control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
actuators.cpp@22:c562b9a4176d, 2015-10-05 (annotated)
- Committer:
- annesteenbeek
- Date:
- Mon Oct 05 21:27:52 2015 +0200
- Revision:
- 22:c562b9a4176d
- Parent:
- 21:3e6ebec86438
- Child:
- 25:874675516927
PID set to auto mode
Who changed what in which revision?
User | Revision | Line number | New 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 | 14:0c0d1bfd94ea | 12 | float motor1Pos = 0; |
annesteenbeek | 14:0c0d1bfd94ea | 13 | float motor2Pos = 0; |
annesteenbeek | 6:b957d8809e7c | 14 | |
annesteenbeek | 14:0c0d1bfd94ea | 15 | float motorSpeed1 = 0; |
annesteenbeek | 14:0c0d1bfd94ea | 16 | float motorSpeed2 = 0; |
annesteenbeek | 6:b957d8809e7c | 17 | |
annesteenbeek | 14:0c0d1bfd94ea | 18 | float motorSetSpeed1 = 0; |
annesteenbeek | 14:0c0d1bfd94ea | 19 | float motorSetSpeed2 = 0; |
annesteenbeek | 6:b957d8809e7c | 20 | |
annesteenbeek | 6:b957d8809e7c | 21 | |
annesteenbeek | 14:0c0d1bfd94ea | 22 | float motorPWM1 = 0; |
annesteenbeek | 14:0c0d1bfd94ea | 23 | float motorPWM2 = 0; |
annesteenbeek | 6:b957d8809e7c | 24 | |
annesteenbeek | 6:b957d8809e7c | 25 | // Set PID values |
annesteenbeek | 14:0c0d1bfd94ea | 26 | float Kp1 = 1; |
annesteenbeek | 14:0c0d1bfd94ea | 27 | float Ki1 = 1; |
annesteenbeek | 14:0c0d1bfd94ea | 28 | float Kd1 = 1; |
annesteenbeek | 6:b957d8809e7c | 29 | |
annesteenbeek | 14:0c0d1bfd94ea | 30 | float Kp2 = 1; |
annesteenbeek | 14:0c0d1bfd94ea | 31 | float Ki2 = 1; |
annesteenbeek | 14:0c0d1bfd94ea | 32 | float Kd2 = 1; |
annesteenbeek | 0:525558a26464 | 33 | |
annesteenbeek | 20:3cba803cd771 | 34 | float PIDinterval = 0.2; |
annesteenbeek | 20:3cba803cd771 | 35 | |
annesteenbeek | 0:525558a26464 | 36 | void motorInit(){ |
annesteenbeek | 3:47c76be6d402 | 37 | // Initialze motors |
annesteenbeek | 3:47c76be6d402 | 38 | PwmOut motor1(motor1PWMPin); |
annesteenbeek | 3:47c76be6d402 | 39 | PwmOut motor2(motor2PWMPin); |
annesteenbeek | 3:47c76be6d402 | 40 | |
annesteenbeek | 3:47c76be6d402 | 41 | // Set motor direction pins. |
annesteenbeek | 3:47c76be6d402 | 42 | DigitalOut motor1Dir(motor1DirPin); |
annesteenbeek | 3:47c76be6d402 | 43 | DigitalOut motor2Dir(motor2DirPin); |
annesteenbeek | 3:47c76be6d402 | 44 | |
annesteenbeek | 3:47c76be6d402 | 45 | // Set initial direction |
annesteenbeek | 3:47c76be6d402 | 46 | motor1Dir.write(direction1); |
annesteenbeek | 3:47c76be6d402 | 47 | motor2Dir.write(direction2); |
annesteenbeek | 3:47c76be6d402 | 48 | |
annesteenbeek | 3:47c76be6d402 | 49 | // Set motor PWM period |
annesteenbeek | 3:47c76be6d402 | 50 | motor1.period(1/pwm_frequency); |
annesteenbeek | 3:47c76be6d402 | 51 | motor2.period(1/pwm_frequency); |
annesteenbeek | 3:47c76be6d402 | 52 | |
annesteenbeek | 4:80e2280058ed | 53 | // Initialize encoders (with speed calculation) |
annesteenbeek | 4:80e2280058ed | 54 | Encoder encoder1(enc1A, enc1B, true); |
annesteenbeek | 4:80e2280058ed | 55 | Encoder encoder2(enc2A, enc2B, true); |
annesteenbeek | 1:80f098c05d4b | 56 | |
annesteenbeek | 4:80e2280058ed | 57 | initPID(); |
annesteenbeek | 4:80e2280058ed | 58 | } |
annesteenbeek | 4:80e2280058ed | 59 | |
annesteenbeek | 4:80e2280058ed | 60 | void initPID(){ |
annesteenbeek | 5:73bfad06b775 | 61 | // create PID instances for motors |
annesteenbeek | 5:73bfad06b775 | 62 | // PID pidname(input, output, setpoint, kp, ki, kd, direction) |
