ECE4333 - 2018 - Ahmed & Brandon / Mbed OS MbedOS_Robot_Team

ManualControl

Dependencies:   TPixy-Interface

Fork of MbedOS_Robot by ECE4333 - 2018 - Ahmed & Brandon

PiControlThread.cpp@29:83c103d12078, 2018-04-10 (annotated)

Committer:
asobhy
Date:
Tue Apr 10 20:54:37 2018 +0000
Branch:
ManualControl
Revision:
29:83c103d12078
Parent:
22:c09acff62e6a
Child:
23:1839085ffdcf
ManualControl

Who changed what in which revision?

UserRevisionLine numberNew contents of line
asobhy 8:a0890fa79084 1 /******************************************************************************/
asobhy 8:a0890fa79084 2 // ECE4333
asobhy 9:fe56b888985c 3 // LAB Partner 1: Ahmed Sobhy - ID: 3594449
asobhy 9:fe56b888985c 4 // LAB Partner 2: Brandon Kingman - ID: 3470444
asobhy 9:fe56b888985c 5 // Project: Autonomous Robot Design
asobhy 9:fe56b888985c 6 // Instructor: Prof. Chris Diduch
asobhy 8:a0890fa79084 7 /******************************************************************************/
asobhy 8:a0890fa79084 8 // filename: PiControlThread.cpp
asobhy 8:a0890fa79084 9 // file content description:
asobhy 8:a0890fa79084 10 // * Function to Create the PiControl Thread
asobhy 8:a0890fa79084 11 // * PiControl Thread
asobhy 8:a0890fa79084 12 // * PiControl ISR
asobhy 8:a0890fa79084 13 // * Variables related to the functionality of the thread
asobhy 8:a0890fa79084 14 /******************************************************************************/
asobhy 8:a0890fa79084 15
asobhy 0:a355e511bc5d 16 #include "mbed.h"
asobhy 0:a355e511bc5d 17 #include "ui.h"
asobhy 9:fe56b888985c 18 #include "Drivers/motor_driver_r.h"
asobhy 9:fe56b888985c 19 #include "Drivers/motor_driver_l.h"
asobhy 0:a355e511bc5d 20 #include "Drivers/DE0_driver.h"
asobhy 1:3e9684e81312 21 #include "PiControlThread.h"
asobhy 7:73fd05fe556a 22 #include "Drivers/PiController.h"
asobhy 15:cf67f83d5409 23 #include "ui.h"
asobhy 15:cf67f83d5409 24 #include "CameraThread.h"
asobhy 0:a355e511bc5d 25
asobhy 10:8919b1b76243 26 // setpoints
asobhy 22:c09acff62e6a 27 // speed
asobhy 22:c09acff62e6a 28 int setpointR = 0;
asobhy 22:c09acff62e6a 29 int setpointL = 0;
asobhy 15:cf67f83d5409 30
asobhy 0:a355e511bc5d 31
asobhy 10:8919b1b76243 32 //
asobhy 9:fe56b888985c 33 int velR, velL;
asobhy 10:8919b1b76243 34
asobhy 10:8919b1b76243 35 // control signal
asobhy 9:fe56b888985c 36 int32_t U_right, U_left;
asobhy 9:fe56b888985c 37
asobhy 9:fe56b888985c 38 sensors_t sensors;
asobhy 0:a355e511bc5d 39
asobhy 0:a355e511bc5d 40 void PiControlThread(void const *);
asobhy 0:a355e511bc5d 41 void PeriodicInterruptISR(void);
asobhy 0:a355e511bc5d 42
asobhy 10:8919b1b76243 43 // steering gain
asobhy 16:58ec2b891a25 44 float Ks = 0.15;
asobhy 10:8919b1b76243 45 // distance gain
asobhy 16:58ec2b891a25 46 float Kd = 10;
asobhy 10:8919b1b76243 47
asobhy 10:8919b1b76243 48 // overall robot required speed
asobhy 10:8919b1b76243 49 int Setpoint;
asobhy 17:1184df616383 50 Mutex mutexSetpoint;
asobhy 10:8919b1b76243 51
asobhy 0:a355e511bc5d 52 osThreadId PiControlId;
asobhy 0:a355e511bc5d 53
asobhy 0:a355e511bc5d 54 /******************************************************************************/
asobhy 0:a355e511bc5d 55 // osPriorityIdle = -3, ///< priority: idle (lowest)
asobhy 0:a355e511bc5d 56 // osPriorityLow = -2, ///< priority: low
