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@99:7030e9790b1d, 2015-10-22 (annotated)

Committer:
annesteenbeek
Date:
Thu Oct 22 08:16:28 2015 +0000
Revision:
99:7030e9790b1d
Parent:
98:25528494287d
Child:
100:222c27f55b85
Compiling build after emg and servo implementation;

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 98:25528494287d 7
annesteenbeek 32:2006977785f5 8 // functions for controlling the motors
annesteenbeek 34:f315b2b38555 9 bool motorsEnable = false;
annesteenbeek 76:0aa90e728e4a 10 bool safetyOn = false; // start with safety off for calibration
annesteenbeek 76:0aa90e728e4a 11
annesteenbeek 6:b957d8809e7c 12
annesteenbeek 68:21cb054f1399 13 double encoder1Counts = 0;
annesteenbeek 68:21cb054f1399 14 double encoder2Counts = 0;
annesteenbeek 68:21cb054f1399 15
annesteenbeek 32:2006977785f5 16 bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 32:2006977785f5 17 bool direction2 = false;
annesteenbeek 6:b957d8809e7c 18
annesteenbeek 62:6c566e6f9664 19 double motor1Pos = 0;
annesteenbeek 62:6c566e6f9664 20 double motor2Pos = 0;
annesteenbeek 6:b957d8809e7c 21
annesteenbeek 62:6c566e6f9664 22 double motor1Speed = 0;
annesteenbeek 62:6c566e6f9664 23 double motor2Speed = 0;
annesteenbeek 6:b957d8809e7c 24
annesteenbeek 62:6c566e6f9664 25 double motor1SetSpeed = 0;
annesteenbeek 62:6c566e6f9664 26 double motor2SetSpeed = 0;
annesteenbeek 6:b957d8809e7c 27
annesteenbeek 62:6c566e6f9664 28 double servoPos = 0;
annesteenbeek 6:b957d8809e7c 29
annesteenbeek 62:6c566e6f9664 30 double motor1PWM = 0;
annesteenbeek 62:6c566e6f9664 31 double motor2PWM = 0;
annesteenbeek 6:b957d8809e7c 32
annesteenbeek 32:2006977785f5 33 // Set PID values
annesteenbeek 62:6c566e6f9664 34 double Kp1 = 1;
annesteenbeek 62:6c566e6f9664 35 double Ki1 = 0;
annesteenbeek 62:6c566e6f9664 36 double Kd1 = 0;
annesteenbeek 0:525558a26464 37
annesteenbeek 69:37f75a7d36d8 38 double Kp2 = 0.008;
annesteenbeek 69:37f75a7d36d8 39 double Ki2 = 0.08;
annesteenbeek 62:6c566e6f9664 40 double Kd2 = 0;
annesteenbeek 20:3cba803cd771 41
annesteenbeek 68:21cb054f1399 42 double motor1PrevCounts = 0;
annesteenbeek 68:21cb054f1399 43 double motor2PrevCounts = 0;
annesteenbeek 62:6c566e6f9664 44 double prevTime = 0;
annesteenbeek 62:6c566e6f9664 45 double now = 0;
annesteenbeek 62:6c566e6f9664 46 double timechange;
annesteenbeek 55:ee5257fb73df 47 bool pidOut = 0;
annesteenbeek 26:0a9e4147a31a 48
annesteenbeek 98:25528494287d 49 // Set servo values
annesteenbeek 98:25528494287d 50 const double servoPeriod = 0.020;
annesteenbeek 98:25528494287d 51 const double servo_range = 20; // Servo range (-range/ range) [deg]
annesteenbeek 98:25528494287d 52 const double servo_vel = 15; // Servo velocity [deg/s]
annesteenbeek 98:25528494287d 53 const double servo_inc = servo_vel * motorCall; // Servo postion increment per cycle
annesteenbeek 98:25528494287d 54 double servo_pos = 0;
