GRT_FS2019_VoiceCoil / Mbed 2 deprecated Cube_Mini_Solution

Cube_Mini_Solution

Dependencies:   mbed QEI MPU6050 BLE_API nRF51822 MCP4725 eMPL_MPU6050

main.cpp@18:3b1aa67e11ca, 2020-05-29 (annotated)

Committer:
BoulusAJ
Date:
Fri May 29 15:40:58 2020 +0000
Revision:
18:3b1aa67e11ca
Parent:
17:04eebb7c29b5 
Version May 29, 2020

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BoulusAJ 0:8e87cdf07037 1 /*
BoulusAJ 0:8e87cdf07037 2 Boulus Abu Joudom
BoulusAJ 13:41edfb8e3b3c 3 Cube Mini - Prototype 1 V1
BoulusAJ 13:41edfb8e3b3c 4 Mbed Version: May 28, 2020. 18:00
BoulusAJ 0:8e87cdf07037 5 ZHAW - IMS
BoulusAJ 0:8e87cdf07037 6
BoulusAJ 13:41edfb8e3b3c 7 Cubiod Balancing Experiment - Control Lab
BoulusAJ 15:3395ad948f44 8 Template Version: 1.2
BoulusAJ 13:41edfb8e3b3c 9 Seeed Tiny Microcontroller on Cuboid 1.0
BoulusAJ 13:41edfb8e3b3c 10 */
BoulusAJ 13:41edfb8e3b3c 11
BoulusAJ 13:41edfb8e3b3c 12 /*
BoulusAJ 18:3b1aa67e11ca 13
BoulusAJ 18:3b1aa67e11ca 14 // Physical Model of Cuboid 2.0
BoulusAJ 18:3b1aa67e11ca 15
BoulusAJ 18:3b1aa67e11ca 16 % Mass Parameters
BoulusAJ 18:3b1aa67e11ca 17 Cube Mini - Mass = 0.6 + 0.170 + 0.015 = 0.7850 Kg, Mass of the Full Cuboid with Motor and Flywheel
BoulusAJ 18:3b1aa67e11ca 18 Cube Mini - Flywheel Mass = 0.170 kg
BoulusAJ 18:3b1aa67e11ca 19 Cube Mini - Without Flywheel Mass = 0.6150 kg
BoulusAJ 18:3b1aa67e11ca 20
BoulusAJ 18:3b1aa67e11ca 21 % Dimensions Parameters
BoulusAJ 18:3b1aa67e11ca 22 % Cube Mini Dimensions (10x10x10) cm
BoulusAJ 18:3b1aa67e11ca 23 Cube Mini - Length = 0.90*100e-3 m (The multiplication by 0.9 is to compensate for the rounded edges)
BoulusAJ 18:3b1aa67e11ca 24 Cube Mini - CoM = Cube Mini - Length * 0.5, Center of Mass Location
BoulusAJ 18:3b1aa67e11ca 25 % Inertia Parameters
BoulusAJ 18:3b1aa67e11ca 26 Cube Mini - Inertia (J) of the Body from the edge Edge = 0.003044 Kg.m^2, Inertia about the edge
BoulusAJ 18:3b1aa67e11ca 27 Cube Mini - Inertia (J) of Flyhweel and Rotor from Center = (0.0002104064 + 0.0000181) kg.m^2,
BoulusAJ 18:3b1aa67e11ca 28
BoulusAJ 18:3b1aa67e11ca 29 % Motor Parameters
BoulusAJ 18:3b1aa67e11ca 30 % Motor: Maxon Flat EC45, Part number: 411812, Specs: 24V, Km 36.9e-3
BoulusAJ 18:3b1aa67e11ca 31 Cube Mini - Motor.Km = 36.9e-3 % Torque Constant % Unit: Nm/A
BoulusAJ 18:3b1aa67e11ca 32 Cube Mini - Motor.Resistance = 0.608 % Terminal Resistance % Unit: Ohm
