ELCT 302 / Mbed 2 deprecated Top_Fuel_Dragster

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Dependencies:   mbed

main.cpp@4:af9973350ffe, 2018-04-18 (annotated)

Committer:
KDrainEE
Date:
Wed Apr 18 14:58:56 2018 +0000
Revision:
4:af9973350ffe
Parent:
3:246625f3ceee
Child:
5:aa582398b2eb
test

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 1:9149cfedd4d5 14 #define SCALAR 0.53f
KDrainEE 0:30871514c229 15 #define MINM 0.0f
KDrainEE 1:9149cfedd4d5 16 #define MAXM 0.53f
ELCT302Honors 3:246625f3ceee 17 #define KPM 0.15f //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 2:e87736742f99 39 DigitalOut brake(PTD0);
KDrainEE 0:30871514c229 40
KDrainEE 0:30871514c229 41 Ticker control;
KDrainEE 0:30871514c229 42 Timer ctrlTimer;
ELCT302Honors 3:246625f3ceee 43
ELCT302Honors 3:246625f3ceee 44 InterruptIn navRt(PTD2);
ELCT302Honors 3:246625f3ceee 45 InterruptIn navLft(PTD3);
ELCT302Honors 3:246625f3ceee 46
ELCT302Honors 3:246625f3ceee 47 volatile int rightCount;
ELCT302Honors 3:246625f3ceee 48 volatile int leftCount;
ELCT302Honors 3:246625f3ceee 49
KDrainEE 0:30871514c229 50 float data[6];
KDrainEE 0:30871514c229 51
ELCT302Honors 3:246625f3ceee 52 float Setpoint = 0.0;
KDrainEE 4:af9973350ffe 53 float spHolder;
KDrainEE 0:30871514c229 54 float errSum = 0.0;
KDrainEE 0:30871514c229 55
KDrainEE 0:30871514c229 56 float fbPrev = 0.0f;
KDrainEE 1:9149cfedd4d5 57 float Kps = 2.0E-2; //0.013 for setpoint = 0.0/0.05
KDrainEE 1:9149cfedd4d5 58 float Kd = 1.0e-4;
KDrainEE 0:30871514c229 59
ELCT302Honors 3:246625f3ceee 60 float Kpm = 0.141;
ELCT302Honors 3:246625f3ceee 61
KDrainEE 4:af9973350ffe 62 inline void applyBrake()
KDrainEE 4:af9973350ffe 63 {
KDrainEE 4:af9973350ffe 64 spHolder = Setpoint;
KDrainEE 4:af9973350ffe 65 brake.write(1);
KDrainEE 4:af9973350ffe 66 Setpoint = 0.0;
KDrainEE 4:af9973350ffe 67 }
KDrainEE 4:af9973350ffe 68
KDrainEE 4:af9973350ffe 69 inline void releaseBrake()
KDrainEE 4:af9973350ffe 70 {
KDrainEE 4:af9973350ffe 71 brake.write(0);
KDrainEE 4:af9973350ffe 72 Setpoint = spHolder;
KDrainEE 4:af9973350ffe 73 }
KDrainEE 4:af9973350ffe 74
KDrainEE 2:e87736742f99 75 void display()
KDrainEE 2:e87736742f99 76 {
ELCT302Honors 3:246625f3ceee 77 bt.printf("Setpoint = %f, Kps = %f, Kd = %f, Kpm = %f, Brake = %f\r\n", Setpoint, Kps, Kd, Kpm, brake.read());
KDrainEE 2:e87736742f99 78 }
KDrainEE 2:e87736742f99 79
KDrainEE 0:30871514c229 80 void serCb()
KDrainEE 0:30871514c229 81 {
KDrainEE 0:30871514c229 82 char x = bt.getc();
KDrainEE 0:30871514c229 83 if (x == 'u')
KDrainEE 0:30871514c229 84 {
ELCT302Honors 3:246625f3ceee 85 Setpoint += 0.025;
KDrainEE 2:e87736742f99 86 display();
KDrainEE 0:30871514c229 87 }
KDrainEE 0:30871514c229 88 else if(x == 'h')
KDrainEE 0:30871514c229 89 {
ELCT302Honors 3:246625f3ceee 90 Setpoint -= 0.025;
KDrainEE 2:e87736742f99 91 display();
KDrainEE 0:30871514c229 92 }
KDrainEE 1:9149cfedd4d5 93 else if (x == 'i')
KDrainEE 1:9149cfedd4d5 94 {
KDrainEE 1:9149cfedd4d5 95 Kps += 1.0e-3;
KDrainEE 2:e87736742f99 96 display();
KDrainEE 1:9149cfedd4d5 97 }
KDrainEE 1:9149cfedd4d5 98 else if (x == 'j')