annesteenbeek 98:25528494287d 55 double servoPulsewidth = 0.0015;
annesteenbeek 99:7030e9790b1d 56 double servoSpeed = 0;
annesteenbeek 99:7030e9790b1d 57
annesteenbeek 99:7030e9790b1d 58 // Set calibration values
annesteenbeek 99:7030e9790b1d 59 double motorCalSpeed = 10; // deg/sec
annesteenbeek 99:7030e9790b1d 60 double returnSpeed = -10;
annesteenbeek 99:7030e9790b1d 61 bool springHit = false;
annesteenbeek 99:7030e9790b1d 62 float lastCall = 0;
annesteenbeek 99:7030e9790b1d 63 bool calibrating1 = true;
annesteenbeek 99:7030e9790b1d 64 bool calibrating2 = false;
annesteenbeek 98:25528494287d 65
annesteenbeek 32:2006977785f5 66 // Create object instances
annesteenbeek 74:75be98779124 67 // Safety Pin
annesteenbeek 79:cf500b63f349 68 DigitalIn safetyIn(safetyPin);
annesteenbeek 74:75be98779124 69
annesteenbeek 32:2006977785f5 70 // Initialze motors
annesteenbeek 32:2006977785f5 71 PwmOut motor1(motor1PWMPin);
annesteenbeek 32:2006977785f5 72 PwmOut motor2(motor2PWMPin);
annesteenbeek 32:2006977785f5 73
annesteenbeek 98:25528494287d 74 // initialize Servo
annesteenbeek 98:25528494287d 75 PwmOut servo(servoPin);
annesteenbeek 98:25528494287d 76
annesteenbeek 98:25528494287d 77
annesteenbeek 32:2006977785f5 78 // Initialize encoders
annesteenbeek 32:2006977785f5 79 Encoder encoder1(enc1A, enc1B);
annesteenbeek 32:2006977785f5 80 Encoder encoder2(enc2A, enc2B);
annesteenbeek 25:874675516927 81
annesteenbeek 32:2006977785f5 82 // Set direction pins
annesteenbeek 32:2006977785f5 83 DigitalOut motor1Dir(motor1DirPin);
annesteenbeek 32:2006977785f5 84 DigitalOut motor2Dir(motor2DirPin);
annesteenbeek 26:0a9e4147a31a 85
annesteenbeek 32:2006977785f5 86 // create PID instances
annesteenbeek 52:2ac9dee099ce 87 PID motor1PID(&motor1Speed, &motor1PWM, &motor1SetSpeed, Kp1, Ki1, Kd1);
annesteenbeek 52:2ac9dee099ce 88 PID motor2PID(&motor2Speed, &motor2PWM, &motor2SetSpeed, Kp2, Ki2, Kd2);
annesteenbeek 31:8fbee6c92753 89
annesteenbeek 32:2006977785f5 90 Timer t;
annesteenbeek 25:874675516927 91
annesteenbeek 25:874675516927 92 void motorInit(){
annesteenbeek 25:874675516927 93
annesteenbeek 3:47c76be6d402 94 motor1Dir.write(direction1);
annesteenbeek 3:47c76be6d402 95 motor2Dir.write(direction2);
annesteenbeek 3:47c76be6d402 96
annesteenbeek 3:47c76be6d402 97 // Set motor PWM period
annesteenbeek 3:47c76be6d402 98 motor1.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 99 motor2.period(1/pwm_frequency);
annesteenbeek 55:ee5257fb73df 100
annesteenbeek 55:ee5257fb73df 101 motor1PID.SetSampleTime(motorCall);
annesteenbeek 55:ee5257fb73df 102 motor2PID.SetSampleTime(motorCall);
annesteenbeek 55:ee5257fb73df 103
annesteenbeek 69:37f75a7d36d8 104 motor1PID.SetOutputLimits(0,1);
annesteenbeek 69:37f75a7d36d8 105 motor2PID.SetOutputLimits(0,1);
annesteenbeek 69:37f75a7d36d8 106
annesteenbeek 30:a20f16bf8dda 107 // Turn PID on
annesteenbeek 55:ee5257fb73df 108 motor1PID.SetMode(AUTOMATIC);
