Werkend aansturingsscript voor 2 motoren, incl werkende program switch. Motoren oscilleren nog iets. Vuur mechanisme ontbreekt nog.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of frdm_Motor_V2_3 by
main.cpp@26:58c3d24b29d2, 2015-10-14 (annotated)
- Committer:
- Rvs94
- Date:
- Wed Oct 14 10:27:54 2015 +0000
- Revision:
- 26:58c3d24b29d2
- Parent:
- 25:ae908de29943
- Child:
- 28:2eb768b9cb3b
Gevarieerd met coeffs en filters, maar systeem reageert niet zoals t hoort. Terug naar oude setting
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) |
Rvs94 | 25:ae908de29943 | 45 | const double m2_Ts = 0.01, m1_Ts = 0.01; |
Rvs94 | 20:f5091e29cd26 | 46 | |
Rvs94 | 25:ae908de29943 | 47 | //Controller gain Motor 2 & 1 |
Rvs94 | 26:58c3d24b29d2 | 48 | const double m2_Kp = 5,m2_Ki = 0.05, m2_Kd = 5; |
Rvs94 | 26:58c3d24b29d2 | 49 | const double m1_Kp = 5,m1_Ki = 0, m1_Kd = 1; |
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; |
Rvs94 | 20:f5091e29cd26 | 52 | |
Rvs94 | 25:ae908de29943 | 53 | //Derivative filter coeffs Motor 2 & 1 |
Rvs94 | 26:58c3d24b29d2 | 54 | const double BiGain2 = 0.010681; |
Rvs94 | 26:58c3d24b29d2 | 55 | const double m2_f_a1 = -1.78114551442*BiGain2, m2_f_a2 = 0.79497571585*BiGain2, m2_f_b0 = 1.0*BiGain2, m2_f_b1 = -0.64542853817*BiGain2, m2_f_b2 = 1.0*BiGain2; |
Rvs94 | 26:58c3d24b29d2 | 56 | const double m1_f_a1 = m2_f_a1, m1_f_a2 = m2_f_a2, m1_f_b0 = m2_f_b0, m1_f_b1 = m2_f_b1, m1_f_b2 = m2_f_b2; |
Rvs94 | 20:f5091e29cd26 | 57 | |
Rvs94 | 20:f5091e29cd26 | 58 | // Filter variables |
Rvs94 | 25:ae908de29943 | 59 | double m2_f_v1 = 0, m2_f_v2 = 0; |
Rvs94 | 25:ae908de29943 | 60 | double m1_f_v1 = 0, m1_f_v2 = 0; |
Rvs94 | 20:f5091e29cd26 | 61 | |
Rvs94 | 25:ae908de29943 | 62 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 63 | // General Functions |
Rvs94 | 25:ae908de29943 | 64 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 20:f5091e29cd26 | 65 | |
Rvs94 | 20:f5091e29cd26 | 66 | //HIDScope |
Rvs94 | 25:ae908de29943 | 67 | void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt |
Rvs94 | 25:ae908de29943 | 68 | { |
Rvs94 | 25:ae908de29943 | 69 | scope.set(0, reference2 - position2); |
Rvs94 | 25:ae908de29943 | 70 | scope.set(1, position2); |
Rvs94 | 25:ae908de29943 | 71 | scope.set(2, reference1 - position1); |
Rvs94 | 25:ae908de29943 | 72 | scope.set(3, position1); |
Rvs94 | 25:ae908de29943 | 73 | scope.send(); |
Rvs94 | 1:48aba8d5610a | 74 | |
Rvs94 | 25:ae908de29943 | 75 | } |
Rvs94 | 12:69ab81cf5b7d | 76 | |
Rvs94 | 12:69ab81cf5b7d | 77 | // Biquad filter |
Rvs94 | 25:ae908de29943 | 78 | double biquad( double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2 ) |
Rvs94 | 25:ae908de29943 | 79 | { |
Rvs94 | 25:ae908de29943 | 80 | double v = u - a1*v1 - a2*v2; |
Rvs94 | 25:ae908de29943 | 81 | double y = b0*v + b1*v1 + b2*v2; |
Rvs94 | 25:ae908de29943 | 82 | v2 = v1; v1 = v; |
Rvs94 | 25:ae908de29943 | 83 | return y; |
Rvs94 | 25:ae908de29943 | 84 | } |
Rvs94 | 12:69ab81cf5b7d | 85 | |
