ELCT 302 / Mbed 2 deprecated Top_Fuel_Dragster

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Dependencies:   mbed

main.cpp@0:30871514c229, 2018-04-12 (annotated)

Committer:
KDrainEE
Date:
Thu Apr 12 21:07:30 2018 +0000
Revision:
0:30871514c229
Child:
1:9149cfedd4d5
She fast. But if the speed sensor is malfunctioning she a rocket.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
KDrainEE 0:30871514c229 1 //Works at speed 2.0, KPS 2.0e-2, KD 1.0e-4
KDrainEE 0:30871514c229 2
KDrainEE 0:30871514c229 3 //Has tolerance check, Steering doesn't
KDrainEE 0:30871514c229 4 //Values from Simulation
KDrainEE 0:30871514c229 5 //#define KPS 0.0896852742245504f
KDrainEE 0:30871514c229 6 //#define KD 0.072870569295611f
KDrainEE 0:30871514c229 7 //#define KPS 0.03f
KDrainEE 0:30871514c229 8
KDrainEE 0:30871514c229 9 #include "mbed.h"
KDrainEE 0:30871514c229 10 #include <iostream>
KDrainEE 0:30871514c229 11
KDrainEE 0:30871514c229 12 #define TI 0.001f
KDrainEE 0:30871514c229 13
KDrainEE 0:30871514c229 14 #define SCALAR 0.6f
KDrainEE 0:30871514c229 15 #define MINM 0.0f
KDrainEE 0:30871514c229 16 #define MAXM 1.0f
KDrainEE 0:30871514c229 17 #define KPM 0.1414f
KDrainEE 0:30871514c229 18 #define KI 19.7408f
KDrainEE 0:30871514c229 19
KDrainEE 0:30871514c229 20 #define KPS 2.0E-2f //Original 2.0e-2
KDrainEE 0:30871514c229 21 #define KD 1.0e-4f
KDrainEE 0:30871514c229 22 #define SET 0.0f
KDrainEE 0:30871514c229 23 #define MINS 0.05f
KDrainEE 0:30871514c229 24 #define MAXS 0.1f
KDrainEE 0:30871514c229 25 #define BIAS 0.075f
KDrainEE 0:30871514c229 26 #define TOL 0.02f
KDrainEE 0:30871514c229 27 #define STEER_FREQ 0.02f //50 Hz
KDrainEE 0:30871514c229 28 #define STEERUPDATEPERIOD 0.05
KDrainEE 0:30871514c229 29
KDrainEE 0:30871514c229 30 AnalogIn _right(PTB1); //Right sensor
KDrainEE 0:30871514c229 31 AnalogIn _left(PTB3); //Left sensor
KDrainEE 0:30871514c229 32 AnalogIn speed(PTB2); //tachometer
KDrainEE 0:30871514c229 33
KDrainEE 0:30871514c229 34 PwmOut servoSig(PTA13); //PWM output to control servo
KDrainEE 0:30871514c229 35 PwmOut gateDrive(PTA4);
KDrainEE 0:30871514c229 36
KDrainEE 0:30871514c229 37 Serial bt(PTE0, PTE1); //COM12
KDrainEE 0:30871514c229 38 DigitalOut myled(LED_BLUE);
KDrainEE 0:30871514c229 39
KDrainEE 0:30871514c229 40 Ticker control;
KDrainEE 0:30871514c229 41 Timer ctrlTimer;
KDrainEE 0:30871514c229 42 float data[6];
KDrainEE 0:30871514c229 43
KDrainEE 0:30871514c229 44 float Setpoint = 0.0f;
KDrainEE 0:30871514c229 45 float errSum = 0.0;
KDrainEE 0:30871514c229 46
KDrainEE 0:30871514c229 47 float fbPrev = 0.0f;
KDrainEE 0:30871514c229 48
KDrainEE 0:30871514c229 49 void serCb()
KDrainEE 0:30871514c229 50 {
KDrainEE 0:30871514c229 51 char x = bt.getc();
KDrainEE 0:30871514c229 52 if (x == 'u')
KDrainEE 0:30871514c229 53 {
KDrainEE 0:30871514c229 54 Setpoint = Setpoint + 0.05;
KDrainEE 0:30871514c229 55 }
KDrainEE 0:30871514c229 56 else if(x == 'h')
KDrainEE 0:30871514c229 57 {
KDrainEE 0:30871514c229 58 Setpoint = Setpoint - 0.05;
KDrainEE 0:30871514c229 59 }
KDrainEE 0:30871514c229 60 else
KDrainEE 0:30871514c229 61 {
KDrainEE 0:30871514c229 62 bt.putc(x);
KDrainEE 0:30871514c229 63 }
KDrainEE 0:30871514c229 64 if(Setpoint > MAXM) Setpoint = MAXM;
KDrainEE 0:30871514c229 65 if(Setpoint < MINM) Setpoint = MINM;
KDrainEE 0:30871514c229 66 bt.printf("%f\r\n", Setpoint);
KDrainEE 0:30871514c229 67 }
KDrainEE 0:30871514c229 68
KDrainEE 0:30871514c229 69 void stop()
KDrainEE 0:30871514c229 70 {
KDrainEE 0:30871514c229 71 Setpoint = 0.0f;
KDrainEE 0:30871514c229 72 }
KDrainEE 0:30871514c229 73
KDrainEE 0:30871514c229 74 void steer()
KDrainEE 0:30871514c229 75 {
