control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
actuators.cpp@4:80e2280058ed, 2015-10-05 (annotated)
- Committer:
- annesteenbeek
- Date:
- Mon Oct 05 16:15:25 2015 +0200
- Revision:
- 4:80e2280058ed
- Parent:
- 3:47c76be6d402
- Child:
- 5:73bfad06b775
use encoder getSpeed function
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
annesteenbeek | 0:525558a26464 | 1 | // functions for controlling the motors |
annesteenbeek | 0:525558a26464 | 2 | |
annesteenbeek | 0:525558a26464 | 3 | void motorInit(){ |
annesteenbeek | 3:47c76be6d402 | 4 | // Initialze motors |
annesteenbeek | 3:47c76be6d402 | 5 | PwmOut motor1(motor1PWMPin); |
annesteenbeek | 3:47c76be6d402 | 6 | PwmOut motor2(motor2PWMPin); |
annesteenbeek | 3:47c76be6d402 | 7 | |
annesteenbeek | 3:47c76be6d402 | 8 | // Set motor direction pins. |
annesteenbeek | 3:47c76be6d402 | 9 | DigitalOut motor1Dir(motor1DirPin); |
annesteenbeek | 3:47c76be6d402 | 10 | DigitalOut motor2Dir(motor2DirPin); |
annesteenbeek | 3:47c76be6d402 | 11 | |
annesteenbeek | 3:47c76be6d402 | 12 | // Set initial direction |
annesteenbeek | 3:47c76be6d402 | 13 | motor1Dir.write(direction1); |
annesteenbeek | 3:47c76be6d402 | 14 | motor2Dir.write(direction2); |
annesteenbeek | 3:47c76be6d402 | 15 | |
annesteenbeek | 3:47c76be6d402 | 16 | // Set motor PWM period |
annesteenbeek | 3:47c76be6d402 | 17 | motor1.period(1/pwm_frequency); |
annesteenbeek | 3:47c76be6d402 | 18 | motor2.period(1/pwm_frequency); |
annesteenbeek | 3:47c76be6d402 | 19 | |
annesteenbeek | 4:80e2280058ed | 20 | // Initialize encoders (with speed calculation) |
annesteenbeek | 4:80e2280058ed | 21 | Encoder encoder1(enc1A, enc1B, true); |
annesteenbeek | 4:80e2280058ed | 22 | Encoder encoder2(enc2A, enc2B, true); |
annesteenbeek | 1:80f098c05d4b | 23 | |
annesteenbeek | 4:80e2280058ed | 24 | initPID(); |
annesteenbeek | 4:80e2280058ed | 25 | } |
annesteenbeek | 4:80e2280058ed | 26 | |
annesteenbeek | 4:80e2280058ed | 27 | void initPID(){ |
annesteenbeek | 4:80e2280058ed | 28 | // create PID instances for motors |
annesteenbeek | 1:80f098c05d4b | 29 | // PID pidname(input, output, setpoint, kp, ki, kd, direction) |
annesteenbeek | 1:80f098c05d4b | 30 | PID PIDmotor1(&motorSpeed1, &motorPWM1, &motorSetSpeed1, Kp1, Ki1, Kd1, DIRECT); |
annesteenbeek | 1:80f098c05d4b | 31 | PID PIDmotor2(&motorSpeed2, &motorPWM2, &motorSetSpeed2, Kp2, Ki2, Kd2, DIRECT); |
annesteenbeek | 1:80f098c05d4b | 32 | |
annesteenbeek | 1:80f098c05d4b | 33 | // set PID mode |
annesteenbeek | 1:80f098c05d4b | 34 | PIDmotor1.SetMode(AUTOMATIC); |
annesteenbeek | 1:80f098c05d4b | 35 | PIDmotor2.SetMode(AUTOMATIC); |
annesteenbeek | 1:80f098c05d4b | 36 | |
annesteenbeek | 2:95ba9f6f0128 | 37 | // set limits for PID output to avoid integrator build up. |
annesteenbeek | 4:80e2280058ed | 38 | PIDmotor1.SetOutputLimits(-1.0, 1.0); |
annesteenbeek | 4:80e2280058ed | 39 | PIDmotor2.SetOutputLimits(-1.0, 1.0); |
annesteenbeek | 4:80e2280058ed | 40 | } |
annesteenbeek | 0:525558a26464 | 41 | |
annesteenbeek | 0:525558a26464 | 42 | |
annesteenbeek | 0:525558a26464 | 43 | void motorControl(){ |
annesteenbeek | 1:80f098c05d4b | 44 | if(motorEnable){ // only run motors if switch is enabled |
annesteenbeek | 1:80f098c05d4b | 45 | |
annesteenbeek | 0:525558a26464 | 46 | // get encoder positions |
annesteenbeek | 3:47c76be6d402 | 47 | motor1Pos = encoder1.getPosition(); |
annesteenbeek | 3:47c76be6d402 | 48 | motor2Pos = encoder2.getPosition(); |
annesteenbeek | 3:47c76be6d402 | 49 | |
annesteenbeek | 0:525558a26464 | 50 | // check if motor's are within rotational boundarys |
annesteenbeek | 4:80e2280058ed | 51 | // get encoder speeds |
annesteenbeek | 4:80e2280058ed | 52 | motorSpeed1 = encoder1.getSpeed(); |
annesteenbeek | 4:80e2280058ed | 53 | motorSpeed2 = encoder2.getSpeed(); |
annesteenbeek | 2:95ba9f6f0128 | 54 | |
annesteenbeek | 2:95ba9f6f0128 | 55 | prevTime = time.read(); |
annesteenbeek | 0:525558a26464 | 56 | // translate to x/y speed |
annesteenbeek | 0:525558a26464 | 57 | // compute new PID parameters using setpoint speeds and x/y speeds |
annesteenbeek | 1:80f098c05d4b | 58 | PIDmotor1.compute(); |
annesteenbeek | 1:80f098c05d4b | 59 | PIDmotor2.compute(); |
annesteenbeek | 2:95ba9f6f0128 | 60 | // translate to motor rotation speed |
annesteenbeek | 0:525558a26464 | 61 | // write new values to motor's |
annesteenbeek | 2:95ba9f6f0128 | 62 | motor1.write(motorPWM1); |
annesteenbeek | 2:95ba9f6f0128 | 63 | motor2.write(motorPWM2); |
annesteenbeek | 2:95ba9f6f0128 | 64 | |
annesteenbeek | 0:525558a26464 | 65 | }else{ |
annesteenbeek | 0:525558a26464 | 66 | // write 0 to motors |
annesteenbeek | 2:95ba9f6f0128 | 67 | motor1.write(0); |
annesteenbeek | 2:95ba9f6f0128 | 68 | motor2.write(0); |
annesteenbeek | 0:525558a26464 | 69 | } |
annesteenbeek | 0:525558a26464 | 70 | } |
annesteenbeek | 0:525558a26464 | 71 | |
annesteenbeek | 0:525558a26464 | 72 | void servoControl(){ |
annesteenbeek | 0:525558a26464 | 73 | // use potMeter Value to set servo angle |
annesteenbeek | 0:525558a26464 | 74 | // (optionaly calculate xy position to keep balloon in position) |
annesteenbeek | 0:525558a26464 | 75 | // calculate z position using angle |
annesteenbeek | 0:525558a26464 | 76 | // calculate x y translation of endpoint |
annesteenbeek | 0:525558a26464 | 77 | // find new x and y speed. |
annesteenbeek | 0:525558a26464 | 78 | |
annesteenbeek | 4:80e2280058ed | 79 | } |