Biorobotics
/
Controller
Controller futhers (PI)
main.cpp@7:6006a473ea0b, 2015-10-15 (annotated)
- Committer:
- yohoo15
- Date:
- Thu Oct 15 13:39:59 2015 +0000
- Revision:
- 7:6006a473ea0b
- Parent:
- 6:8ab07cce3098
- Child:
- 8:998f4575089b
Letting the controller move with buttons. not yet tested;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yohoo15 | 0:2b481a8db14f | 1 | #include "mbed.h" |
yohoo15 | 0:2b481a8db14f | 2 | #include "QEI.h" |
yohoo15 | 0:2b481a8db14f | 3 | |
yohoo15 | 0:2b481a8db14f | 4 | Serial pc(USBTX, USBRX); |
yohoo15 | 0:2b481a8db14f | 5 | QEI wheel (PTC10, PTC11, NC, 624); // Pin for counting (analog in) |
yohoo15 | 0:2b481a8db14f | 6 | |
yohoo15 | 0:2b481a8db14f | 7 | // Define pin for motor control |
yohoo15 | 0:2b481a8db14f | 8 | DigitalOut directionPin(D4); |
yohoo15 | 0:2b481a8db14f | 9 | PwmOut PWM(D5); |
yohoo15 | 7:6006a473ea0b | 10 | DigitalIn buttonccw(PTA4); |
yohoo15 | 7:6006a473ea0b | 11 | DigitalIn buttoncw(PTC6); |
yohoo15 | 0:2b481a8db14f | 12 | |
yohoo15 | 0:2b481a8db14f | 13 | // define ticker |
yohoo15 | 0:2b481a8db14f | 14 | Ticker aansturen; |
yohoo15 | 1:71617831bc4e | 15 | Ticker Printen; |
yohoo15 | 0:2b481a8db14f | 16 | |
yohoo15 | 7:6006a473ea0b | 17 | // define rotation direction and begin possition |
yohoo15 | 0:2b481a8db14f | 18 | const int cw = 1; |
yohoo15 | 0:2b481a8db14f | 19 | const int ccw = 0; |
yohoo15 | 7:6006a473ea0b | 20 | double setpoint = 0; //setpoint is in pulses |
yohoo15 | 7:6006a473ea0b | 21 | |
yohoo15 | 7:6006a473ea0b | 22 | // saying buttons are not pressed |
yohoo15 | 7:6006a473ea0b | 23 | const int Buttoncw_pressed = 0; |
yohoo15 | 7:6006a473ea0b | 24 | const int Buttonccw_pressed = 0; |
yohoo15 | 7:6006a473ea0b | 25 | |
yohoo15 | 0:2b481a8db14f | 26 | |
yohoo15 | 3:4abcd40682fa | 27 | // Controller gain proportional and intergrator |
yohoo15 | 1:71617831bc4e | 28 | const double motor1_Kp = 5; // more or les random number. |
yohoo15 | 6:8ab07cce3098 | 29 | const double motor1_Ki = 0.5; |
yohoo15 | 6:8ab07cce3098 | 30 | const double M1_timestep = 0.01; // reason ticker works with 100 Hz. |
yohoo15 | 3:4abcd40682fa | 31 | double motor1_error_integraal = 0; // initial value of integral error |
yohoo15 | 0:2b481a8db14f | 32 | |
yohoo15 | 6:8ab07cce3098 | 33 | |
yohoo15 | 7:6006a473ea0b | 34 | // Defining pulses per revolution (calculating pulses to rotations in degree.) |
yohoo15 | 6:8ab07cce3098 | 35 | 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) |
yohoo15 | 7:6006a473ea0b | 36 | /* |
yohoo15 | 6:8ab07cce3098 | 37 | double Rotation = -2; // rotation in degree |
yohoo15 | 6:8ab07cce3098 | 38 | double movement = Rotation * pulses_per_revolution; // times 360 to make Rotations degree. |
yohoo15 | 7:6006a473ea0b | 39 | */ |