annesteenbeek 55:ee5257fb73df 109 motor2PID.SetMode(AUTOMATIC);
annesteenbeek 98:25528494287d 110
annesteenbeek 98:25528494287d 111 // set servo period
annesteenbeek 98:25528494287d 112 servo.period(servoPeriod);
annesteenbeek 98:25528494287d 113
annesteenbeek 30:a20f16bf8dda 114
annesteenbeek 30:a20f16bf8dda 115 // start the timer
annesteenbeek 29:e4f3455aaa0b 116 t.start();
annesteenbeek 4:80e2280058ed 117 }
annesteenbeek 0:525558a26464 118
annesteenbeek 26:0a9e4147a31a 119
annesteenbeek 0:525558a26464 120 void motorControl(){
annesteenbeek 98:25528494287d 121 // EMG signals to motor speeds
annesteenbeek 98:25528494287d 122 motor1SetSpeed = x_velocity;
annesteenbeek 98:25528494287d 123 motor2SetSpeed = y_velocity;
annesteenbeek 98:25528494287d 124 servoSpeed = z_velocity;
annesteenbeek 98:25528494287d 125
annesteenbeek 30:a20f16bf8dda 126 // get encoder positions in degrees
annesteenbeek 30:a20f16bf8dda 127 // 131.25:1 gear ratio
annesteenbeek 30:a20f16bf8dda 128 // getPosition uses X2 configuration, so 32 counts per revolution
annesteenbeek 30:a20f16bf8dda 129 // encoder reads CCW negative, and CW positive, so multiply by -1 to make CCW positive
annesteenbeek 68:21cb054f1399 130
annesteenbeek 68:21cb054f1399 131 encoder1Counts = encoder1.getPosition();
annesteenbeek 68:21cb054f1399 132 encoder2Counts = encoder2.getPosition();
annesteenbeek 68:21cb054f1399 133
annesteenbeek 68:21cb054f1399 134
annesteenbeek 68:21cb054f1399 135 motor1Pos = -((encoder1Counts/32)/131.25)*360;
annesteenbeek 68:21cb054f1399 136 motor2Pos = -((encoder2Counts/32)/131.25)*360;
annesteenbeek 3:47c76be6d402 137
annesteenbeek 0:525558a26464 138 // check if motor's are within rotational boundarys
annesteenbeek 30:a20f16bf8dda 139 // get encoder speeds in deg/sec
annesteenbeek 66:d1ab5904f8e5 140 now = t.read();
annesteenbeek 50:b0cf07ca53cf 141 timechange = (now - prevTime);
annesteenbeek 68:21cb054f1399 142 motor1Speed = -((((encoder1Counts - motor1PrevCounts)/32)/131.25)*360)/timechange;
annesteenbeek 68:21cb054f1399 143 motor2Speed = -((((encoder2Counts - motor2PrevCounts)/32)/131.25)*360)/timechange;
annesteenbeek 50:b0cf07ca53cf 144 prevTime = now;
annesteenbeek 68:21cb054f1399 145 motor1PrevCounts = encoder1Counts;
annesteenbeek 68:21cb054f1399 146 motor2PrevCounts = encoder2Counts;
annesteenbeek 29:e4f3455aaa0b 147
annesteenbeek 31:8fbee6c92753 148 // calculate motor setpoint speed in deg/sec from setpoint x/y speed
annesteenbeek 30:a20f16bf8dda 149
annesteenbeek 48:3cf1eaf34926 150
annesteenbeek 48:3cf1eaf34926 151 if(motorsEnable){ // only run motors if switch is enabled
annesteenbeek 32:2006977785f5 152 // compute new PID parameters using setpoint angle speeds and encoder speed
annesteenbeek 31:8fbee6c92753 153 writeMotors();
annesteenbeek 98:25528494287d 154 servoControl();
annesteenbeek 0:525558a26464 155 }else{
annesteenbeek 0:525558a26464 156 // write 0 to motors