Rvs94 | 12:69ab81cf5b7d | 86 | |
Rvs94 | 12:69ab81cf5b7d | 87 | // Reusable PID controller |
Rvs94 | 25:ae908de29943 | 88 | 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, |
Rvs94 | 25:ae908de29943 | 89 | const double f_a1,const double f_a2, const double f_b0, const double f_b1, const double f_b2) |
Rvs94 | 25:ae908de29943 | 90 | { |
Rvs94 | 12:69ab81cf5b7d | 91 | // Derivative |
Rvs94 | 25:ae908de29943 | 92 | double e_der = (e-e_prev)/Ts; |
Rvs94 | 25:ae908de29943 | 93 | e_der = biquad(e_der,f_v1,f_v2,f_a1,f_a2,f_b0,f_b1,f_b2); |
Rvs94 | 25:ae908de29943 | 94 | e_prev = e; |
Rvs94 | 12:69ab81cf5b7d | 95 | // Integral |
Rvs94 | 25:ae908de29943 | 96 | e_int = e_int + Ts*e; |
Rvs94 | 12:69ab81cf5b7d | 97 | // PID |
Rvs94 | 25:ae908de29943 | 98 | return Kp * e + Ki*e_int + Kd*e_der; |
Rvs94 | 25:ae908de29943 | 99 | } |
Rvs94 | 25:ae908de29943 | 100 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 101 | // Motor control functions |
Rvs94 | 25:ae908de29943 | 102 | //--------------------------------------------------------------------------------------------------------------------------// |
Margreeth95 | 0:284ed397e046 | 103 | |
Margreeth95 | 18:6f71bb91b8bd | 104 | // Motor2 control |
Rvs94 | 25:ae908de29943 | 105 | void motor2_Controller() |
Rvs94 | 9:774fc3c6a39e | 106 | { |
Rvs94 | 25:ae908de29943 | 107 | // Setpoint motor 2 |
Rvs94 | 25:ae908de29943 | 108 | reference2 = m2_ref; // Reference in degrees |
Rvs94 | 25:ae908de29943 | 109 | position2 = Encoder2.getPulses()*360/(32*131); // Position in degrees |
Rvs94 | 25:ae908de29943 | 110 | // Speed control |
Rvs94 | 25:ae908de29943 | 111 | 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, |
Rvs94 | 25:ae908de29943 | 112 | m2_f_b0, m2_f_b1, m2_f_b2); |
Rvs94 | 25:ae908de29943 | 113 | 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 |
Rvs94 | 25:ae908de29943 | 114 | motor2speed = abs(m2_P2); |
Rvs94 | 25:ae908de29943 | 115 | // Direction control |
Rvs94 | 25:ae908de29943 | 116 | if(m2_P2 > 0) |
Rvs94 | 25:ae908de29943 | 117 | { |
Rvs94 | 25:ae908de29943 | 118 | motor2direction = 0; |
Rvs94 | 25:ae908de29943 | 119 | } |
Rvs94 | 25:ae908de29943 | 120 | else |
Rvs94 | 25:ae908de29943 | 121 | { |
Rvs94 | 25:ae908de29943 | 122 | motor2direction = 1; |
Rvs94 | 25:ae908de29943 | 123 | } |
Rvs94 | 25:ae908de29943 | 124 | } |
Rvs94 | 25:ae908de29943 | 125 | |
Rvs94 | 25:ae908de29943 | 126 | // Motor1 control |
Rvs94 | 25:ae908de29943 | 127 | void motor1_Controller() |
Rvs94 | 25:ae908de29943 | 128 | { |
Rvs94 | 25:ae908de29943 | 129 | // Setpoint Motor 1 |
Rvs94 | 25:ae908de29943 | 130 | reference1 = m1_ref; // Reference in degrees |
Rvs94 | 25:ae908de29943 | 131 | position1 = Encoder1.getPulses()*360/(32*131); // Position in degrees |
Rvs94 | 25:ae908de29943 | 132 | // Speed control |
Rvs94 | 25:ae908de29943 | 133 | 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, |
Rvs94 | 25:ae908de29943 | 134 | m1_f_b0, m1_f_b1, m1_f_b2); |
Rvs94 | 25:ae908de29943 | 135 | 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); |
