull 4:112f3d35bd2d 117
intgsull 4:112f3d35bd2d 118 irError = 2*(lirOffset-leftD);
intgsull 4:112f3d35bd2d 119
intgsull 4:112f3d35bd2d 120 irErrorD=irError-oldirError;
intgsull 4:112f3d35bd2d 121
intgsull 4:112f3d35bd2d 122 irErrorI += irError;
intgsull 4:112f3d35bd2d 123 }
intgsull 4:112f3d35bd2d 124 else if(rightD > rightWall)//just right wall
intgsull 4:112f3d35bd2d 125 {
intgsull 4:112f3d35bd2d 126 irError=2*(rightD-rirOffset);
intgsull 4:112f3d35bd2d 127
intgsull 4:112f3d35bd2d 128 irError = irError-oldirError;
intgsull 4:112f3d35bd2d 129
intgsull 4:112f3d35bd2d 130 irErrorI += irError;
intgsull 4:112f3d35bd2d 131 }
intgsull 4:112f3d35bd2d 132 else if(leftD < leftWall && rightD < rightWall)//no walls!! Use encoder PID
intgsull 4:112f3d35bd2d 133 {
intgsull 4:112f3d35bd2d 134 irError = 0;
intgsull 4:112f3d35bd2d 135 irErrorD = 0;
intgsull 4:112f3d35bd2d 136 irErrorI += irError;
intgsull 4:112f3d35bd2d 137 }
intgsull 4:112f3d35bd2d 138 totalirError = irError*irKp + irErrorD*irKd + irErrorI*irKi;
intgsull 4:112f3d35bd2d 139 oldirError = irError;
intgsull 4:112f3d35bd2d 140 left_speed -= totalirError;
intgsull 4:112f3d35bd2d 141 right_speed += totalirError;
intgsull 4:112f3d35bd2d 142 }
intgsull 4:112f3d35bd2d 143
jimmery 2:82a11e992619 144 // this is just so that we can maintain what state our mouse is in.
jimmery 2:82a11e992619 145 // currently this has no real use, but it may in the future.
jimmery 2:82a11e992619 146 // or we could just remove this entirely.
jimmery 2:82a11e992619 147 typedef enum
jimmery 2:82a11e992619 148 {
jimmery 2:82a11e992619 149 STOPPED,
jimmery 2:82a11e992619 150 FORWARD,
jimmery 2:82a11e992619 151 TURNING,
jimmery 2:82a11e992619 152 UNKNOWN
jimmery 2:82a11e992619 153 } STATE;
jimmery 2:82a11e992619 154 volatile STATE mouse_state;
jimmery 2:82a11e992619 155
jimmery 2:82a11e992619 156 void watchOut();
jimmery 2:82a11e992619 157 void offsetCalc();
jimmery 2:82a11e992619 158 void stop();
jimmery 2:82a11e992619 159
jimmery 0:13d8a77fb1d7 160 void reset()
jimmery 0:13d8a77fb1d7 161 {
jimmery 0:13d8a77fb1d7 162 l_enco.reset();
jimmery 0:13d8a77fb1d7 163 r_enco.reset();
jimmery 0:13d8a77fb1d7 164 }
jimmery 0:13d8a77fb1d7 165
jimmery 0:13d8a77fb1d7 166 void systick()
jimmery 0:13d8a77fb1d7 167 {
intgsull 1:98efd8dd9077 168 watchOut();
jimmery 2:82a11e992619 169 if ( mouse_state == STOPPED )
jimmery 2:82a11e992619 170 {
jimmery 2:82a11e992619 171 offsetCalc();
jimmery 2:82a11e992619 172 stop();
jimmery 2:82a11e992619 173 return;
jimmery 2:82a11e992619 174 }
intgsull 1:98efd8dd9077 175
jimmery 0:13d8a77fb1d7 176 enco_error = l_enco.getPulses() - r_enco.getPulses();
