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Dependencies: TPixy-Interface
Fork of ManualControlFinal by
PiControlThread.cpp@21:7fee709bb063, 2018-03-23 (annotated)
- Committer:
- asobhy
- Date:
- Fri Mar 23 22:32:38 2018 +0000
- Revision:
- 21:7fee709bb063
- Parent:
- 20:9118203f7c9c
- Child:
- 22:c09acff62e6a
Manual Control - Latest Update - some code clean up
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 | 15:cf67f83d5409 | 23 | #include "ui.h" |
asobhy | 15:cf67f83d5409 | 24 | #include "CameraThread.h" |
asobhy | 0:a355e511bc5d | 25 | |
asobhy | 10:8919b1b76243 | 26 | // setpoints |
asobhy | 15:cf67f83d5409 | 27 | |
asobhy | 0:a355e511bc5d | 28 | |
asobhy | 10:8919b1b76243 | 29 | // |
asobhy | 9:fe56b888985c | 30 | int velR, velL; |
asobhy | 10:8919b1b76243 | 31 | |
asobhy | 10:8919b1b76243 | 32 | // control signal |
asobhy | 9:fe56b888985c | 33 | int32_t U_right, U_left; |
asobhy | 9:fe56b888985c | 34 | |
asobhy | 9:fe56b888985c | 35 | sensors_t sensors; |
asobhy | 0:a355e511bc5d | 36 | |
asobhy | 0:a355e511bc5d | 37 | void PiControlThread(void const *); |
asobhy | 0:a355e511bc5d | 38 | void PeriodicInterruptISR(void); |
asobhy | 0:a355e511bc5d | 39 | |
asobhy | 10:8919b1b76243 | 40 | // steering gain |
asobhy | 16:58ec2b891a25 | 41 | float Ks = 0.15; |
asobhy | 10:8919b1b76243 | 42 | // distance gain |
asobhy | 16:58ec2b891a25 | 43 | float Kd = 10; |
asobhy | 10:8919b1b76243 | 44 | |
asobhy | 10:8919b1b76243 | 45 | // overall robot required speed |
asobhy | 10:8919b1b76243 | 46 | int Setpoint; |
asobhy | 17:1184df616383 | 47 | Mutex mutexSetpoint; |
asobhy | 10:8919b1b76243 | 48 | |
asobhy | 0:a355e511bc5d | 49 | osThreadId PiControlId; |
asobhy | 0:a355e511bc5d | 50 | |
asobhy | 0:a355e511bc5d | 51 | /******************************************************************************/ |
asobhy | 0:a355e511bc5d | 52 | // osPriorityIdle = -3, ///< priority: idle (lowest) |
asobhy | 0:a355e511bc5d | 53 | // osPriorityLow = -2, ///< priority: low |
asobhy | 0:a355e511bc5d | 54 | // osPriorityBelowNormal = -1, ///< priority: below normal |
asobhy | 0:a355e511bc5d | 55 | // osPriorityNormal = 0, ///< priority: normal (default) |
asobhy | 0:a355e511bc5d | 56 | // osPriorityAboveNormal = +1, ///< priority: above normal |
asobhy | 0:a355e511bc5d | 57 | // osPriorityHigh = +2, ///< priority: high |
asobhy | 0:a355e511bc5d | 58 | // osPriorityRealtime = +3, ///< priority: realtime (highest) |
asobhy | 0:a355e511bc5d | 59 | /******************************************************************************/ |
asobhy | 0:a355e511bc5d | 60 | |
asobhy | 0:a355e511bc5d | 61 | // Declare PeriodicInterruptThread as a thread/process |
asobhy | 0:a355e511bc5d | 62 | osThreadDef(PiControlThread, osPriorityRealtime, 1024); |
asobhy | 0:a355e511bc5d | 63 | |
asobhy | 0:a355e511bc5d | 64 | Ticker PeriodicInt; // Declare a timer interrupt: PeriodicInt |
asobhy | 0:a355e511bc5d | 65 | |
asobhy | 7:73fd05fe556a | 66 | /******************************************************************************* |
asobhy | 7:73fd05fe556a | 67 | * @brief function that creates a thread for the PI controller. It initializes |