KDrainEE 0:30871514c229 76 float L = _left.read();
KDrainEE 0:30871514c229 77 float R = _right.read();
KDrainEE 0:30871514c229 78 if(L == 0.0f && R == 0.0f)
KDrainEE 0:30871514c229 79 {
KDrainEE 0:30871514c229 80 stop();
KDrainEE 0:30871514c229 81 }
KDrainEE 0:30871514c229 82 float fb = L - R;
KDrainEE 0:30871514c229 83 float e = SET - fb;
KDrainEE 0:30871514c229 84 float Controlleroutput = KPS * e - (KD * (fb - fbPrev)/TI)+ BIAS;//subtract derivative of error??
KDrainEE 0:30871514c229 85 if (Controlleroutput > MAXS) Controlleroutput = MAXS;
KDrainEE 0:30871514c229 86 else if (Controlleroutput < MINS) Controlleroutput = MINS;
KDrainEE 0:30871514c229 87 if (abs(Controlleroutput - servoSig.read()) > TOL || ctrlTimer.read() >= STEERUPDATEPERIOD)
KDrainEE 0:30871514c229 88 {
KDrainEE 0:30871514c229 89 ctrlTimer.reset();
KDrainEE 0:30871514c229 90 servoSig.write(Controlleroutput);
KDrainEE 0:30871514c229 91 }
KDrainEE 0:30871514c229 92 fbPrev = fb;
KDrainEE 0:30871514c229 93 data[0] = _right.read();
KDrainEE 0:30871514c229 94 data[1] = _left.read();
KDrainEE 0:30871514c229 95 data[2] = Controlleroutput;
KDrainEE 0:30871514c229 96 data[3] = e;
KDrainEE 0:30871514c229 97
KDrainEE 0:30871514c229 98 }
KDrainEE 0:30871514c229 99 void drive()
KDrainEE 0:30871514c229 100 {
KDrainEE 0:30871514c229 101 float error = Setpoint-speed.read();
KDrainEE 0:30871514c229 102 errSum +=(error * TI);
KDrainEE 0:30871514c229 103 float iTerm = KI*errSum;
KDrainEE 0:30871514c229 104 if(iTerm > MAXM) iTerm = MAXM;
KDrainEE 0:30871514c229 105 if(iTerm < MINM) iTerm = MINM;
KDrainEE 0:30871514c229 106 float output = KPM*error + iTerm;
KDrainEE 0:30871514c229 107 if(output > MAXM) output = MAXM;
KDrainEE 0:30871514c229 108 if(output < MINM) output = MINM;
KDrainEE 0:30871514c229 109 if(output < MINM)
KDrainEE 0:30871514c229 110 {
KDrainEE 0:30871514c229 111 gateDrive.write(MINM);
KDrainEE 0:30871514c229 112 //brake.write(1);
KDrainEE 0:30871514c229 113 }
KDrainEE 0:30871514c229 114 else
KDrainEE 0:30871514c229 115 {
KDrainEE 0:30871514c229 116 //brake.write(0);
KDrainEE 0:30871514c229 117 gateDrive.write(output);
KDrainEE 0:30871514c229 118 }
KDrainEE 0:30871514c229 119 data[4] = gateDrive.read();
KDrainEE 0:30871514c229 120 data[5] = speed.read();
KDrainEE 0:30871514c229 121 }
KDrainEE 0:30871514c229 122
KDrainEE 0:30871514c229 123 void cb()
KDrainEE 0:30871514c229 124 {
KDrainEE 0:30871514c229 125 steer();
KDrainEE 0:30871514c229 126 drive();
KDrainEE 0:30871514c229 127 }
KDrainEE 0:30871514c229 128
KDrainEE 0:30871514c229 129 int main()
KDrainEE 0:30871514c229 130 {
KDrainEE 0:30871514c229 131 //startup checks
KDrainEE 0:30871514c229 132 bt.attach(&serCb);
KDrainEE 0:30871514c229 133 servoSig.period(STEER_FREQ);
KDrainEE 0:30871514c229 134 gateDrive.period(.00005f);
KDrainEE 0:30871514c229 135 gateDrive.write(Setpoint);
KDrainEE 0:30871514c229 136
KDrainEE 0:30871514c229 137 ctrlTimer.start();
KDrainEE 0:30871514c229 138 control.attach(&cb, TI);
KDrainEE 0:30871514c229 139
KDrainEE 0:30871514c229 140 bt.baud(115200);
KDrainEE 0:30871514c229 141 bt.printf("Right Left SteerControl SteerError GateDrive Speed\r\n");
KDrainEE 0:30871514c229 142 while(1) {
KDrainEE 0:30871514c229 143 myled = !myled;
KDrainEE 0:30871514c229 144 bt.printf("%f ",data[0]);
KDrainEE 0:30871514c229 145 bt.printf("%f ", data[1]);
KDrainEE 0:30871514c229 146 bt.printf("%f ", data[2]);
KDrainEE 0:30871514c229 147 bt.printf("%f ", data[3]);
KDrainEE 0:30871514c229 148 bt.printf("%f ", data[4]);
KDrainEE 0:30871514c229 149 bt.printf("%f\r\n", data[5]);
KDrainEE 0:30871514c229 150 }
KDrainEE 0:30871514c229 151 }