Werkende PID regelaar met PC input, nieuwe constanten (Kp etc) nog niet toegevoegd.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of frdm_Motor_V2_4 by
main.cpp@27:e5d6a79abf32, 2015-10-21 (annotated)
- Committer:
- Rvs94
- Date:
- Wed Oct 21 14:40:07 2015 +0000
- Revision:
- 27:e5d6a79abf32
- Parent:
- 26:70e5b6908e0a
Motor zonder PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Rvs94 | 25:ae908de29943 | 1 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 2 | // Motorscript voor 2 motoren voor de "SJOEL ROBOT", Groep 7 |
Rvs94 | 25:ae908de29943 | 3 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 4 | // Libraries |
Rvs94 | 25:ae908de29943 | 5 | //--------------------------------------------------------------------------------------------------------------------------// |
Margreeth95 | 0:284ed397e046 | 6 | #include "mbed.h" |
Margreeth95 | 0:284ed397e046 | 7 | #include "MODSERIAL.h" |
Margreeth95 | 0:284ed397e046 | 8 | #include "HIDScope.h" |
Margreeth95 | 0:284ed397e046 | 9 | #include "QEI.h" |
Rvs94 | 12:69ab81cf5b7d | 10 | #include "biquadFilter.h" |
Rvs94 | 25:ae908de29943 | 11 | |
Rvs94 | 25:ae908de29943 | 12 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 13 | // Constanten/Inputs/Outputs |
Rvs94 | 25:ae908de29943 | 14 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 15 | MODSERIAL pc(USBTX, USBRX); // To/From PC |
Rvs94 | 25:ae908de29943 | 16 | QEI Encoder2(D3, D2, NC, 32); // Encoder Motor 2 |
Rvs94 | 25:ae908de29943 | 17 | QEI Encoder1(D13,D12,NC, 32); // Encoder Motor 1 |
Rvs94 | 25:ae908de29943 | 18 | HIDScope scope(4); // Scope, 4 channels |
Rvs94 | 20:f5091e29cd26 | 19 | |
Rvs94 | 25:ae908de29943 | 20 | // LEDs |
Rvs94 | 25:ae908de29943 | 21 | DigitalOut LedR(LED_RED); |
Rvs94 | 25:ae908de29943 | 22 | DigitalOut LedG(LED_GREEN); |
Rvs94 | 25:ae908de29943 | 23 | DigitalOut LedB(LED_BLUE); |
Rvs94 | 20:f5091e29cd26 | 24 | |
Rvs94 | 25:ae908de29943 | 25 | // Motor |
Rvs94 | 25:ae908de29943 | 26 | DigitalOut motor1direction(D7); // Motor 1, Direction & Speed |
Rvs94 | 25:ae908de29943 | 27 | PwmOut motor1speed(D6); |
Rvs94 | 25:ae908de29943 | 28 | DigitalOut motor2direction(D4); // Motor 2, Direction & Speed |
Rvs94 | 25:ae908de29943 | 29 | PwmOut motor2speed(D5); |
Rvs94 | 7:67b50d4fb03c | 30 | |
Rvs94 | 25:ae908de29943 | 31 | // Tickers |
Rvs94 | 25:ae908de29943 | 32 | Ticker ScopeTime; |
Rvs94 | 25:ae908de29943 | 33 | Ticker myControllerTicker2; |
Rvs94 | 25:ae908de29943 | 34 | Ticker myControllerTicker1; |
Rvs94 | 25:ae908de29943 | 35 | |
Rvs94 | 25:ae908de29943 | 36 | // Constants |
Rvs94 | 25:ae908de29943 | 37 | double reference2, reference1; |
Rvs94 | 25:ae908de29943 | 38 | double position2 = 0, position1 = 0; |
Rvs94 | 25:ae908de29943 | 39 | double m2_ref = 0, m1_ref = 0; |