annesteenbeek 2:95ba9f6f0128 157 motor1.write(0);
annesteenbeek 2:95ba9f6f0128 158 motor2.write(0);
annesteenbeek 0:525558a26464 159 }
annesteenbeek 0:525558a26464 160 }
annesteenbeek 0:525558a26464 161
annesteenbeek 31:8fbee6c92753 162 void writeMotors(){
annesteenbeek 54:c14c3bc48b8a 163 motor1PID.Compute(); // calculate PID outputs, output changes automatically
annesteenbeek 76:0aa90e728e4a 164 motor2PID.Compute();
annesteenbeek 31:8fbee6c92753 165 // write new values to motor's
annesteenbeek 82:4cc8f9ad3fec 166 if (motor1SetSpeed > 0 ){ // CCW rotation
annesteenbeek 31:8fbee6c92753 167 direction1 = false;
annesteenbeek 84:df770ec4df61 168 motor1PID.SetOutputLimits(0,1); // change pid output direction
annesteenbeek 31:8fbee6c92753 169 }else{
annesteenbeek 31:8fbee6c92753 170 direction1 = true; // CW rotation
annesteenbeek 83:8fa05f53fc73 171 motor1PID.SetOutputLimits(-1,0);
annesteenbeek 31:8fbee6c92753 172 }
annesteenbeek 82:4cc8f9ad3fec 173 if (motor2SetSpeed > 0 ){ // CCW rotation
annesteenbeek 68:21cb054f1399 174 direction2 = false;
annesteenbeek 83:8fa05f53fc73 175 motor2PID.SetOutputLimits(0,1);
annesteenbeek 68:21cb054f1399 176 }else{
annesteenbeek 68:21cb054f1399 177 direction2 = true; // CW rotation
annesteenbeek 83:8fa05f53fc73 178 motor2PID.SetOutputLimits(-1,0);
annesteenbeek 68:21cb054f1399 179 }
annesteenbeek 31:8fbee6c92753 180 motor1Dir.write(direction1);
annesteenbeek 31:8fbee6c92753 181 motor2Dir.write(direction2);
annesteenbeek 69:37f75a7d36d8 182
annesteenbeek 52:2ac9dee099ce 183 motor1.write(abs(motor1PWM));
annesteenbeek 76:0aa90e728e4a 184 motor2.write(abs(motor2PWM));
annesteenbeek 31:8fbee6c92753 185 }
annesteenbeek 31:8fbee6c92753 186
annesteenbeek 0:525558a26464 187 void servoControl(){
annesteenbeek 98:25528494287d 188 if (servoSpeed > 0) {
annesteenbeek 98:25528494287d 189 if((servo_pos + servo_inc) <= servo_range) { // If increment step does not exceed maximum range
annesteenbeek 98:25528494287d 190 servo_pos += servo_inc;
annesteenbeek 98:25528494287d 191 }
annesteenbeek 98:25528494287d 192 }else if (servoSpeed < 0) {
annesteenbeek 98:25528494287d 193 if((servo_pos - servo_inc) >= -servo_range) { // If increment step does not exceed maximum range
annesteenbeek 98:25528494287d 194 servo_pos -= servo_inc;
annesteenbeek 98:25528494287d 195 }
annesteenbeek 74:75be98779124 196 }
annesteenbeek 98:25528494287d 197 servoPulsewidth = 0.0015 + (servo_pos/90)*0.001;
annesteenbeek 98:25528494287d 198 servo.pulsewidth(servoPulsewidth);
annesteenbeek 25:874675516927 199 }
annesteenbeek 25:874675516927 200
annesteenbeek 32:2006977785f5 201 void calibrateMotors(){
annesteenbeek 98:25528494287d 202 safetyOn = false; // safety springs off
annesteenbeek 98:25528494287d 203 motorsEnable = true; // motors on
annesteenbeek 98:25528494287d 204 redLed.write(0); greenLed.write(1); blueLed.write(1);
