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Dependencies: TPixy-Interface
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PiControlThread.cpp@22:c09acff62e6a, 2018-03-23 (annotated)
- Committer:
- asobhy
- Date:
- Fri Mar 23 22:42:41 2018 +0000
- Revision:
- 22:c09acff62e6a
- Parent:
- 21:7fee709bb063
- Child:
- 23:1839085ffdcf
Manual Control - More Cleanup - Latest!!!
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 | 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 |