control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
actuators.cpp@69:37f75a7d36d8, 2015-10-15 (annotated)
- Committer:
- annesteenbeek
- Date:
- Thu Oct 15 18:52:09 2015 +0200
- Revision:
- 69:37f75a7d36d8
- Parent:
- 68:21cb054f1399
- Child:
- 74:75be98779124
added feedfoward to motor2
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 | 25:874675516927 | 6 | #include "HIDScope.h" |
annesteenbeek | 34:f315b2b38555 | 7 | #include "Servo.h" |
annesteenbeek |
32:2006977785f5 | 8 | // functions for controlling the motors |
annesteenbeek | 34:f315b2b38555 | 9 | bool motorsEnable = false; |
annesteenbeek | 6:b957d8809e7c | 10 | |
annesteenbeek | 68:21cb054f1399 | 11 | double encoder1Counts = 0; |
annesteenbeek | 68:21cb054f1399 | 12 | double encoder2Counts = 0; |
annesteenbeek | 68:21cb054f1399 | 13 | |
annesteenbeek |
32:2006977785f5 | 14 | bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation) |
annesteenbeek |
32:2006977785f5 | 15 | bool direction2 = false; |
annesteenbeek | 6:b957d8809e7c | 16 | |
annesteenbeek | 62:6c566e6f9664 | 17 | double motor1Pos = 0; |
annesteenbeek | 62:6c566e6f9664 | 18 | double motor2Pos = 0; |
annesteenbeek | 6:b957d8809e7c | 19 | |
annesteenbeek | 62:6c566e6f9664 | 20 | double motor1Speed = 0; |
annesteenbeek | 62:6c566e6f9664 | 21 | double motor2Speed = 0; |
annesteenbeek | 6:b957d8809e7c | 22 | |
annesteenbeek | 62:6c566e6f9664 | 23 | double motor1SetSpeed = 0; |
annesteenbeek | 62:6c566e6f9664 | 24 | double motor2SetSpeed = 0; |
annesteenbeek | 6:b957d8809e7c | 25 | |
annesteenbeek | 62:6c566e6f9664 | 26 | double servoPos = 0; |
annesteenbeek | 6:b957d8809e7c | 27 | |
annesteenbeek | 62:6c566e6f9664 | 28 | double motor1PWM = 0; |
annesteenbeek | 62:6c566e6f9664 | 29 | double motor2PWM = 0; |
annesteenbeek | 6:b957d8809e7c | 30 | |
annesteenbeek |
32:2006977785f5 | 31 | // Set PID values |
annesteenbeek | 62:6c566e6f9664 | 32 | double Kp1 = 1; |
annesteenbeek | 62:6c566e6f9664 | 33 | double Ki1 = 0; |
annesteenbeek | 62:6c566e6f9664 | 34 | double Kd1 = 0; |
annesteenbeek | 0:525558a26464 | 35 | |
annesteenbeek | 69:37f75a7d36d8 | 36 | double Kp2 = 0.008; |
annesteenbeek | 69:37f75a7d36d8 | 37 | double Ki2 = 0.08; |
annesteenbeek | 62:6c566e6f9664 | 38 | double Kd2 = 0; |
annesteenbeek | 20:3cba803cd771 | 39 | |
annesteenbeek | 68:21cb054f1399 | 40 | double motor1PrevCounts = 0; |
annesteenbeek | 68:21cb054f1399 | 41 | double motor2PrevCounts = 0; |
annesteenbeek | 62:6c566e6f9664 | 42 | double prevTime = 0; |
annesteenbeek | 62:6c566e6f9664 | 43 | double now = 0; |
annesteenbeek | 62:6c566e6f9664 | 44 | double timechange; |
annesteenbeek | 55:ee5257fb73df | 45 | bool pidOut = 0; |
annesteenbeek | 26:0a9e4147a31a | 46 | |
annesteenbeek |
32:2006977785f5 | 47 | // Create object instances |
annesteenbeek |
32:2006977785f5 | 48 | // Initialze motors |
annesteenbeek |
32:2006977785f5 | 49 | PwmOut motor1(motor1PWMPin); |