BoulusAJ 18:3b1aa67e11ca 33 Cube Mini - Motor.Inductance = 0.463e-3 % Unit: H, Henry
BoulusAJ 18:3b1aa67e11ca 34
BoulusAJ 18:3b1aa67e11ca 35 % PI Controller Escon
BoulusAJ 18:3b1aa67e11ca 36 Cube Mini - Escon.PI_Tn = 500e-6; %945e-6
BoulusAJ 18:3b1aa67e11ca 37 Cube Mini - Escon.PI_Kp = 100*(10/2^11);%576*(10/2^11)
BoulusAJ 18:3b1aa67e11ca 38
BoulusAJ 18:3b1aa67e11ca 39 % RC Physical Velocity Voltage Filter
BoulusAJ 18:3b1aa67e11ca 40 Filter.Velocity.R = 1e3 Ohm
BoulusAJ 18:3b1aa67e11ca 41 Filter.Velocity.C = 10e-6 F
BoulusAJ 18:3b1aa67e11ca 42
BoulusAJ 13:41edfb8e3b3c 43 Settings for Maxon ESCON controller (upload via ESCON Studio)
BoulusAJ 13:41edfb8e3b3c 44 Escon Studio file Location: ...
BoulusAJ 16:ff375f62a95f 45
BoulusAJ 13:41edfb8e3b3c 46 Hardware Connections
BoulusAJ 13:41edfb8e3b3c 47 Serial PC Communication
BoulusAJ 13:41edfb8e3b3c 48 UART_TX p9
BoulusAJ 13:41edfb8e3b3c 49 UART_RX p11
BoulusAJ 13:41edfb8e3b3c 50 IMU SDA and SCL
BoulusAJ 13:41edfb8e3b3c 51 MPU6050_SDA p12
BoulusAJ 13:41edfb8e3b3c 52 MPU6050_SCL p13
BoulusAJ 13:41edfb8e3b3c 53 Velocity Input as Analogue Signal from Escon
BoulusAJ 13:41edfb8e3b3c 54 Pin 5
BoulusAJ 14:fe003a27018d 55 Button Pin
BoulusAJ 14:fe003a27018d 56 Pin 6
BoulusAJ 13:41edfb8e3b3c 57 Current output to Escon occurs through I2C connection to a DAC (Digital to Analogue Converter). DAC outputs Analogue voltage to Escon
BoulusAJ 13:41edfb8e3b3c 58 Pin SDA p3
BoulusAJ 13:41edfb8e3b3c 59 Pin SCL P4
BoulusAJ 16:ff375f62a95f 60
BoulusAJ 16:ff375f62a95f 61 Escon Mapping of voltage to current and rotational velocity to voltage
BoulusAJ 16:ff375f62a95f 62 Escon Linear Mapping of input current from voltage is 0V is -15A and 5V is 15A, hence 2.5V is 0A !!!
BoulusAJ 16:ff375f62a95f 63 Escon Linear Mapping of output rotational velocity (in rpm) to voltage is -4000rpm is 0V and 4000rpm is 3.0V, hence 1.5V is 0 RPM !!!
BoulusAJ 16:ff375f62a95f 64
BoulusAJ 13:41edfb8e3b3c 65 Notes
BoulusAJ 13:41edfb8e3b3c 66 The Maximum output Current allowed is 13A and the Minimum is -13A !!!
BoulusAJ 16:ff375f62a95f 67 Escon Linear Mapping of input current from voltage is 0V is -15A and 5V is 15A, hence 2.5V is 0A !!!
BoulusAJ 13:41edfb8e3b3c 68 All needed Libraries for the IMU (Accelerometer and Gyroscope), DAC are included.
BoulusAJ 13:41edfb8e3b3c 69 The PID is to be written by students. Use PID_Cntrl.cpp and PID_Cntrl.h as templates
BoulusAJ 13:41edfb8e3b3c 70 ...
