File content as of revision 7:241bde733699:

// EE4333 Robotics Lab 3

// Library Imports

//#include "InterruptIn.h"
//#include "rtos.h"
#include "mbed.h"
#include "Serial.h"
#include "stdio.h"

// Function Declarations

    void DE0_Init(int);
    void L_MotorInit(void);
    void R_MotorInit(void);
    signed int InputLeft(void);
    signed int InputRight(void);
    void ControlThread(void);
    int SaturateAdd(int x, int y);
    float SaturateLimit(float x, float limit);
    signed int SignExtend(signed int x);

// ********************************************************************
//                     GLOBAL VARIABLE DECLARATIONS
// ********************************************************************

    signed int R_setpoint;                // Desired Angular Speed ( rad/sec )
    signed int L_setpoint;
    float R_e;                            // Velocity Error
    float R_u;                            // Control Signal
    float L_e;
    float L_u;
    int L_integrator;                   // Left Integrator State
    int R_integrator;
    signed int dPositionLeft;           // DE0 Register 0
    signed int dPositionRight;
    int dTimeLeft;                      // DE0 Register 1
    int dTimeRight;
    
// *********************************************************************
//                     PROCESSES AND THREADS
// *********************************************************************


// *********************************************************************
//                          PIN DECLARATIONS
// *********************************************************************

    // Digital I/O Pins

    DigitalOut led1(LED1);              // Thread Indicators
    DigitalOut led2(LED2);              //
    DigitalOut led3(LED3);              //
    DigitalOut led4(LED4);              //
    
    DigitalOut DirL(p29);               // Direction of Left Motor
    DigitalOut DirR(p30);               // Direction of Right Motor

    // SPI Related Digital I/O Pins
    
    DigitalOut SpiReset(p11);
    DigitalOut IoReset(p12);

    //PWM

    PwmOut PwmL(p22);
    PwmOut PwmR(p21);

    //Serial

    Serial pc(USBTX, USBRX);            // tx and rx for PC serial channel via USB cable
    Serial Bluetooth(p9,p10);           // Pins tx(p9) , rx(p10) for bluetooth serial channel

    //SPI

    SPI DE0(p5,p6,p7); //Pin 5 is MOSI, Pin 6 MISO, Pin 7 SCLK
  
    //Interrupts
  
    Ticker ControlInterrupt;            // Internal Interrupt to trigger Control Thread


// ***************************************************
//                      DE0 Init
// ***************************************************

void DE0_Init(int SpiControlWord){
    
    int mode = 1;
    int bits = 16;
   
    DE0.format(bits,mode);
    
    // Verify Peripheral ID
    
    // Generates single square pulse to reset DE0 IO
    
    IoReset = 0;
    IoReset = 1;
    IoReset = 0;
    
    // Generates single square pulse to reset DE0 SPI
    
    SpiReset = 0;
    SpiReset = 1;
    SpiReset = 0;
    
    // Writes to DE0 Control Register
    
    int ID = DE0.write(SpiControlWord);             // SPI Control Word specifies SPI settings
    
    if(ID == 23){                                   // DE0 ID 23 (0x0017)
        Bluetooth.printf("\n\r >> DE0 Initialized.\n\r");}
    else{
        Bluetooth.printf("\n\r >> Failed to initialize DE0 board.\n\r");}
}

// ***************************************************
//              Left Motor Initialization
// ***************************************************

    // Pwm Pin Left Motor : p21
    // Direction Pin Left Motor : p29

void L_MotorInit(void){

   DirL = 1;                                   // Defaults to 1

    // Direction bit logic output
    // 0 : Backwards ( Reverse ) 
    // 1 : Forwards  ( Advance )

    PwmL.period_us(100);
    PwmL.write(0);
    
}
    
// ***************************************************
//             Right Motor Initialization
// ***************************************************

    // Pwm Pin Right Motor : p22
    // Direction Pin Right Motor : p30
    
void R_MotorInit(void){
    
   DirR = 0;                                   // Defaults to 0.
    
