ELCT 302 / Mbed 2 deprecated Top_Fuel_Dragster

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

main.cpp@1:9149cfedd4d5, 2018-04-15 (annotated)

Committer:
KDrainEE
Date:
Sun Apr 15 20:03:35 2018 +0000
Revision:
1:9149cfedd4d5
Parent:
0:30871514c229
Child:
2:e87736742f99
allows tweaking steering control gains at runtime

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
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 1:9149cfedd4d5 48 float Kps = 2.0E-2; //0.013 for setpoint = 0.0/0.05
KDrainEE 1:9149cfedd4d5 49 float Kd = 1.0e-4;
KDrainEE 0:30871514c229 50
KDrainEE 0:30871514c229 51 void serCb()
KDrainEE 0:30871514c229 52 {
KDrainEE 0:30871514c229 53 char x = bt.getc();
KDrainEE 0:30871514c229 54 if (x == 'u')
KDrainEE 0:30871514c229 55 {
KDrainEE 0:30871514c229 56 Setpoint = Setpoint + 0.05;
KDrainEE 0:30871514c229 57 }
KDrainEE 0:30871514c229 58 else if(x == 'h')
KDrainEE 0:30871514c229 59 {
KDrainEE 0:30871514c229 60 Setpoint = Setpoint - 0.05;
KDrainEE 0:30871514c229 61 }
KDrainEE 1:9149cfedd4d5 62 else if (x == 'i')
KDrainEE 1:9149cfedd4d5 63 {
KDrainEE 1:9149cfedd4d5 64 Kps += 1.0e-3;
KDrainEE 1:9149cfedd4d5 65 }
KDrainEE 1:9149cfedd4d5 66 else if (x == 'j')
KDrainEE 1:9149cfedd4d5 67 {
KDrainEE 1:9149cfedd4d5 68 Kps -= 1.0e-3;
KDrainEE 1:9149cfedd4d5 69 }
KDrainEE 1:9149cfedd4d5 70 else if (x == 'o')
KDrainEE 1:9149cfedd4d5 71 {
KDrainEE 1:9149cfedd4d5 72 Kd += 1.0e-5;
KDrainEE 1:9149cfedd4d5 73 }
KDrainEE 1:9149cfedd4d5 74 else if (x == 'k')
KDrainEE 1:9149cfedd4d5 75 {
KDrainEE 1:9149cfedd4d5 76 Kd -= 1.0e-5;
KDrainEE 1:9149cfedd4d5 77 }
KDrainEE 1:9149cfedd4d5 78
KDrainEE 0:30871514c229 79 else
KDrainEE 0:30871514c229 80 {
KDrainEE 0:30871514c229 81 bt.putc(x);
KDrainEE 0:30871514c229 82 }
KDrainEE 0:30871514c229 83 if(Setpoint > MAXM) Setpoint = MAXM;
KDrainEE 0:30871514c229 84 if(Setpoint < MINM) Setpoint = MINM;
KDrainEE 1:9149cfedd4d5 85 bt.printf("Setpoint = %f, Kps = %f, Kd = %f\r\n", Setpoint, Kps, Kd);
KDrainEE 0:30871514c229 86 }
KDrainEE 0:30871514c229 87
KDrainEE 0:30871514c229 88 void stop()
KDrainEE 0:30871514c229 89 {
KDrainEE 0:30871514c229 90 Setpoint = 0.0f;
KDrainEE 0:30871514c229 91 }
KDrainEE 0:30871514c229 92
KDrainEE 0:30871514c229 93 void steer()
KDrainEE 0:30871514c229 94 {
KDrainEE 0:30871514c229 95 float L = _left.read();
KDrainEE 0:30871514c229 96 float R = _right.read();
KDrainEE 0:30871514c229 97 if(L == 0.0f && R == 0.0f)
KDrainEE 0:30871514c229 98 {
KDrainEE 0:30871514c229 99 stop();
KDrainEE 0:30871514c229 100 }
KDrainEE 0:30871514c229 101 float fb = L - R;
KDrainEE 0:30871514c229 102 float e = SET - fb;
KDrainEE 1:9149cfedd4d5 103 float Controlleroutput = Kps * e - (Kd * (fb - fbPrev)/TI)+ BIAS;//subtract derivative of error??
KDrainEE 0:30871514c229 104 if (Controlleroutput > MAXS) Controlleroutput = MAXS;
KDrainEE 0:30871514c229 105 else if (Controlleroutput < MINS) Controlleroutput = MINS;
