acos faalt
Dependencies: HIDScope MODSERIAL QEI mbed
main.cpp@3:337345f748cf, 2015-10-19 (annotated)
- Committer:
- davevogel0
- Date:
- Mon Oct 19 10:31:01 2015 +0000
- Revision:
- 3:337345f748cf
- Parent:
- 2:da3b7dd2beb0
- Child:
- 4:f0fd4a4ec178
Alexander v1;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
davevogel0 | 0:76bc19ed12ee | 1 | #include "mbed.h" |
davevogel0 | 0:76bc19ed12ee | 2 | #include "HIDScope.h" |
davevogel0 | 0:76bc19ed12ee | 3 | #include "MODSERIAL.h" |
davevogel0 | 0:76bc19ed12ee | 4 | #include "QEI.h" |
davevogel0 | 0:76bc19ed12ee | 5 | |
davevogel0 | 3:337345f748cf | 6 | //Aray of locations and Length of parts |
davevogel0 | 3:337345f748cf | 7 | float X [10] = {-4, -3, -2, -1, 0, 1, 2, 3, 4, 5}; |
davevogel0 | 3:337345f748cf | 8 | float Y [10] = {-4, -3, -2, -1, 0, 1, 2, 3, 4, 5}; |
davevogel0 | 3:337345f748cf | 9 | const double L1 = 0.34; |
davevogel0 | 3:337345f748cf | 10 | const double L2 = 0.26; |
davevogel0 | 3:337345f748cf | 11 | const double R_Max_error = 0.01; |
davevogel0 | 2:da3b7dd2beb0 | 12 | |
davevogel0 | 0:76bc19ed12ee | 13 | //---------- Change motor control parameters------- |
davevogel0 | 1:4465c9e203ce | 14 | //Motor 1 |
davevogel0 | 1:4465c9e203ce | 15 | const float M1_Ks = 0.4; //minimum power required to move |
davevogel0 | 1:4465c9e203ce | 16 | const float M1_Kp = 0.1; //strentgh of proportional control |
davevogel0 | 1:4465c9e203ce | 17 | const float M1_Kd = 0.1; //strentgh of differential control Include timestep in constant |
davevogel0 | 1:4465c9e203ce | 18 | const float M1_Ki = 0.1; //strentgh of integrational control Include timestep in constant |
davevogel0 | 1:4465c9e203ce | 19 | const double M1_friction = 0.55; //minimum power required to make the motor move |
davevogel0 | 1:4465c9e203ce | 20 | //Motor 2 |
davevogel0 | 1:4465c9e203ce | 21 | const float M2_Ks = 0.4; //minimum power required to move |
davevogel0 | 1:4465c9e203ce | 22 | const float M2_Kp = 0.1; //strentgh of proportional control |
davevogel0 | 1:4465c9e203ce | 23 | const float M2_Kd = 0.1; //strentgh of differential control Include timestep in constant |
davevogel0 | 1:4465c9e203ce | 24 | const float M2_Ki = 0.1; //strentgh of integrational control Include timestep in constant |
davevogel0 | 1:4465c9e203ce | 25 | const double M2_friction = 0.55; //minimum power required to make the motor move |
davevogel0 | 0:76bc19ed12ee | 26 | //----------End of control parameters |
davevogel0 | 0:76bc19ed12ee | 27 | |
davevogel0 | 0:76bc19ed12ee | 28 | //encoder |
davevogel0 | 0:76bc19ed12ee | 29 | QEI Motor1 (D13, D12, NC, 32); |
davevogel0 | 0:76bc19ed12ee | 30 | QEI Motor2 (D11, D10, NC, 32); |
davevogel0 | 0:76bc19ed12ee | 31 | |
davevogel0 | 0:76bc19ed12ee | 32 | //Define pins |
davevogel0 | 0:76bc19ed12ee | 33 | DigitalOut M2(D7); //direction 2 //1 is cc 0=cw |
davevogel0 | 0:76bc19ed12ee | 34 | PwmOut E2(D6); //speed 2 |
davevogel0 | 0:76bc19ed12ee | 35 | DigitalOut M1(D4); //direction 1 //1 is cc 0=cw |
davevogel0 | 0:76bc19ed12ee | 36 | PwmOut E1(D5); //speed 1 |
davevogel0 | 0:76bc19ed12ee | 37 | AnalogIn pot1(A0); //read value of pot1 for position |
