control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: actuators.cpp
- Revision:
- 105:663b73bb2f81
- Parent:
- 104:750d7e13137d
diff -r 750d7e13137d -r 663b73bb2f81 actuators.cpp --- a/actuators.cpp Fri Oct 23 12:17:29 2015 +0000 +++ b/actuators.cpp Mon Oct 26 11:25:25 2015 +0000 @@ -6,126 +6,124 @@ #include "HIDScope.h" #include "buttons.h" -// functions for controlling the motors -bool motorsEnable = false; -bool safetyOn = true; // start with safety off for calibration + // functions for controlling the motors + bool motorsEnable = false; + bool safetyOn = true; // start with safety off for calibration -double encoder1Counts = 0; -double encoder2Counts = 0; + double encoder1Counts = 0; + double encoder2Counts = 0; + + bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation) + bool direction2 = false; -bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation) -bool direction2 = false; + double motor1Pos = 0; + double motor2Pos = 0; -double motor1Pos = 0; -double motor2Pos = 0; + double motor1Speed = 0; + double motor2Speed = 0; -double motor1Speed = 0; -double motor2Speed = 0; + double motor1SetSpeed = 0; + double motor2SetSpeed = 0; -double motor1SetSpeed = 0; -double motor2SetSpeed = 0; + double servoPos = 0; + + double motor1PWM = 0; + double motor2PWM = 0; -double servoPulsewidth; -double servoPos = 0; + // Set PID values + double Kp1 = 0.008; + double Ki1 = 0.08; + double Kd1 = 0; -double motor1PWM = 0; -double motor2PWM = 0; + double Kp2 = 0.008; + double Ki2 = 0.08; + double Kd2 = 0; -// Set PID values -double Kp1 = 0.008; -double Ki1 = 0.08; -double Kd1 = 0; - -double Kp2 = 0.008; -double Ki2 = 0.08; -double Kd2 = 0; + double motor1PrevCounts = 0; + double motor2PrevCounts = 0; + double prevTime = 0; + double now = 0; + double timechange; + bool pidOut = 0; -double motor1PrevCounts = 0; -double motor2PrevCounts = 0; -double prevTime = 0; -double now = 0; -double timechange; -bool pidOut = 0; + // Set servo values + const double servoPeriod = 0.020; + const double servo_range = 20; // Servo range (-range/ range) [deg] + const double servo_vel = 15; // Servo velocity [deg/s] + const double servo_inc = servo_vel * motorCall; // Servo postion increment per cycle + double servo_pos = 0; + double servoPulsewidth = 0.0015; + double servoSpeed = 15; + double scaleXSpeed = 10; + double scaleYSpeed = 20; + double scaleZSpeed = 1; + + + + // Set calibration values + double motorCalSpeed = 10; // deg/sec + double returnSpeed = -10; + bool springHit = false; + float lastCall = 0; + bool calibrating1 = true; + bool calibrating2 = false; -// Set servo values -const double servoPeriod = 0.020; -const double servo_range = 20; // Servo range (-range/ range) [deg] -const double servo_vel = 15; // Servo velocity [deg/s] -const double servo_inc = servo_vel * servoCall; // Servo postion increment per cycle -double servo_pos = 0; -double servoSpeed = -1; -double scaleXSpeed = 10; -double scaleYSpeed = 20; -double scaleZSpeed = 1; + // Create object instances + // Safety Pin + DigitalIn safetyIn(safetyPin); + + // Initialze motors + PwmOut motor1(motor1PWMPin); + PwmOut motor2(motor2PWMPin); + + // initialize Servo + PwmOut servo(servoPin); + // Initialize encoders + Encoder encoder1(enc1A, enc1B); + Encoder encoder2(enc2A, enc2B); -// Set calibration values -double motorCalSpeed = 10; // deg/sec -double returnSpeed = -10; -bool springHit = false; -float lastCall = 0; -bool calibrating1 = true; -bool calibrating2 = false; - -// Create object instances -// Safety Pin -DigitalIn safetyIn(safetyPin); - -// Initialze motors -PwmOut motor1(motor1PWMPin); -PwmOut motor2(motor2PWMPin); + // Set direction pins + DigitalOut motor1Dir(motor1DirPin); + DigitalOut motor2Dir(motor2DirPin); -// initialize Servo -PwmOut servo(servoPin); - - -// Initialize