KDrainEE 1:9149cfedd4d5 99 {
KDrainEE 1:9149cfedd4d5 100 Kps -= 1.0e-3;
KDrainEE 2:e87736742f99 101 display();
KDrainEE 1:9149cfedd4d5 102 }
KDrainEE 1:9149cfedd4d5 103 else if (x == 'o')
KDrainEE 1:9149cfedd4d5 104 {
KDrainEE 1:9149cfedd4d5 105 Kd += 1.0e-5;
KDrainEE 2:e87736742f99 106 display();
KDrainEE 1:9149cfedd4d5 107 }
KDrainEE 1:9149cfedd4d5 108 else if (x == 'k')
KDrainEE 1:9149cfedd4d5 109 {
KDrainEE 1:9149cfedd4d5 110 Kd -= 1.0e-5;
KDrainEE 2:e87736742f99 111 display();
KDrainEE 1:9149cfedd4d5 112 }
KDrainEE 2:e87736742f99 113 else if (x == 'b')
KDrainEE 2:e87736742f99 114 {
KDrainEE 4:af9973350ffe 115 applyBrake();
KDrainEE 2:e87736742f99 116 display();
ELCT302Honors 3:246625f3ceee 117
KDrainEE 2:e87736742f99 118 }
ELCT302Honors 3:246625f3ceee 119 else if (x == 'n')
KDrainEE 2:e87736742f99 120 {
KDrainEE 4:af9973350ffe 121 releaseBrake();
KDrainEE 2:e87736742f99 122 display();
KDrainEE 2:e87736742f99 123 }
KDrainEE 2:e87736742f99 124 else if (x == 'p')
KDrainEE 2:e87736742f99 125 {
KDrainEE 2:e87736742f99 126 display();
ELCT302Honors 3:246625f3ceee 127 }
ELCT302Honors 3:246625f3ceee 128 else if (x == 'y')
ELCT302Honors 3:246625f3ceee 129 {
ELCT302Honors 3:246625f3ceee 130 Kpm += 0.003;
ELCT302Honors 3:246625f3ceee 131 display();
ELCT302Honors 3:246625f3ceee 132 }
ELCT302Honors 3:246625f3ceee 133 else if(x == 'g')
ELCT302Honors 3:246625f3ceee 134 {
ELCT302Honors 3:246625f3ceee 135 Kpm -= 0.003;
ELCT302Honors 3:246625f3ceee 136 display();
ELCT302Honors 3:246625f3ceee 137 }
ELCT302Honors 3:246625f3ceee 138 else if (x == 'z')
ELCT302Honors 3:246625f3ceee 139 {
ELCT302Honors 3:246625f3ceee 140 bt.printf("Right = %i Left = %i\r\n", rightCount, leftCount);
ELCT302Honors 3:246625f3ceee 141 }
KDrainEE 0:30871514c229 142 else
KDrainEE 0:30871514c229 143 {
KDrainEE 2:e87736742f99 144 bt.printf("Invalid input");
KDrainEE 0:30871514c229 145 }
KDrainEE 0:30871514c229 146 if(Setpoint > MAXM) Setpoint = MAXM;
KDrainEE 2:e87736742f99 147 if(Setpoint < MINM) Setpoint = MINM;
KDrainEE 0:30871514c229 148 }
KDrainEE 0:30871514c229 149
KDrainEE 2:e87736742f99 150
ELCT302Honors 3:246625f3ceee 151 void incL()
ELCT302Honors 3:246625f3ceee 152 {
ELCT302Honors 3:246625f3ceee 153 leftCount++;
ELCT302Honors 3:246625f3ceee 154 }
KDrainEE 2:e87736742f99 155
ELCT302Honors 3:246625f3ceee 156 void incR()
KDrainEE 0:30871514c229 157 {
ELCT302Honors 3:246625f3ceee 158 rightCount++;
KDrainEE 0:30871514c229 159 }
KDrainEE 0:30871514c229 160
KDrainEE 0:30871514c229 161 void steer()
KDrainEE 0:30871514c229 162 {
KDrainEE 0:30871514c229 163 float L = _left.read();
KDrainEE 0:30871514c229 164 float R = _right.read();
ELCT302Honors 3:246625f3ceee 165 if (L == 0.0 && R == 0.0)
KDrainEE 0:30871514c229 166 {
ELCT302Honors 3:246625f3ceee 167 //off track
ELCT302Honors 3:246625f3ceee 168 Setpoint = 0.0;
ELCT302Honors 3:246625f3ceee 169 }
KDrainEE 0:30871514c229 170 float fb = L - R;
KDrainEE 0:30871514c229 171 float e = SET - fb;
KDrainEE 1:9149cfedd4d5 172 float Controlleroutput = Kps * e - (Kd * (fb - fbPrev)/TI)+ BIAS;//subtract derivative of error??