davevogel0 | 0:76bc19ed12ee | 38 | AnalogIn pot2(A1); //read value of pot2 for position |
davevogel0 | 0:76bc19ed12ee | 39 | DigitalOut myled(LED_GREEN); |
davevogel0 | 0:76bc19ed12ee | 40 | MODSERIAL pc(USBTX, USBRX); |
davevogel0 | 0:76bc19ed12ee | 41 | DigitalIn button(PTA4); |
davevogel0 | 0:76bc19ed12ee | 42 | HIDScope scope(2); |
davevogel0 | 0:76bc19ed12ee | 43 | |
davevogel0 | 0:76bc19ed12ee | 44 | //Define Variables |
davevogel0 | 1:4465c9e203ce | 45 | double M1_dpos, M1_pos; |
davevogel0 | 1:4465c9e203ce | 46 | double M2_dpos, M2_pos; |
davevogel0 | 1:4465c9e203ce | 47 | double M_error, M1_error, M2_error; |
davevogel0 | 3:337345f748cf | 48 | double R_set, A_R, R_error, R_error_int; |
davevogel0 | 3:337345f748cf | 49 | double Q_set, Q_end, Q_error, Q_error_int; |
davevogel0 | 1:4465c9e203ce | 50 | double position; |
davevogel0 | 3:337345f748cf | 51 | const double long gearbox = 0.085877862; |
davevogel0 | 2:da3b7dd2beb0 | 52 | const double long PI = 3.14159265359; |
davevogel0 | 1:4465c9e203ce | 53 | double M_error1 = 0; |
davevogel0 | 0:76bc19ed12ee | 54 | |
davevogel0 | 0:76bc19ed12ee | 55 | //Timers and Tickers |
davevogel0 | 0:76bc19ed12ee | 56 | Timer t; |
davevogel0 | 0:76bc19ed12ee | 57 | Ticker t1,t2,t3; |
davevogel0 | 0:76bc19ed12ee | 58 | |
davevogel0 | 0:76bc19ed12ee | 59 | //booleans run program |
davevogel0 | 3:337345f748cf | 60 | volatile bool send_go = false, setpoint_go = false, control_go= false; |
davevogel0 | 0:76bc19ed12ee | 61 | |
davevogel0 | 0:76bc19ed12ee | 62 | //------------------Activate programs----------- |
davevogel0 | 0:76bc19ed12ee | 63 | //Activate send data pc |
davevogel0 | 3:337345f748cf | 64 | void Send_True() |
davevogel0 | 0:76bc19ed12ee | 65 | { |
davevogel0 | 0:76bc19ed12ee | 66 | send_go = true; |
davevogel0 | 0:76bc19ed12ee | 67 | } |
davevogel0 | 0:76bc19ed12ee | 68 | // Activate desired location |
davevogel0 | 1:4465c9e203ce | 69 | void M_Setpoint_True() |
davevogel0 | 0:76bc19ed12ee | 70 | { |
davevogel0 | 1:4465c9e203ce | 71 | setpoint_go = true; |
davevogel0 | 1:4465c9e203ce | 72 | } |
davevogel0 | 1:4465c9e203ce | 73 | // Controll if motor should go or not |
davevogel0 | 1:4465c9e203ce | 74 | void M_Control_True() |
davevogel0 | 1:4465c9e203ce | 75 | { |
davevogel0 | 1:4465c9e203ce | 76 | control_go = true; |
davevogel0 | 0:76bc19ed12ee | 77 | } |
davevogel0 | 0:76bc19ed12ee | 78 | //------------------End of activate programs-------- |
davevogel0 | 0:76bc19ed12ee | 79 | |
davevogel0 | 0:76bc19ed12ee | 80 | |
davevogel0 | 0:76bc19ed12ee | 81 | //------------------Start of control programs------- |
davevogel0 | 0:76bc19ed12ee | 82 | |
davevogel0 | 0:76bc19ed12ee | 83 | //Send values over HIDScope & Serial port |
davevogel0 | 0:76bc19ed12ee | 84 | void Send() |
davevogel0 | 0:76bc19ed12ee | 85 | { |
davevogel0 | 0:76bc19ed12ee | 86 | scope.set(0,Motor1.getPulses()); |
davevogel0 | 0:76bc19ed12ee | 87 | scope.set(1,Motor2.getPulses()); |
davevogel0 | 0:76bc19ed12ee | 88 | scope.send(); |
davevogel0 | 1:4465c9e203ce | 89 | // pc.printf("Deg M1: %f M2: %f\n", M1_pos, M2_pos); |
davevogel0 | 0:76bc19ed12ee | 90 | } |
davevogel0 | 0:76bc19ed12ee | 91 | |