asobhy | 7:73fd05fe556a | 68 | * the PI controller's gains and initializes the DC Motor. It also |
asobhy | 7:73fd05fe556a | 69 | * initializes the PIControllerThread runs at 50ms period |
asobhy | 7:73fd05fe556a | 70 | * @param none |
asobhy | 7:73fd05fe556a | 71 | * @return none |
asobhy | 7:73fd05fe556a | 72 | *******************************************************************************/ |
asobhy | 0:a355e511bc5d | 73 | void PiControlThreadInit() |
asobhy | 0:a355e511bc5d | 74 | { |
asobhy | 4:417e475239c7 | 75 | DE0_init(); // initialize FPGA |
asobhy | 21:7fee709bb063 | 76 | motorDriver_R_init(); // initialize motorDriver |
asobhy | 21:7fee709bb063 | 77 | motorDriver_L_init(); // initialize motorDriver |
asobhy | 6:e7ce340fe91e | 78 | // Kp,Ki |
asobhy | 6:e7ce340fe91e | 79 | PiController_init(1,0.4); // initialize the PI Controller gains and initialize variables |
asobhy | 0:a355e511bc5d | 80 | |
asobhy | 0:a355e511bc5d | 81 | PiControlId = osThreadCreate(osThread(PiControlThread), NULL); |
asobhy | 0:a355e511bc5d | 82 | |
asobhy | 0:a355e511bc5d | 83 | // Specify address of the PeriodicInt ISR as PiControllerISR, specify the interval |
asobhy | 0:a355e511bc5d | 84 | // in seconds between interrupts, and start interrupt generation: |
asobhy | 21:7fee709bb063 | 85 | PeriodicInt.attach(&PeriodicInterruptISR, 0.010); // 10ms sampling period -> 100Hz freq |
asobhy | 4:417e475239c7 | 86 | |
asobhy | 0:a355e511bc5d | 87 | } |
asobhy | 0:a355e511bc5d | 88 | |
asobhy | 0:a355e511bc5d | 89 | /******************************************************************************* |
asobhy | 7:73fd05fe556a | 90 | * @brief This is the PI controller thread. It reads several values from the |
asobhy | 7:73fd05fe556a | 91 | * FPGA such as speed, time and other sensors data |
asobhy | 7:73fd05fe556a | 92 | * @param none |
asobhy | 7:73fd05fe556a | 93 | * @return none |
asobhy | 0:a355e511bc5d | 94 | *******************************************************************************/ |
asobhy | 0:a355e511bc5d | 95 | void PiControlThread(void const *argument) |
asobhy | 1:3e9684e81312 | 96 | { |
asobhy | 3:4def4ca68910 | 97 | |
asobhy | 0:a355e511bc5d | 98 | while (true) |
asobhy | 0:a355e511bc5d | 99 | { |
asobhy | 0:a355e511bc5d | 100 | osSignalWait(0x01, osWaitForever); // Go to sleep until signal, SignalPi, is received. |
asobhy | 0:a355e511bc5d | 101 | |
asobhy | 14:5777377537a2 | 102 | // Get incremental position and time from QEI |
asobhy | 9:fe56b888985c | 103 | DE0_read(&sensors); |
asobhy | 9:fe56b888985c | 104 | |
asobhy | 15:cf67f83d5409 | 105 | // might not be needed |
asobhy | 20:9118203f7c9c | 106 | sensors.dp_right = SaturateValue(sensors.dp_right, 112); |
asobhy | 20:9118203f7c9c | 107 | sensors.dp_left = SaturateValue(sensors.dp_left, 112); |
asobhy | 9:fe56b888985c | 108 | |
asobhy | 21:7fee709bb063 | 109 | // Maximum angular velocity @ dPostition = 112 is vel = 703 rad/sec |
asobhy | 9:fe56b888985c | 110 | velR = (float)((6135.92 * sensors.dp_right) / sensors.dt_right) ; |
asobhy | 1:3e9684e81312 | 111 | |
asobhy | 21:7fee709bb063 | 112 | // Maximum angular velocity @ dPostition = 112 is vel = 703 rad/sec |
