Diff: TiltVelocityLoop.cpp

Revision:

2:dc684c402296

Parent:

0:7ce0bc67f60f

Child:

3:f8a5c1cee1fa

--- a/TiltVelocityLoop.cpp	Mon May 18 09:06:07 2015 +0000
+++ b/TiltVelocityLoop.cpp	Wed May 27 07:13:54 2015 +0000
@@ -10,35 +10,222 @@
 #define Lower (1<<(bits-5))     // 8192 counts = 11.25 degrees
 #define Upper OneTurn - Lower   // 262144 - 8192 = 253952
 
+extern Serial pc;
 extern iC_MU tilt_ic_mu;
+extern iC_MU TiltPos;
 extern PwmOut Tilt_Motor_PWM;
 extern DigitalOut Tilt_Motor_Direction;
 extern Classic_PID TiltVelocityPID;
+extern float Demand_Count_Rate;
+extern float Tilt_motor_max_count_rate;
+extern float Actual_Motor_Speed;
+
+extern float T_Position; // True Tilt Position (Degrees)
+extern float T_sf;
+
 
 int LastTiltPosition = 0;
+int Position = 0;
+int Velocity = 0;
+float Duty_Cycle = 0.0;
+
+
+// S_Ramp Fade values
+float MaxSpeed = 60.00; // 5 Deg/s, 1250 RPM
+float Tilt_motor_max_count_rate = 5461; //encoder counts / ms
+
+float T_Position = 0; // True Tilt Position (Degrees)
+float T_sf = 1456.355;  // counts per degree
+
+// Main servo loop
+int DoMove = 0;
+const float LOOPs = 0.001;
+float D = 10; // Fade distance
+float T = 15; // Fade time
+float dir = 1; //direction flag
+float ta; // The actual value used after sanity checks
+float ts; // The actual value used after sanity checks(S ramping)
+float tsfade = 0.5; // segment time for S ramped fade
+float tscut = 0.2; // segment time for S ramped cut
+float j; // jerk value for fade
+float aj; // accel value when S ramping
+float Vp;  // Top speed for the move Deg/s @ load (125:1 Ratio to motor)
+float Vs;  // Speed step increment
+float Da;  // Accel distance
+float Ds; // Distance convered at steady speed
+float s;  // Profiler internal demand speed (always positive)
+float sout;  // Demand as applied by the Vff term
+float s_profile; // output demand speed to postion loop + or -)
+float P;  // Profiler Demand postion
+float fadetime; // this will retain the current fade time
+float Error;    // Current position vs the profiler position
+float Vff = 1;  // Velocity feedforward term - a value of 1 sends 100% profiler speed demand to motor
+float T_Kp = 8;  //  This is is multiplied by the position error and added to the motor demand
+float Prop;   // The demand created by the Kp and error calculation
+float demand = 0;  // The value sento to the motor to make it move
+float P_vel;
+float Va; // mid speed point
+float as; // acceleration value during linear accel stage
+float Vj; // Speed at bottom intersection
+float Vjp; // Speed at top intersection
+float c; // constant for up ramp y=mx+c
+float b; // constant for down ramp y = mx+b
+float real_time;
+float fade_tilt;
+float joy_tilt;
+float fade_time=10;
+extern bool joystick;
+extern float Time;
+
+float T_Joy = 0.0;
+
 
 void TiltVelocityLoop(void const *args)
 {
-    int Position = tilt_ic_mu.ReadPOSITION() >> (19 - bits);// Read the current position from the iC-MU and bitshift to reduce noise
-    int Velocity = Position - LastTiltPosition;             // Calculate change in position (i.e. Velocity)
-    float Duty_Cycle = 0.0;
+    T_Position = 360 - (TiltPos.ReadPOSITION()/T_sf); // the 3D printed unit counts the opposite way to the aluminium unit.
+    
+    if (joystick){
+        P = T_Position;
+        }
+    
+    Position = tilt_ic_mu.ReadPOSITION() >> (19 - bits);// Read the current position from the iC-MU and bitshift to reduce noise
+    Velocity = Position - LastTiltPosition;             // Calculate change in position (i.e. Velocity)
+    Actual_Motor_Speed = Velocity;
+
 
     // Check to see if we have gone past the index point
     if(Position < Lower & LastTiltPosition > Upper) {       // We have gone over the index point in 1 direction
         Velocity += OneTurn;
     } else if(Position > Upper & LastTiltPosition < Lower) {// We have gone over the index point in the other direction
         Velocity -= OneTurn;
-    }  
+    }
     LastTiltPosition = Position;                            // Update new position from next time
 