KDrainEE 0:30871514c229 173 if (Controlleroutput > MAXS) Controlleroutput = MAXS;
KDrainEE 0:30871514c229 174 else if (Controlleroutput < MINS) Controlleroutput = MINS;
KDrainEE 0:30871514c229 175 if (abs(Controlleroutput - servoSig.read()) > TOL || ctrlTimer.read() >= STEERUPDATEPERIOD)
KDrainEE 0:30871514c229 176 {
KDrainEE 0:30871514c229 177 ctrlTimer.reset();
KDrainEE 0:30871514c229 178 servoSig.write(Controlleroutput);
KDrainEE 0:30871514c229 179 }
KDrainEE 0:30871514c229 180 fbPrev = fb;
KDrainEE 0:30871514c229 181 data[0] = _right.read();
KDrainEE 0:30871514c229 182 data[1] = _left.read();
KDrainEE 0:30871514c229 183 data[2] = Controlleroutput;
KDrainEE 0:30871514c229 184 data[3] = e;
KDrainEE 0:30871514c229 185
KDrainEE 0:30871514c229 186 }
KDrainEE 0:30871514c229 187 void drive()
KDrainEE 0:30871514c229 188 {
KDrainEE 0:30871514c229 189 float error = Setpoint-speed.read();
KDrainEE 0:30871514c229 190 errSum +=(error * TI);
KDrainEE 0:30871514c229 191 float iTerm = KI*errSum;
KDrainEE 0:30871514c229 192 if(iTerm > MAXM) iTerm = MAXM;
KDrainEE 0:30871514c229 193 if(iTerm < MINM) iTerm = MINM;
KDrainEE 0:30871514c229 194 float output = KPM*error + iTerm;
KDrainEE 0:30871514c229 195 if(output > MAXM) output = MAXM;
ELCT302Honors 3:246625f3ceee 196 if(output < MINM) output = MINM;
ELCT302Honors 3:246625f3ceee 197
ELCT302Honors 3:246625f3ceee 198 gateDrive.write(output);
KDrainEE 0:30871514c229 199 data[4] = gateDrive.read();
KDrainEE 0:30871514c229 200 data[5] = speed.read();
KDrainEE 0:30871514c229 201 }
KDrainEE 0:30871514c229 202
KDrainEE 0:30871514c229 203 void cb()
KDrainEE 0:30871514c229 204 {
KDrainEE 0:30871514c229 205 steer();
KDrainEE 0:30871514c229 206 drive();
KDrainEE 0:30871514c229 207 }
KDrainEE 0:30871514c229 208
KDrainEE 0:30871514c229 209 int main()
KDrainEE 0:30871514c229 210 {
KDrainEE 0:30871514c229 211 //startup checks
ELCT302Honors 3:246625f3ceee 212 bt.baud(115200);
ELCT302Honors 3:246625f3ceee 213 bt.attach(&serCb);
KDrainEE 0:30871514c229 214 servoSig.period(STEER_FREQ);
KDrainEE 0:30871514c229 215 gateDrive.period(.00005f);
KDrainEE 0:30871514c229 216 gateDrive.write(Setpoint);
KDrainEE 0:30871514c229 217
KDrainEE 0:30871514c229 218 ctrlTimer.start();
KDrainEE 0:30871514c229 219 control.attach(&cb, TI);
KDrainEE 0:30871514c229 220
ELCT302Honors 3:246625f3ceee 221 rightCount = 0;
ELCT302Honors 3:246625f3ceee 222 leftCount = 0;
ELCT302Honors 3:246625f3ceee 223
ELCT302Honors 3:246625f3ceee 224 navRt.fall(&incR);
ELCT302Honors 3:246625f3ceee 225 navLft.fall(&incL);
ELCT302Honors 3:246625f3ceee 226
KDrainEE 0:30871514c229 227 while(1) {
KDrainEE 0:30871514c229 228 myled = !myled;
KDrainEE 1:9149cfedd4d5 229 //bt.printf("%f ",data[0]);
KDrainEE 1:9149cfedd4d5 230 // bt.printf("%f ", data[1]);
KDrainEE 1:9149cfedd4d5 231 // bt.printf("%f ", data[2]);
KDrainEE 1:9149cfedd4d5 232 // bt.printf("%f ", data[3]);
KDrainEE 1:9149cfedd4d5 233 // bt.printf("%f ", data[4]);
KDrainEE 1:9149cfedd4d5 234 // bt.printf("%f\r\n", data[5]);
KDrainEE 0:30871514c229 235 }
KDrainEE 0:30871514c229 236 }