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Dependencies: TPixy-Interface
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PiControlThread.cpp@14:5777377537a2, 2018-03-03 (annotated)
- Committer:
- asobhy
- Date:
- Sat Mar 03 02:14:40 2018 +0000
- Revision:
- 14:5777377537a2
- Parent:
- 11:9135e5bc2fcf
- Child:
- 15:cf67f83d5409
averaging code added to following robot but results are not that good
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:a355e511bc5d | 23 | |
asobhy | 10:8919b1b76243 | 24 | // setpoints |
asobhy | 9:fe56b888985c | 25 | extern int setpointR, setpointL; |
asobhy | 10:8919b1b76243 | 26 | extern int SteeringError, DistanceError; |
asobhy | 0:a355e511bc5d | 27 | |
asobhy | 10:8919b1b76243 | 28 | // |
asobhy | 9:fe56b888985c | 29 | int velR, velL; |
asobhy | 10:8919b1b76243 | 30 | |
asobhy | 10:8919b1b76243 | 31 | // control signal |
asobhy | 9:fe56b888985c | 32 | int32_t U_right, U_left; |
asobhy | 9:fe56b888985c | 33 | |
asobhy | 9:fe56b888985c | 34 | sensors_t sensors; |
asobhy | 0:a355e511bc5d | 35 | |
asobhy | 8:a0890fa79084 | 36 | int time_passed = 0; |
asobhy | 8:a0890fa79084 | 37 | |
asobhy | 0:a355e511bc5d | 38 | void PiControlThread(void const *); |
asobhy | 0:a355e511bc5d | 39 | void PeriodicInterruptISR(void); |
asobhy | 0:a355e511bc5d | 40 | |
asobhy | 10:8919b1b76243 | 41 | // steering gain |
asobhy | 14:5777377537a2 | 42 | int Ks = 2; |
asobhy | 10:8919b1b76243 | 43 | |
asobhy | 10:8919b1b76243 | 44 | // distance gain |
asobhy | 14:5777377537a2 | 45 | int Kd = 2; |
asobhy | 10:8919b1b76243 | 46 | |
asobhy | 10:8919b1b76243 | 47 | // overall robot required speed |
asobhy | 10:8919b1b76243 | 48 | int Setpoint; |
asobhy | 10:8919b1b76243 | 49 | |
asobhy | 0:a355e511bc5d | 50 | osThreadId PiControlId; |
asobhy | 0:a355e511bc5d | 51 | |
asobhy | 0:a355e511bc5d | 52 | /******************************************************************************/ |
asobhy | 0:a355e511bc5d | 53 | // osPriorityIdle = -3, ///< priority: idle (lowest) |
asobhy | 0:a355e511bc5d | 54 | // osPriorityLow = -2, ///< priority: low |
asobhy | 0:a355e511bc5d | 55 | // osPriorityBelowNormal = -1, ///< priority: below normal |
asobhy | 0:a355e511bc5d | 56 | // osPriorityNormal = 0, ///< priority: normal (default) |
asobhy | 0:a355e511bc5d | 57 | // osPriorityAboveNormal = +1, ///< priority: above normal |
asobhy | 0:a355e511bc5d | 58 | // osPriorityHigh = +2, ///< priority: high |
asobhy | 0:a355e511bc5d | 59 | // osPriorityRealtime = +3, ///< priority: realtime (highest) |
asobhy | 0:a355e511bc5d | 60 | /******************************************************************************/ |
asobhy | 0:a355e511bc5d | 61 | |
asobhy | 0:a355e511bc5d | 62 | // Declare PeriodicInterruptThread as a thread/process |
asobhy | 0:a355e511bc5d | 63 | osThreadDef(PiControlThread, osPriorityRealtime, 1024); |
asobhy | 0:a355e511bc5d | 64 | |
asobhy | 0:a355e511bc5d | 65 | Ticker PeriodicInt; // Declare a timer interrupt: PeriodicInt |
asobhy | 0:a355e511bc5d | 66 | |
asobhy | 0:a355e511bc5d | 67 | DigitalOut led3(LED3); |
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 | 9:fe56b888985c | 79 | motorDriver_R_init(); // initialize motorDriver |
asobhy | 9:fe56b888985c | 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 | 1:3e9684e81312 | 88 | PeriodicInt.attach(&PeriodicInterruptISR, 0.05); // 50ms sampling rate |
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 | 9:fe56b888985c | 108 | SaturateValue(sensors.dp_right, 560); |
asobhy | 9:fe56b888985c | 109 | SaturateValue(sensors.dp_left, 560); |
asobhy | 9:fe56b888985c | 110 | |
asobhy | 14:5777377537a2 | 111 | // Maximum velocity at dPostition = 560 is vel = 703 |
asobhy | 9:fe56b888985c | 112 | velR = (float)((6135.92 * sensors.dp_right) / sensors.dt_right) ; |
asobhy | 1:3e9684e81312 | 113 | |
asobhy | 14:5777377537a2 | 114 | // Maximum velocity at dPostition = 560 is vel = 703 |
asobhy | 9:fe56b888985c | 115 | velL = (float)((6135.92 * sensors.dp_left) / sensors.dt_left) ; |
asobhy | 9:fe56b888985c | 116 | |
asobhy | 10:8919b1b76243 | 117 | /*********************Differential Start*******************************/ |