davevogel0 | 3:337345f748cf | 92 | //Desired Position Motors |
davevogel0 | 1:4465c9e203ce | 93 | void Setpoint() |
davevogel0 | 1:4465c9e203ce | 94 | { |
davevogel0 | 3:337345f748cf | 95 | //set desired x and y point in array --> do this with EMG |
davevogel0 | 2:da3b7dd2beb0 | 96 | int dX = pot1.read() * 10; |
davevogel0 | 2:da3b7dd2beb0 | 97 | int dY = pot2.read() * 10; |
davevogel0 | 2:da3b7dd2beb0 | 98 | |
davevogel0 | 2:da3b7dd2beb0 | 99 | //Set the length of the arm |
davevogel0 | 3:337345f748cf | 100 | R_set = sqrt( X[dX] * X[dX] + Y[dY] * Y[dY]); //desired length of the arm |
davevogel0 | 3:337345f748cf | 101 | Q_set = acos( Y[dY] / X[dX] ); //desired angle of the arm (theta for Qref) [rad] |
davevogel0 | 1:4465c9e203ce | 102 | } |
davevogel0 | 2:da3b7dd2beb0 | 103 | |
davevogel0 | 3:337345f748cf | 104 | void Lengtharm() |
davevogel0 | 2:da3b7dd2beb0 | 105 | { |
davevogel0 | 2:da3b7dd2beb0 | 106 | //read out length of arm |
davevogel0 | 3:337345f748cf | 107 | double A_Rx = L1 * cos(gearbox * Motor1.getPulses() * PI / 180.0) + L2 * cos( (gearbox * Motor1.getPulses() + gearbox * Motor2.getPulses())* PI / 180.0); |
davevogel0 | 3:337345f748cf | 108 | double A_Ry = L1 * sin(gearbox * Motor1.getPulses() * PI / 180.0) + L2 * sin( (gearbox * Motor1.getPulses() + gearbox * Motor2.getPulses())* PI / 180.0); |
davevogel0 | 3:337345f748cf | 109 | A_R = sqrt( pow (A_Rx, 2) + pow (A_Ry, 2)); //length Arm |
davevogel0 | 3:337345f748cf | 110 | R_error= A_R-R_set; //error in arm length |
davevogel0 | 2:da3b7dd2beb0 | 111 | |
davevogel0 | 3:337345f748cf | 112 | pc.printf("R_set = %f A_R = %f R_error = %f \n", R_set, A_R, R_error); |
davevogel0 | 2:da3b7dd2beb0 | 113 | } |
davevogel0 | 2:da3b7dd2beb0 | 114 | |
davevogel0 | 3:337345f748cf | 115 | void Qpos() |
davevogel0 | 0:76bc19ed12ee | 116 | { |
davevogel0 | 3:337345f748cf | 117 | //read out pos of Motor 1 |
davevogel0 | 3:337345f748cf | 118 | double A_Rx = L1 * cos(gearbox * Motor1.getPulses() * PI / 180.0) + L2 * cos( (gearbox * Motor1.getPulses() + gearbox * Motor2.getPulses())* PI / 180.0); |
davevogel0 | 3:337345f748cf | 119 | double A_Ry = L1 * sin(gearbox * Motor1.getPulses() * PI / 180.0) + L2 * sin( (gearbox * Motor1.getPulses() + gearbox * Motor2.getPulses())* PI / 180.0); |
davevogel0 | 3:337345f748cf | 120 | Q_end= acos( A_Ry / A_Rx ); //actual angle of the arm //Aandacht is dit graden(moet in radians)?!!!!! |
davevogel0 | 3:337345f748cf | 121 | Q_error= Q_end-Q_set; //error in angle of Qref |
davevogel0 | 3:337345f748cf | 122 | |
davevogel0 | 3:337345f748cf | 123 | pc.printf("Q_set = %f Q_end= %f Q_error = %f \n", Q_set, Q_end, Q_error); |
davevogel0 | 3:337345f748cf | 124 | } |
davevogel0 | 3:337345f748cf | 125 | |
davevogel0 | 3:337345f748cf | 126 | double Pw_control (double S_error, double& S_error_int, double Ks, double Kp,double Ki,double Kd, double friction) |
davevogel0 | 3:337345f748cf | 127 | { |
davevogel0 | 1:4465c9e203ce | 128 | // Motor Power |
davevogel0 | 3:337345f748cf | 129 | M_error = S_error; //give the amount of error |
davevogel0 | 3:337345f748cf | 130 | |
davevogel0 | 3:337345f748cf | 131 | double M_error_int = S_error_int + M_error / 1e4; |