KDrainEE 0:30871514c229 106 if (abs(Controlleroutput - servoSig.read()) > TOL || ctrlTimer.read() >= STEERUPDATEPERIOD)
KDrainEE 0:30871514c229 107 {
KDrainEE 0:30871514c229 108 ctrlTimer.reset();
KDrainEE 0:30871514c229 109 servoSig.write(Controlleroutput);
KDrainEE 0:30871514c229 110 }
KDrainEE 0:30871514c229 111 fbPrev = fb;
KDrainEE 0:30871514c229 112 data[0] = _right.read();
KDrainEE 0:30871514c229 113 data[1] = _left.read();
KDrainEE 0:30871514c229 114 data[2] = Controlleroutput;
KDrainEE 0:30871514c229 115 data[3] = e;
KDrainEE 0:30871514c229 116
KDrainEE 0:30871514c229 117 }
KDrainEE 0:30871514c229 118 void drive()
KDrainEE 0:30871514c229 119 {
KDrainEE 0:30871514c229 120 float error = Setpoint-speed.read();
KDrainEE 0:30871514c229 121 errSum +=(error * TI);
KDrainEE 0:30871514c229 122 float iTerm = KI*errSum;
KDrainEE 0:30871514c229 123 if(iTerm > MAXM) iTerm = MAXM;
KDrainEE 0:30871514c229 124 if(iTerm < MINM) iTerm = MINM;
KDrainEE 0:30871514c229 125 float output = KPM*error + iTerm;
KDrainEE 0:30871514c229 126 if(output > MAXM) output = MAXM;
KDrainEE 0:30871514c229 127 if(output < MINM) output = MINM;
KDrainEE 0:30871514c229 128 if(output < MINM)
KDrainEE 0:30871514c229 129 {
KDrainEE 0:30871514c229 130 gateDrive.write(MINM);
KDrainEE 0:30871514c229 131 //brake.write(1);
KDrainEE 0:30871514c229 132 }
KDrainEE 0:30871514c229 133 else
KDrainEE 0:30871514c229 134 {
KDrainEE 0:30871514c229 135 //brake.write(0);
KDrainEE 0:30871514c229 136 gateDrive.write(output);
KDrainEE 0:30871514c229 137 }
KDrainEE 0:30871514c229 138 data[4] = gateDrive.read();
KDrainEE 0:30871514c229 139 data[5] = speed.read();
KDrainEE 0:30871514c229 140 }
KDrainEE 0:30871514c229 141
KDrainEE 0:30871514c229 142 void cb()
KDrainEE 0:30871514c229 143 {
KDrainEE 0:30871514c229 144 steer();
KDrainEE 0:30871514c229 145 drive();
KDrainEE 0:30871514c229 146 }
KDrainEE 0:30871514c229 147
KDrainEE 0:30871514c229 148 int main()
KDrainEE 0:30871514c229 149 {
KDrainEE 0:30871514c229 150 //startup checks
KDrainEE 0:30871514c229 151 bt.attach(&serCb);
KDrainEE 0:30871514c229 152 servoSig.period(STEER_FREQ);
KDrainEE 0:30871514c229 153 gateDrive.period(.00005f);
KDrainEE 0:30871514c229 154 gateDrive.write(Setpoint);
KDrainEE 0:30871514c229 155
KDrainEE 0:30871514c229 156 ctrlTimer.start();
KDrainEE 0:30871514c229 157 control.attach(&cb, TI);
KDrainEE 0:30871514c229 158
KDrainEE 0:30871514c229 159 bt.baud(115200);
KDrainEE 1:9149cfedd4d5 160 //bt.printf("Right Left SteerControl SteerError GateDrive Speed\r\n");
KDrainEE 0:30871514c229 161 while(1) {
KDrainEE 0:30871514c229 162 myled = !myled;
KDrainEE 1:9149cfedd4d5 163 //bt.printf("%f ",data[0]);
KDrainEE 1:9149cfedd4d5 164 // bt.printf("%f ", data[1]);
KDrainEE 1:9149cfedd4d5 165 // bt.printf("%f ", data[2]);
KDrainEE 1:9149cfedd4d5 166 // bt.printf("%f ", data[3]);
KDrainEE 1:9149cfedd4d5 167 // bt.printf("%f ", data[4]);
KDrainEE 1:9149cfedd4d5 168 // bt.printf("%f\r\n", data[5]);
KDrainEE 0:30871514c229 169 }
KDrainEE 0:30871514c229 170 }