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@31:8fbee6c92753, 2015-10-07 (annotated)

Committer:
annesteenbeek
Date:
Wed Oct 07 15:09:52 2015 +0200
Revision:
31:8fbee6c92753
Parent:
30:a20f16bf8dda
Child:
32:2006977785f5
restructured motor control and changed input/output limits

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 31:8fbee6c92753 7 #include "servo.h"
annesteenbeek 0:525558a26464 8 // functions for controlling the motors
annesteenbeek 26:0a9e4147a31a 9 bool motorEnable = true;
annesteenbeek 6:b957d8809e7c 10
annesteenbeek 6:b957d8809e7c 11 bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 6:b957d8809e7c 12 bool direction2 = false;
annesteenbeek 6:b957d8809e7c 13
annesteenbeek 14:0c0d1bfd94ea 14 float motor1Pos = 0;
annesteenbeek 14:0c0d1bfd94ea 15 float motor2Pos = 0;
annesteenbeek 6:b957d8809e7c 16
annesteenbeek 14:0c0d1bfd94ea 17 float motorSpeed1 = 0;
annesteenbeek 14:0c0d1bfd94ea 18 float motorSpeed2 = 0;
annesteenbeek 6:b957d8809e7c 19
annesteenbeek 14:0c0d1bfd94ea 20 float motorSetSpeed1 = 0;
annesteenbeek 14:0c0d1bfd94ea 21 float motorSetSpeed2 = 0;
annesteenbeek 6:b957d8809e7c 22
annesteenbeek 6:b957d8809e7c 23
annesteenbeek 14:0c0d1bfd94ea 24 float motorPWM1 = 0;
annesteenbeek 14:0c0d1bfd94ea 25 float motorPWM2 = 0;
annesteenbeek 6:b957d8809e7c 26
annesteenbeek 6:b957d8809e7c 27 // Set PID values
annesteenbeek 14:0c0d1bfd94ea 28 float Kp1 = 1;
annesteenbeek 30:a20f16bf8dda 29 float Ki1 = 0;
annesteenbeek 30:a20f16bf8dda 30 float Kd1 = 0;
annesteenbeek 6:b957d8809e7c 31
annesteenbeek 14:0c0d1bfd94ea 32 float Kp2 = 1;
annesteenbeek 30:a20f16bf8dda 33 float Ki2 = 0;
annesteenbeek 30:a20f16bf8dda 34 float Kd2 = 0;
annesteenbeek 0:525558a26464 35
annesteenbeek 20:3cba803cd771 36 float PIDinterval = 0.2;
annesteenbeek 20:3cba803cd771 37
annesteenbeek 29:e4f3455aaa0b 38 float prevMotor2Pos = 0;
annesteenbeek 29:e4f3455aaa0b 39 float prevMotor1Pos = 0;
annesteenbeek 29:e4f3455aaa0b 40 float prevTime = 0;
annesteenbeek 29:e4f3455aaa0b 41 float curTime = 0;
annesteenbeek 25:874675516927 42
annesteenbeek 30:a20f16bf8dda 43 float pidError = 0;
annesteenbeek 26:0a9e4147a31a 44 // Create object instances
annesteenbeek 26:0a9e4147a31a 45 // Initialze motors
annesteenbeek 26:0a9e4147a31a 46 PwmOut motor1(motor1PWMPin);
annesteenbeek 26:0a9e4147a31a 47 PwmOut motor2(motor2PWMPin);
annesteenbeek 26:0a9e4147a31a 48
annesteenbeek 26:0a9e4147a31a 49 // Initialize encoders
annesteenbeek 29:e4f3455aaa0b 50 Encoder encoder1(enc1A, enc1B);
annesteenbeek 29:e4f3455aaa0b 51 Encoder encoder2(enc2A, enc2B);
annesteenbeek 25:874675516927 52
annesteenbeek 26:0a9e4147a31a 53 // Set direction pins
annesteenbeek 26:0a9e4147a31a 54 DigitalOut motor1Dir(motor1DirPin);
annesteenbeek 26:0a9e4147a31a 55 DigitalOut motor2Dir(motor2DirPin);
annesteenbeek 26:0a9e4147a31a 56
annesteenbeek 26:0a9e4147a31a 57 // create PID instances
annesteenbeek 26:0a9e4147a31a 58 PID PIDmotor1(Kp1, Ki1, Kd1, PIDinterval);