yohoo15 | 0:2b481a8db14f | 40 | |
yohoo15 | 5:d1ab07fd3355 | 41 | // defining flags |
yohoo15 | 5:d1ab07fd3355 | 42 | volatile bool flag_motor = false; |
yohoo15 | 5:d1ab07fd3355 | 43 | volatile bool flag_pcprint = false; |
yohoo15 | 0:2b481a8db14f | 44 | |
yohoo15 | 6:8ab07cce3098 | 45 | // making function flags. |
yohoo15 | 5:d1ab07fd3355 | 46 | void Go_flag_motor() |
yohoo15 | 5:d1ab07fd3355 | 47 | { |
yohoo15 | 5:d1ab07fd3355 | 48 | flag_motor = true; |
yohoo15 | 5:d1ab07fd3355 | 49 | } |
yohoo15 | 5:d1ab07fd3355 | 50 | |
yohoo15 | 5:d1ab07fd3355 | 51 | void Go_flag_pcprint() |
yohoo15 | 5:d1ab07fd3355 | 52 | { |
yohoo15 | 5:d1ab07fd3355 | 53 | flag_pcprint = true; |
yohoo15 | 5:d1ab07fd3355 | 54 | } |
yohoo15 | 0:2b481a8db14f | 55 | |
yohoo15 | 7:6006a473ea0b | 56 | // To make a new setpoint |
yohoo15 | 7:6006a473ea0b | 57 | double making_setpoint(double direction){ |
yohoo15 | 7:6006a473ea0b | 58 | if ( cw == direction){ |
yohoo15 | 7:6006a473ea0b | 59 | setpoint = setpoint + (pulses_per_revolution/4); |
yohoo15 | 7:6006a473ea0b | 60 | } |
yohoo15 | 7:6006a473ea0b | 61 | if ( ccw == direction){ |
yohoo15 | 7:6006a473ea0b | 62 | setpoint = setpoint - (pulses_per_revolution/4); |
yohoo15 | 7:6006a473ea0b | 63 | } |
yohoo15 | 7:6006a473ea0b | 64 | return(setpoint); |
yohoo15 | 7:6006a473ea0b | 65 | } |
yohoo15 | 7:6006a473ea0b | 66 | |
yohoo15 | 0:2b481a8db14f | 67 | // Reusable P controller |
yohoo15 | 3:4abcd40682fa | 68 | double PI(double error, const double Kp, const double Ki, double Ts, double &e_int) |
yohoo15 | 6:8ab07cce3098 | 69 | { |
yohoo15 | 6:8ab07cce3098 | 70 | |
yohoo15 | 6:8ab07cce3098 | 71 | e_int = e_int + Ts * error; |
yohoo15 | 6:8ab07cce3098 | 72 | |
yohoo15 | 6:8ab07cce3098 | 73 | double PI_output = (Kp * error) + (Ki * e_int); |
yohoo15 | 3:4abcd40682fa | 74 | return PI_output; |
yohoo15 | 0:2b481a8db14f | 75 | } |
yohoo15 | 0:2b481a8db14f | 76 | // Next task, measure the error and apply the output to the plant |
yohoo15 | 0:2b481a8db14f | 77 | void motor1_Controller() |
yohoo15 | 0:2b481a8db14f | 78 | { |
yohoo15 | 7:6006a473ea0b | 79 | double reference = setpoint; // setpoint is in pulses |
yohoo15 | 0:2b481a8db14f | 80 | double position = wheel.getPulses(); |
yohoo15 | 6:8ab07cce3098 | 81 | double error_pulses = (reference - position); // calculate the error in pulses |
yohoo15 | 6:8ab07cce3098 | 82 | double error_rotation = error_pulses / pulses_per_revolution; //calculate how much the rotaions the motor has to turn |
yohoo15 | 6:8ab07cce3098 | 83 | |
yohoo15 | 6:8ab07cce3098 | 84 | double output = abs(PI( error_rotation, motor1_Kp, motor1_Ki, M1_timestep, motor1_error_integraal )); |
yohoo15 | 0:2b481a8db14f | 85 | |
yohoo15 | 6:8ab07cce3098 | 86 | if(error_pulses > 0) { |