BoulusAJ 16:ff375f62a95f 71
BoulusAJ 13:41edfb8e3b3c 72
BoulusAJ 0:8e87cdf07037 73 */
BoulusAJ 0:8e87cdf07037 74 // Libraries
BoulusAJ 13:41edfb8e3b3c 75 #include <stdbool.h>
BoulusAJ 0:8e87cdf07037 76 #include "mbed.h"
BoulusAJ 13:41edfb8e3b3c 77 #include "MPU6050.h" // IMU Library
BoulusAJ 13:41edfb8e3b3c 78 #include "mcp4725.h" // DAC Library
BoulusAJ 13:41edfb8e3b3c 79 #include "IIR_filter.h" // Filter Library (Please go to the Filter Library and add in your Code)
BoulusAJ 13:41edfb8e3b3c 80 #include "LinearCharacteristics.h" // Linear Scaling Library
BoulusAJ 13:41edfb8e3b3c 81 #include "PID_Cntrl.h" // PID Library (Please go to PID Library and add in your PID Code)
BoulusAJ 13:41edfb8e3b3c 82
BoulusAJ 0:8e87cdf07037 83
BoulusAJ 0:8e87cdf07037 84 // Serial PC Communication
BoulusAJ 0:8e87cdf07037 85 #define UART_TX p9
BoulusAJ 0:8e87cdf07037 86 #define UART_RX p11
BoulusAJ 0:8e87cdf07037 87
BoulusAJ 0:8e87cdf07037 88 // IMU SDA and SCL
BoulusAJ 0:8e87cdf07037 89 #define MPU6050_SDA p12
BoulusAJ 0:8e87cdf07037 90 #define MPU6050_SCL p13
BoulusAJ 0:8e87cdf07037 91
BoulusAJ 12:ba4ce3fa4f53 92 // PI Values
BoulusAJ 0:8e87cdf07037 93 #define PI 3.1415927f
BoulusAJ 0:8e87cdf07037 94 #define pi 3.1415927f
BoulusAJ 0:8e87cdf07037 95
BoulusAJ 13:41edfb8e3b3c 96 // PC Serial Connection
BoulusAJ 13:41edfb8e3b3c 97 Serial pc(UART_TX, UART_RX); // serial connection via USB - programmer
BoulusAJ 0:8e87cdf07037 98
BoulusAJ 12:ba4ce3fa4f53 99 // -------------------------------
BoulusAJ 12:ba4ce3fa4f53 100 // Analog/Digitsl I/O Definitions
BoulusAJ 12:ba4ce3fa4f53 101 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 102 AnalogIn Velocity_Voltage_Input(p5); // Velocity Input as Analogue Signal from Escon
BoulusAJ 13:41edfb8e3b3c 103 DigitalOut Pin_3V3(p30); // Defining P30 as 3V3 Pin for internal use. Please do not modify.
BoulusAJ 14:fe003a27018d 104 InterruptIn Button(p6); // User Button Interrput
BoulusAJ 12:ba4ce3fa4f53 105
BoulusAJ 13:41edfb8e3b3c 106 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 107 // Initialization of Values and Variables
BoulusAJ 13:41edfb8e3b3c 108 // -------------------------------
BoulusAJ 0:8e87cdf07037 109
BoulusAJ 0:8e87cdf07037 110 // Sample time of main loops
BoulusAJ 16:ff375f62a95f 111 float Ts = 0.007; // Around 143 Hz. Do not change. This is the lowest value possible if printing to a serial connection is needed.