asobhy | 9:fe56b888985c | 113 | velL = (float)((6135.92 * sensors.dp_left) / sensors.dt_left) ; |
asobhy | 9:fe56b888985c | 114 | |
asobhy | 17:1184df616383 | 115 | /********************Manual Setpoint and Steering**********************/ |
asobhy | 17:1184df616383 | 116 | mutexSetpoint.lock(); |
asobhy | 17:1184df616383 | 117 | setpointR = Setpoint + (Ks*SteeringError); |
asobhy | 17:1184df616383 | 118 | setpointL = Setpoint - (Ks*SteeringError); |
asobhy | 17:1184df616383 | 119 | mutexSetpoint.unlock(); |
asobhy | 17:1184df616383 | 120 | |
asobhy | 14:5777377537a2 | 121 | // Make sure our limit is not exceeded |
asobhy | 20:9118203f7c9c | 122 | setpointR = SaturateValue(setpointR, 112); |
asobhy | 20:9118203f7c9c | 123 | setpointL = SaturateValue(setpointL, 112); |
asobhy | 14:5777377537a2 | 124 | |
asobhy | 14:5777377537a2 | 125 | /*********************Differential End*********************************/ |
asobhy | 14:5777377537a2 | 126 | |
asobhy | 9:fe56b888985c | 127 | U_right = PiControllerR(setpointR,sensors.dp_right); |
asobhy | 9:fe56b888985c | 128 | U_left = PiControllerL(setpointL,sensors.dp_left); |
asobhy | 1:3e9684e81312 | 129 | |
asobhy | 14:5777377537a2 | 130 | // Set speed and direction for right motor |
asobhy | 9:fe56b888985c | 131 | if (U_right >= 0) |
asobhy | 0:a355e511bc5d | 132 | { |
asobhy | 9:fe56b888985c | 133 | motorDriver_R_forward(U_right); |
asobhy | 9:fe56b888985c | 134 | } |
asobhy | 9:fe56b888985c | 135 | else if (U_right < 0) |
asobhy | 9:fe56b888985c | 136 | { |
asobhy | 9:fe56b888985c | 137 | motorDriver_R_reverse(U_right); |
asobhy | 0:a355e511bc5d | 138 | } |
asobhy | 9:fe56b888985c | 139 | |
asobhy | 17:1184df616383 | 140 | // Set speed and direction for left motor |
asobhy | 9:fe56b888985c | 141 | if (U_left >= 0) |
asobhy | 0:a355e511bc5d | 142 | { |
asobhy | 9:fe56b888985c | 143 | motorDriver_L_forward(U_left); |
asobhy | 9:fe56b888985c | 144 | } |
asobhy | 9:fe56b888985c | 145 | else if (U_left < 0) |
asobhy | 9:fe56b888985c | 146 | { |
asobhy | 9:fe56b888985c | 147 | motorDriver_L_reverse(U_left); |
asobhy | 7:73fd05fe556a | 148 | } |
asobhy | 3:4def4ca68910 | 149 | |
asobhy | 0:a355e511bc5d | 150 | } |
asobhy | 1:3e9684e81312 | 151 | |
asobhy | 0:a355e511bc5d | 152 | } |
asobhy | 0:a355e511bc5d | 153 | |
asobhy | 0:a355e511bc5d | 154 | /******************************************************************************* |
asobhy | 7:73fd05fe556a | 155 | * @brief The ISR below signals the PIControllerThread. it is setup to run |
asobhy | 7:73fd05fe556a | 156 | * every 50ms |
asobhy | 7:73fd05fe556a | 157 | * @param none |
asobhy | 7:73fd05fe556a | 158 | * @return none |
asobhy | 0:a355e511bc5d | 159 | *******************************************************************************/ |
asobhy | 0:a355e511bc5d | 160 | void PeriodicInterruptISR(void) |
asobhy | 0:a355e511bc5d | 161 | { |
asobhy | 0:a355e511bc5d | 162 | // Send signal to the thread with ID, PeriodicInterruptId, i.e., PeriodicInterruptThread. |
asobhy | 0:a355e511bc5d | 163 | osSignalSet(PiControlId,0x1); |
asobhy | 0:a355e511bc5d | 164 | } |
asobhy | 1:3e9684e81312 | 165 |