Motor calibration
Dependencies: BioroboticsMotorControl mbed BioroboticsEMGFilter MODSERIAL
Diff: main.cpp
- Revision:
- 4:64d4fdf5437c
- Parent:
- 3:5b8a12611a1e
- Child:
- 5:43aa136aecda
--- a/main.cpp Wed Oct 31 10:38:04 2018 +0000 +++ b/main.cpp Wed Oct 31 12:10:43 2018 +0000 @@ -4,15 +4,18 @@ Motor motor1(D6, D7, D13, D12); // Defining motor pins (PWM, direction, encoder) Motor motor2(D5, D4, D10, D11); // Defining motor pins (PWM, direction, encoder) -DigitalOut calibLED1(LED_BLUE); // LED to check if calibration motor 1 is done -DigitalOut calibLED2(LED_RED); // LED to check if calibration motor 2 is done +DigitalOut calibLED1(LED_BLUE); +DigitalOut calibLED2(LED_RED); +DigitalOut calibLED3(LED_GREEN); const float pid_period = 0.001; // PID sample period in seconds. const double Kp = 10.0; // PID proportional const double Ki = 0.1; // PID integral const double Kd = 0.5; // PID differential +const double motor_threshold = 0.0174533; // One degree -Ticker motor_calib; // Ticker for motor calibration +Ticker motor_calib1; // Ticker for motor1 calibration +Ticker motor_calib2; // Ticker for motor2 calibration float motor_angle1 = 2; // Set motor angle to arbitrary value for first loop float motor_angle2 = 2; @@ -21,43 +24,63 @@ void Motor1_Calibration() { - if (0.9 * motor1.get_current_angle() <= motor_angle1 <= 1.1 * motor1.get_current_angle()) // If the motor angle is within a margin of the current motor anlge + float current_motor1 = motor1.get_current_angle(); + if (current_motor1 - motor_threshold <= motor_angle1 && motor_angle1 <= current_motor1 + motor_threshold) // If the motor angle is within a margin of the current motor angle { time_passed_in_this_state1++; + calibLED1 = 0; // LED turns blue + wait(0.1f); + calibLED1 = 1; } else { motor_angle1 = motor1.get_current_angle(); - motor_angle1 = motor_angle1 - 0.0174533; // Subtracting one degree angle from the current angle + motor_angle1 = motor_angle1 - 5*motor_threshold; // Subtracting five degree angle from the current angle motor1.set_target_angle(motor_angle1); - time_passed_in_this_state1 == 0; // Set time passed in this state back to zero + time_passed_in_this_state1 = 0; // Set time passed in this state back to zero + calibLED2 = 0; // LED turns red + wait(0.1f); + calibLED2 = 1; } if (time_passed_in_this_state1 >= 10) // After 5 seconds have passed (10 times Ticker motor_calib) { motor1.define_current_angle_as_x_radians(0.785398); // Defines beginstate motor 2 as -42 degrees - calibLED1 = 0; // LED becomes blue (purple if both motors are calibrated) + motor_calib1.detach(); // Stop looping the function + calibLED3 = 0; // LED becomes red (purple if both motors are calibrated) + wait(0.1f); + calibLED3 = 1; } } void Motor2_Calibration() { - if (0.9 * motor2.get_current_angle() <= motor_angle2 <= 1.1 * motor2.get_current_angle()) // If the motor angle is within a margin of the current motor anlge + float current_motor2 = motor2.get_current_angle(); + if (current_motor2 - motor_threshold <= motor_angle2 && motor_angle2 <= current_motor2 + motor_threshold) // If the motor angle is within a margin of the current motor angle { time_passed_in_this_state2++; + calibLED1 = 0; // LED becomes blue + wait(0.1f); + calibLED1 = 1; } else { motor_angle2 = motor2.get_current_angle(); - motor_angle2 = motor_angle2 - 0.0174533; // Subtracting one degree angle from the current angle + motor_angle2 = motor_angle2 - 5*motor_threshold; // Subtracting five degree angle from the current angle motor2.set_target_angle(motor_angle2); - time_passed_in_this_state2 == 0; // Set time passed in this state back to zero + time_passed_in_this_state2 = 0; // Set time passed in this state back to zero + calibLED2 = 0; + wait(0.1f); + calibLED2 = 1; } if (time_passed_in_this_state2 >= 10) // After 5 seconds have passed (10 times Ticker motor_calib) { motor2.define_current_angle_as_x_radians(-0.733038); // Defines beginstate motor 2 as -42 degrees - calibLED2 = 0; // LED becomes red (purple if both motors are calibrated) + motor_calib2.detach(); // Stop looping the function + calibLED3 = 0; // LED becomes red (purple if both motors are calibrated) + wait(0.1f); + calibLED3 = 1; } } @@ -65,10 +88,12 @@ { calibLED1 = 1; calibLED2 = 1; + calibLED3 = 1; motor1.set_pid_k_values(Kp, Ki, Kd); // Attach PID-controller values motor2.set_pid_k_values(Kp, Ki, Kd); motor1.start(pid_period); // Attach PID sample time motor2.start(pid_period); - motor_calib.attach(Motor1_Calibration,0.5); // Ticker for motor calibration fucntion + motor_calib1.attach(Motor1_Calibration,0.5); // Ticker for motor calibration fucntion + motor_calib2.attach(Motor2_Calibration,0.5); while (true) {} // Empty while loop to keep function from stopping } \ No newline at end of file