control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
actuators.cpp@13:4837b36b9a68, 2015-10-05 (annotated)
- Committer:
- annesteenbeek
- Date:
- Mon Oct 05 17:24:14 2015 +0000
- Revision:
- 13:4837b36b9a68
- Parent:
- 12:61759f94c07a
- Child:
- 14:0c0d1bfd94ea
changed folder structure to use header files correctly;
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 | 6:b957d8809e7c | 12 | double motor1Pos = 0; |
annesteenbeek | 6:b957d8809e7c | 13 | double motor2Pos = 0; |
annesteenbeek | 6:b957d8809e7c | 14 | |
annesteenbeek | 6:b957d8809e7c | 15 | double motorSpeed1 = 0; |
annesteenbeek | 6:b957d8809e7c | 16 | double motorSpeed2 = 0; |
annesteenbeek | 6:b957d8809e7c | 17 | |
annesteenbeek | 6:b957d8809e7c | 18 | double motorSetSpeed1 = 0; |
annesteenbeek | 6:b957d8809e7c | 19 | double motorSetSpeed2 = 0; |
annesteenbeek | 6:b957d8809e7c | 20 | |
annesteenbeek | 6:b957d8809e7c | 21 | |
annesteenbeek | 6:b957d8809e7c | 22 | double motorPWM1 = 0; |
annesteenbeek | 6:b957d8809e7c | 23 | double motorPWM2 = 0; |
annesteenbeek | 6:b957d8809e7c | 24 | |
annesteenbeek | 6:b957d8809e7c | 25 | // Set PID values |
annesteenbeek | 6:b957d8809e7c | 26 | double Kp1 = 1; |
annesteenbeek | 6:b957d8809e7c | 27 | double Ki1 = 1; |
annesteenbeek | 6:b957d8809e7c | 28 | double Kd1 = 1; |
annesteenbeek | 6:b957d8809e7c | 29 | |
annesteenbeek | 6:b957d8809e7c | 30 | double Kp2 = 1; |
annesteenbeek | 6:b957d8809e7c | 31 | double Ki2 = 1; |
annesteenbeek | 6:b957d8809e7c | 32 | double Kd2 = 1; |
annesteenbeek | 0:525558a26464 | 33 | |
annesteenbeek | 0:525558a26464 | 34 | void motorInit(){ |
annesteenbeek | 3:47c76be6d402 | 35 | // Initialze motors |
annesteenbeek | 3:47c76be6d402 | 36 | PwmOut motor1(motor1PWMPin); |
annesteenbeek | 3:47c76be6d402 | 37 | PwmOut motor2(motor2PWMPin); |
annesteenbeek | 3:47c76be6d402 | 38 | |
annesteenbeek | 3:47c76be6d402 | 39 | // Set motor direction pins. |
annesteenbeek | 3:47c76be6d402 | 40 | DigitalOut motor1Dir(motor1DirPin); |
annesteenbeek | 3:47c76be6d402 | 41 | DigitalOut motor2Dir(motor2DirPin); |
annesteenbeek | 3:47c76be6d402 | 42 | |
annesteenbeek | 3:47c76be6d402 | 43 | // Set initial direction |
annesteenbeek | 3:47c76be6d402 | 44 | motor1Dir.write(direction1); |
annesteenbeek | 3:47c76be6d402 | 45 | motor2Dir.write(direction2); |
annesteenbeek | 3:47c76be6d402 | 46 | |
annesteenbeek | 3:47c76be6d402 | 47 | // Set motor PWM period |
annesteenbeek | 3:47c76be6d402 | 48 | motor1.period(1/pwm_frequency); |
annesteenbeek | 3:47c76be6d402 | 49 | motor2.period(1/pwm_frequency); |
annesteenbeek | 3:47c76be6d402 | 50 | |
annesteenbeek | 4:80e2280058ed | 51 | // Initialize encoders (with speed calculation) |
annesteenbeek | 4:80e2280058ed | 52 | Encoder encoder1(enc1A, enc1B, true); |
annesteenbeek | 4:80e2280058ed | 53 | Encoder encoder2(enc2A, enc2B, true); |
annesteenbeek | 1:80f098c05d4b | 54 | |
annesteenbeek | 4:80e2280058ed | 55 | initPID(); |
annesteenbeek | 4:80e2280058ed | 56 | } |
annesteenbeek | 4:80e2280058ed | 57 | |
annesteenbeek | 4:80e2280058ed | 58 | void initPID(){ |
annesteenbeek | 5:73bfad06b775 | 59 | // create PID instances for motors |
annesteenbeek | 5:73bfad06b775 | 60 | // PID pidname(input, output, setpoint, kp, ki, kd, direction) |
annesteenbeek | 1:80f098c05d4b | 61 | PID PIDmotor1(&motorSpeed1, &motorPWM1, &motorSetSpeed1, Kp1, Ki1, Kd1, DIRECT); |
annesteenbeek | 1:80f098c05d4b | 62 | PID PIDmotor2(&motorSpeed2, &motorPWM2, &motorSetSpeed2, Kp2, Ki2, Kd2, DIRECT); |
annesteenbeek | 1:80f098c05d4b | 63 | |
annesteenbeek | 1:80f098c05d4b | 64 | // set PID mode |