BoulusAJ 0:8e87cdf07037 112
BoulusAJ 0:8e87cdf07037 113 // MPU 6050 Variables - Acceleration and Gyroscope Raw and Converted Data Variables
BoulusAJ 0:8e87cdf07037 114 int16_t AccX_Raw, AccY_Raw, AccZ_Raw;
BoulusAJ 0:8e87cdf07037 115 int16_t GyroX_Raw, GyroY_Raw, GyroZ_Raw;
BoulusAJ 0:8e87cdf07037 116 double AccX_g, AccY_g, AccZ_g;
BoulusAJ 0:8e87cdf07037 117 double GyroX_Degrees, GyroY_Degrees, GyroZ_Degrees, GyroZ_RadiansPerSecond;
BoulusAJ 0:8e87cdf07037 118
BoulusAJ 0:8e87cdf07037 119 // printf Variable
BoulusAJ 0:8e87cdf07037 120 int k = 0;
BoulusAJ 13:41edfb8e3b3c 121
BoulusAJ 13:41edfb8e3b3c 122
BoulusAJ 13:41edfb8e3b3c 123 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 124 // Variables: Here define variables such as gains etc.
BoulusAJ 13:41edfb8e3b3c 125 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 126
BoulusAJ 13:41edfb8e3b3c 127 // Accelerometer and Gyroscope
BoulusAJ 13:41edfb8e3b3c 128
BoulusAJ 13:41edfb8e3b3c 129
BoulusAJ 13:41edfb8e3b3c 130 // Cube Angle and Speed Variables
BoulusAJ 16:ff375f62a95f 131 double Cuboid_Angle_Radians, Cuboid_Angle_Degrees;
BoulusAJ 16:ff375f62a95f 132 double Cuboid_Angle_Speed_Degrees = 0.0;
BoulusAJ 13:41edfb8e3b3c 133
BoulusAJ 13:41edfb8e3b3c 134 // Low pass filter variables
BoulusAJ 16:ff375f62a95f 135 float t = 0.5f;
BoulusAJ 0:8e87cdf07037 136
BoulusAJ 0:8e87cdf07037 137 // Flywheel Position and Velocity variables
BoulusAJ 16:ff375f62a95f 138 double Velocity_Input_Voltage = 0.0f;
BoulusAJ 16:ff375f62a95f 139 double Velocity, Velocity_Voltage, Velocity_rpm, Velocity_Voltage_Read;
BoulusAJ 13:41edfb8e3b3c 140
BoulusAJ 16:ff375f62a95f 141 // User Button
BoulusAJ 16:ff375f62a95f 142 int Button_Status = 0; // User Button Status
BoulusAJ 16:ff375f62a95f 143 Timer T_Button; // define timer for button
BoulusAJ 0:8e87cdf07037 144
BoulusAJ 13:41edfb8e3b3c 145 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 146 // Controller Variables: Such as SS Controller Values and Saturation Limits
BoulusAJ 13:41edfb8e3b3c 147 // -------------------------------
BoulusAJ 16:ff375f62a95f 148 // Variables concerning the Controller Design is in reference to the Matlab and Simulink Files ..............
BoulusAJ 16:ff375f62a95f 149
BoulusAJ 16:ff375f62a95f 150 // User Input
BoulusAJ 16:ff375f62a95f 151 float Desired_input = 0.0f;
BoulusAJ 16:ff375f62a95f 152 // Initial System input in Amperes
BoulusAJ 16:ff375f62a95f 153 float Sys_input_Amps = 0.0f;
BoulusAJ 0:8e87cdf07037 154
BoulusAJ 0:8e87cdf07037 155 // Sate Space Controller Values
