control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
actuators.cpp
- Committer:
- annesteenbeek
- Date:
- 2015-10-05
- Revision:
- 4:80e2280058ed
- Parent:
- 3:47c76be6d402
- Child:
- 5:73bfad06b775
File content as of revision 4:80e2280058ed:
// functions for controlling the motors void motorInit(){ // Initialze motors PwmOut motor1(motor1PWMPin); PwmOut motor2(motor2PWMPin); // Set motor direction pins. DigitalOut motor1Dir(motor1DirPin); DigitalOut motor2Dir(motor2DirPin); // Set initial direction motor1Dir.write(direction1); motor2Dir.write(direction2); // Set motor PWM period motor1.period(1/pwm_frequency); motor2.period(1/pwm_frequency); // Initialize encoders (with speed calculation) Encoder encoder1(enc1A, enc1B, true); Encoder encoder2(enc2A, enc2B, true); initPID(); } void initPID(){ // create PID instances for motors // PID pidname(input, output, setpoint, kp, ki, kd, direction) PID PIDmotor1(&motorSpeed1, &motorPWM1, &motorSetSpeed1, Kp1, Ki1, Kd1, DIRECT); PID PIDmotor2(&motorSpeed2, &motorPWM2, &motorSetSpeed2, Kp2, Ki2, Kd2, DIRECT); // set PID mode PIDmotor1.SetMode(AUTOMATIC); PIDmotor2.SetMode(AUTOMATIC); // set limits for PID output to avoid integrator build up. PIDmotor1.SetOutputLimits(-1.0, 1.0); PIDmotor2.SetOutputLimits(-1.0, 1.0); } void motorControl(){ if(motorEnable){ // only run motors if switch is enabled // get encoder positions motor1Pos = encoder1.getPosition(); motor2Pos = encoder2.getPosition(); // check if motor's are within rotational boundarys // get encoder speeds motorSpeed1 = encoder1.getSpeed(); motorSpeed2 = encoder2.getSpeed(); prevTime = time.read(); // translate to x/y speed // compute new PID parameters using setpoint speeds and x/y speeds PIDmotor1.compute(); PIDmotor2.compute(); // translate to motor rotation speed // write new values to motor's motor1.write(motorPWM1); motor2.write(motorPWM2); }else{ // write 0 to motors motor1.write(0); motor2.write(0); } } void servoControl(){ // use potMeter Value to set servo angle // (optionaly calculate xy position to keep balloon in position) // calculate z position using angle // calculate x y translation of endpoint // find new x and y speed. }