jimmery 0:13d8a77fb1d7 177 gyro_error = _gyro.read() - gyro_offset;
jimmery 0:13d8a77fb1d7 178
jimmery 2:82a11e992619 179 enco_accumulator += enco_error;
jimmery 2:82a11e992619 180 gyro_accumulator += gyro_error;
jimmery 2:82a11e992619 181
jimmery 0:13d8a77fb1d7 182 enco_pid = 0;
jimmery 2:82a11e992619 183 enco_pid += enco_propo * enco_error;
jimmery 2:82a11e992619 184 enco_pid += enco_integ * enco_accumulator;
jimmery 2:82a11e992619 185 enco_pid += enco_deriv * (enco_error - enco_prevError);
jimmery 0:13d8a77fb1d7 186
jimmery 0:13d8a77fb1d7 187 gyro_pid = 0;
jimmery 0:13d8a77fb1d7 188 gyro_pid += gyro_propo * gyro_error;
jimmery 2:82a11e992619 189 gyro_pid += gyro_integ * gyro_accumulator;
jimmery 0:13d8a77fb1d7 190 gyro_pid += gyro_deriv * (gyro_error - gyro_prevError);
jimmery 0:13d8a77fb1d7 191
jimmery 0:13d8a77fb1d7 192 w_error = spin_enco_weight * enco_pid + spin_gyro_weight * gyro_pid;
jimmery 2:82a11e992619 193 left_speed = set_speed + w_error;
jimmery 2:82a11e992619 194 right_speed = set_speed - w_error;
jimmery 0:13d8a77fb1d7 195
jimmery 0:13d8a77fb1d7 196 left_forward = left_speed / left_max_speed;
jimmery 0:13d8a77fb1d7 197 left_reverse = 0;
jimmery 0:13d8a77fb1d7 198 right_forward = right_speed / right_max_speed;
jimmery 0:13d8a77fb1d7 199 right_reverse = 0;
jimmery 0:13d8a77fb1d7 200
jimmery 2:82a11e992619 201 enco_prevError = enco_error;
jimmery 2:82a11e992619 202 gyro_prevError = gyro_error;
jimmery 2:82a11e992619 203
jimmery 2:82a11e992619 204 enco_accumulator += enco_error;
jimmery 2:82a11e992619 205 gyro_accumulator += gyro_error;
jimmery 2:82a11e992619 206
jimmery 2:82a11e992619 207 enco_accumulator /= enco_decayFactor;
jimmery 2:82a11e992619 208 gyro_accumulator /= gyro_decayFactor;
jimmery 2:82a11e992619 209
jimmery 2:82a11e992619 210 //reset();
jimmery 0:13d8a77fb1d7 211 }
jimmery 0:13d8a77fb1d7 212
jimmery 0:13d8a77fb1d7 213 // computes gyro_offset
jimmery 0:13d8a77fb1d7 214 // uses a "weighted" average.
jimmery 0:13d8a77fb1d7 215 // idea is that the current gyro offset is weighted more than previous ones.
jimmery 0:13d8a77fb1d7 216 // uses the following y(n) = 1/2 * y(n-1) + 1/2 * x(n).
jimmery 0:13d8a77fb1d7 217 // (therefore y(n) = sum of x(i)/2^i from i from 0 to n.)
jimmery 0:13d8a77fb1d7 218 // this maintains that there will be some influence from previous factors, but keeps the current value at a higher weight.
jimmery 0:13d8a77fb1d7 219 // currently this is only in the setup function. we can run this when the mouse is running in a line
jimmery 0:13d8a77fb1d7 220 // when we figure out good line running pid.