-    TiltVelocityPID.setProcessValue(Velocity);              // Pass the Velocity onto the PID loop
-    Duty_Cycle = TiltVelocityPID.compute();
+    TiltVelocityPID.setProcessValue(Velocity);
+
+    if (DoMove == 1) {
+        if ((fadetime < ts) & (s < Vp)) {
+            //led2 = 0;
+            s = (j/2)*fadetime*fadetime;  //bottom parabola
+            fadetime = fadetime + LOOPs; // This provides the base time for the fade sequence
+        } else if ((fadetime >= ts) & (fadetime <(2*ts))) {
+            s = (as*fadetime)+c; //steady accel stage
+            fadetime = fadetime + LOOPs;
+        } else if ((fadetime >= (2*ts)) & (fadetime <(3*ts))) {
+            s = (-(j/2)*(fadetime-(3*ts))*(fadetime-(3*ts))) + Vp; // Top parabola
+            fadetime = fadetime + LOOPs;
+        } else if ((fadetime >= (3*ts)) & (fadetime <(T-(3*ts)))) {
+            s = Vp;  // Steady Speed Stage
+            fadetime = fadetime + LOOPs;
+        } else if ((fadetime >= (T-(3*ts))) & (fadetime <(T-(2*ts)))) {
+            s = (-(j/2)*(fadetime-(T-(3*ts)))*(fadetime-(T-(3*ts)))) + Vp; // Top parabola down
+            fadetime = fadetime + LOOPs;
+        } else if ((fadetime >= (T-ts-ts)) & (fadetime < (T-ts))) {
+            s = -as*(fadetime - T) + c; //steady decel stage
+            fadetime = fadetime + LOOPs;
+        } else if ((fadetime >= (T-ts)) & (s < Vp) & (fadetime <= T)) {
+            //led2 = 1;
+            s = (j/2)*(T-fadetime)*(T-fadetime);  //bottom parabola to end
+            fadetime = fadetime + LOOPs;
+        } else if (fadetime >= T) {
+            s=0;
+            //led2 = 0;
+            DoMove = 0;
+            TiltVelocityPID.setSetPoint(0);
+        } else {
+            fadetime = fadetime + LOOPs; // for TBC reason this is needed!
+        }
+        if (DoMove==1) {
+            // compute the new position demand:
+            s_profile = s * dir;
+            P = P + (s_profile * LOOPs);
+            real_time = ((T - fadetime) * 1000);
+
+            sout = s_profile * Vff;  //Apply velocity feedforward term
+            Error = (P - T_Position);    // Position Error
+            Prop = T_Kp * Error;      // Calculate proportional gain element
+            demand = sout + Prop;   // Sum the result of Vff and Kp to the demand
+            //This demand represents degrees/s @ the output shaft.
+            // Ratio is 125:1.  5461 couns/ms = 60 Deg/s @ output
+            // scalefactor is approx 91
+            P_vel = demand * 72.8;
+            TiltVelocityPID.setSetPoint(P_vel);
+            //.printf("\n\r %f,   %f,   %f,   %f, %f",Time, s_profile, P_vel, T_Position, Error);
+            //me = Time + LOOPs;
+        }
+    } else {
+
+        if(!joystick) {
+
+            P = P + (T_Joy * LOOPs);
+            sout = T_Joy * Vff;  //Apply velocity feedforward term
+            Error = (P - T_Position);    // Position Error
+            Prop = T_Kp * Error;      // Calculate proportional gain element
+            demand = sout + Prop;   // Sum the result of Vff and Kp to the demand
+            //This demand represents degrees/s @ the output shaft.
+            // Ratio is 125:1.  5461 couns/ms = 60 Deg/s @ output
+            // scalefactor is approx 91
+            P_vel = demand * 72.8;
+            TiltVelocityPID.setSetPoint(P_vel);
+        }
+
+    }
+
+    Duty_Cycle = TiltVelocityPID.compute_ff()/Tilt_motor_max_count_rate;
 
     if(Duty_Cycle < 0) {
-        Tilt_Motor_Direction = 0;
+        Tilt_Motor_Direction = 1;
         Tilt_Motor_PWM = 1 - (Duty_Cycle * -1.0);
     } else {
-        Tilt_Motor_Direction = 1;
+        Tilt_Motor_Direction = 0;
         Tilt_Motor_PWM = 1 - Duty_Cycle;
     }
-}
\ No newline at end of file
+}
+
+void Profile() // For S ramped movement using Servo for S ramping
+{
+    if ((fade_tilt >=0) & (fade_tilt <= 359)) {
+        D = fade_tilt - T_Position; // Calculate distance to move
+    } else {
+        D = 0;
+        abort();  // leave this function
+        // add an error event handler here
+    }
+
+    if (D <= 0) {
+        dir = -1;
+        D = abs(D);
+    } else {
+        dir = 1;
+    }
+
+    if (fade_time <= (6*tsfade + 0.2)) {
+        ts = tscut;
+        T = fade_time;
+    } else {
+        ts = tsfade;
+        T = fade_time;
+    }
+    if (fade_time <= (6*tscut+0.2)) {
+        T = 6*tscut + 0.2;  //min fade fime
+    }
+
+    Vp = D / (T-(3*ts));  // Equation 1
+    if (Vp > MaxSpeed) {         //Check for maximum speed condition
+        Vp = MaxSpeed;           //Do the fade as fast as possible
+        T = (D + (Vp * (3*ts)))/Vp;
+    }
+
+    // New version based on S-Ramping Doc - V2
+
+    j = Vp / (2*ts*ts);
+    as = j * ts;
+    c = -(Vp / 4);
+    s = 0;
+    fadetime = 0;
+   // Time = 0;
+    P = T_Position;
+
+}
+
+