annesteenbeek |
32:2006977785f5 | 50 | PwmOut motor2(motor2PWMPin); |
annesteenbeek |
32:2006977785f5 | 51 | |
annesteenbeek |
32:2006977785f5 | 52 | // Initialize encoders |
annesteenbeek |
32:2006977785f5 | 53 | Encoder encoder1(enc1A, enc1B); |
annesteenbeek |
32:2006977785f5 | 54 | Encoder encoder2(enc2A, enc2B); |
annesteenbeek | 25:874675516927 | 55 | |
annesteenbeek |
32:2006977785f5 | 56 | // Set direction pins |
annesteenbeek |
32:2006977785f5 | 57 | DigitalOut motor1Dir(motor1DirPin); |
annesteenbeek |
32:2006977785f5 | 58 | DigitalOut motor2Dir(motor2DirPin); |
annesteenbeek | 26:0a9e4147a31a | 59 | |
annesteenbeek |
32:2006977785f5 | 60 | // create PID instances |
annesteenbeek | 52:2ac9dee099ce | 61 | PID motor1PID(&motor1Speed, &motor1PWM, &motor1SetSpeed, Kp1, Ki1, Kd1); |
annesteenbeek | 52:2ac9dee099ce | 62 | PID motor2PID(&motor2Speed, &motor2PWM, &motor2SetSpeed, Kp2, Ki2, Kd2); |
annesteenbeek | 31:8fbee6c92753 | 63 | |
annesteenbeek | 34:f315b2b38555 | 64 | Servo servo(servoPin); |
annesteenbeek |
32:2006977785f5 | 65 | Timer t; |
annesteenbeek | 25:874675516927 | 66 | |
annesteenbeek | 25:874675516927 | 67 | void motorInit(){ |
annesteenbeek | 25:874675516927 | 68 | |
annesteenbeek | 3:47c76be6d402 | 69 | motor1Dir.write(direction1); |
annesteenbeek | 3:47c76be6d402 | 70 | motor2Dir.write(direction2); |
annesteenbeek | 3:47c76be6d402 | 71 | |
annesteenbeek | 3:47c76be6d402 | 72 | // Set motor PWM period |
annesteenbeek | 3:47c76be6d402 | 73 | motor1.period(1/pwm_frequency); |
annesteenbeek | 3:47c76be6d402 | 74 | motor2.period(1/pwm_frequency); |
annesteenbeek | 55:ee5257fb73df | 75 | |
annesteenbeek | 55:ee5257fb73df | 76 | motor1PID.SetSampleTime(motorCall); |
annesteenbeek | 55:ee5257fb73df | 77 | motor2PID.SetSampleTime(motorCall); |
annesteenbeek | 55:ee5257fb73df | 78 | |
annesteenbeek | 69:37f75a7d36d8 | 79 | motor1PID.SetOutputLimits(0,1); |
annesteenbeek | 69:37f75a7d36d8 | 80 | motor2PID.SetOutputLimits(0,1); |
annesteenbeek | 69:37f75a7d36d8 | 81 | |
annesteenbeek | 30:a20f16bf8dda | 82 | // Turn PID on |
annesteenbeek | 55:ee5257fb73df | 83 | motor1PID.SetMode(AUTOMATIC); |
annesteenbeek | 55:ee5257fb73df | 84 | motor2PID.SetMode(AUTOMATIC); |
annesteenbeek | 30:a20f16bf8dda | 85 | |
annesteenbeek | 30:a20f16bf8dda | 86 | // start the timer |
annesteenbeek | 29:e4f3455aaa0b | 87 | t.start(); |
annesteenbeek | 4:80e2280058ed | 88 | } |
annesteenbeek | 0:525558a26464 | 89 | |
annesteenbeek | 26:0a9e4147a31a | 90 | |
annesteenbeek | 0:525558a26464 | 91 | void motorControl(){ |
annesteenbeek | 30:a20f16bf8dda | 92 | // get encoder positions in degrees |
annesteenbeek | 30:a20f16bf8dda | 93 | // 131.25:1 gear ratio |
annesteenbeek | 30:a20f16bf8dda | 94 | // getPosition uses X2 configuration, so 32 counts per revolution |
annesteenbeek | 30:a20f16bf8dda | 95 | // encoder reads CCW negative, and CW positive, so multiply by -1 to make CCW positive |