Rvs94 | 25:ae908de29943 | 40 | int count = 0; |
Rvs94 | 25:ae908de29943 | 41 | double Grens2 = 90, Grens1 = 90; |
Rvs94 | 25:ae908de29943 | 42 | double Stapgrootte = 5; |
Rvs94 | 2:099da0fc31b6 | 43 | |
Rvs94 | 25:ae908de29943 | 44 | //Sample time (motor-step) |
laura94 | 26:70e5b6908e0a | 45 | const double m2_Ts = 0.001, m1_Ts = 0.01; |
Rvs94 | 20:f5091e29cd26 | 46 | |
Rvs94 | 25:ae908de29943 | 47 | //Controller gain Motor 2 & 1 |
Rvs94 | 27:e5d6a79abf32 | 48 | const double m2_Kp = 1,m2_Ki = 0, m2_Kd = 0; |
Rvs94 | 25:ae908de29943 | 49 | const double m1_Kp = 5,m1_Ki = 0.05, m1_Kd = 2; |
Rvs94 | 25:ae908de29943 | 50 | double m2_err_int = 0, m2_prev_err = 0; |
Rvs94 | 25:ae908de29943 | 51 | double m1_err_int = 0, m1_prev_err = 0; |
laura94 | 26:70e5b6908e0a | 52 | |
laura94 | 26:70e5b6908e0a | 53 | const double BiGainEMG_L1= 0.231938; |
laura94 | 26:70e5b6908e0a | 54 | const double EMGL1_a1 = -0.25537145181, EMGL1_a2 = 0.18312488356, EMGL1_b0 = 1.0*BiGainEMG_L1, EMGL1_b1 = 2.00000000000*BiGainEMG_L1, EMGL1_b2 = 1.0*BiGainEMG_L1; // coefficients for low-pass filter |
laura94 | 26:70e5b6908e0a | 55 | |
laura94 | 26:70e5b6908e0a | 56 | biquadFilter m2_lowpass (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); |
Rvs94 | 20:f5091e29cd26 | 57 | |
laura94 | 26:70e5b6908e0a | 58 | double x; |
Rvs94 | 25:ae908de29943 | 59 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 60 | // General Functions |
Rvs94 | 25:ae908de29943 | 61 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 20:f5091e29cd26 | 62 | |
Rvs94 | 20:f5091e29cd26 | 63 | //HIDScope |
Rvs94 | 25:ae908de29943 | 64 | void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt |
Rvs94 | 25:ae908de29943 | 65 | { |
Rvs94 | 25:ae908de29943 | 66 | scope.set(0, reference2 - position2); |
Rvs94 | 25:ae908de29943 | 67 | scope.set(1, position2); |
Rvs94 | 25:ae908de29943 | 68 | scope.set(2, reference1 - position1); |
Rvs94 | 25:ae908de29943 | 69 | scope.set(3, position1); |
laura94 | 26:70e5b6908e0a | 70 | scope.set(4, x); |
Rvs94 | 25:ae908de29943 | 71 | scope.send(); |
Rvs94 | 1:48aba8d5610a | 72 | |
laura94 | 26:70e5b6908e0a | 73 | } |
Rvs94 | 12:69ab81cf5b7d | 74 | |
Rvs94 | 12:69ab81cf5b7d | 75 | |
Rvs94 | 12:69ab81cf5b7d | 76 | // Reusable PID controller |
laura94 | 26:70e5b6908e0a | 77 | double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev) |
Rvs94 | 25:ae908de29943 | 78 | { |
Rvs94 | 12:69ab81cf5b7d | 79 | // Derivative |
Rvs94 | 25:ae908de29943 | 80 | double e_der = (e-e_prev)/Ts; |
laura94 | 26:70e5b6908e0a | 81 | e_der = m2_lowpass.step(e_der); |
Rvs94 | 25:ae908de29943 | 82 | e_prev = e; |
Rvs94 | 12:69ab81cf5b7d | 83 | // Integral |
Rvs94 | 25:ae908de29943 | 84 | e_int = e_int + Ts*e; |
Rvs94 | 12:69ab81cf5b7d | 85 | // PID |