davevogel0 | 3:337345f748cf | 132 | S_error_int = M_error_int; |
davevogel0 | 1:4465c9e203ce | 133 | double Ps = Ks; |
davevogel0 | 1:4465c9e203ce | 134 | double Pp = Kp * M_error; //Proportional control |
davevogel0 | 3:337345f748cf | 135 | double Pi = Ki * M_error_int; //check dit --> nog niet goed //int controll |
davevogel0 | 3:337345f748cf | 136 | double Pd = Kd * (M_error - M_error1); //Differtial control |
davevogel0 | 1:4465c9e203ce | 137 | M_error1 = M_error; |
davevogel0 | 1:4465c9e203ce | 138 | double Power = Ps + Pp + Pi + Pd; |
davevogel0 | 1:4465c9e203ce | 139 | pc.printf("Power bf: %f Pi: %f \n", Power, Pi); |
davevogel0 | 1:4465c9e203ce | 140 | |
davevogel0 | 3:337345f748cf | 141 | // overcome minimum power required to turn and stop the motor from 'piepen' Also limit power to a max. |
davevogel0 | 1:4465c9e203ce | 142 | if (Power<friction) { |
davevogel0 | 1:4465c9e203ce | 143 | Power=0; |
davevogel0 | 3:337345f748cf | 144 | } else if (Power>0.7) { |
davevogel0 | 3:337345f748cf | 145 | Power=0.7; |
davevogel0 | 1:4465c9e203ce | 146 | } else {} |
davevogel0 | 1:4465c9e203ce | 147 | |
davevogel0 | 1:4465c9e203ce | 148 | //print error |
davevogel0 | 1:4465c9e203ce | 149 | // pc.printf("Error: %f Direction: %f Position M: %f Setpoint %f \n", M_error, position, setpoint); |
davevogel0 | 1:4465c9e203ce | 150 | |
davevogel0 | 1:4465c9e203ce | 151 | pc.printf("Power: %f\n", Power); |
davevogel0 | 1:4465c9e203ce | 152 | return Power ;//is it possible to return 2 things for |
davevogel0 | 1:4465c9e203ce | 153 | } |
davevogel0 | 3:337345f748cf | 154 | |
davevogel0 | 1:4465c9e203ce | 155 | // direction controll |
davevogel0 | 3:337345f748cf | 156 | bool dr_control (double A, double B) |
davevogel0 | 1:4465c9e203ce | 157 | { |
davevogel0 | 1:4465c9e203ce | 158 | // Direction motor should turn |
davevogel0 | 3:337345f748cf | 159 | int Direction = (A > B) ? false:true; |
davevogel0 | 1:4465c9e203ce | 160 | return Direction; |
davevogel0 | 1:4465c9e203ce | 161 | } |
davevogel0 | 3:337345f748cf | 162 | |
davevogel0 | 1:4465c9e203ce | 163 | // begin to set point |
davevogel0 | 1:4465c9e203ce | 164 | void calibration() |
davevogel0 | 1:4465c9e203ce | 165 | { |
davevogel0 | 2:da3b7dd2beb0 | 166 | M1_dpos = 0; |
davevogel0 | 2:da3b7dd2beb0 | 167 | M2_dpos = 0; |
davevogel0 | 2:da3b7dd2beb0 | 168 | if (button == true) { |
davevogel0 | 2:da3b7dd2beb0 | 169 | M1_pos = 0; |
davevogel0 | 2:da3b7dd2beb0 | 170 | M2_pos = 0; |
davevogel0 | 1:4465c9e203ce | 171 | } else { |
davevogel0 | 1:4465c9e203ce | 172 | } |
davevogel0 | 0:76bc19ed12ee | 173 | } |
davevogel0 | 0:76bc19ed12ee | 174 | |
davevogel0 | 0:76bc19ed12ee | 175 | |
davevogel0 | 0:76bc19ed12ee | 176 | //--------------- End of control programs---------- |
davevogel0 | 0:76bc19ed12ee | 177 | int main() |
davevogel0 | 0:76bc19ed12ee | 178 | { |
davevogel0 | 0:76bc19ed12ee | 179 | //turn that led off!It hurts my eyes! Ow, I do boot. |
davevogel0 | 2:da3b7dd2beb0 | 180 | myled = 1; |
davevogel0 | 0:76bc19ed12ee | 181 | |
davevogel0 | 0:76bc19ed12ee | 182 | //PWM period motors |
davevogel0 | 0:76bc19ed12ee | 183 | E1.period(0.0001f); |
