Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

actuators.cpp@26:0a9e4147a31a, 2015-10-06 (annotated)

Committer:
annesteenbeek
Date:
Tue Oct 06 16:37:07 2015 +0200
Revision:
26:0a9e4147a31a
Parent:
25:874675516927
Child:
28:40a931dfe840
enabled motor output

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 13:4837b36b9a68 1 #include "actuators.h"
annesteenbeek 13:4837b36b9a68 2 #include "PID.h"
annesteenbeek 13:4837b36b9a68 3 #include "mbed.h"
annesteenbeek 13:4837b36b9a68 4 #include "config.h"
annesteenbeek 13:4837b36b9a68 5 #include "encoder.h"
annesteenbeek 25:874675516927 6 #include "HIDScope.h"
annesteenbeek 0:525558a26464 7 // functions for controlling the motors
annesteenbeek 26:0a9e4147a31a 8 bool motorEnable = true;
annesteenbeek 6:b957d8809e7c 9
annesteenbeek 6:b957d8809e7c 10 bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 6:b957d8809e7c 11 bool direction2 = false;
annesteenbeek 6:b957d8809e7c 12
annesteenbeek 14:0c0d1bfd94ea 13 float motor1Pos = 0;
annesteenbeek 14:0c0d1bfd94ea 14 float motor2Pos = 0;
annesteenbeek 6:b957d8809e7c 15
annesteenbeek 14:0c0d1bfd94ea 16 float motorSpeed1 = 0;
annesteenbeek 14:0c0d1bfd94ea 17 float motorSpeed2 = 0;
annesteenbeek 6:b957d8809e7c 18
annesteenbeek 14:0c0d1bfd94ea 19 float motorSetSpeed1 = 0;
annesteenbeek 14:0c0d1bfd94ea 20 float motorSetSpeed2 = 0;
annesteenbeek 6:b957d8809e7c 21
annesteenbeek 6:b957d8809e7c 22
annesteenbeek 14:0c0d1bfd94ea 23 float motorPWM1 = 0;
annesteenbeek 14:0c0d1bfd94ea 24 float motorPWM2 = 0;
annesteenbeek 6:b957d8809e7c 25
annesteenbeek 6:b957d8809e7c 26 // Set PID values
annesteenbeek 14:0c0d1bfd94ea 27 float Kp1 = 1;
annesteenbeek 14:0c0d1bfd94ea 28 float Ki1 = 1;
annesteenbeek 14:0c0d1bfd94ea 29 float Kd1 = 1;
annesteenbeek 6:b957d8809e7c 30
annesteenbeek 14:0c0d1bfd94ea 31 float Kp2 = 1;
annesteenbeek 14:0c0d1bfd94ea 32 float Ki2 = 1;
annesteenbeek 14:0c0d1bfd94ea 33 float Kd2 = 1;
annesteenbeek 0:525558a26464 34
annesteenbeek 20:3cba803cd771 35 float PIDinterval = 0.2;
annesteenbeek 20:3cba803cd771 36
annesteenbeek 25:874675516927 37
annesteenbeek 26:0a9e4147a31a 38 // Create object instances
annesteenbeek 26:0a9e4147a31a 39 // Initialze motors
annesteenbeek 26:0a9e4147a31a 40 PwmOut motor1(motor1PWMPin);
annesteenbeek 26:0a9e4147a31a 41 PwmOut motor2(motor2PWMPin);
annesteenbeek 26:0a9e4147a31a 42
annesteenbeek 26:0a9e4147a31a 43 // Initialize encoders
annesteenbeek 25:874675516927 44 Encoder encoder1(enc1A, enc1B, true);
annesteenbeek 25:874675516927 45 Encoder encoder2(enc2A, enc2B, true);
annesteenbeek 25:874675516927 46
annesteenbeek 26:0a9e4147a31a 47 // Set direction pins
annesteenbeek 26:0a9e4147a31a 48 DigitalOut motor1Dir(motor1DirPin);
annesteenbeek 26:0a9e4147a31a 49 DigitalOut motor2Dir(motor2DirPin);
annesteenbeek 26:0a9e4147a31a 50
annesteenbeek 26:0a9e4147a31a 51 // create PID instances
annesteenbeek 26:0a9e4147a31a 52 PID PIDmotor1(Kp1, Ki1, Kd1, PIDinterval);
annesteenbeek 26:0a9e4147a31a 53 PID PIDmotor2(Kp2, Ki2, Kd2, PIDinterval);
annesteenbeek 25:874675516927 54
annesteenbeek 25:874675516927 55
annesteenbeek 25:874675516927 56 void motorInit(){
annesteenbeek 25:874675516927 57
annesteenbeek 3:47c76be6d402 58 motor1Dir.write(direction1);
annesteenbeek 3:47c76be6d402 59 motor2Dir.write(direction2);
annesteenbeek 3:47c76be6d402 60
annesteenbeek 3:47c76be6d402 61 // Set motor PWM period
annesteenbeek 3:47c76be6d402 62 motor1.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 63 motor2.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 64