annesteenbeek 26:0a9e4147a31a 59 PID PIDmotor2(Kp2, Ki2, Kd2, PIDinterval);
annesteenbeek 31:8fbee6c92753 60
annesteenbeek 31:8fbee6c92753 61 servo Servo(servoPin);
annesteenbeek 29:e4f3455aaa0b 62 Timer t;
annesteenbeek 25:874675516927 63
annesteenbeek 25:874675516927 64 void motorInit(){
annesteenbeek 25:874675516927 65
annesteenbeek 3:47c76be6d402 66 motor1Dir.write(direction1);
annesteenbeek 3:47c76be6d402 67 motor2Dir.write(direction2);
annesteenbeek 3:47c76be6d402 68
annesteenbeek 3:47c76be6d402 69 // Set motor PWM period
annesteenbeek 3:47c76be6d402 70 motor1.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 71 motor2.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 72
annesteenbeek 14:0c0d1bfd94ea 73 PIDmotor1.setSetPoint(motorSetSpeed1);
annesteenbeek 14:0c0d1bfd94ea 74 PIDmotor2.setSetPoint(motorSetSpeed2);
annesteenbeek 1:80f098c05d4b 75
annesteenbeek 20:3cba803cd771 76 PIDmotor1.setProcessValue(motorSpeed1);
annesteenbeek 20:3cba803cd771 77 PIDmotor2.setProcessValue(motorSpeed2);
annesteenbeek 30:a20f16bf8dda 78
annesteenbeek 30:a20f16bf8dda 79 // set limits for PID output to avoid integrator build up.
annesteenbeek 31:8fbee6c92753 80 PIDmotor1.setInputLimits(-300, 300);
annesteenbeek 31:8fbee6c92753 81 PIDmotor2.setInputLimits(-300, 300);
annesteenbeek 31:8fbee6c92753 82 PIDmotor1.setOutputLimits(-1, 1);
annesteenbeek 31:8fbee6c92753 83 PIDmotor2.setOutputLimits(-1, 1);
annesteenbeek 30:a20f16bf8dda 84
annesteenbeek 30:a20f16bf8dda 85 // Turn PID on
annesteenbeek 22:c562b9a4176d 86 PIDmotor1.setMode(1);
annesteenbeek 22:c562b9a4176d 87 PIDmotor2.setMode(1);
annesteenbeek 30:a20f16bf8dda 88
annesteenbeek 30:a20f16bf8dda 89 // start the timer
annesteenbeek 29:e4f3455aaa0b 90 t.start();
annesteenbeek 4:80e2280058ed 91 }
annesteenbeek 0:525558a26464 92
annesteenbeek 26:0a9e4147a31a 93
annesteenbeek 0:525558a26464 94 void motorControl(){
annesteenbeek 1:80f098c05d4b 95 if(motorEnable){ // only run motors if switch is enabled
annesteenbeek 1:80f098c05d4b 96
annesteenbeek 30:a20f16bf8dda 97 // get encoder positions in degrees
annesteenbeek 30:a20f16bf8dda 98 // 131.25:1 gear ratio
annesteenbeek 30:a20f16bf8dda 99 // getPosition uses X2 configuration, so 32 counts per revolution
annesteenbeek 30:a20f16bf8dda 100 // encoder reads CCW negative, and CW positive, so multiply by -1 to make CCW positive
annesteenbeek 30:a20f16bf8dda 101 motor1Pos = -((encoder1.getPosition()/32)/131.25)*360;
annesteenbeek 30:a20f16bf8dda 102 motor2Pos = -((encoder2.getPosition()/32)/131.25)*360;
annesteenbeek 3:47c76be6d402 103
annesteenbeek 0:525558a26464 104 // check if motor's are within rotational boundarys
annesteenbeek 30:a20f16bf8dda 105 // get encoder speeds in deg/sec
annesteenbeek 30:a20f16bf8dda 106 curTime = t.read();
annesteenbeek 29:e4f3455aaa0b 107 motorSpeed1 = (motor1Pos - prevMotor1Pos)/(curTime-prevTime);
annesteenbeek 29:e4f3455aaa0b 108 motorSpeed2 = (motor2Pos - prevMotor2Pos)/(curTime-prevTime);