annesteenbeek | 1:80f098c05d4b | 65 | PIDmotor1.SetMode(AUTOMATIC); |
annesteenbeek | 1:80f098c05d4b | 66 | PIDmotor2.SetMode(AUTOMATIC); |
annesteenbeek | 1:80f098c05d4b | 67 | |
annesteenbeek | 2:95ba9f6f0128 | 68 | // set limits for PID output to avoid integrator build up. |
annesteenbeek | 4:80e2280058ed | 69 | PIDmotor1.SetOutputLimits(-1.0, 1.0); |
annesteenbeek | 4:80e2280058ed | 70 | PIDmotor2.SetOutputLimits(-1.0, 1.0); |
annesteenbeek | 4:80e2280058ed | 71 | } |
annesteenbeek | 0:525558a26464 | 72 | |
annesteenbeek | 0:525558a26464 | 73 | |
annesteenbeek | 0:525558a26464 | 74 | void motorControl(){ |
annesteenbeek | 1:80f098c05d4b | 75 | if(motorEnable){ // only run motors if switch is enabled |
annesteenbeek | 1:80f098c05d4b | 76 | |
annesteenbeek | 0:525558a26464 | 77 | // get encoder positions |
annesteenbeek | 3:47c76be6d402 | 78 | motor1Pos = encoder1.getPosition(); |
annesteenbeek | 3:47c76be6d402 | 79 | motor2Pos = encoder2.getPosition(); |
annesteenbeek | 3:47c76be6d402 | 80 | |
annesteenbeek | 0:525558a26464 | 81 | // check if motor's are within rotational boundarys |
annesteenbeek | 4:80e2280058ed | 82 | // get encoder speeds |
annesteenbeek | 4:80e2280058ed | 83 | motorSpeed1 = encoder1.getSpeed(); |
annesteenbeek | 4:80e2280058ed | 84 | motorSpeed2 = encoder2.getSpeed(); |
annesteenbeek | 2:95ba9f6f0128 | 85 | |
annesteenbeek | 0:525558a26464 | 86 | // translate to x/y speed |
annesteenbeek | 0:525558a26464 | 87 | // compute new PID parameters using setpoint speeds and x/y speeds |
annesteenbeek | 1:80f098c05d4b | 88 | PIDmotor1.compute(); |
annesteenbeek | 1:80f098c05d4b | 89 | PIDmotor2.compute(); |
annesteenbeek | 2:95ba9f6f0128 | 90 | // translate to motor rotation speed |
annesteenbeek | 0:525558a26464 | 91 | // write new values to motor's |
annesteenbeek | 5:73bfad06b775 | 92 | if (motorPWM1 > 0 ){ // CCW rotation (unitcircle convetion) |
annesteenbeek | 5:73bfad06b775 | 93 | direction1 = false; |
annesteenbeek | 5:73bfad06b775 | 94 | }else{ |
annesteenbeek | 5:73bfad06b775 | 95 | direction1 = true; // CW rotation |
annesteenbeek | 5:73bfad06b775 | 96 | } |
annesteenbeek | 5:73bfad06b775 | 97 | if (motorPWM2 > 0 ){ // CCW rotation (unitcircle convetion) |
annesteenbeek | 5:73bfad06b775 | 98 | direction2 = false; |
annesteenbeek | 5:73bfad06b775 | 99 | }else{ |
annesteenbeek | 5:73bfad06b775 | 100 | direction2 = true; // CW rotation |
annesteenbeek | 5:73bfad06b775 | 101 | } |
annesteenbeek | 5:73bfad06b775 | 102 | motor1.write(abs(motorPWM1)); |
annesteenbeek | 5:73bfad06b775 | 103 | motor2.write(abs(motorPWM2)); |
annesteenbeek | 2:95ba9f6f0128 | 104 | |
annesteenbeek | 0:525558a26464 | 105 | }else{ |
annesteenbeek | 0:525558a26464 | 106 | // write 0 to motors |
annesteenbeek | 2:95ba9f6f0128 | 107 | motor1.write(0); |
annesteenbeek | 2:95ba9f6f0128 | 108 | motor2.write(0); |
annesteenbeek | 0:525558a26464 | 109 | } |
annesteenbeek | 0:525558a26464 | 110 | } |
annesteenbeek | 0:525558a26464 | 111 | |
annesteenbeek | 0:525558a26464 | 112 | void servoControl(){ |
annesteenbeek | 0:525558a26464 | 113 | // use potMeter Value to set servo angle |
annesteenbeek | 0:525558a26464 | 114 | // (optionaly calculate xy position to keep balloon in position) |
annesteenbeek | 0:525558a26464 | 115 | // calculate z position using angle |
annesteenbeek | 0:525558a26464 | 116 | // calculate x y translation of endpoint |
annesteenbeek | 0:525558a26464 | 117 | // find new x and y speed. |
annesteenbeek | 0:525558a26464 | 118 | |
annesteenbeek | 12:61759f94c07a | 119 | } |