acos faalt
Dependencies: HIDScope MODSERIAL QEI mbed
main.cpp
- Committer:
- davevogel0
- Date:
- 2015-10-19
- Revision:
- 3:337345f748cf
- Parent:
- 2:da3b7dd2beb0
- Child:
- 4:f0fd4a4ec178
File content as of revision 3:337345f748cf:
#include "mbed.h" #include "HIDScope.h" #include "MODSERIAL.h" #include "QEI.h" //Aray of locations and Length of parts float X [10] = {-4, -3, -2, -1, 0, 1, 2, 3, 4, 5}; float Y [10] = {-4, -3, -2, -1, 0, 1, 2, 3, 4, 5}; const double L1 = 0.34; const double L2 = 0.26; const double R_Max_error = 0.01; //---------- Change motor control parameters------- //Motor 1 const float M1_Ks = 0.4; //minimum power required to move const float M1_Kp = 0.1; //strentgh of proportional control const float M1_Kd = 0.1; //strentgh of differential control Include timestep in constant const float M1_Ki = 0.1; //strentgh of integrational control Include timestep in constant const double M1_friction = 0.55; //minimum power required to make the motor move //Motor 2 const float M2_Ks = 0.4; //minimum power required to move const float M2_Kp = 0.1; //strentgh of proportional control const float M2_Kd = 0.1; //strentgh of differential control Include timestep in constant const float M2_Ki = 0.1; //strentgh of integrational control Include timestep in constant const double M2_friction = 0.55; //minimum power required to make the motor move //----------End of control parameters //encoder QEI Motor1 (D13, D12, NC, 32); QEI Motor2 (D11, D10, NC, 32); //Define pins DigitalOut M2(D7); //direction 2 //1 is cc 0=cw PwmOut E2(D6); //speed 2 DigitalOut M1(D4); //direction 1 //1 is cc 0=cw PwmOut E1(D5); //speed 1 AnalogIn pot1(A0); //read value of pot1 for position AnalogIn pot2(A1); //read value of pot2 for position DigitalOut myled(LED_GREEN); MODSERIAL pc(USBTX, USBRX); DigitalIn button(PTA4); HIDScope scope(2); //Define Variables double M1_dpos, M1_pos; double M2_dpos, M2_pos; double M_error, M1_error, M2_error; double R_set, A_R, R_error, R_error_int; double Q_set, Q_end, Q_error, Q_error_int; double position; const double long gearbox = 0.085877862; const double long PI = 3.14159265359; double M_error1 = 0; //Timers and Tickers Timer t; Ticker t1,t2,t3; //booleans run program volatile bool send_go = false, setpoint_go = false, control_go= false; //------------------Activate programs----------- //Activate send data pc void Send_True() { send_go = true; } // Activate desired location void M_Setpoint_True() { setpoint_go = true; } // Controll if motor should go or not void M_Control_True() { control_go = true; } //------------------End of activate programs-------- //------------------Start of control programs------- //Send values over HIDScope & Serial port void Send() { scope.set(0,Motor1.getPulses()); scope.set(1,Motor2.getPulses()); scope.send(); // pc.printf("Deg M1: %f M2: %f\n", M1_pos, M2_pos); } //Desired Position Motors void Setpoint() { //set desired x and y point in array --> do this with EMG int dX = pot1.read() * 10; int dY = pot2.read() * 10; //Set the length of the arm R_set = sqrt( X[dX] * X[dX] + Y[dY] * Y[dY]); //desired length of the arm Q_set = acos( Y[dY] / X[dX] ); //desired angle of the arm (theta for Qref) [rad] } void Lengtharm() { //read out length of arm double A_Rx = L1 * cos(gearbox * Motor1.getPulses() * PI / 180.0) + L2 * cos( (gearbox * Motor1.getPulses() + gearbox * Motor2.getPulses())* PI / 180.0); double A_Ry = L1 * sin(gearbox * Motor1.getPulses() * PI / 180.0) + L2 * sin( (gearbox * Motor1.getPulses() + gearbox * Motor2.getPulses())* PI / 180.0); A_R = sqrt( pow (A_Rx, 2) + pow (A_Ry, 2)); //length Arm R_error= A_R-R_set; //error in arm length pc.printf("R_set = %f A_R = %f R_error = %f \n", R_set, A_R, R_error); } void Qpos() { //read out pos of Motor 1 double A_Rx = L1 * cos(gearbox * Motor1.getPulses() * PI / 180.0) + L2 * cos( (gearbox * Motor1.getPulses() + gearbox * Motor2.getPulses())* PI / 180.0); double A_Ry = L1 * sin(gearbox * Motor1.getPulses() * PI / 180.0) + L2 * sin( (gearbox * Motor1.getPulses() + gearbox * Motor2.getPulses())* PI / 180.0); Q_end= acos( A_Ry / A_Rx ); //actual angle of the arm //Aandacht is dit graden(moet in radians)?!!!!! Q_error= Q_end-Q_set; //error in angle of Qref pc.printf("Q_set = %f Q_end= %f Q_error = %f \n", Q_set, Q_end, Q_error); } double Pw_control (double S_error, double& S_error_int, double Ks, double Kp,double Ki,double Kd, double friction) { // Motor Power M_error = S_error; //give the amount of error double M_error_int = S_error_int + M_error / 1e4; S_error_int = M_error_int; double Ps = Ks; double Pp = Kp * M_error; //Proportional control double Pi = Ki * M_error_int; //check dit --> nog niet goed //int controll double Pd = Kd * (M_error - M_error1); //Differtial control M_error1 = M_error; double Power = Ps + Pp + Pi + Pd; pc.printf("Power bf: %f Pi: %f \n", Power, Pi); // overcome minimum power required to turn and stop the motor from 'piepen' Also limit power to a max. if (Power<friction) { Power=0; } else if (Power>0.7) { Power=0.7; } else {} //print error // pc.printf("Error: %f Direction: %f Position M: %f Setpoint %f \n", M_error, position, setpoint); pc.printf("Power: %f\n", Power); return Power ;//is it possible to return 2 things for } // direction controll bool dr_control (double A, double B) { // Direction motor should turn int Direction = (A > B) ? false:true; return Direction; } // begin to set point void calibration() { M1_dpos = 0; M2_dpos = 0; if (button == true) { M1_pos = 0; M2_pos = 0; } else { } } //--------------- End of control programs---------- int main() { //turn that led off!It hurts my eyes! Ow, I do boot. myled = 1; //PWM period motors E1.period(0.0001f); E2.period(0.0001f); pc.baud(115200); //sub programs - time how fast everything occurs t1.attach_us(&Send_True, 1e4); //Send data to pc t2.attach_us(&M_Setpoint_True, 1e4); //Desired position motor(EMG goes here) t3.attach_us(M_Control_True, 1e4); //Speed control here //calibration //-------------Schedule programs------------------- while(1) { if (setpoint_go == true) { if (run ==true) { Setpoint(); } else if (run == false) { calibration(); } else {} setpoint_go = false; } else if (control_go == true) { Lengtharm(); Qpos(); if (-1*R_Max_error<R_error<R_Max_error) { // control Motor2 E2 = Pw_control (R_error, R_error_int, M2_Ks, M2_Kp, M2_Ki, M2_Kd, M2_friction); M2 = dr_control (A_R,R_set); M2_error = M_error; //print error pc.printf("M1_pos = %f M1_error = %f M2_pos = %f M2_error = %f\n", M1_pos, M1_error, M2_pos, M2_error); } // once this works place it in 'send' else if (-1*R_Max_error>R_error>R_Max_error) { // control Motor 1 E1 = Pw_control (Q_error, Q_error_int, M1_Ks, M1_Kp, M1_Ki, M1_Kd, M1_friction); M1 = dr_control (Q_end, Q_set); // control Motor 2 - has to do nothing E2 = 0; } else {} control_go = false; } else if (send_go == true) { Send(); send_go = false; } else { //-----------End of scedule progrmas---------------- } } }