davevogel0 | 0:76bc19ed12ee | 184 | E2.period(0.0001f); |
davevogel0 | 0:76bc19ed12ee | 185 | |
davevogel0 | 0:76bc19ed12ee | 186 | pc.baud(115200); |
davevogel0 | 0:76bc19ed12ee | 187 | |
davevogel0 | 0:76bc19ed12ee | 188 | //sub programs - time how fast everything occurs |
davevogel0 | 3:337345f748cf | 189 | t1.attach_us(&Send_True, 1e4); //Send data to pc |
davevogel0 | 1:4465c9e203ce | 190 | t2.attach_us(&M_Setpoint_True, 1e4); //Desired position motor(EMG goes here) |
davevogel0 | 1:4465c9e203ce | 191 | t3.attach_us(M_Control_True, 1e4); //Speed control here |
davevogel0 | 0:76bc19ed12ee | 192 | |
davevogel0 | 3:337345f748cf | 193 | //calibration |
davevogel0 | 0:76bc19ed12ee | 194 | |
davevogel0 | 3:337345f748cf | 195 | |
davevogel0 | 3:337345f748cf | 196 | //-------------Schedule programs------------------- |
davevogel0 | 0:76bc19ed12ee | 197 | while(1) { |
davevogel0 | 1:4465c9e203ce | 198 | if (setpoint_go == true) { |
davevogel0 | 3:337345f748cf | 199 | if (run ==true) { |
davevogel0 | 3:337345f748cf | 200 | Setpoint(); |
davevogel0 | 3:337345f748cf | 201 | } else if (run == false) { |
davevogel0 | 3:337345f748cf | 202 | calibration(); |
davevogel0 | 3:337345f748cf | 203 | } else {} |
davevogel0 | 1:4465c9e203ce | 204 | setpoint_go = false; |
davevogel0 | 3:337345f748cf | 205 | } else if (control_go == true) { |
davevogel0 | 3:337345f748cf | 206 | Lengtharm(); |
davevogel0 | 3:337345f748cf | 207 | Qpos(); |
davevogel0 | 3:337345f748cf | 208 | if (-1*R_Max_error<R_error<R_Max_error) { |
davevogel0 | 3:337345f748cf | 209 | // control Motor2 |
davevogel0 | 3:337345f748cf | 210 | E2 = Pw_control (R_error, R_error_int, M2_Ks, M2_Kp, M2_Ki, M2_Kd, M2_friction); |
davevogel0 | 3:337345f748cf | 211 | M2 = dr_control (A_R,R_set); |
davevogel0 | 3:337345f748cf | 212 | M2_error = M_error; |
davevogel0 | 3:337345f748cf | 213 | //print error |
davevogel0 | 3:337345f748cf | 214 | pc.printf("M1_pos = %f M1_error = %f M2_pos = %f M2_error = %f\n", M1_pos, M1_error, M2_pos, M2_error); |
davevogel0 | 3:337345f748cf | 215 | } // once this works place it in 'send' |
davevogel0 | 3:337345f748cf | 216 | else if (-1*R_Max_error>R_error>R_Max_error) { |
davevogel0 | 3:337345f748cf | 217 | // control Motor 1 |
davevogel0 | 3:337345f748cf | 218 | E1 = Pw_control (Q_error, Q_error_int, M1_Ks, M1_Kp, M1_Ki, M1_Kd, M1_friction); |
davevogel0 | 3:337345f748cf | 219 | M1 = dr_control (Q_end, Q_set); |
davevogel0 | 3:337345f748cf | 220 | // control Motor 2 - has to do nothing |
davevogel0 | 3:337345f748cf | 221 | E2 = 0; |
davevogel0 | 3:337345f748cf | 222 | } else {} |
davevogel0 | 1:4465c9e203ce | 223 | control_go = false; |
davevogel0 | 2:da3b7dd2beb0 | 224 | } else if (send_go == true) { |
davevogel0 | 0:76bc19ed12ee | 225 | Send(); |
davevogel0 | 0:76bc19ed12ee | 226 | |
davevogel0 | 0:76bc19ed12ee | 227 | send_go = false; |
davevogel0 | 0:76bc19ed12ee | 228 | } else { |
davevogel0 | 0:76bc19ed12ee | 229 | |
davevogel0 | 0:76bc19ed12ee | 230 | //-----------End of scedule progrmas---------------- |
davevogel0 | 0:76bc19ed12ee | 231 | } |
davevogel0 | 0:76bc19ed12ee | 232 | } |
davevogel0 | 0:76bc19ed12ee | 233 | } |