annesteenbeek | 68:21cb054f1399 | 96 | |
annesteenbeek | 68:21cb054f1399 | 97 | encoder1Counts = encoder1.getPosition(); |
annesteenbeek | 68:21cb054f1399 | 98 | encoder2Counts = encoder2.getPosition(); |
annesteenbeek | 68:21cb054f1399 | 99 | |
annesteenbeek | 68:21cb054f1399 | 100 | |
annesteenbeek | 68:21cb054f1399 | 101 | motor1Pos = -((encoder1Counts/32)/131.25)*360; |
annesteenbeek | 68:21cb054f1399 | 102 | motor2Pos = -((encoder2Counts/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 | 66:d1ab5904f8e5 | 106 | now = t.read(); |
annesteenbeek | 50:b0cf07ca53cf | 107 | timechange = (now - prevTime); |
annesteenbeek | 68:21cb054f1399 | 108 | motor1Speed = -((((encoder1Counts - motor1PrevCounts)/32)/131.25)*360)/timechange; |
annesteenbeek | 68:21cb054f1399 | 109 | motor2Speed = -((((encoder2Counts - motor2PrevCounts)/32)/131.25)*360)/timechange; |
annesteenbeek | 50:b0cf07ca53cf | 110 | prevTime = now; |
annesteenbeek | 68:21cb054f1399 | 111 | motor1PrevCounts = encoder1Counts; |
annesteenbeek | 68:21cb054f1399 | 112 | motor2PrevCounts = encoder2Counts; |
annesteenbeek | 29:e4f3455aaa0b | 113 | |
annesteenbeek | 31:8fbee6c92753 | 114 | // calculate motor setpoint speed in deg/sec from setpoint x/y speed |
annesteenbeek | 30:a20f16bf8dda | 115 | |
annesteenbeek | 48:3cf1eaf34926 | 116 | |
annesteenbeek | 48:3cf1eaf34926 | 117 | if(motorsEnable){ // only run motors if switch is enabled |
annesteenbeek |
32:2006977785f5 | 118 | // compute new PID parameters using setpoint angle speeds and encoder speed |
annesteenbeek | 31:8fbee6c92753 | 119 | writeMotors(); |
annesteenbeek | 0:525558a26464 | 120 | }else{ |
annesteenbeek | 0:525558a26464 | 121 | // write 0 to motors |
annesteenbeek | 2:95ba9f6f0128 | 122 | motor1.write(0); |
annesteenbeek | 2:95ba9f6f0128 | 123 | motor2.write(0); |
annesteenbeek | 0:525558a26464 | 124 | } |
annesteenbeek | 0:525558a26464 | 125 | } |
annesteenbeek | 0:525558a26464 | 126 | |
annesteenbeek | 31:8fbee6c92753 | 127 | void writeMotors(){ |
annesteenbeek | 54:c14c3bc48b8a | 128 | motor1PID.Compute(); // calculate PID outputs, output changes automatically |
annesteenbeek | 55:ee5257fb73df | 129 | pidOut = motor2PID.Compute(); |
annesteenbeek | 31:8fbee6c92753 | 130 | // write new values to motor's |
annesteenbeek | 69:37f75a7d36d8 | 131 | if (motor1SetSpeed >= 0 ){ // CCW rotation |
annesteenbeek | 31:8fbee6c92753 | 132 | direction1 = false; |
annesteenbeek | 31:8fbee6c92753 | 133 | }else{ |
annesteenbeek | 31:8fbee6c92753 | 134 | direction1 = true; // CW rotation |
annesteenbeek | 31:8fbee6c92753 | 135 | } |
annesteenbeek | 69:37f75a7d36d8 | 136 | if (motor2SetSpeed >= 0 ){ // CCW rotation |
annesteenbeek | 68:21cb054f1399 | 137 | direction2 = false; |
annesteenbeek | 68:21cb054f1399 | 138 | }else{ |
annesteenbeek | 68:21cb054f1399 | 139 | direction2 = true; // CW rotation |