yohoo15 | 0:2b481a8db14f | 87 | directionPin.write(cw); |
yohoo15 | 6:8ab07cce3098 | 88 | |
yohoo15 | 6:8ab07cce3098 | 89 | } |
yohoo15 | 6:8ab07cce3098 | 90 | else if(error_pulses < 0) { |
yohoo15 | 6:8ab07cce3098 | 91 | directionPin.write(ccw); |
yohoo15 | 0:2b481a8db14f | 92 | } |
yohoo15 | 6:8ab07cce3098 | 93 | else{ |
yohoo15 | 6:8ab07cce3098 | 94 | output = 0; |
yohoo15 | 6:8ab07cce3098 | 95 | } |
yohoo15 | 6:8ab07cce3098 | 96 | PWM.write(output); // out of the if loop due to abs output |
yohoo15 | 0:2b481a8db14f | 97 | |
yohoo15 | 0:2b481a8db14f | 98 | |
yohoo15 | 0:2b481a8db14f | 99 | } |
yohoo15 | 0:2b481a8db14f | 100 | |
yohoo15 | 0:2b481a8db14f | 101 | |
yohoo15 | 1:71617831bc4e | 102 | void counts_showing() |
yohoo15 | 6:8ab07cce3098 | 103 | { |
yohoo15 | 1:71617831bc4e | 104 | |
yohoo15 | 6:8ab07cce3098 | 105 | double kijken = wheel.getPulses() / pulses_per_revolution; |
yohoo15 | 7:6006a473ea0b | 106 | pc.printf("ref %.0f rounds%.2f \n",setpoint/pulses_per_revolution,kijken); |
yohoo15 | 6:8ab07cce3098 | 107 | |
yohoo15 | 6:8ab07cce3098 | 108 | } |
yohoo15 | 0:2b481a8db14f | 109 | |
yohoo15 | 0:2b481a8db14f | 110 | int main() |
yohoo15 | 0:2b481a8db14f | 111 | { |
yohoo15 | 6:8ab07cce3098 | 112 | aansturen.attach( &Go_flag_motor, 0.01f ); // 100 Hz // timer 0.00001f motor keeps spinning |
yohoo15 | 5:d1ab07fd3355 | 113 | Printen.attach(&Go_flag_pcprint,0.1f); // 10 Hz // printstatement here because printing cost to much time. the motor void wouldn't be completed |
yohoo15 | 5:d1ab07fd3355 | 114 | while( 1 ) { |
yohoo15 | 7:6006a473ea0b | 115 | // to make the motor move |
yohoo15 | 5:d1ab07fd3355 | 116 | if(flag_motor) { |
yohoo15 | 5:d1ab07fd3355 | 117 | flag_motor = false; |
yohoo15 | 5:d1ab07fd3355 | 118 | motor1_Controller(); |
yohoo15 | 5:d1ab07fd3355 | 119 | } |
yohoo15 | 5:d1ab07fd3355 | 120 | |
yohoo15 | 5:d1ab07fd3355 | 121 | if(flag_pcprint) { |
yohoo15 | 5:d1ab07fd3355 | 122 | flag_pcprint = false; |
yohoo15 | 5:d1ab07fd3355 | 123 | counts_showing(); |
yohoo15 | 5:d1ab07fd3355 | 124 | } |
yohoo15 | 5:d1ab07fd3355 | 125 | |
yohoo15 | 7:6006a473ea0b | 126 | // Pussing buttons to get input signal |
yohoo15 | 7:6006a473ea0b | 127 | |
yohoo15 | 7:6006a473ea0b | 128 | if(buttoncw.read() == Buttoncw_pressed){ |
yohoo15 | 7:6006a473ea0b | 129 | setpoint = making_setpoint(cw); |
yohoo15 | 7:6006a473ea0b | 130 | } |
yohoo15 | 7:6006a473ea0b | 131 | if(buttonccw.read() == Buttonccw_pressed) { |
yohoo15 | 7:6006a473ea0b | 132 | setpoint = making_setpoint(ccw); |
yohoo15 | 7:6006a473ea0b | 133 | } |
yohoo15 | 7:6006a473ea0b | 134 | |
yohoo15 | 5:d1ab07fd3355 | 135 | } |
yohoo15 | 0:2b481a8db14f | 136 | } |
yohoo15 | 0:2b481a8db14f | 137 | |
yohoo15 | 0:2b481a8db14f | 138 | |
yohoo15 | 0:2b481a8db14f | 139 |