annesteenbeek 98:25528494287d 205 while (calibrating1 || calibrating2){
annesteenbeek 98:25528494287d 206 if (calibrating1){
annesteenbeek 98:25528494287d 207 redLed.write(1); greenLed.write(0); blueLed.write(1);
annesteenbeek 98:25528494287d 208 if(safetyIn.read() !=1){ // check if arm reached safety position
annesteenbeek 98:25528494287d 209 encoder1.setPosition(0); // set motor 1 cal angle
annesteenbeek 98:25528494287d 210 motor1SetSpeed = returnSpeed; // move away
annesteenbeek 98:25528494287d 211 springHit = true;
annesteenbeek 98:25528494287d 212 }else{
annesteenbeek 98:25528494287d 213 if(springHit){ // if hit and after is no longer touching spring
annesteenbeek 98:25528494287d 214 motor1SetSpeed = 0;
annesteenbeek 98:25528494287d 215 springHit = false;
annesteenbeek 98:25528494287d 216 calibrating1 = false;
annesteenbeek 98:25528494287d 217 calibrating2 = true; // start calibrating 2
annesteenbeek 98:25528494287d 218 }
annesteenbeek 98:25528494287d 219 }
annesteenbeek 98:25528494287d 220 }
annesteenbeek 98:25528494287d 221 if (calibrating2){
annesteenbeek 98:25528494287d 222 motor2SetSpeed = motorCalSpeed;
annesteenbeek 98:25528494287d 223 redLed.write(1); greenLed.write(1); blueLed.write(0);
annesteenbeek 98:25528494287d 224 if(safetyIn.read() !=1){ // check if arm reached safety position
annesteenbeek 98:25528494287d 225 encoder2.setPosition(0); // set motor 2 cal angle
annesteenbeek 98:25528494287d 226 motor2SetSpeed = returnSpeed; // move away
annesteenbeek 98:25528494287d 227 springHit = true;
annesteenbeek 98:25528494287d 228 }else{
annesteenbeek 98:25528494287d 229 if(springHit){ // if hit and after is no longer touching spring
annesteenbeek 98:25528494287d 230 motor2SetSpeed = 0;
annesteenbeek 98:25528494287d 231 springHit = false;
annesteenbeek 98:25528494287d 232 calibrating2 = false; // stop calibrating 2
annesteenbeek 98:25528494287d 233 }
annesteenbeek 98:25528494287d 234 }
annesteenbeek 98:25528494287d 235 }
annesteenbeek 98:25528494287d 236 now = t.read(); // call motor using timer instead of wait
annesteenbeek 98:25528494287d 237 if(now - lastCall > motorCall){
annesteenbeek 98:25528494287d 238 motorControl();
annesteenbeek 98:25528494287d 239 lastCall = now;
annesteenbeek 98:25528494287d 240 }
annesteenbeek 98:25528494287d 241
annesteenbeek 98:25528494287d 242 }
annesteenbeek 99:7030e9790b1d 243 motorsEnable = false; // turn motor's off again
annesteenbeek 76:0aa90e728e4a 244 safetyOn = true; // turn safety on after callibration
annesteenbeek 74:75be98779124 245 }
annesteenbeek 74:75be98779124 246
annesteenbeek 74:75be98779124 247
annesteenbeek 74:75be98779124 248 void safety(){
annesteenbeek 74:75be98779124 249 if (safetyOn){
annesteenbeek 81:71e7e98deb2c 250 if (safetyIn.read() != 1){
annesteenbeek 79:cf500b63f349 251 motorsEnable = false;
annesteenbeek 79:cf500b63f349 252 }
annesteenbeek 74:75be98779124 253 }
annesteenbeek 79:cf500b63f349 254 }