laura94 | 26:70e5b6908e0a | 86 | x = Kp * e + Ki*e_int + Kd*e_der; |
laura94 | 26:70e5b6908e0a | 87 | return x; |
Rvs94 | 25:ae908de29943 | 88 | } |
Rvs94 | 25:ae908de29943 | 89 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 90 | // Motor control functions |
Rvs94 | 25:ae908de29943 | 91 | //--------------------------------------------------------------------------------------------------------------------------// |
Margreeth95 | 0:284ed397e046 | 92 | |
Margreeth95 | 18:6f71bb91b8bd | 93 | // Motor2 control |
Rvs94 | 25:ae908de29943 | 94 | void motor2_Controller() |
Rvs94 | 9:774fc3c6a39e | 95 | { |
Rvs94 | 25:ae908de29943 | 96 | // Setpoint motor 2 |
Rvs94 | 25:ae908de29943 | 97 | reference2 = m2_ref; // Reference in degrees |
Rvs94 | 27:e5d6a79abf32 | 98 | position2 = 360.0*Encoder2.getPulses()/(32.0*131.0); // Position in degrees |
Rvs94 | 25:ae908de29943 | 99 | // Speed control |
laura94 | 26:70e5b6908e0a | 100 | double m2_P1 = PID( reference2 - position2, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err); |
laura94 | 26:70e5b6908e0a | 101 | double m2_P2 = m2_P1; // Filter of motorspeed input |
Rvs94 | 25:ae908de29943 | 102 | motor2speed = abs(m2_P2); |
Rvs94 | 25:ae908de29943 | 103 | // Direction control |
Rvs94 | 25:ae908de29943 | 104 | if(m2_P2 > 0) |
Rvs94 | 25:ae908de29943 | 105 | { |
Rvs94 | 25:ae908de29943 | 106 | motor2direction = 0; |
Rvs94 | 25:ae908de29943 | 107 | } |
Rvs94 | 25:ae908de29943 | 108 | else |
Rvs94 | 25:ae908de29943 | 109 | { |
Rvs94 | 25:ae908de29943 | 110 | motor2direction = 1; |
Rvs94 | 25:ae908de29943 | 111 | } |
Rvs94 | 25:ae908de29943 | 112 | } |
Rvs94 | 25:ae908de29943 | 113 | |
Rvs94 | 25:ae908de29943 | 114 | // Motor1 control |
Rvs94 | 25:ae908de29943 | 115 | void motor1_Controller() |
Rvs94 | 25:ae908de29943 | 116 | { |
Rvs94 | 25:ae908de29943 | 117 | // Setpoint Motor 1 |
Rvs94 | 25:ae908de29943 | 118 | reference1 = m1_ref; // Reference in degrees |
Rvs94 | 25:ae908de29943 | 119 | position1 = Encoder1.getPulses()*360/(32*131); // Position in degrees |
Rvs94 | 25:ae908de29943 | 120 | // Speed control |
laura94 | 26:70e5b6908e0a | 121 | double m1_P1 = PID( reference1 - position1, m1_Kp, m1_Ki, m1_Kd, m1_Ts, m1_err_int, m1_prev_err); |
laura94 | 26:70e5b6908e0a | 122 | double m1_P2 = m1_P1; |
Rvs94 | 25:ae908de29943 | 123 | motor1speed = abs(m1_P2); |
Rvs94 | 25:ae908de29943 | 124 | // Direction control |
Rvs94 | 25:ae908de29943 | 125 | if(m1_P2 > 0) |
Rvs94 | 25:ae908de29943 | 126 | { |
Rvs94 | 25:ae908de29943 | 127 | motor1direction = 1; |
Rvs94 | 25:ae908de29943 | 128 | } |
Rvs94 | 25:ae908de29943 | 129 | else |
Rvs94 | 25:ae908de29943 | 130 | { |
Rvs94 | 25:ae908de29943 | 131 | motor1direction = 0; |
Rvs94 | 25:ae908de29943 | 132 | } |
