Diff: main.cpp

Revision:

27:4d7ca91e2e64

Parent:

25:ae908de29943

--- a/main.cpp	Sat Oct 03 18:04:16 2015 +0000
+++ b/main.cpp	Thu Oct 15 17:36:25 2015 +0000
@@ -45,19 +45,23 @@
     const double m2_Ts = 0.01, m1_Ts = 0.01;
 
 //Controller gain Motor 2 & 1
-    const double m2_Kp = 5,m2_Ki = 0.05, m2_Kd = 2;
+    const double m2_Kp = 0.1,m2_Ki = 0.001, m2_Kd = 1;
     const double m1_Kp = 5,m1_Ki = 0.05, m1_Kd = 2;
     double m2_err_int = 0, m2_prev_err = 0;
     double m1_err_int = 0, m1_prev_err = 0;
 
 //Derivative filter coeffs Motor 2 & 1
-    const double BiGain2 = 0.016955, BiGain1 = 0.016955;
-    const double m2_f_a1 = -0.96608908283*BiGain2, m2_f_a2 = 0.0*BiGain2, m2_f_b0 = 1.0*BiGain2, m2_f_b1 = 1.0*BiGain2, m2_f_b2 = 0.0*BiGain2;
-    const double m1_f_a1 = -0.96608908283*BiGain1, m1_f_a2 = 0.0*BiGain1, m1_f_b0 = 1.0*BiGain1, m1_f_b1 = 1.0*BiGain1, m1_f_b2 = 0.0*BiGain1;
+    const double BiGainm2f1 = 0.959332;
+    const double m2_f1_a1 = -1.55576653052, m2_f1_a2 = 0.61374320375, m2_f1_b0 = 1.0*BiGainm2f1, m2_f1_b1 = -0.90928276835*BiGainm2f1, m2_f1_b2 = 1.0*BiGainm2f1;
+
+
+//Biquads
+    biquadFilter f_Motor2 (m2_f1_a1, m2_f1_a2, m2_f1_b0, m2_f1_b1, m2_f1_b2);         // creates the low pass filter
 
 // Filter variables
     double m2_f_v1 = 0, m2_f_v2 = 0;
     double m1_f_v1 = 0, m1_f_v2 = 0;
+    double m2_f2_v1 = 0, m2_f2_v2 = 0;
 
 //--------------------------------------------------------------------------------------------------------------------------//
 // General Functions
@@ -68,29 +72,18 @@
     {
         scope.set(0, reference2 - position2);
         scope.set(1, position2);
-        scope.set(2, reference1 - position1);    
-        scope.set(3, position1);
+        scope.set(2, reference2);    
+        scope.set(3, position2);
         scope.send();
     
-    }
-
-// Biquad filter
-    double biquad( double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2 )
-    {
-        double v = u - a1*v1 - a2*v2;
-        double y = b0*v + b1*v1 + b2*v2;
-        v2 = v1; v1 = v;
-        return y;
-    }    
-
+    }  
 
 // Reusable PID controller
-    double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev, double &f_v1, double &f_v2,
-        const double f_a1,const double f_a2, const double f_b0, const double f_b1, const double f_b2)
+    double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev)
     {
     // Derivative
         double e_der = (e-e_prev)/Ts;
-        e_der = biquad(e_der,f_v1,f_v2,f_a1,f_a2,f_b0,f_b1,f_b2);
+        //e_der = f_motor2(e_der,f_v1,f_v2,f_a1,f_a2,f_b0,f_b1,f_b2);
         e_prev = e;
     // Integral
         e_int = e_int + Ts*e;
@@ -108,9 +101,8 @@
             reference2 = m2_ref;                           // Reference in degrees
             position2 = Encoder2.getPulses()*360/(32*131); // Position in degrees
         // Speed control
-            double m2_P1 = PID( reference2 - position2, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err, m2_f_v1, m2_f_v2, m2_f_a1, m2_f_a2, 
-                m2_f_b0, m2_f_b1, m2_f_b2);
-            double m2_P2 = biquad(m2_P1, m2_f_v1, m2_f_v2, m2_f_a1, m2_f_a2,m2_f_b0, m2_f_b1, m2_f_b2); // Filter of motorspeed input
+            double m2_P1 = PID( reference2 - position2, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err);
+            double m2_P2 = f_Motor2.step(m2_P1);//(m2_P1, m2_f2_v1, m2_f2_v2, m2_f2_a1, m2_f2_a2,m2_f2_b0, m2_f2_b1, m2_f2_b2); // Filter of motorspeed input
             motor2speed = abs(m2_P2); 
         // Direction control
             if(m2_P2 > 0) 
@@ -126,23 +118,7 @@
 // Motor1 control
     void motor1_Controller() 
     {
-        // Setpoint Motor 1
-            reference1 = m1_ref;                           // Reference in degrees
-            position1 = Encoder1.getPulses()*360/(32*131); // Position in degrees
-        // Speed control
-            double m1_P1 = PID( reference1 - position1, m1_Kp, m1_Ki, m1_Kd, m1_Ts, m1_err_int, m1_prev_err, m1_f_v1, m1_f_v2, m1_f_a1, m1_f_a2, 
-                m1_f_b0, m1_f_b1, m1_f_b2); 
-            double m1_P2 = biquad(m1_P1, m1_f_v1, m1_f_v2, m1_f_a1, m1_f_a2, m1_f_b0, m1_f_b1, m1_f_b2); 
-            motor1speed = abs(m1_P2); 
-        // Direction control    
-            if(m1_P2 > 0)
-            {  
-                motor1direction = 1;
-            }
-            else
-            {
-                motor1direction = 0;
-            }
+        
     }
 
 //--------------------------------------------------------------------------------------------------------------------------//