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@4:80e2280058ed, 2015-10-05 (annotated)

Committer:
annesteenbeek
Date:
Mon Oct 05 16:15:25 2015 +0200
Revision:
4:80e2280058ed
Parent:
3:47c76be6d402
Child:
5:73bfad06b775
use encoder getSpeed function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 0:525558a26464 1 // functions for controlling the motors
annesteenbeek 0:525558a26464 2
annesteenbeek 0:525558a26464 3 void motorInit(){
annesteenbeek 3:47c76be6d402 4 // Initialze motors
annesteenbeek 3:47c76be6d402 5 PwmOut motor1(motor1PWMPin);
annesteenbeek 3:47c76be6d402 6 PwmOut motor2(motor2PWMPin);
annesteenbeek 3:47c76be6d402 7
annesteenbeek 3:47c76be6d402 8 // Set motor direction pins.
annesteenbeek 3:47c76be6d402 9 DigitalOut motor1Dir(motor1DirPin);
annesteenbeek 3:47c76be6d402 10 DigitalOut motor2Dir(motor2DirPin);
annesteenbeek 3:47c76be6d402 11
annesteenbeek 3:47c76be6d402 12 // Set initial direction
annesteenbeek 3:47c76be6d402 13 motor1Dir.write(direction1);
annesteenbeek 3:47c76be6d402 14 motor2Dir.write(direction2);
annesteenbeek 3:47c76be6d402 15
annesteenbeek 3:47c76be6d402 16 // Set motor PWM period
annesteenbeek 3:47c76be6d402 17 motor1.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 18 motor2.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 19
annesteenbeek 4:80e2280058ed 20 // Initialize encoders (with speed calculation)
annesteenbeek 4:80e2280058ed 21 Encoder encoder1(enc1A, enc1B, true);
annesteenbeek 4:80e2280058ed 22 Encoder encoder2(enc2A, enc2B, true);
annesteenbeek 1:80f098c05d4b 23
annesteenbeek 4:80e2280058ed 24 initPID();
annesteenbeek 4:80e2280058ed 25 }
annesteenbeek 4:80e2280058ed 26
annesteenbeek 4:80e2280058ed 27 void initPID(){
annesteenbeek 4:80e2280058ed 28 // create PID instances for motors
annesteenbeek 1:80f098c05d4b 29 // PID pidname(input, output, setpoint, kp, ki, kd, direction)
annesteenbeek 1:80f098c05d4b 30 PID PIDmotor1(&motorSpeed1, &motorPWM1, &motorSetSpeed1, Kp1, Ki1, Kd1, DIRECT);
annesteenbeek 1:80f098c05d4b 31 PID PIDmotor2(&motorSpeed2, &motorPWM2, &motorSetSpeed2, Kp2, Ki2, Kd2, DIRECT);
annesteenbeek 1:80f098c05d4b 32
annesteenbeek 1:80f098c05d4b 33 // set PID mode
annesteenbeek 1:80f098c05d4b 34 PIDmotor1.SetMode(AUTOMATIC);
annesteenbeek 1:80f098c05d4b 35 PIDmotor2.SetMode(AUTOMATIC);
annesteenbeek 1:80f098c05d4b 36
annesteenbeek 2:95ba9f6f0128 37 // set limits for PID output to avoid integrator build up.
annesteenbeek 4:80e2280058ed 38 PIDmotor1.SetOutputLimits(-1.0, 1.0);
annesteenbeek 4:80e2280058ed 39 PIDmotor2.SetOutputLimits(-1.0, 1.0);
annesteenbeek 4:80e2280058ed 40 }
annesteenbeek 0:525558a26464 41
annesteenbeek 0:525558a26464 42
annesteenbeek 0:525558a26464 43 void motorControl(){
annesteenbeek 1:80f098c05d4b 44 if(motorEnable){ // only run motors if switch is enabled
annesteenbeek 1:80f098c05d4b 45
annesteenbeek 0:525558a26464 46 // get encoder positions
annesteenbeek 3:47c76be6d402 47 motor1Pos = encoder1.getPosition();
annesteenbeek 3:47c76be6d402 48 motor2Pos = encoder2.getPosition();
annesteenbeek 3:47c76be6d402 49
annesteenbeek 0:525558a26464 50 // check if motor's are within rotational boundarys
annesteenbeek 4:80e2280058ed 51 // get encoder speeds
annesteenbeek 4:80e2280058ed 52 motorSpeed1 = encoder1.getSpeed();
annesteenbeek 4:80e2280058ed 53 motorSpeed2 = encoder2.getSpeed();
annesteenbeek 2:95ba9f6f0128 54
annesteenbeek 2:95ba9f6f0128 55 prevTime = time.read();
annesteenbeek 0:525558a26464 56 // translate to x/y speed
annesteenbeek 0:525558a26464 57 // compute new PID parameters using setpoint speeds and x/y speeds
annesteenbeek 1:80f098c05d4b 58 PIDmotor1.compute();
annesteenbeek 1:80f098c05d4b 59 PIDmotor2.compute();
annesteenbeek 2:95ba9f6f0128 60 // translate to motor rotation speed
annesteenbeek 0:525558a26464 61 // write new values to motor's
annesteenbeek 2:95ba9f6f0128 62 motor1.write(motorPWM1);
annesteenbeek 2:95ba9f6f0128 63 motor2.write(motorPWM2);
annesteenbeek 2:95ba9f6f0128 64
annesteenbeek 0:525558a26464 65 }else{
annesteenbeek 0:525558a26464 66 // write 0 to motors
annesteenbeek 2:95ba9f6f0128 67 motor1.write(0);
annesteenbeek 2:95ba9f6f0128 68 motor2.write(0);
annesteenbeek 0:525558a26464 69 }
annesteenbeek 0:525558a26464 70 }
annesteenbeek 0:525558a26464 71
annesteenbeek 0:525558a26464 72 void servoControl(){
annesteenbeek 0:525558a26464 73 // use potMeter Value to set servo angle
annesteenbeek 0:525558a26464 74 // (optionaly calculate xy position to keep balloon in position)
annesteenbeek 0:525558a26464 75 // calculate z position using angle
annesteenbeek 0:525558a26464 76 // calculate x y translation of endpoint
annesteenbeek 0:525558a26464 77 // find new x and y speed.
annesteenbeek 0:525558a26464 78
annesteenbeek 4:80e2280058ed 79 }