Rvs94 | 9:774fc3c6a39e | 133 | } |
Rvs94 | 3:687729d7996e | 134 | |
Rvs94 | 25:ae908de29943 | 135 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 136 | // Main function |
Rvs94 | 25:ae908de29943 | 137 | //--------------------------------------------------------------------------------------------------------------------------// |
Margreeth95 | 0:284ed397e046 | 138 | int main() |
Rvs94 | 25:ae908de29943 | 139 | { |
Rvs94 | 25:ae908de29943 | 140 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 141 | // Initalizing |
Rvs94 | 25:ae908de29943 | 142 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 143 | //LEDs OFF |
Rvs94 | 25:ae908de29943 | 144 | LedR = LedB = LedG = 1; |
Rvs94 | 9:774fc3c6a39e | 145 | |
Rvs94 | 25:ae908de29943 | 146 | //PC connection & check |
Rvs94 | 25:ae908de29943 | 147 | pc.baud(115200); |
Rvs94 | 25:ae908de29943 | 148 | pc.printf("Tot aan loop werkt\n"); |
Rvs94 | 25:ae908de29943 | 149 | |
Rvs94 | 25:ae908de29943 | 150 | // Tickers |
Rvs94 | 25:ae908de29943 | 151 | ScopeTime.attach(&ScopeSend, 0.01f); // 100 Hz, Scope |
laura94 | 26:70e5b6908e0a | 152 | myControllerTicker2.attach(&motor2_Controller, m2_Ts ); // 1000 Hz, Motor 2 |
Rvs94 | 25:ae908de29943 | 153 | myControllerTicker1.attach(&motor1_Controller, 0.01f ); // 100 Hz, Motor 1 |
Rvs94 | 25:ae908de29943 | 154 | |
Rvs94 | 25:ae908de29943 | 155 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 156 | // Control Program |
Rvs94 | 25:ae908de29943 | 157 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 9:774fc3c6a39e | 158 | while(true) |
Rvs94 | 20:f5091e29cd26 | 159 | { |
Rvs94 | 20:f5091e29cd26 | 160 | char c = pc.getc(); |
Rvs94 | 25:ae908de29943 | 161 | // 1 Program UP |
Rvs94 | 25:ae908de29943 | 162 | if(c == 'e') |
Rvs94 | 20:f5091e29cd26 | 163 | { |
Rvs94 | 20:f5091e29cd26 | 164 | count = count + 1; |
Rvs94 | 20:f5091e29cd26 | 165 | if(count > 2) |
Rvs94 | 20:f5091e29cd26 | 166 | { |
Rvs94 | 20:f5091e29cd26 | 167 | count = 2; |
Rvs94 | 20:f5091e29cd26 | 168 | } |
Rvs94 | 20:f5091e29cd26 | 169 | |
Rvs94 | 20:f5091e29cd26 | 170 | } |
Rvs94 | 25:ae908de29943 | 171 | // 1 Program DOWN |
Rvs94 | 25:ae908de29943 | 172 | if(c == 'd') |
Rvs94 | 20:f5091e29cd26 | 173 | { |
Rvs94 | 20:f5091e29cd26 | 174 | count = count - 1; |
Rvs94 | 20:f5091e29cd26 | 175 | if(count < 0) |
Rvs94 | 20:f5091e29cd26 | 176 | { |
Rvs94 | 20:f5091e29cd26 | 177 | count = 0; |
Rvs94 | 20:f5091e29cd26 | 178 | } |
Rvs94 | 25:ae908de29943 | 179 | } |
Rvs94 | 25:ae908de29943 | 180 | // PROGRAM 0: Motor 2 control and indirect control of motor 1, Green LED |
Rvs94 | 25:ae908de29943 | 181 | if(count == 0) |
Rvs94 | 20:f5091e29cd26 | 182 | { |
Rvs94 | 20:f5091e29cd26 | 183 | |
Rvs94 | 20:f5091e29cd26 | 184 | LedR = LedB = 1; |