annesteenbeek | 68:21cb054f1399 | 140 | } |
annesteenbeek | 31:8fbee6c92753 | 141 | motor1Dir.write(direction1); |
annesteenbeek | 31:8fbee6c92753 | 142 | motor2Dir.write(direction2); |
annesteenbeek | 31:8fbee6c92753 | 143 | |
annesteenbeek | 69:37f75a7d36d8 | 144 | double motor2FF = 0.0012*motor2SetSpeed+0.02; |
annesteenbeek | 69:37f75a7d36d8 | 145 | |
annesteenbeek | 52:2ac9dee099ce | 146 | motor1.write(abs(motor1PWM)); |
annesteenbeek | 69:37f75a7d36d8 | 147 | motor2.write(abs(motor2PWM)+motor2FF); |
annesteenbeek | 31:8fbee6c92753 | 148 | } |
annesteenbeek | 31:8fbee6c92753 | 149 | |
annesteenbeek | 0:525558a26464 | 150 | void servoControl(){ |
annesteenbeek | 0:525558a26464 | 151 | // use potMeter Value to set servo angle |
annesteenbeek | 34:f315b2b38555 | 152 | servo.write(servoPos); |
annesteenbeek | 0:525558a26464 | 153 | // (optionaly calculate xy position to keep balloon in position) |
annesteenbeek | 0:525558a26464 | 154 | // calculate z position using angle |
annesteenbeek | 0:525558a26464 | 155 | // calculate x y translation of endpoint |
annesteenbeek | 0:525558a26464 | 156 | // find new x and y speed. |
annesteenbeek | 0:525558a26464 | 157 | |
annesteenbeek | 25:874675516927 | 158 | } |
annesteenbeek | 25:874675516927 | 159 | |
annesteenbeek |
32:2006977785f5 | 160 | void calibrateMotors(){ |
annesteenbeek |
32:2006977785f5 | 161 | // bool calibrating1 = true; |
annesteenbeek |
32:2006977785f5 | 162 | // bool calibrating2 = true; |
annesteenbeek |
32:2006977785f5 | 163 | // motor1Dir.write(false); |
annesteenbeek |
32:2006977785f5 | 164 | // motor2Dir.write(false); |
annesteenbeek |
32:2006977785f5 | 165 | // // move motors CCW until they reach outer most position |
annesteenbeek |
32:2006977785f5 | 166 | // while (calibrating1 || calibrating2){ |
annesteenbeek |
32:2006977785f5 | 167 | // if(motor1AnglePin == 0){ |
annesteenbeek |
32:2006977785f5 | 168 | // motor1.write(0.3f); |
annesteenbeek |
32:2006977785f5 | 169 | // }else{ |
annesteenbeek |
32:2006977785f5 | 170 | // motor1.write(0); |
annesteenbeek |
32:2006977785f5 | 171 | // calibrating1 = false; |
annesteenbeek |
32:2006977785f5 | 172 | // } |
annesteenbeek |
32:2006977785f5 | 173 | // if(motor2AnglePin == 0){ |
annesteenbeek |
32:2006977785f5 | 174 | // motor2.write(0.3f); |
annesteenbeek |
32:2006977785f5 | 175 | // }else{ |
annesteenbeek |
32:2006977785f5 | 176 | // motor2.write(0); |
annesteenbeek |
32:2006977785f5 | 177 | // calibrating2 = false; |
annesteenbeek |
32:2006977785f5 | 178 | // } |
annesteenbeek |
32:2006977785f5 | 179 | // wait(0.2f); |
annesteenbeek |
32:2006977785f5 | 180 | // } |
annesteenbeek |
32:2006977785f5 | 181 | // // set the encoder values for angle. |
annesteenbeek |
32:2006977785f5 | 182 | // encoder1.setValue(0); |
annesteenbeek |
32:2006977785f5 | 183 | // encoder2.setValue(0); |
annesteenbeek |
32:2006977785f5 | 184 | } |