asobhy 0:a355e511bc5d 57 // osPriorityBelowNormal = -1, ///< priority: below normal
asobhy 0:a355e511bc5d 58 // osPriorityNormal = 0, ///< priority: normal (default)
asobhy 0:a355e511bc5d 59 // osPriorityAboveNormal = +1, ///< priority: above normal
asobhy 0:a355e511bc5d 60 // osPriorityHigh = +2, ///< priority: high
asobhy 0:a355e511bc5d 61 // osPriorityRealtime = +3, ///< priority: realtime (highest)
asobhy 0:a355e511bc5d 62 /******************************************************************************/
asobhy 0:a355e511bc5d 63
asobhy 0:a355e511bc5d 64 // Declare PeriodicInterruptThread as a thread/process
asobhy 0:a355e511bc5d 65 osThreadDef(PiControlThread, osPriorityRealtime, 1024);
asobhy 0:a355e511bc5d 66
asobhy 0:a355e511bc5d 67 Ticker PeriodicInt; // Declare a timer interrupt: PeriodicInt
asobhy 0:a355e511bc5d 68
asobhy 7:73fd05fe556a 69 /*******************************************************************************
asobhy 7:73fd05fe556a 70 * @brief function that creates a thread for the PI controller. It initializes
asobhy 7:73fd05fe556a 71 * the PI controller's gains and initializes the DC Motor. It also
asobhy 7:73fd05fe556a 72 * initializes the PIControllerThread runs at 50ms period
asobhy 7:73fd05fe556a 73 * @param none
asobhy 7:73fd05fe556a 74 * @return none
asobhy 7:73fd05fe556a 75 *******************************************************************************/
asobhy 0:a355e511bc5d 76 void PiControlThreadInit()
asobhy 0:a355e511bc5d 77 {
asobhy 4:417e475239c7 78 DE0_init(); // initialize FPGA
asobhy 21:7fee709bb063 79 motorDriver_R_init(); // initialize motorDriver
asobhy 21:7fee709bb063 80 motorDriver_L_init(); // initialize motorDriver
asobhy 6:e7ce340fe91e 81 // Kp,Ki
asobhy 6:e7ce340fe91e 82 PiController_init(1,0.4); // initialize the PI Controller gains and initialize variables
asobhy 0:a355e511bc5d 83
asobhy 0:a355e511bc5d 84 PiControlId = osThreadCreate(osThread(PiControlThread), NULL);
asobhy 0:a355e511bc5d 85
asobhy 0:a355e511bc5d 86 // Specify address of the PeriodicInt ISR as PiControllerISR, specify the interval
asobhy 0:a355e511bc5d 87 // in seconds between interrupts, and start interrupt generation:
asobhy 21:7fee709bb063 88 PeriodicInt.attach(&PeriodicInterruptISR, 0.010); // 10ms sampling period -> 100Hz freq
asobhy 4:417e475239c7 89
asobhy 0:a355e511bc5d 90 }
asobhy 0:a355e511bc5d 91
asobhy 0:a355e511bc5d 92 /*******************************************************************************
asobhy 7:73fd05fe556a 93 * @brief This is the PI controller thread. It reads several values from the
asobhy 7:73fd05fe556a 94 * FPGA such as speed, time and other sensors data
asobhy 7:73fd05fe556a 95 * @param none
asobhy 7:73fd05fe556a 96 * @return none
asobhy 0:a355e511bc5d 97 *******************************************************************************/
asobhy 0:a355e511bc5d 98 void PiControlThread(void const *argument)
asobhy 1:3e9684e81312 99 {
asobhy 3:4def4ca68910 100
asobhy 0:a355e511bc5d 101 while (true)
asobhy 0:a355e511bc5d 102 {
asobhy 0:a355e511bc5d 103 osSignalWait(0x01, osWaitForever); // Go to sleep until signal, SignalPi, is received.
asobhy 0:a355e511bc5d 104
asobhy 14:5777377537a2 105 // Get incremental position and time from QEI
asobhy 9:fe56b888985c 106 DE0_read(&sensors);