BoulusAJ 16:ff375f62a95f 156 float K_SS_Controller [2] = {-57.1176*0.3, -2.6398*1.5}; // From Matlab
BoulusAJ 0:8e87cdf07037 157
BoulusAJ 0:8e87cdf07037 158 // Controller Variables
BoulusAJ 16:ff375f62a95f 159 float Loop1_output; // Loop 1 controller output
BoulusAJ 16:ff375f62a95f 160 float Loop2_output; // Loop 2 controller output
BoulusAJ 16:ff375f62a95f 161 float PID_Input, PID_Output, PID_Input2, PID_Output2;
BoulusAJ 13:41edfb8e3b3c 162
BoulusAJ 13:41edfb8e3b3c 163 // PID (PI Parameters)
BoulusAJ 13:41edfb8e3b3c 164
BoulusAJ 16:ff375f62a95f 165 // PID 1 - Velocity control after lift-up
BoulusAJ 16:ff375f62a95f 166 float Kp_1 = -0.09;
BoulusAJ 16:ff375f62a95f 167 float Ki_1 = -0.09*0.5*0.5;
BoulusAJ 16:ff375f62a95f 168 float Kd_1 = 0; // No D-Part
BoulusAJ 16:ff375f62a95f 169 float Tf_1 = 1; // No D-Part
BoulusAJ 16:ff375f62a95f 170 // Controller Loop (PI-Part) in Case 2 (breaking case)
BoulusAJ 17:04eebb7c29b5 171 float Kp_2 = 0.25/4.0;
BoulusAJ 17:04eebb7c29b5 172 float Ki_2 = 0.25/4.0;
BoulusAJ 16:ff375f62a95f 173 float Kd_2 = 0; // No D-Part
BoulusAJ 16:ff375f62a95f 174 float Tf_2 = 1; // No D-Part
BoulusAJ 0:8e87cdf07037 175
BoulusAJ 0:8e87cdf07037 176 // Saturation Parameters
BoulusAJ 16:ff375f62a95f 177 // PI Controller Limits
BoulusAJ 16:ff375f62a95f 178 const float uMin1 = -13.0f;
BoulusAJ 16:ff375f62a95f 179 const float uMax1= 13.0f;
BoulusAJ 0:8e87cdf07037 180
BoulusAJ 13:41edfb8e3b3c 181 // Cuboid Escon Input Limits in Amps
BoulusAJ 13:41edfb8e3b3c 182 const float uMin = -13.0f; // Minimum Current Allowed
BoulusAJ 13:41edfb8e3b3c 183 const float uMax = 13.0f; // Maximum Current Allowe
BoulusAJ 0:8e87cdf07037 184
BoulusAJ 0:8e87cdf07037 185
BoulusAJ 13:41edfb8e3b3c 186 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 187 // User-Defined Functions
BoulusAJ 13:41edfb8e3b3c 188 // -------------------------------
BoulusAJ 0:8e87cdf07037 189
BoulusAJ 16:ff375f62a95f 190 // USer Button
BoulusAJ 16:ff375f62a95f 191 void pressed(void); // user Button pressed
BoulusAJ 16:ff375f62a95f 192 void released(void); // user Button released
BoulusAJ 16:ff375f62a95f 193
BoulusAJ 16:ff375f62a95f 194 // Controller loop (via interrupt)
BoulusAJ 16:ff375f62a95f 195 void updateControllers(void); // controller loop (via interrupt)
BoulusAJ 16:ff375f62a95f 196
BoulusAJ 16:ff375f62a95f 197 // Linear Scaler - Follow the mapping mentioned in the Notes above
BoulusAJ 16:ff375f62a95f 198 // Linear Scaler
BoulusAJ 16:ff375f62a95f 199 LinearCharacteristics CurrentToVoltage(-15.0f, 15.0f, 0.0f, 5.0f);
