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@13:4837b36b9a68, 2015-10-05 (annotated)

Committer:
annesteenbeek
Date:
Mon Oct 05 17:24:14 2015 +0000
Revision:
13:4837b36b9a68
Parent:
12:61759f94c07a
Child:
14:0c0d1bfd94ea
changed folder structure to use header files correctly;

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 0:525558a26464 6 // functions for controlling the motors
annesteenbeek 6:b957d8809e7c 7 bool motorEnable = false;
annesteenbeek 6:b957d8809e7c 8
annesteenbeek 6:b957d8809e7c 9 bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 6:b957d8809e7c 10 bool direction2 = false;
annesteenbeek 6:b957d8809e7c 11
annesteenbeek 6:b957d8809e7c 12 double motor1Pos = 0;
annesteenbeek 6:b957d8809e7c 13 double motor2Pos = 0;
annesteenbeek 6:b957d8809e7c 14
annesteenbeek 6:b957d8809e7c 15 double motorSpeed1 = 0;
annesteenbeek 6:b957d8809e7c 16 double motorSpeed2 = 0;
annesteenbeek 6:b957d8809e7c 17
annesteenbeek 6:b957d8809e7c 18 double motorSetSpeed1 = 0;
annesteenbeek 6:b957d8809e7c 19 double motorSetSpeed2 = 0;
annesteenbeek 6:b957d8809e7c 20
annesteenbeek 6:b957d8809e7c 21
annesteenbeek 6:b957d8809e7c 22 double motorPWM1 = 0;
annesteenbeek 6:b957d8809e7c 23 double motorPWM2 = 0;
annesteenbeek 6:b957d8809e7c 24
annesteenbeek 6:b957d8809e7c 25 // Set PID values
annesteenbeek 6:b957d8809e7c 26 double Kp1 = 1;
annesteenbeek 6:b957d8809e7c 27 double Ki1 = 1;
annesteenbeek 6:b957d8809e7c 28 double Kd1 = 1;
annesteenbeek 6:b957d8809e7c 29
annesteenbeek 6:b957d8809e7c 30 double Kp2 = 1;
annesteenbeek 6:b957d8809e7c 31 double Ki2 = 1;
annesteenbeek 6:b957d8809e7c 32 double Kd2 = 1;
annesteenbeek 0:525558a26464 33
annesteenbeek 0:525558a26464 34 void motorInit(){
annesteenbeek 3:47c76be6d402 35 // Initialze motors
annesteenbeek 3:47c76be6d402 36 PwmOut motor1(motor1PWMPin);
annesteenbeek 3:47c76be6d402 37 PwmOut motor2(motor2PWMPin);
annesteenbeek 3:47c76be6d402 38
annesteenbeek 3:47c76be6d402 39 // Set motor direction pins.
annesteenbeek 3:47c76be6d402 40 DigitalOut motor1Dir(motor1DirPin);
annesteenbeek 3:47c76be6d402 41 DigitalOut motor2Dir(motor2DirPin);
annesteenbeek 3:47c76be6d402 42
annesteenbeek 3:47c76be6d402 43 // Set initial direction
annesteenbeek 3:47c76be6d402 44 motor1Dir.write(direction1);
annesteenbeek 3:47c76be6d402 45 motor2Dir.write(direction2);
annesteenbeek 3:47c76be6d402 46
annesteenbeek 3:47c76be6d402 47 // Set motor PWM period
annesteenbeek 3:47c76be6d402 48 motor1.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 49 motor2.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 50
annesteenbeek 4:80e2280058ed 51 // Initialize encoders (with speed calculation)
annesteenbeek 4:80e2280058ed 52 Encoder encoder1(enc1A, enc1B, true);
annesteenbeek 4:80e2280058ed 53 Encoder encoder2(enc2A, enc2B, true);
annesteenbeek 1:80f098c05d4b 54
annesteenbeek 4:80e2280058ed 55 initPID();
annesteenbeek 4:80e2280058ed 56 }
annesteenbeek 4:80e2280058ed 57
annesteenbeek 4:80e2280058ed 58 void initPID(){
annesteenbeek 5:73bfad06b775 59 // create PID instances for motors
annesteenbeek 5:73bfad06b775 60 // PID pidname(input, output, setpoint, kp, ki, kd, direction)
annesteenbeek 1:80f098c05d4b 61 PID PIDmotor1(&motorSpeed1, &motorPWM1, &motorSetSpeed1, Kp1, Ki1, Kd1, DIRECT);
annesteenbeek 1:80f098c05d4b 62 PID PIDmotor2(&motorSpeed2, &motorPWM2, &motorSetSpeed2, Kp2, Ki2, Kd2, DIRECT);
annesteenbeek 1:80f098c05d4b 63
annesteenbeek 1:80f098c05d4b 64 // set PID mode
annesteenbeek 1:80f098c05d4b 65 PIDmotor1.SetMode(AUTOMATIC);
annesteenbeek 1:80f098c05d4b 66 PIDmotor2.SetMode(AUTOMATIC);
annesteenbeek 1:80f098c05d4b 67
annesteenbeek 2:95ba9f6f0128 68 // set limits for PID output to avoid integrator build up.