jimmery 0:13d8a77fb1d7 221 void offsetCalc()
jimmery 0:13d8a77fb1d7 222 {
jimmery 0:13d8a77fb1d7 223 gyro_offset = gyro_offset / 2 + _gyro.read() / 2;
jimmery 0:13d8a77fb1d7 224 }
jimmery 0:13d8a77fb1d7 225
jimmery 0:13d8a77fb1d7 226
intgsull 1:98efd8dd9077 227 void stop()
intgsull 1:98efd8dd9077 228 {
intgsull 1:98efd8dd9077 229 left_forward = 1;
intgsull 1:98efd8dd9077 230 left_reverse = 1;
intgsull 1:98efd8dd9077 231 right_forward = 1;
intgsull 1:98efd8dd9077 232 right_reverse = 1;
jimmery 2:82a11e992619 233 }
intgsull 1:98efd8dd9077 234
intgsull 1:98efd8dd9077 235 void watchOut()
intgsull 1:98efd8dd9077 236 {
intgsull 1:98efd8dd9077 237 eRF = 1;
jimmery 2:82a11e992619 238 float right = rRF.read();
jimmery 2:82a11e992619 239 eRF = 0;
intgsull 1:98efd8dd9077 240 eLF = 1;
jimmery 2:82a11e992619 241 float left = rLF.read();
jimmery 2:82a11e992619 242 eLF = 0;
jimmery 2:82a11e992619 243 if(left > frontWall || right > frontWall)
intgsull 1:98efd8dd9077 244 {
jimmery 2:82a11e992619 245 mouse_state = STOPPED;
intgsull 1:98efd8dd9077 246 }
intgsull 1:98efd8dd9077 247 }
intgsull 1:98efd8dd9077 248
intgsull 1:98efd8dd9077 249
intgsull 4:112f3d35bd2d 250
jimmery 0:13d8a77fb1d7 251 void setup()
jimmery 0:13d8a77fb1d7 252 {
jimmery 0:13d8a77fb1d7 253 pc.printf("Hello World\r\n");
jimmery 0:13d8a77fb1d7 254
jimmery 0:13d8a77fb1d7 255 eRS = 0;
jimmery 0:13d8a77fb1d7 256 eRF = 0;
jimmery 0:13d8a77fb1d7 257 eLS = 0;
jimmery 0:13d8a77fb1d7 258 eLF = 0;
jimmery 0:13d8a77fb1d7 259
jimmery 2:82a11e992619 260 mouse_state = FORWARD;
jimmery 2:82a11e992619 261
jimmery 0:13d8a77fb1d7 262 myled = 1;
jimmery 0:13d8a77fb1d7 263
jimmery 0:13d8a77fb1d7 264 for ( int i = 0; i < 1000; i++ )
jimmery 0:13d8a77fb1d7 265 {
jimmery 0:13d8a77fb1d7 266 offsetCalc();
jimmery 0:13d8a77fb1d7 267 }
jimmery 0:13d8a77fb1d7 268
jimmery 0:13d8a77fb1d7 269 //left_forward = left_speed / left_max_speed;
jimmery 0:13d8a77fb1d7 270 // left_reverse = 0;
jimmery 0:13d8a77fb1d7 271 // right_forward = right_speed / right_max_speed;
jimmery 0:13d8a77fb1d7 272 // right_reverse = 0;
jimmery 0:13d8a77fb1d7 273
jimmery 0:13d8a77fb1d7 274 wait(2);
jimmery 0:13d8a77fb1d7 275
jimmery 0:13d8a77fb1d7 276 // repeat this for some time frame.
jimmery 0:13d8a77fb1d7 277 Systicker.attach_us(&systick, 1000);
jimmery 0:13d8a77fb1d7 278 }
jimmery 0:13d8a77fb1d7 279
jimmery 0:13d8a77fb1d7 280
jimmery 0:13d8a77fb1d7 281 int main() {
jimmery 0:13d8a77fb1d7 282 setup();
intgsull 3:40333f38771d 283
intgsull 3:40333f38771d 284
jimmery 0:13d8a77fb1d7 285 while(1) {
intgsull 3:40333f38771d 286 //
intgsull 3:40333f38771d 287 // pc.printf("left pulss %f, right pulses %f \r\n", l_enco.getPulses(), r_enco.getPulses());
intgsull 3:40333f38771d 288 // //wait(1);
intgsull 3:40333f38771d 289 }
intgsull 3:40333f38771d 290 // pc.printf("left pulses %d, right pulses %d \r\n", l_enco.getPulses(), r_enco.getPulses()); //encoder testing
jimmery 0:13d8a77fb1d7 291 //wait(1);
jimmery 0:13d8a77fb1d7 292 }