Rvs94 | 20:f5091e29cd26 | 185 | LedG = 0; |
Margreeth95 | 19:9417d2011e8b | 186 | if(c == 'r') |
Margreeth95 | 19:9417d2011e8b | 187 | { |
Rvs94 | 24:d0af4b2be295 | 188 | m2_ref = m2_ref + Stapgrootte; |
Rvs94 | 25:ae908de29943 | 189 | m1_ref = m1_ref - Stapgrootte; |
Rvs94 | 24:d0af4b2be295 | 190 | if (m2_ref > Grens2) |
Margreeth95 | 19:9417d2011e8b | 191 | { |
Rvs94 | 24:d0af4b2be295 | 192 | m2_ref = Grens2; |
Rvs94 | 25:ae908de29943 | 193 | m1_ref = -1*Grens1; |
Margreeth95 | 19:9417d2011e8b | 194 | } |
Margreeth95 | 19:9417d2011e8b | 195 | } |
Margreeth95 | 19:9417d2011e8b | 196 | if(c == 'f') |
Margreeth95 | 19:9417d2011e8b | 197 | { |
Rvs94 | 24:d0af4b2be295 | 198 | m2_ref = m2_ref - Stapgrootte; |
Rvs94 | 25:ae908de29943 | 199 | m1_ref = m1_ref + Stapgrootte; |
Rvs94 | 24:d0af4b2be295 | 200 | if (m2_ref < -1*Grens2) |
Margreeth95 | 19:9417d2011e8b | 201 | { |
Rvs94 | 24:d0af4b2be295 | 202 | m2_ref = -1*Grens2; |
Rvs94 | 25:ae908de29943 | 203 | m1_ref = Grens1; |
Margreeth95 | 19:9417d2011e8b | 204 | } |
Margreeth95 | 19:9417d2011e8b | 205 | } |
Rvs94 | 20:f5091e29cd26 | 206 | } |
Rvs94 | 25:ae908de29943 | 207 | // PROGRAM 1: Motor 1 control, Red LED |
Rvs94 | 25:ae908de29943 | 208 | if(count == 1) |
Rvs94 | 20:f5091e29cd26 | 209 | { |
Rvs94 | 20:f5091e29cd26 | 210 | LedG = LedB = 1; |
Rvs94 | 20:f5091e29cd26 | 211 | LedR = 0; |
Rvs94 | 24:d0af4b2be295 | 212 | if(c == 't') |
Rvs94 | 24:d0af4b2be295 | 213 | { |
Rvs94 | 24:d0af4b2be295 | 214 | m1_ref = m1_ref + Stapgrootte; |
Rvs94 | 24:d0af4b2be295 | 215 | if (m1_ref > Grens1) |
Rvs94 | 24:d0af4b2be295 | 216 | { |
Rvs94 | 24:d0af4b2be295 | 217 | m1_ref = Grens1; |
Rvs94 | 24:d0af4b2be295 | 218 | } |
Rvs94 | 24:d0af4b2be295 | 219 | } |
Rvs94 | 24:d0af4b2be295 | 220 | if(c == 'g') |
Rvs94 | 24:d0af4b2be295 | 221 | { |
Rvs94 | 24:d0af4b2be295 | 222 | m1_ref = m1_ref - Stapgrootte; |
Rvs94 | 24:d0af4b2be295 | 223 | if (m1_ref < -1*Grens1) |
Rvs94 | 24:d0af4b2be295 | 224 | { |
Rvs94 | 24:d0af4b2be295 | 225 | m1_ref = -1*Grens1; |
Rvs94 | 24:d0af4b2be295 | 226 | } |
Rvs94 | 24:d0af4b2be295 | 227 | } |
Rvs94 | 20:f5091e29cd26 | 228 | } |
Rvs94 | 25:ae908de29943 | 229 | // PROGRAM 2: Firing mechanism & Reset, Blue LED |
Rvs94 | 25:ae908de29943 | 230 | if(count == 2) |
Rvs94 | 20:f5091e29cd26 | 231 | { |
Rvs94 | 20:f5091e29cd26 | 232 | |
Rvs94 | 20:f5091e29cd26 | 233 | LedR = LedG = 1; |
Rvs94 | 24:d0af4b2be295 | 234 | LedB = 0; |
Rvs94 | 25:ae908de29943 | 235 | //VUUUUR!! (To Do) |
Rvs94 | 24:d0af4b2be295 | 236 | wait(1); |
Rvs94 | 24:d0af4b2be295 | 237 | m2_ref = 0; |
Rvs94 | 24:d0af4b2be295 | 238 | m1_ref = 0; |
Rvs94 | 20:f5091e29cd26 | 239 | } |
Margreeth95 | 0:284ed397e046 | 240 | } |
Rvs94 | 9:774fc3c6a39e | 241 | |
Margreeth95 | 0:284ed397e046 | 242 | } |