BoulusAJ 16:ff375f62a95f 200 LinearCharacteristics VoltageToVelocity(0.0f, 3.0f, -4000.0f, 4000.0f);
BoulusAJ 16:ff375f62a95f 201
BoulusAJ 16:ff375f62a95f 202 // PID (PI) Controller (My PID Controller is fine but needs clarity updates)
BoulusAJ 16:ff375f62a95f 203 PID_Cntrl C1(Kp_1,Ki_1,Kd_1,Tf_1,Ts,uMin1,uMax1); // Defining the 1st Loop Controller (PI-Part)
BoulusAJ 16:ff375f62a95f 204 PID_Cntrl C2(Kp_2,Ki_2,Kd_2,Tf_2,Ts,uMin1,uMax1); // Defining the PI Controller for Chase (State 2) to keep motor velocity at zero
BoulusAJ 17:04eebb7c29b5 205 PID_Cntrl C3(Kp_1*2.5,Ki_1*1.5,Kd_2,Tf_2,Ts,uMin1,uMax1); // Safety Implementation in Case 4 PID
BoulusAJ 16:ff375f62a95f 206
BoulusAJ 16:ff375f62a95f 207 // Accelerometer and Gyroscope Filters
BoulusAJ 16:ff375f62a95f 208 IIR_filter FilterAccX(t, Ts, 1.0f);
BoulusAJ 16:ff375f62a95f 209 IIR_filter FilterAccY(t, Ts, 1.0f);
BoulusAJ 16:ff375f62a95f 210 IIR_filter FilterGyro(t, Ts, t);
BoulusAJ 16:ff375f62a95f 211
BoulusAJ 0:8e87cdf07037 212 // Interrupts
BoulusAJ 0:8e87cdf07037 213 Ticker ControllerLoopTimer; // Interrupt for control loop
BoulusAJ 0:8e87cdf07037 214
BoulusAJ 13:41edfb8e3b3c 215
BoulusAJ 13:41edfb8e3b3c 216 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 217 // Functions
BoulusAJ 13:41edfb8e3b3c 218 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 219
BoulusAJ 13:41edfb8e3b3c 220 // DAC - For Current output
BoulusAJ 0:8e87cdf07037 221 MCP4725 VoltageOut(p3, p4, MCP4725::Fast400kHz, 0);
BoulusAJ 0:8e87cdf07037 222
BoulusAJ 0:8e87cdf07037 223 // IMU - MPU6050 Functions and I2C Functions
BoulusAJ 0:8e87cdf07037 224 I2C i2c(MPU6050_SDA, MPU6050_SCL);
BoulusAJ 0:8e87cdf07037 225 MPU6050 mpu(i2c);
BoulusAJ 0:8e87cdf07037 226
BoulusAJ 0:8e87cdf07037 227 // Timers
BoulusAJ 0:8e87cdf07037 228 Timer Loop;
BoulusAJ 0:8e87cdf07037 229
BoulusAJ 12:ba4ce3fa4f53 230 //******************************************************************************
BoulusAJ 14:fe003a27018d 231 //----------------------------- Main Loop --------------------------------------
BoulusAJ 12:ba4ce3fa4f53 232 //******************************************************************************
BoulusAJ 0:8e87cdf07037 233 int main()
BoulusAJ 0:8e87cdf07037 234 {
BoulusAJ 17:04eebb7c29b5 235
BoulusAJ 17:04eebb7c29b5 236 VoltageOut.write(2.5); // Output Zero Current to the Motor
BoulusAJ 17:04eebb7c29b5 237
BoulusAJ 12:ba4ce3fa4f53 238 // Microcontroller initialization
BoulusAJ 2:e088fa08e244 239 Pin_3V3.write(1);
BoulusAJ 12:ba4ce3fa4f53 240 *((unsigned int *)0x40007504) = 0x400A; // Configure the ADC to the internel reference of 1.2V.