    // Direction bit logic output
    // 0 : Forwards  ( Advance ) 
    // 1 : Backwards ( Reverse )
    
    PwmR.period_us(100);
    PwmR.write(0);
    
}
    
/// ***************************************************
//                 User Input Left
// ***************************************************

signed int InputLeft(void){
   
   signed int input;
   
   Bluetooth.printf("\n\r Please enter a desired angular speed for the left motor (m/sec) >> ");
   Bluetooth.scanf("%i",&input);
   
   Bluetooth.printf("\n\r Your setpoint is >> %i\n\r",input);
   
   return input;

}

/// ***************************************************
//                 User Input Right
// ***************************************************

signed int InputRight(void){
      
   signed int input;
   
   Bluetooth.printf("\n\r Please enter a desired angular speed for the right motor (m/sec) >> ");
   Bluetooth.scanf("%i",&input);
   
   Bluetooth.printf("\n\r Your setpoint is >> %i\n\r",input);
   
   return input;

}


/// ***************************************************
//                 Control Thread
// ***************************************************

void ControlThread(void){

    // Read Incremental Position from DE0 QEI

    int dummy = 0x0000;                                // Pushes dummy information which DE0 ignores, store return from QEI register
    
    dPositionLeft = SignExtend(DE0.write(dummy));
    dTimeLeft = DE0.write(dummy);
    dPositionRight = SignExtend(DE0.write(dummy));
    dTimeRight = DE0.write(dummy);
    
    // Computer Angular Speed and Angular Speed Error
    
    signed int AngularSpeedLeft = (123*dPositionLeft)/dTimeLeft;
    signed int AngularSpeedRight = (123*dPositionRight)/dTimeRight;
    
    L_e = L_setpoint - AngularSpeedLeft;
    R_e = R_setpoint - AngularSpeedRight;
    
    float Kp_L = 2.5;
    float Ki_L = 0.010;
    
    float Kp_R = 2.5;
    float Ki_R = 0.010;
    
    
    if(abs(SaturateLimit((Kp_L*L_e+Ki_L*L_integrator)/35,1))<1){
        L_integrator = L_integrator +L_e;}
    else{
        L_integrator = L_integrator;
    }
    
    if(abs(SaturateLimit((Kp_R*R_e+Ki_R*R_integrator)/35,1))<1){
        R_integrator = R_integrator +R_e;}
    else{
        R_integrator = R_integrator;
    }
 
    L_u = SaturateLimit( (Kp_L*L_e+Ki_L*L_integrator),1);
    R_u = SaturateLimit( (Kp_R*R_e+Ki_R*R_integrator),1);
    
    if(L_u <=0)
        DirL = 0;
    else
        DirL = 1;
    
    if(R_u <=0)
        DirR = 1;
    else
        DirR = 0;
        
    PwmL.write(abs(L_u));
    PwmR.write(abs(R_u));
}

/// ***************************************************
//                SaturateAdd
// ***************************************************

signed int SaturateAdd(signed int x, signed int y){
    
    signed int z = x + y;
    
    if( (x>0) && (y>0)&& (z<=0) ){
        z = 0x7FFFFFFF;}
    
    else if( (x<0)&&(y<0)&&(z>=0) ){
        z = 0x80000000;}
        
    return z;
}
    
/// ***************************************************
//              SaturateLimit
// ***************************************************

float SaturateLimit(float x, float limit){
    
    if (x > limit){
        return limit;}
        
    else if(x < -limit){
        return(-limit);}
        
    else{
        return x;}
        
}

/// ***************************************************
//                   Sign Extend
// ***************************************************

signed int SignExtend(int x){
        
        if(x&0x00008000){
            x = x|0xFFFF0000;
        }
        
        return x;
}



// ==============================================================================================================
// ==============================================================================================================


// *********************************************************************
//                        MAIN FUNCTION
// *********************************************************************

int main(){
   
   // Initialization

   DE0_Init(0x8004);                                                            
   L_MotorInit();
   R_MotorInit();
   L_integrator = 0;
   R_integrator = 0;
   ControlInterrupt.attach(&ControlThread, 0.0005);
   
   // Specify Setpoint ( rads/sec )

    L_setpoint = InputLeft()/0.05093;  //The 0.05093 converts from a m/s input to a rad/s control calculation
    R_setpoint = InputRight()/0.05093; //The 0.05093 converts from a m/s input to a rad/s control calculation
    
   // Display Global Variables to Console
   Bluetooth.printf("\n\r ========= LEFT =======       ========= RIGHT =======");
   Bluetooth.printf("\n\r    US    VE     IS    CS         US    VE    IS   CS "); 
   
   while(1){
       
       float L_error_t = L_e;
       float L_u_t = L_u;
       
       float R_error_t = R_e;
       float R_u_t = R_u;
       
       float L_setpoint_m = L_setpoint*0.05093; //Setpoints in meters per second float values for display
       float R_setpoint_m = L_setpoint*0.05093; //Setpoints in meters per second float values for display

       Bluetooth.printf("\n\r   %2.2f   %2.1f    %i  %2.2f      %2.2f    %2.1f  %i  %2.2f",L_setpoint_m,L_error_t*0.05093,L_integrator,L_u_t,R_setpoint_m,R_error_t*0.05093,R_integrator,R_u_t);
       wait(0.75);
   }
   
}