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@29:e4f3455aaa0b, 2015-10-06 (annotated)

Committer:
annesteenbeek
Date:
Tue Oct 06 17:55:11 2015 +0000
Revision:
29:e4f3455aaa0b
Parent:
28:40a931dfe840
Child:
30:a20f16bf8dda
Timer to calculate encoder speed

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 0:525558a26464 7 // functions for controlling the motors
annesteenbeek 26:0a9e4147a31a 8 bool motorEnable = true;
annesteenbeek 6:b957d8809e7c 9
annesteenbeek 6:b957d8809e7c 10 bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 6:b957d8809e7c 11 bool direction2 = false;
annesteenbeek 6:b957d8809e7c 12
annesteenbeek 14:0c0d1bfd94ea 13 float motor1Pos = 0;
annesteenbeek 14:0c0d1bfd94ea 14 float motor2Pos = 0;
annesteenbeek 6:b957d8809e7c 15
annesteenbeek 14:0c0d1bfd94ea 16 float motorSpeed1 = 0;
annesteenbeek 14:0c0d1bfd94ea 17 float motorSpeed2 = 0;
annesteenbeek 6:b957d8809e7c 18
annesteenbeek 14:0c0d1bfd94ea 19 float motorSetSpeed1 = 0;
annesteenbeek 14:0c0d1bfd94ea 20 float motorSetSpeed2 = 0;
annesteenbeek 6:b957d8809e7c 21
annesteenbeek 6:b957d8809e7c 22
annesteenbeek 14:0c0d1bfd94ea 23 float motorPWM1 = 0;
annesteenbeek 14:0c0d1bfd94ea 24 float motorPWM2 = 0;
annesteenbeek 6:b957d8809e7c 25
annesteenbeek 6:b957d8809e7c 26 // Set PID values
annesteenbeek 14:0c0d1bfd94ea 27 float Kp1 = 1;
annesteenbeek 14:0c0d1bfd94ea 28 float Ki1 = 1;
annesteenbeek 14:0c0d1bfd94ea 29 float Kd1 = 1;
annesteenbeek 6:b957d8809e7c 30
annesteenbeek 14:0c0d1bfd94ea 31 float Kp2 = 1;
annesteenbeek 14:0c0d1bfd94ea 32 float Ki2 = 1;
annesteenbeek 14:0c0d1bfd94ea 33 float Kd2 = 1;
annesteenbeek 0:525558a26464 34
annesteenbeek 20:3cba803cd771 35 float PIDinterval = 0.2;
annesteenbeek 20:3cba803cd771 36
annesteenbeek 29:e4f3455aaa0b 37 float prevMotor2Pos = 0;
annesteenbeek 29:e4f3455aaa0b 38 float prevMotor1Pos = 0;
annesteenbeek 29:e4f3455aaa0b 39 float prevTime = 0;
annesteenbeek 29:e4f3455aaa0b 40 float curTime = 0;
annesteenbeek 25:874675516927 41
annesteenbeek 26:0a9e4147a31a 42 // Create object instances
annesteenbeek 26:0a9e4147a31a 43 // Initialze motors
annesteenbeek 26:0a9e4147a31a 44 PwmOut motor1(motor1PWMPin);
annesteenbeek 26:0a9e4147a31a 45 PwmOut motor2(motor2PWMPin);
annesteenbeek 26:0a9e4147a31a 46
annesteenbeek 26:0a9e4147a31a 47 // Initialize encoders
annesteenbeek 29:e4f3455aaa0b 48 Encoder encoder1(enc1A, enc1B);
annesteenbeek 29:e4f3455aaa0b 49 Encoder encoder2(enc2A, enc2B);
annesteenbeek 25:874675516927 50
annesteenbeek 26:0a9e4147a31a 51 // Set direction pins
annesteenbeek 26:0a9e4147a31a 52 DigitalOut motor1Dir(motor1DirPin);
annesteenbeek 26:0a9e4147a31a 53 DigitalOut motor2Dir(motor2DirPin);
annesteenbeek 26:0a9e4147a31a 54
annesteenbeek 26:0a9e4147a31a 55 // create PID instances
annesteenbeek 26:0a9e4147a31a 56 PID PIDmotor1(Kp1, Ki1, Kd1, PIDinterval);
annesteenbeek 26:0a9e4147a31a 57 PID PIDmotor2(Kp2, Ki2, Kd2, PIDinterval);
annesteenbeek 29:e4f3455aaa0b 58 Timer t;
annesteenbeek 25:874675516927 59
annesteenbeek 25:874675516927 60 void motorInit(){
annesteenbeek 25:874675516927 61
annesteenbeek 3:47c76be6d402 62 motor1Dir.write(direction1);
annesteenbeek 3:47c76be6d402 63 motor2Dir.write(direction2);
annesteenbeek 3:47c76be6d402 64
annesteenbeek 3:47c76be6d402 65 // Set motor PWM period
annesteenbeek 3:47c76be6d402 66 motor1.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 67 motor2.period(1/pwm_frequency);
annesteenbeek 3:47c76be6d402 68
annesteenbeek 14:0c0d1bfd94ea 69 PIDmotor1.setSetPoint(motorSetSpeed1);
annesteenbeek 14:0c0d1bfd94ea 70 PIDmotor2.setSetPoint(motorSetSpeed2);
annesteenbeek 1:80f098c05d4b 71
annesteenbeek 20:3cba803cd771 72 PIDmotor1.setProcessValue(motorSpeed1);
annesteenbeek 20:3cba803cd771 73 PIDmotor2.setProcessValue(motorSpeed2);
annesteenbeek 1:80f098c05d4b 74 // set PID mode
annesteenbeek 22:c562b9a4176d 75 PIDmotor1.setMode(1);
annesteenbeek 22:c562b9a4176d 76 PIDmotor2.setMode(1);
annesteenbeek 1:80f098c05d4b 77
annesteenbeek 2:95ba9f6f0128 78 // set limits for PID output to avoid integrator build up.