BoulusAJ 13:41edfb8e3b3c 241 // IMU - MPU6050 initialization - Do NOT Modify
BoulusAJ 12:ba4ce3fa4f53 242 mpu.initialize();
BoulusAJ 17:04eebb7c29b5 243 bool mpu6050TestResult = mpu.testConnection();
BoulusAJ 17:04eebb7c29b5 244 if(mpu6050TestResult) {
BoulusAJ 17:04eebb7c29b5 245 pc.printf("MPU6050 test passed \n\r");
BoulusAJ 17:04eebb7c29b5 246 } else {
BoulusAJ 17:04eebb7c29b5 247 pc.printf("MPU6050 test failed \n\r");
BoulusAJ 17:04eebb7c29b5 248 }
BoulusAJ 13:41edfb8e3b3c 249 mpu.setDLPFMode(MPU6050_DLPF_BW_42); // Set Low Pass Filter Bandwidth to 44Hz (4.9ms) for the Acc and 42Hz (4.8ms) for the Gyroscope
BoulusAJ 12:ba4ce3fa4f53 250 mpu.setFullScaleGyroRange(2u); // Change the scale of the Gyroscope to +/- 1000 degrees/sec
BoulusAJ 12:ba4ce3fa4f53 251 mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_4); // Change the scale of the Accelerometer to +/- 4g - Sensitivity: 4096 LSB/mg
BoulusAJ 16:ff375f62a95f 252
BoulusAJ 13:41edfb8e3b3c 253 // Serial Communication
BoulusAJ 13:41edfb8e3b3c 254 pc.baud(115200);
BoulusAJ 16:ff375f62a95f 255
BoulusAJ 17:04eebb7c29b5 256
BoulusAJ 0:8e87cdf07037 257
BoulusAJ 13:41edfb8e3b3c 258 // Reset Filters and PID Controller
BoulusAJ 16:ff375f62a95f 259 FilterAccX.reset(0.0f);
BoulusAJ 16:ff375f62a95f 260 FilterAccY.reset(0.0f);
BoulusAJ 16:ff375f62a95f 261 FilterGyro.reset(0.0f);
BoulusAJ 16:ff375f62a95f 262 C1.reset(0.0f);
BoulusAJ 16:ff375f62a95f 263 C2.reset(0.0f);
BoulusAJ 16:ff375f62a95f 264 C3.reset(0.0f);
BoulusAJ 11:af811e6f9a04 265
BoulusAJ 16:ff375f62a95f 266 pc.printf("Hello World!\n\r");
BoulusAJ 16:ff375f62a95f 267 wait(5);
BoulusAJ 12:ba4ce3fa4f53 268 // Control Loop Interrupt at Ts, 200Hz Rate
BoulusAJ 7:07c5b6709d87 269 ControllerLoopTimer.attach(&updateControllers, Ts);
BoulusAJ 16:ff375f62a95f 270 Button.fall(&pressed); // attach key pressed function
BoulusAJ 16:ff375f62a95f 271 Button.rise(&released); // attach key pressed function
BoulusAJ 16:ff375f62a95f 272
BoulusAJ 7:07c5b6709d87 273
BoulusAJ 7:07c5b6709d87 274 }
BoulusAJ 12:ba4ce3fa4f53 275 //******************************************************************************
BoulusAJ 14:fe003a27018d 276 //------------------ Control Loop (called via interrupt) -----------------------
BoulusAJ 12:ba4ce3fa4f53 277 //******************************************************************************
BoulusAJ 7:07c5b6709d87 278 void updateControllers(void)
BoulusAJ 7:07c5b6709d87 279 {
BoulusAJ 16:ff375f62a95f 280
BoulusAJ 13:41edfb8e3b3c 281 // Acquire Velocity
BoulusAJ 13:41edfb8e3b3c 282 Velocity_Voltage = 3.0*1.1978917*(Velocity_Voltage_Input.read()); // *1.2V because the Vref is 1.2V // *3 because the prescaling is 1/3 // *1.1978917 is for Calibration purposes instead of 1.2
BoulusAJ 13:41edfb8e3b3c 283 // Velocity = .... Refer to mapping
BoulusAJ 16:ff375f62a95f 284 Velocity_rpm = VoltageToVelocity(Velocity_Voltage);
