Biorobotics
/
Controller
Controller futhers (PI)
main.cpp
- Committer:
- yohoo15
- Date:
- 2015-10-14
- Revision:
- 6:8ab07cce3098
- Parent:
- 5:d1ab07fd3355
- Child:
- 7:6006a473ea0b
File content as of revision 6:8ab07cce3098:
#include "mbed.h" #include "QEI.h" Serial pc(USBTX, USBRX); QEI wheel (PTC10, PTC11, NC, 624); // Pin for counting (analog in) // Define pin for motor control DigitalOut directionPin(D4); PwmOut PWM(D5); // define ticker Ticker aansturen; Ticker Printen; // define rotation direction const int cw = 1; const int ccw = 0; // Controller gain proportional and intergrator const double motor1_Kp = 5; // more or les random number. const double motor1_Ki = 0.5; const double M1_timestep = 0.01; // reason ticker works with 100 Hz. double motor1_error_integraal = 0; // initial value of integral error // calculating pulses to rotations in degree. const double pulses_per_revolution = 4200 ;//8400 counts is aangegeven op de motor for x4. 10 - 30 counts oveshoot. for moter 1(tape)! Motor 2 almost the same(nice) double Rotation = -2; // rotation in degree double movement = Rotation * pulses_per_revolution; // times 360 to make Rotations degree. // defining flags volatile bool flag_motor = false; volatile bool flag_pcprint = false; // making function flags. void Go_flag_motor() { flag_motor = true; } void Go_flag_pcprint() { flag_pcprint = true; } // Reusable P controller double PI(double error, const double Kp, const double Ki, double Ts, double &e_int) { e_int = e_int + Ts * error; double PI_output = (Kp * error) + (Ki * e_int); return PI_output; } // Next task, measure the error and apply the output to the plant void motor1_Controller() { double reference = movement; // movement is in pulses double position = wheel.getPulses(); double error_pulses = (reference - position); // calculate the error in pulses double error_rotation = error_pulses / pulses_per_revolution; //calculate how much the rotaions the motor has to turn double output = abs(PI( error_rotation, motor1_Kp, motor1_Ki, M1_timestep, motor1_error_integraal )); if(error_pulses > 0) { directionPin.write(cw); } else if(error_pulses < 0) { directionPin.write(ccw); } else{ output = 0; } PWM.write(output); // out of the if loop due to abs output } void counts_showing() { double kijken = wheel.getPulses() / pulses_per_revolution; pc.printf("ref %.0f rounds%.2f \n",Rotation,kijken); } int main() { aansturen.attach( &Go_flag_motor, 0.01f ); // 100 Hz // timer 0.00001f motor keeps spinning Printen.attach(&Go_flag_pcprint,0.1f); // 10 Hz // printstatement here because printing cost to much time. the motor void wouldn't be completed while( 1 ) { if(flag_motor) { flag_motor = false; motor1_Controller(); } if(flag_pcprint) { flag_pcprint = false; counts_showing(); } } }