annesteenbeek | 20:3cba803cd771 | 63 | PID PIDmotor1(Kp1, Ki1, Kd1, PIDinterval); |
annesteenbeek | 20:3cba803cd771 | 64 | PID PIDmotor2(Kp2, Ki2, Kd2, PIDinterval); |
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 | 4:80e2280058ed | 77 | } |
annesteenbeek | 0:525558a26464 | 78 | |
annesteenbeek | 0:525558a26464 | 79 | |
annesteenbeek | 0:525558a26464 | 80 | void motorControl(){ |
annesteenbeek | 1:80f098c05d4b | 81 | if(motorEnable){ // only run motors if switch is enabled |
annesteenbeek | 1:80f098c05d4b | 82 | |
annesteenbeek | 0:525558a26464 | 83 | // get encoder positions |
annesteenbeek | 3:47c76be6d402 | 84 | motor1Pos = encoder1.getPosition(); |
annesteenbeek | 3:47c76be6d402 | 85 | motor2Pos = encoder2.getPosition(); |
annesteenbeek | 3:47c76be6d402 | 86 | |
annesteenbeek | 0:525558a26464 | 87 | // check if motor's are within rotational boundarys |
annesteenbeek | 4:80e2280058ed | 88 | // get encoder speeds |
annesteenbeek | 4:80e2280058ed | 89 | motorSpeed1 = encoder1.getSpeed(); |
annesteenbeek | 4:80e2280058ed | 90 | motorSpeed2 = encoder2.getSpeed(); |
annesteenbeek | 2:95ba9f6f0128 | 91 | |
annesteenbeek | 0:525558a26464 | 92 | // translate to x/y speed |
annesteenbeek | 0:525558a26464 | 93 | // compute new PID parameters using setpoint speeds and x/y speeds |
annesteenbeek | 14:0c0d1bfd94ea | 94 | motorPWM1 = PIDmotor1.compute(); |
annesteenbeek | 14:0c0d1bfd94ea | 95 | motorPWM2 = PIDmotor2.compute(); |
annesteenbeek | 2:95ba9f6f0128 | 96 | // translate to motor rotation speed |
annesteenbeek | 0:525558a26464 | 97 | // write new values to motor's |
annesteenbeek | 5:73bfad06b775 | 98 | if (motorPWM1 > 0 ){ // CCW rotation (unitcircle convetion) |
annesteenbeek | 5:73bfad06b775 | 99 | direction1 = false; |
annesteenbeek | 5:73bfad06b775 | 100 | }else{ |
annesteenbeek | 5:73bfad06b775 | 101 | direction1 = true; // CW rotation |
annesteenbeek | 5:73bfad06b775 | 102 | } |
annesteenbeek | 5:73bfad06b775 | 103 | if (motorPWM2 > 0 ){ // CCW rotation (unitcircle convetion) |
annesteenbeek | 5:73bfad06b775 | 104 | direction2 = false; |
annesteenbeek | 5:73bfad06b775 | 105 | }else{ |
annesteenbeek | 5:73bfad06b775 | 106 | direction2 = true; // CW rotation |
annesteenbeek | 5:73bfad06b775 | 107 | } |
annesteenbeek | 5:73bfad06b775 | 108 | motor1.write(abs(motorPWM1)); |
annesteenbeek | 5:73bfad06b775 | 109 | motor2.write(abs(motorPWM2)); |
annesteenbeek | 2:95ba9f6f0128 | 110 | |
annesteenbeek | 0:525558a26464 | 111 | }else{ |
annesteenbeek | 0:525558a26464 | 112 | // write 0 to motors |
annesteenbeek | 2:95ba9f6f0128 | 113 | motor1.write(0); |
annesteenbeek | 2:95ba9f6f0128 | 114 | motor2.write(0); |
annesteenbeek | 0:525558a26464 | 115 | } |
annesteenbeek | 0:525558a26464 | 116 | } |
annesteenbeek | 0:525558a26464 | 117 | |
annesteenbeek | 0:525558a26464 | 118 | void servoControl(){ |
annesteenbeek | 0:525558a26464 | 119 | // use potMeter Value to set servo angle |
annesteenbeek | 0:525558a26464 | 120 | // (optionaly calculate xy position to keep balloon in position) |
annesteenbeek | 0:525558a26464 | 121 | // calculate z position using angle |
annesteenbeek | 0:525558a26464 | 122 | // calculate x y translation of endpoint |
annesteenbeek | 0:525558a26464 | 123 | // find new x and y speed. |
annesteenbeek | 0:525558a26464 | 124 | |
annesteenbeek | 12:61759f94c07a | 125 | } |