annesteenbeek 29:e4f3455aaa0b 109 prevTime = curTime;
annesteenbeek 29:e4f3455aaa0b 110 prevMotor1Pos = motor1Pos;
annesteenbeek 29:e4f3455aaa0b 111 prevMotor2Pos = motor2Pos;
annesteenbeek 29:e4f3455aaa0b 112
annesteenbeek 31:8fbee6c92753 113 // calculate motor setpoint speed in deg/sec from setpoint x/y speed
annesteenbeek 30:a20f16bf8dda 114
annesteenbeek 31:8fbee6c92753 115 // compute new PID parameters using setpoint speeds and x/y speeds
annesteenbeek 31:8fbee6c92753 116 writeMotors();
annesteenbeek 2:95ba9f6f0128 117
annesteenbeek 0:525558a26464 118 }else{
annesteenbeek 0:525558a26464 119 // write 0 to motors
annesteenbeek 2:95ba9f6f0128 120 motor1.write(0);
annesteenbeek 2:95ba9f6f0128 121 motor2.write(0);
annesteenbeek 0:525558a26464 122 }
annesteenbeek 0:525558a26464 123 }
annesteenbeek 0:525558a26464 124
annesteenbeek 31:8fbee6c92753 125 void writeMotors(){
annesteenbeek 31:8fbee6c92753 126 PIDmotor1.setSetPoint(motorSetSpeed1);
annesteenbeek 31:8fbee6c92753 127 PIDmotor2.setSetPoint(motorSetSpeed2);
annesteenbeek 31:8fbee6c92753 128
annesteenbeek 31:8fbee6c92753 129 PIDmotor1.setProcessValue(motorSpeed1);
annesteenbeek 31:8fbee6c92753 130 PIDmotor2.setProcessValue(motorSpeed2);
annesteenbeek 31:8fbee6c92753 131
annesteenbeek 31:8fbee6c92753 132 motorPWM1 = PIDmotor1.compute();
annesteenbeek 31:8fbee6c92753 133 motorPWM2 = PIDmotor2.compute();
annesteenbeek 31:8fbee6c92753 134 // write new values to motor's
annesteenbeek 31:8fbee6c92753 135 if (motorPWM1 > 0 ){ // CCW rotation
annesteenbeek 31:8fbee6c92753 136 direction1 = false;
annesteenbeek 31:8fbee6c92753 137 }else{
annesteenbeek 31:8fbee6c92753 138 direction1 = true; // CW rotation
annesteenbeek 31:8fbee6c92753 139 }
annesteenbeek 31:8fbee6c92753 140 if (motorPWM2 > 0 ){ // CCW rotation
annesteenbeek 31:8fbee6c92753 141 direction2 = false;
annesteenbeek 31:8fbee6c92753 142 }else{
annesteenbeek 31:8fbee6c92753 143 direction2 = true; // CW rotation
annesteenbeek 31:8fbee6c92753 144 }
annesteenbeek 31:8fbee6c92753 145 motor1Dir.write(direction1);
annesteenbeek 31:8fbee6c92753 146 motor2Dir.write(direction2);
annesteenbeek 31:8fbee6c92753 147
annesteenbeek 31:8fbee6c92753 148 motor1.write(abs(motorPWM1)/300);
annesteenbeek 31:8fbee6c92753 149 motor2.write(abs(motorPWM2)/300);
annesteenbeek 31:8fbee6c92753 150 }
annesteenbeek 31:8fbee6c92753 151
annesteenbeek 0:525558a26464 152 void servoControl(){
annesteenbeek 0:525558a26464 153 // use potMeter Value to set servo angle
annesteenbeek 31:8fbee6c92753 154 Servo.write(servoPos);
annesteenbeek 0:525558a26464 155 // (optionaly calculate xy position to keep balloon in position)
annesteenbeek 0:525558a26464 156 // calculate z position using angle
annesteenbeek 0:525558a26464 157 // calculate x y translation of endpoint
annesteenbeek 0:525558a26464 158 // find new x and y speed.
annesteenbeek 0:525558a26464 159
annesteenbeek 25:874675516927 160 }
annesteenbeek 25:874675516927 161