annesteenbeek 21:3e6ebec86438 79 PIDmotor1.setOutputLimits(-1.0, 1.0);
annesteenbeek 21:3e6ebec86438 80 PIDmotor2.setOutputLimits(-1.0, 1.0);
annesteenbeek 29:e4f3455aaa0b 81 t.start();
annesteenbeek 4:80e2280058ed 82 }
annesteenbeek 0:525558a26464 83
annesteenbeek 26:0a9e4147a31a 84
annesteenbeek 0:525558a26464 85 void motorControl(){
annesteenbeek 1:80f098c05d4b 86 if(motorEnable){ // only run motors if switch is enabled
annesteenbeek 1:80f098c05d4b 87
annesteenbeek 0:525558a26464 88 // get encoder positions
annesteenbeek 3:47c76be6d402 89 motor1Pos = encoder1.getPosition();
annesteenbeek 3:47c76be6d402 90 motor2Pos = encoder2.getPosition();
annesteenbeek 3:47c76be6d402 91
annesteenbeek 0:525558a26464 92 // check if motor's are within rotational boundarys
annesteenbeek 4:80e2280058ed 93 // get encoder speeds
annesteenbeek 29:e4f3455aaa0b 94 curTime = t.read()
annesteenbeek 29:e4f3455aaa0b 95 motorSpeed1 = (motor1Pos - prevMotor1Pos)/(curTime-prevTime);
annesteenbeek 29:e4f3455aaa0b 96 motorSpeed2 = (motor2Pos - prevMotor2Pos)/(curTime-prevTime);
annesteenbeek 29:e4f3455aaa0b 97 prevTime = curTime;
annesteenbeek 29:e4f3455aaa0b 98 prevMotor1Pos = motor1Pos;
annesteenbeek 29:e4f3455aaa0b 99 prevMotor2Pos = motor2Pos;
annesteenbeek 29:e4f3455aaa0b 100
annesteenbeek 29:e4f3455aaa0b 101
annesteenbeek 0:525558a26464 102 // translate to x/y speed
annesteenbeek 0:525558a26464 103 // compute new PID parameters using setpoint speeds and x/y speeds
annesteenbeek 14:0c0d1bfd94ea 104 motorPWM1 = PIDmotor1.compute();
annesteenbeek 14:0c0d1bfd94ea 105 motorPWM2 = PIDmotor2.compute();
annesteenbeek 2:95ba9f6f0128 106 // translate to motor rotation speed
annesteenbeek 0:525558a26464 107 // write new values to motor's
annesteenbeek 5:73bfad06b775 108 if (motorPWM1 > 0 ){ // CCW rotation (unitcircle convetion)
annesteenbeek 5:73bfad06b775 109 direction1 = false;
annesteenbeek 5:73bfad06b775 110 }else{
annesteenbeek 5:73bfad06b775 111 direction1 = true; // CW rotation
annesteenbeek 5:73bfad06b775 112 }
annesteenbeek 5:73bfad06b775 113 if (motorPWM2 > 0 ){ // CCW rotation (unitcircle convetion)
annesteenbeek 5:73bfad06b775 114 direction2 = false;
annesteenbeek 5:73bfad06b775 115 }else{
annesteenbeek 5:73bfad06b775 116 direction2 = true; // CW rotation
annesteenbeek 5:73bfad06b775 117 }
annesteenbeek 5:73bfad06b775 118 motor1.write(abs(motorPWM1));
annesteenbeek 28:40a931dfe840 119 // motor2.write(abs(motorPWM2));
annesteenbeek 28:40a931dfe840 120 motor2.write(motorSetSpeed2);
annesteenbeek 2:95ba9f6f0128 121
annesteenbeek 0:525558a26464 122 }else{
annesteenbeek 0:525558a26464 123 // write 0 to motors
annesteenbeek 2:95ba9f6f0128 124 motor1.write(0);
annesteenbeek 2:95ba9f6f0128 125 motor2.write(0);
annesteenbeek 0:525558a26464 126 }
annesteenbeek 0:525558a26464 127 }
annesteenbeek 0:525558a26464 128
annesteenbeek 0:525558a26464 129 void servoControl(){
annesteenbeek 0:525558a26464 130 // use potMeter Value to set servo angle
annesteenbeek 0:525558a26464 131 // (optionaly calculate xy position to keep balloon in position)
annesteenbeek 0:525558a26464 132 // calculate z position using angle
annesteenbeek 0:525558a26464 133 // calculate x y translation of endpoint
annesteenbeek 0:525558a26464 134 // find new x and y speed.
annesteenbeek 0:525558a26464 135
annesteenbeek 25:874675516927 136 }
annesteenbeek 25:874675516927 137