encoders -Encoder encoder1(enc1A, enc1B); -Encoder encoder2(enc2A, enc2B); + // create PID instances + PID motor1PID(&motor1Speed, &motor1PWM, &motor1SetSpeed, Kp1, Ki1, Kd1); + PID motor2PID(&motor2Speed, &motor2PWM, &motor2SetSpeed, Kp2, Ki2, Kd2); -// Set direction pins -DigitalOut motor1Dir(motor1DirPin); -DigitalOut motor2Dir(motor2DirPin); - -// create PID instances -PID motor1PID(&motor1Speed, &motor1PWM, &motor1SetSpeed, Kp1, Ki1, Kd1); -PID motor2PID(&motor2Speed, &motor2PWM, &motor2SetSpeed, Kp2, Ki2, Kd2); - -Timer t; - -void motorInit() -{ - + Timer t; + +void motorInit(){ + motor1Dir.write(direction1); motor2Dir.write(direction2); // Set motor PWM period motor1.period(1/pwm_frequency); motor2.period(1/pwm_frequency); - + motor1PID.SetSampleTime(motorCall); motor2PID.SetSampleTime(motorCall); - + motor1PID.SetOutputLimits(0,1); motor2PID.SetOutputLimits(0,1); - + // Turn PID on motor1PID.SetMode(AUTOMATIC); motor2PID.SetMode(AUTOMATIC); // set servo period - servo.period(servoPeriod); + servo.period(servoPeriod); - + // start the timer t.start(); } -void motorControl() -{ +void motorControl(){ // EMG signals to motor speeds // motor1SetSpeed = x_velocity*scaleXSpeed; // motor2SetSpeed = y_velocity*scaleYSpeed; @@ -133,146 +131,131 @@ // get encoder positions in degrees - // 131.25:1 gear ratio - // getPosition uses X2 configuration, so 32 counts per revolution - // encoder reads CCW negative, and CW positive, so multiply by -1 to make CCW positive + // 131.25:1 gear ratio + // getPosition uses X2 configuration, so 32 counts per revolution + // encoder reads CCW negative, and CW positive, so multiply by -1 to make CCW positive - encoder1Counts = encoder1.getPosition(); - encoder2Counts = encoder2.getPosition(); + encoder1Counts = encoder1.getPosition(); + encoder2Counts = encoder2.getPosition(); - motor1Pos = -((encoder1Counts/32)/131.25)*360; - motor2Pos = -((encoder2Counts/32)/131.25)*360; + motor1Pos = -((encoder1Counts/32)/131.25)*360; + motor2Pos = -((encoder2Counts/32)/131.25)*360; - // check if motor's are within rotational boundarys + // check if motor's are within rotational boundarys // get encoder speeds in deg/sec - now = t.read(); - timechange = (now - prevTime); - motor1Speed = -((((encoder1Counts - motor1PrevCounts)/32)/131.25)*360)/timechange; - motor2Speed = -((((encoder2Counts - motor2PrevCounts)/32)/131.25)*360)/timechange; - prevTime = now; - motor1PrevCounts = encoder1Counts; - motor2PrevCounts = encoder2Counts; - + now = t.read(); + timechange = (now - prevTime); + motor1Speed = -((((encoder1Counts - motor1PrevCounts)/32)/131.25)*360)/timechange; + motor2Speed = -((((encoder2Counts - motor2PrevCounts)/32)/131.25)*360)/timechange; + prevTime = now; + motor1PrevCounts = encoder1Counts; + motor2PrevCounts = encoder2Counts; + // calculate motor setpoint speed in deg/sec from setpoint x/y speed - - if(motorsEnable) { // only run motors if switch is enabled - // compute new PID parameters using setpoint angle speeds and encoder speed + + if(motorsEnable){ // only run motors if switch is enabled + // compute new PID parameters using setpoint angle speeds and encoder speed writeMotors(); - - } else { + servoControl(); + }else{ // write 0 to motors motor1.write(0); motor2.write(0); } } -void writeMotors() -{ +void writeMotors(){ motor1PID.Compute(); // calculate PID outputs, output changes automatically motor2PID.Compute(); // write new values to motor's - if (motor1SetSpeed > 0 ) { // CCW rotation + if (motor1SetSpeed > 0 ){ // CCW rotation direction1 = false; motor1PID.SetOutputLimits(0,1); // change pid output direction - } else { + }else{ direction1 = true; // CW rotation motor1PID.SetOutputLimits(-1,0); } - if (motor2SetSpeed > 0 ) { // CCW rotation + if (motor2SetSpeed > 0 ){ // CCW rotation direction2 = false; motor2PID.SetOutputLimits(0,1); - } else { + }else{ direction2 = true; // CW rotation motor2PID.SetOutputLimits(-1,0); } motor1Dir.write(direction1); motor2Dir.write(direction2); - // motor1.write(abs(motor1PWM)); - // motor2.write(abs(motor2PWM)); + motor1.write(abs(motor1PWM)); + motor2.write(abs(motor2PWM)); } -void servoControl() -{ +void servoControl(){ if (servoSpeed > 0) { if((servo_pos + servo_inc) <= servo_range) { // If increment step does not exceed maximum range servo_pos += servo_inc; } - } else if (servoSpeed < 0) { + }else if (servoSpeed < 0) { if((servo_pos - servo_inc) >= -servo_range) { // If increment step does not exceed maximum range servo_pos -= servo_inc; } } - servoPulsewidth = 0.0015 + (servo_pos/90)*0.001; - if(motorsEnable) { - servo.pulsewidth(servoPulsewidth); - } else if (!motorsEnable) { - servo.pulsewidth(0.0017); - } + servoPulsewidth = 0.0015 + (servo_pos/90)*0.001; + servo.pulsewidth(servoPulsewidth); } -void calibrateMotors() -{ - safetyOn = false; // safety springs off - motorsEnable = true; // motors on - redLed.write(0); - greenLed.write(1); - blueLed.write(1); - while (calibrating1 || calibrating2) { - if (calibrating1) { - redLed.write(1); - greenLed.write(0); - blueLed.write(1); - if(safetyIn.read() !=1) { // check if arm reached safety position - encoder1.setPosition(0); // set motor 1 cal angle - motor1SetSpeed = returnSpeed; // move away - springHit = true; - } else { - if(springHit) { // if hit and after is no longer touching spring - motor1SetSpeed = 0; - springHit = false; - calibrating1 = false; - calibrating2 = true; // start calibrating 2 - } - } - } - if (calibrating2) { - motor2SetSpeed = motorCalSpeed; - redLed.write(1); - greenLed.write(1); - blueLed.write(0); - if(safetyIn.read() !=1) { // check if arm reached safety position - encoder2.setPosition(0); // set motor 2 cal angle - motor2SetSpeed = returnSpeed; // move away - springHit = true; - } else { - if(springHit) { // if hit and after is no longer touching spring - motor2SetSpeed = 0; - springHit = false; - calibrating2 = false; // stop calibrating 2 - } - } - } - now = t.read(); // call motor using timer instead of wait - if(now - lastCall > motorCall) { - motorControl(); - lastCall = now; - } +void calibrateMotors(){ + safetyOn = false; // safety springs off + motorsEnable = true; // motors on + redLed.write(0); greenLed.write(1); blueLed.write(1); + while (calibrating1 || calibrating2){ + if (calibrating1){ + redLed.write(1); greenLed.write(0); blueLed.write(1); + if(safetyIn.read() !=1){ // check if arm reached safety position + encoder1.setPosition(0); // set motor 1 cal angle + motor1SetSpeed = returnSpeed; // move away + springHit = true; + }else{ + if(springHit){ // if hit and after is no longer touching spring + motor1SetSpeed = 0; + springHit = false; + calibrating1 = false; + calibrating2 = true; // start calibrating 2 + } + } + } + if (calibrating2){ + motor2SetSpeed = motorCalSpeed; + redLed.write(1); greenLed.write(1); blueLed.write(0); + if(safetyIn.read() !=1){ // check if arm reached safety position + encoder2.setPosition(0); // set motor 2 cal angle + motor2SetSpeed = returnSpeed; // move away + springHit = true; + }else{ + if(springHit){ // if hit and after is no longer touching spring + motor2SetSpeed = 0; + springHit = false; + calibrating2 = false; // stop calibrating 2 + } + } + } + now = t.read(); // call motor using timer instead of wait + if(now - lastCall > motorCall){ + motorControl(); + lastCall = now; + } - } + } motorsEnable = false; // turn motor's off again safetyOn = true; // turn safety on after callibration } -void safety() -{ - if (safetyOn) { - if (safetyIn.read() != 1) { +void safety(){ + if (safetyOn){ + if (safetyIn.read() != 1){ motorsEnable = false; - redLed.write(!redLed.read()); } } }