asobhy 9:fe56b888985c 107
asobhy 15:cf67f83d5409 108 // might not be needed
asobhy 20:9118203f7c9c 109 sensors.dp_right = SaturateValue(sensors.dp_right, 112);
asobhy 20:9118203f7c9c 110 sensors.dp_left = SaturateValue(sensors.dp_left, 112);
asobhy 9:fe56b888985c 111
asobhy 21:7fee709bb063 112 // Maximum angular velocity @ dPostition = 112 is vel = 703 rad/sec
asobhy 9:fe56b888985c 113 velR = (float)((6135.92 * sensors.dp_right) / sensors.dt_right) ;
asobhy 1:3e9684e81312 114
asobhy 21:7fee709bb063 115 // Maximum angular velocity @ dPostition = 112 is vel = 703 rad/sec
asobhy 9:fe56b888985c 116 velL = (float)((6135.92 * sensors.dp_left) / sensors.dt_left) ;
asobhy 9:fe56b888985c 117
asobhy 17:1184df616383 118 /********************Manual Setpoint and Steering**********************/
asobhy 17:1184df616383 119 mutexSetpoint.lock();
asobhy 17:1184df616383 120 setpointR = Setpoint + (Ks*SteeringError);
asobhy 17:1184df616383 121 setpointL = Setpoint - (Ks*SteeringError);
asobhy 17:1184df616383 122 mutexSetpoint.unlock();
asobhy 17:1184df616383 123
asobhy 14:5777377537a2 124 // Make sure our limit is not exceeded
asobhy 20:9118203f7c9c 125 setpointR = SaturateValue(setpointR, 112);
asobhy 20:9118203f7c9c 126 setpointL = SaturateValue(setpointL, 112);
asobhy 14:5777377537a2 127
asobhy 14:5777377537a2 128 /*********************Differential End*********************************/
asobhy 14:5777377537a2 129
asobhy 9:fe56b888985c 130 U_right = PiControllerR(setpointR,sensors.dp_right);
asobhy 9:fe56b888985c 131 U_left = PiControllerL(setpointL,sensors.dp_left);
asobhy 1:3e9684e81312 132
asobhy 14:5777377537a2 133 // Set speed and direction for right motor
asobhy 9:fe56b888985c 134 if (U_right >= 0)
asobhy 0:a355e511bc5d 135 {
asobhy 9:fe56b888985c 136 motorDriver_R_forward(U_right);
asobhy 9:fe56b888985c 137 }
asobhy 9:fe56b888985c 138 else if (U_right < 0)
asobhy 9:fe56b888985c 139 {
asobhy 9:fe56b888985c 140 motorDriver_R_reverse(U_right);
asobhy 0:a355e511bc5d 141 }
asobhy 9:fe56b888985c 142
asobhy 17:1184df616383 143 // Set speed and direction for left motor
asobhy 9:fe56b888985c 144 if (U_left >= 0)
asobhy 0:a355e511bc5d 145 {
asobhy 9:fe56b888985c 146 motorDriver_L_forward(U_left);
asobhy 9:fe56b888985c 147 }
asobhy 9:fe56b888985c 148 else if (U_left < 0)
asobhy 9:fe56b888985c 149 {
asobhy 9:fe56b888985c 150 motorDriver_L_reverse(U_left);
asobhy 7:73fd05fe556a 151 }
asobhy 3:4def4ca68910 152
asobhy 0:a355e511bc5d 153 }
asobhy 1:3e9684e81312 154
asobhy 0:a355e511bc5d 155 }
asobhy 0:a355e511bc5d 156
asobhy 0:a355e511bc5d 157 /*******************************************************************************
asobhy 7:73fd05fe556a 158 * @brief The ISR below signals the PIControllerThread. it is setup to run
asobhy 22:c09acff62e6a 159 * every 10ms
asobhy 7:73fd05fe556a 160 * @param none
asobhy 7:73fd05fe556a 161 * @return none
asobhy 0:a355e511bc5d 162 *******************************************************************************/
asobhy 0:a355e511bc5d 163 void PeriodicInterruptISR(void)
asobhy 0:a355e511bc5d 164 {
asobhy 0:a355e511bc5d 165 // Send signal to the thread with ID, PeriodicInterruptId, i.e., PeriodicInterruptThread.
asobhy 0:a355e511bc5d 166 osSignalSet(PiControlId,0x1);
asobhy 0:a355e511bc5d 167 }
asobhy 1:3e9684e81312 168