annesteenbeek 14:0c0d1bfd94ea 65 PIDmotor1.setSetPoint(motorSetSpeed1);
annesteenbeek 14:0c0d1bfd94ea 66 PIDmotor2.setSetPoint(motorSetSpeed2);
annesteenbeek 1:80f098c05d4b 67
annesteenbeek 20:3cba803cd771 68 PIDmotor1.setProcessValue(motorSpeed1);
annesteenbeek 20:3cba803cd771 69 PIDmotor2.setProcessValue(motorSpeed2);
annesteenbeek 1:80f098c05d4b 70 // set PID mode
annesteenbeek 22:c562b9a4176d 71 PIDmotor1.setMode(1);
annesteenbeek 22:c562b9a4176d 72 PIDmotor2.setMode(1);
annesteenbeek 1:80f098c05d4b 73
annesteenbeek 2:95ba9f6f0128 74 // set limits for PID output to avoid integrator build up.
annesteenbeek 21:3e6ebec86438 75 PIDmotor1.setOutputLimits(-1.0, 1.0);
annesteenbeek 21:3e6ebec86438 76 PIDmotor2.setOutputLimits(-1.0, 1.0);
annesteenbeek 26:0a9e4147a31a 77
annesteenbeek 4:80e2280058ed 78 }
annesteenbeek 0:525558a26464 79
annesteenbeek 26:0a9e4147a31a 80
annesteenbeek 0:525558a26464 81 void motorControl(){
annesteenbeek 1:80f098c05d4b 82 if(motorEnable){ // only run motors if switch is enabled
annesteenbeek 1:80f098c05d4b 83
annesteenbeek 0:525558a26464 84 // get encoder positions
annesteenbeek 3:47c76be6d402 85 motor1Pos = encoder1.getPosition();
annesteenbeek 3:47c76be6d402 86 motor2Pos = encoder2.getPosition();
annesteenbeek 3:47c76be6d402 87
annesteenbeek 0:525558a26464 88 // check if motor's are within rotational boundarys
annesteenbeek 4:80e2280058ed 89 // get encoder speeds
annesteenbeek 4:80e2280058ed 90 motorSpeed1 = encoder1.getSpeed();
annesteenbeek 4:80e2280058ed 91 motorSpeed2 = encoder2.getSpeed();
annesteenbeek 2:95ba9f6f0128 92
annesteenbeek 0:525558a26464 93 // translate to x/y speed
annesteenbeek 0:525558a26464 94 // compute new PID parameters using setpoint speeds and x/y speeds
annesteenbeek 14:0c0d1bfd94ea 95 motorPWM1 = PIDmotor1.compute();
annesteenbeek 14:0c0d1bfd94ea 96 motorPWM2 = PIDmotor2.compute();
annesteenbeek 2:95ba9f6f0128 97 // translate to motor rotation speed
annesteenbeek 0:525558a26464 98 // write new values to motor's
annesteenbeek 5:73bfad06b775 99 if (motorPWM1 > 0 ){ // CCW rotation (unitcircle convetion)
annesteenbeek 5:73bfad06b775 100 direction1 = false;
annesteenbeek 5:73bfad06b775 101 }else{
annesteenbeek 5:73bfad06b775 102 direction1 = true; // CW rotation
annesteenbeek 5:73bfad06b775 103 }
annesteenbeek 5:73bfad06b775 104 if (motorPWM2 > 0 ){ // CCW rotation (unitcircle convetion)
annesteenbeek 5:73bfad06b775 105 direction2 = false;
annesteenbeek 5:73bfad06b775 106 }else{
annesteenbeek 5:73bfad06b775 107 direction2 = true; // CW rotation
annesteenbeek 5:73bfad06b775 108 }
annesteenbeek 5:73bfad06b775 109 motor1.write(abs(motorPWM1));
annesteenbeek 5:73bfad06b775 110 motor2.write(abs(motorPWM2));
annesteenbeek 2:95ba9f6f0128 111
annesteenbeek 0:525558a26464 112 }else{
annesteenbeek 0:525558a26464 113 // write 0 to motors
annesteenbeek 2:95ba9f6f0128 114 motor1.write(0);
annesteenbeek 2:95ba9f6f0128 115 motor2.write(0);
annesteenbeek 0:525558a26464 116 }
annesteenbeek 0:525558a26464 117 }
annesteenbeek 0:525558a26464 118
annesteenbeek 0:525558a26464 119 void servoControl(){
annesteenbeek 0:525558a26464 120 // use potMeter Value to set servo angle
annesteenbeek 0:525558a26464 121 // (optionaly calculate xy position to keep balloon in position)
annesteenbeek 0:525558a26464 122 // calculate z position using angle
annesteenbeek 0:525558a26464 123 // calculate x y translation of endpoint
annesteenbeek 0:525558a26464 124 // find new x and y speed.
annesteenbeek 0:525558a26464 125
annesteenbeek 25:874675516927 126 }
annesteenbeek 25:874675516927 127