Rvs94 | 25:ae908de29943 | 136 | motor1speed = abs(m1_P2); |
Rvs94 | 25:ae908de29943 | 137 | // Direction control |
Rvs94 | 25:ae908de29943 | 138 | if(m1_P2 > 0) |
Rvs94 | 25:ae908de29943 | 139 | { |
Rvs94 | 25:ae908de29943 | 140 | motor1direction = 1; |
Rvs94 | 25:ae908de29943 | 141 | } |
Rvs94 | 25:ae908de29943 | 142 | else |
Rvs94 | 25:ae908de29943 | 143 | { |
Rvs94 | 25:ae908de29943 | 144 | motor1direction = 0; |
Rvs94 | 25:ae908de29943 | 145 | } |
Rvs94 | 9:774fc3c6a39e | 146 | } |
Rvs94 | 3:687729d7996e | 147 | |
Rvs94 | 25:ae908de29943 | 148 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 149 | // Main function |
Rvs94 | 25:ae908de29943 | 150 | //--------------------------------------------------------------------------------------------------------------------------// |
Margreeth95 | 0:284ed397e046 | 151 | int main() |
Rvs94 | 25:ae908de29943 | 152 | { |
Rvs94 | 25:ae908de29943 | 153 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 154 | // Initalizing |
Rvs94 | 25:ae908de29943 | 155 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 156 | //LEDs OFF |
Rvs94 | 25:ae908de29943 | 157 | LedR = LedB = LedG = 1; |
Rvs94 | 9:774fc3c6a39e | 158 | |
Rvs94 | 25:ae908de29943 | 159 | //PC connection & check |
Rvs94 | 25:ae908de29943 | 160 | pc.baud(115200); |
Rvs94 | 25:ae908de29943 | 161 | pc.printf("Tot aan loop werkt\n"); |
Rvs94 | 25:ae908de29943 | 162 | |
Rvs94 | 25:ae908de29943 | 163 | // Tickers |
Rvs94 | 25:ae908de29943 | 164 | ScopeTime.attach(&ScopeSend, 0.01f); // 100 Hz, Scope |
Rvs94 | 25:ae908de29943 | 165 | myControllerTicker2.attach(&motor2_Controller, 0.01f ); // 100 Hz, Motor 2 |
Rvs94 | 25:ae908de29943 | 166 | myControllerTicker1.attach(&motor1_Controller, 0.01f ); // 100 Hz, Motor 1 |
Rvs94 | 25:ae908de29943 | 167 | |
Rvs94 | 25:ae908de29943 | 168 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 169 | // Control Program |
Rvs94 | 25:ae908de29943 | 170 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 9:774fc3c6a39e | 171 | while(true) |
Rvs94 | 20:f5091e29cd26 | 172 | { |
Rvs94 | 20:f5091e29cd26 | 173 | char c = pc.getc(); |
Rvs94 | 25:ae908de29943 | 174 | // 1 Program UP |
Rvs94 | 25:ae908de29943 | 175 | if(c == 'e') |
Rvs94 | 20:f5091e29cd26 | 176 | { |
Rvs94 | 20:f5091e29cd26 | 177 | count = count + 1; |
Rvs94 | 20:f5091e29cd26 | 178 | if(count > 2) |
Rvs94 | 20:f5091e29cd26 | 179 | { |
Rvs94 | 20:f5091e29cd26 | 180 | count = 2; |
Rvs94 | 20:f5091e29cd26 | 181 | } |
Rvs94 | 20:f5091e29cd26 | 182 | |
Rvs94 | 20:f5091e29cd26 | 183 | } |
Rvs94 | 25:ae908de29943 | 184 | // 1 Program DOWN |
Rvs94 | 25:ae908de29943 | 185 | if(c == 'd') |
Rvs94 | 20:f5091e29cd26 | 186 | { |
Rvs94 | 20:f5091e29cd26 | 187 | count = count - 1; |
Rvs94 | 20:f5091e29cd26 | 188 | if(count < 0) |
Rvs94 | 20:f5091e29cd26 | 189 | { |
Rvs94 | 20:f5091e29cd26 | 190 | count = 0; |
Rvs94 | 20:f5091e29cd26 | 191 | } |
Rvs94 | 25:ae908de29943 | 192 | } |