asobhy | 10:8919b1b76243 | 118 | // Inputs are Speed Setpoint and Steering Setpoint |
asobhy | 10:8919b1b76243 | 119 | // The Inputs for the Steering are specified in the CameraThread |
asobhy | 10:8919b1b76243 | 120 | // and set at the center. |
asobhy | 10:8919b1b76243 | 121 | // The distance between the object and the image should be set to 1 meter |
asobhy | 10:8919b1b76243 | 122 | // If distance decrease then speed should stop. |
asobhy | 10:8919b1b76243 | 123 | // If distance increase then speed should increase. |
asobhy | 10:8919b1b76243 | 124 | |
asobhy | 14:5777377537a2 | 125 | // If object is moving away from the the robot increase robot speed |
asobhy | 14:5777377537a2 | 126 | if(DistanceError > 0) |
asobhy | 10:8919b1b76243 | 127 | { |
asobhy | 14:5777377537a2 | 128 | // Proportional controller |
asobhy | 10:8919b1b76243 | 129 | Setpoint = (Kd*DistanceError); |
asobhy | 10:8919b1b76243 | 130 | } |
asobhy | 14:5777377537a2 | 131 | // If object is at the set distance limit or less then do not move. |
asobhy | 10:8919b1b76243 | 132 | else if(DistanceError <= 0) |
asobhy | 10:8919b1b76243 | 133 | { |
asobhy | 10:8919b1b76243 | 134 | Setpoint = 0; |
asobhy | 10:8919b1b76243 | 135 | } |
asobhy | 10:8919b1b76243 | 136 | |
asobhy | 14:5777377537a2 | 137 | // Decoupled drive |
asobhy | 10:8919b1b76243 | 138 | setpointR = Setpoint + (Ks*SteeringError); |
asobhy | 10:8919b1b76243 | 139 | setpointL = Setpoint - (Ks*SteeringError); |
asobhy | 14:5777377537a2 | 140 | |
asobhy | 14:5777377537a2 | 141 | // Make sure our limit is not exceeded |
asobhy | 14:5777377537a2 | 142 | setpointR = SaturateValue(setpointR, 560); |
asobhy | 14:5777377537a2 | 143 | setpointL = SaturateValue(setpointL, 560); |
asobhy | 14:5777377537a2 | 144 | |
asobhy | 14:5777377537a2 | 145 | /*********************Differential End*********************************/ |
asobhy | 14:5777377537a2 | 146 | |
asobhy | 9:fe56b888985c | 147 | U_right = PiControllerR(setpointR,sensors.dp_right); |
asobhy | 9:fe56b888985c | 148 | U_left = PiControllerL(setpointL,sensors.dp_left); |
asobhy | 1:3e9684e81312 | 149 | |
asobhy | 14:5777377537a2 | 150 | // Set speed and direction for right motor |
asobhy | 9:fe56b888985c | 151 | if (U_right >= 0) |
asobhy | 0:a355e511bc5d | 152 | { |
asobhy | 9:fe56b888985c | 153 | motorDriver_R_forward(U_right); |
asobhy | 9:fe56b888985c | 154 | } |
asobhy | 9:fe56b888985c | 155 | else if (U_right < 0) |
asobhy | 9:fe56b888985c | 156 | { |
asobhy | 9:fe56b888985c | 157 | motorDriver_R_reverse(U_right); |
asobhy | 0:a355e511bc5d | 158 | } |
asobhy | 9:fe56b888985c | 159 | |
asobhy | 14:5777377537a2 | 160 | // Set speed and direction of left motor |
asobhy | 9:fe56b888985c | 161 | if (U_left >= 0) |
asobhy | 0:a355e511bc5d | 162 | { |
asobhy | 9:fe56b888985c | 163 | motorDriver_L_forward(U_left); |
asobhy | 9:fe56b888985c | 164 | } |
asobhy | 9:fe56b888985c | 165 | else if (U_left < 0) |
asobhy | 9:fe56b888985c | 166 | { |
asobhy | 9:fe56b888985c | 167 | motorDriver_L_reverse(U_left); |
asobhy | 7:73fd05fe556a | 168 | } |
asobhy | 3:4def4ca68910 | 169 | |
asobhy | 0:a355e511bc5d | 170 | } |
asobhy | 1:3e9684e81312 | 171 | |
asobhy | 0:a355e511bc5d | 172 | } |
asobhy | 0:a355e511bc5d | 173 | |
asobhy | 0:a355e511bc5d | 174 | /******************************************************************************* |
asobhy | 7:73fd05fe556a | 175 | * @brief The ISR below signals the PIControllerThread. it is setup to run |
asobhy | 7:73fd05fe556a | 176 | * every 50ms |
asobhy | 7:73fd05fe556a | 177 | * @param none |
asobhy | 7:73fd05fe556a | 178 | * @return none |
asobhy | 0:a355e511bc5d | 179 | *******************************************************************************/ |
asobhy | 0:a355e511bc5d | 180 | void PeriodicInterruptISR(void) |
asobhy | 0:a355e511bc5d | 181 | { |
asobhy | 0:a355e511bc5d | 182 | // Send signal to the thread with ID, PeriodicInterruptId, i.e., PeriodicInterruptThread. |
asobhy | 0:a355e511bc5d | 183 | osSignalSet(PiControlId,0x1); |
asobhy | 0:a355e511bc5d | 184 | } |
asobhy | 1:3e9684e81312 | 185 |