annesteenbeek 4:80e2280058ed 69 PIDmotor1.SetOutputLimits(-1.0, 1.0);
annesteenbeek 4:80e2280058ed 70 PIDmotor2.SetOutputLimits(-1.0, 1.0);
annesteenbeek 4:80e2280058ed 71 }
annesteenbeek 0:525558a26464 72
annesteenbeek 0:525558a26464 73
annesteenbeek 0:525558a26464 74 void motorControl(){
annesteenbeek 1:80f098c05d4b 75 if(motorEnable){ // only run motors if switch is enabled
annesteenbeek 1:80f098c05d4b 76
annesteenbeek 0:525558a26464 77 // get encoder positions
annesteenbeek 3:47c76be6d402 78 motor1Pos = encoder1.getPosition();
annesteenbeek 3:47c76be6d402 79 motor2Pos = encoder2.getPosition();
annesteenbeek 3:47c76be6d402 80
annesteenbeek 0:525558a26464 81 // check if motor's are within rotational boundarys
annesteenbeek 4:80e2280058ed 82 // get encoder speeds
annesteenbeek 4:80e2280058ed 83 motorSpeed1 = encoder1.getSpeed();
annesteenbeek 4:80e2280058ed 84 motorSpeed2 = encoder2.getSpeed();
annesteenbeek 2:95ba9f6f0128 85
annesteenbeek 0:525558a26464 86 // translate to x/y speed
annesteenbeek 0:525558a26464 87 // compute new PID parameters using setpoint speeds and x/y speeds
annesteenbeek 1:80f098c05d4b 88 PIDmotor1.compute();
annesteenbeek 1:80f098c05d4b 89 PIDmotor2.compute();
annesteenbeek 2:95ba9f6f0128 90 // translate to motor rotation speed
annesteenbeek 0:525558a26464 91 // write new values to motor's
annesteenbeek 5:73bfad06b775 92 if (motorPWM1 > 0 ){ // CCW rotation (unitcircle convetion)
annesteenbeek 5:73bfad06b775 93 direction1 = false;
annesteenbeek 5:73bfad06b775 94 }else{
annesteenbeek 5:73bfad06b775 95 direction1 = true; // CW rotation
annesteenbeek 5:73bfad06b775 96 }
annesteenbeek 5:73bfad06b775 97 if (motorPWM2 > 0 ){ // CCW rotation (unitcircle convetion)
annesteenbeek 5:73bfad06b775 98 direction2 = false;
annesteenbeek 5:73bfad06b775 99 }else{
annesteenbeek 5:73bfad06b775 100 direction2 = true; // CW rotation
annesteenbeek 5:73bfad06b775 101 }
annesteenbeek 5:73bfad06b775 102 motor1.write(abs(motorPWM1));
annesteenbeek 5:73bfad06b775 103 motor2.write(abs(motorPWM2));
annesteenbeek 2:95ba9f6f0128 104
annesteenbeek 0:525558a26464 105 }else{
annesteenbeek 0:525558a26464 106 // write 0 to motors
annesteenbeek 2:95ba9f6f0128 107 motor1.write(0);
annesteenbeek 2:95ba9f6f0128 108 motor2.write(0);
annesteenbeek 0:525558a26464 109 }
annesteenbeek 0:525558a26464 110 }
annesteenbeek 0:525558a26464 111
annesteenbeek 0:525558a26464 112 void servoControl(){
annesteenbeek 0:525558a26464 113 // use potMeter Value to set servo angle
annesteenbeek 0:525558a26464 114 // (optionaly calculate xy position to keep balloon in position)
annesteenbeek 0:525558a26464 115 // calculate z position using angle
annesteenbeek 0:525558a26464 116 // calculate x y translation of endpoint
annesteenbeek 0:525558a26464 117 // find new x and y speed.
annesteenbeek 0:525558a26464 118
annesteenbeek 12:61759f94c07a 119 }