Rvs94 | 25:ae908de29943 | 193 | // PROGRAM 0: Motor 2 control and indirect control of motor 1, Green LED |
Rvs94 | 25:ae908de29943 | 194 | if(count == 0) |
Rvs94 | 20:f5091e29cd26 | 195 | { |
Rvs94 | 20:f5091e29cd26 | 196 | |
Rvs94 | 20:f5091e29cd26 | 197 | LedR = LedB = 1; |
Rvs94 | 20:f5091e29cd26 | 198 | LedG = 0; |
Margreeth95 | 19:9417d2011e8b | 199 | if(c == 'r') |
Margreeth95 | 19:9417d2011e8b | 200 | { |
Rvs94 | 24:d0af4b2be295 | 201 | m2_ref = m2_ref + Stapgrootte; |
Rvs94 | 25:ae908de29943 | 202 | m1_ref = m1_ref - Stapgrootte; |
Rvs94 | 24:d0af4b2be295 | 203 | if (m2_ref > Grens2) |
Margreeth95 | 19:9417d2011e8b | 204 | { |
Rvs94 | 24:d0af4b2be295 | 205 | m2_ref = Grens2; |
Rvs94 | 25:ae908de29943 | 206 | m1_ref = -1*Grens1; |
Margreeth95 | 19:9417d2011e8b | 207 | } |
Margreeth95 | 19:9417d2011e8b | 208 | } |
Margreeth95 | 19:9417d2011e8b | 209 | if(c == 'f') |
Margreeth95 | 19:9417d2011e8b | 210 | { |
Rvs94 | 24:d0af4b2be295 | 211 | m2_ref = m2_ref - Stapgrootte; |
Rvs94 | 25:ae908de29943 | 212 | m1_ref = m1_ref + Stapgrootte; |
Rvs94 | 24:d0af4b2be295 | 213 | if (m2_ref < -1*Grens2) |
Margreeth95 | 19:9417d2011e8b | 214 | { |
Rvs94 | 24:d0af4b2be295 | 215 | m2_ref = -1*Grens2; |
Rvs94 | 25:ae908de29943 | 216 | m1_ref = Grens1; |
Margreeth95 | 19:9417d2011e8b | 217 | } |
Margreeth95 | 19:9417d2011e8b | 218 | } |
Rvs94 | 20:f5091e29cd26 | 219 | } |
Rvs94 | 25:ae908de29943 | 220 | // PROGRAM 1: Motor 1 control, Red LED |
Rvs94 | 25:ae908de29943 | 221 | if(count == 1) |
Rvs94 | 20:f5091e29cd26 | 222 | { |
Rvs94 | 20:f5091e29cd26 | 223 | LedG = LedB = 1; |
Rvs94 | 20:f5091e29cd26 | 224 | LedR = 0; |
Rvs94 | 24:d0af4b2be295 | 225 | if(c == 't') |
Rvs94 | 24:d0af4b2be295 | 226 | { |
Rvs94 | 24:d0af4b2be295 | 227 | m1_ref = m1_ref + Stapgrootte; |
Rvs94 | 24:d0af4b2be295 | 228 | if (m1_ref > Grens1) |
Rvs94 | 24:d0af4b2be295 | 229 | { |
Rvs94 | 24:d0af4b2be295 | 230 | m1_ref = Grens1; |
Rvs94 | 24:d0af4b2be295 | 231 | } |
Rvs94 | 24:d0af4b2be295 | 232 | } |
Rvs94 | 24:d0af4b2be295 | 233 | if(c == 'g') |
Rvs94 | 24:d0af4b2be295 | 234 | { |
Rvs94 | 24:d0af4b2be295 | 235 | m1_ref = m1_ref - Stapgrootte; |
Rvs94 | 24:d0af4b2be295 | 236 | if (m1_ref < -1*Grens1) |
Rvs94 | 24:d0af4b2be295 | 237 | { |
Rvs94 | 24:d0af4b2be295 | 238 | m1_ref = -1*Grens1; |
Rvs94 | 24:d0af4b2be295 | 239 | } |
Rvs94 | 24:d0af4b2be295 | 240 | } |
Rvs94 | 20:f5091e29cd26 | 241 | } |
Rvs94 | 25:ae908de29943 | 242 | // PROGRAM 2: Firing mechanism & Reset, Blue LED |
Rvs94 | 25:ae908de29943 | 243 | if(count == 2) |
Rvs94 | 20:f5091e29cd26 | 244 | { |
Rvs94 | 20:f5091e29cd26 | 245 | |
Rvs94 | 20:f5091e29cd26 | 246 | LedR = LedG = 1; |
Rvs94 | 24:d0af4b2be295 | 247 | LedB = 0; |
Rvs94 | 25:ae908de29943 | 248 | //VUUUUR!! (To Do) |
Rvs94 | 24:d0af4b2be295 | 249 | wait(1); |
Rvs94 | 24:d0af4b2be295 | 250 | m2_ref = 0; |
Rvs94 | 24:d0af4b2be295 | 251 | m1_ref = 0; |
Rvs94 | 20:f5091e29cd26 | 252 | } |
Margreeth95 | 0:284ed397e046 | 253 | } |
Rvs94 | 9:774fc3c6a39e | 254 | |
Margreeth95 | 0:284ed397e046 | 255 | } |