BoulusAJ 16:ff375f62a95f 285 Velocity = Velocity_rpm*2.0*pi/60.0;
BoulusAJ 13:41edfb8e3b3c 286
BoulusAJ 8:71babe904b92 287
BoulusAJ 12:ba4ce3fa4f53 288 // Aquire Raw Acceleration and Gyro Data form the IMU
BoulusAJ 12:ba4ce3fa4f53 289 mpu.getMotion6(&AccX_Raw, &AccY_Raw, &AccZ_Raw, &GyroX_Raw, &GyroY_Raw, &GyroZ_Raw);
BoulusAJ 0:8e87cdf07037 290
BoulusAJ 7:07c5b6709d87 291 // -------------- Convert Raw data to SI Units --------------------
BoulusAJ 7:07c5b6709d87 292
BoulusAJ 17:04eebb7c29b5 293 //Convert Acceleration Raw Data to (ms^-2) - (Settings of +/- 4g)
BoulusAJ 16:ff375f62a95f 294 AccX_g = AccX_Raw / 8192.0f;
BoulusAJ 16:ff375f62a95f 295 AccY_g = AccY_Raw / 8192.0f;
BoulusAJ 16:ff375f62a95f 296 AccZ_g = AccZ_Raw / 8192.0f;
BoulusAJ 0:8e87cdf07037 297
BoulusAJ 17:04eebb7c29b5 298 //Convert Gyroscope Raw Data to Degrees per second
BoulusAJ 17:04eebb7c29b5 299 GyroX_Degrees = GyroX_Raw / 32.768f; // (2^15/1000 = 32.768)
BoulusAJ 17:04eebb7c29b5 300 GyroY_Degrees = GyroY_Raw / 32.768f; // (2^15/1000 = 32.768)
BoulusAJ 17:04eebb7c29b5 301 GyroZ_Degrees = GyroZ_Raw / 32.768f; // (2^15/1000 = 32.768)
BoulusAJ 0:8e87cdf07037 302
BoulusAJ 7:07c5b6709d87 303 //Convert Gyroscope Raw Data to Degrees per second
BoulusAJ 7:07c5b6709d87 304 GyroZ_RadiansPerSecond = (GyroZ_Raw / 32.768f)* pi/180.0f;
BoulusAJ 0:8e87cdf07037 305
BoulusAJ 7:07c5b6709d87 306 // ----- Combine Accelerometer Data and Gyro Data to Get Angle ------
BoulusAJ 17:04eebb7c29b5 307
BoulusAJ 16:ff375f62a95f 308 Cuboid_Angle_Radians = -1*atan2(-FilterAccX(AccX_g), FilterAccY(AccY_g)) + 0.7854f + FilterGyro(GyroZ_RadiansPerSecond);
BoulusAJ 16:ff375f62a95f 309 Cuboid_Angle_Degrees = Cuboid_Angle_Radians*180.0f/pi;
BoulusAJ 0:8e87cdf07037 310
BoulusAJ 0:8e87cdf07037 311
BoulusAJ 7:07c5b6709d87 312 // ------------------------- Controller -----------------------------
BoulusAJ 10:4e9899cef12c 313
BoulusAJ 14:fe003a27018d 314 // Switch Statement Maybe?......
BoulusAJ 16:ff375f62a95f 315 switch(Button_Status) {
BoulusAJ 16:ff375f62a95f 316
BoulusAJ 16:ff375f62a95f 317 case 0: // Output of 0 Amps
BoulusAJ 17:04eebb7c29b5 318 Sys_input_Amps = 0.0;
BoulusAJ 16:ff375f62a95f 319 break;
BoulusAJ 16:ff375f62a95f 320
BoulusAJ 16:ff375f62a95f 321 case 1: // Breaking
BoulusAJ 16:ff375f62a95f 322
BoulusAJ 16:ff375f62a95f 323 // PI Controller
BoulusAJ 16:ff375f62a95f 324 PID_Input = 0.0f - Velocity;
BoulusAJ 16:ff375f62a95f 325 PID_Output = C2.update(PID_Input);
BoulusAJ 16:ff375f62a95f 326
BoulusAJ 16:ff375f62a95f 327 // System input
BoulusAJ 16:ff375f62a95f 328 Sys_input_Amps = PID_Output;
BoulusAJ 16:ff375f62a95f 329 break;
BoulusAJ 16:ff375f62a95f 330
BoulusAJ 16:ff375f62a95f 331 case 2: // Balancing and lift-up
BoulusAJ 16:ff375f62a95f 332
BoulusAJ 17:04eebb7c29b5 333 // Current Input Updater - Amperes
BoulusAJ 16:ff375f62a95f 334 // Loop 1
BoulusAJ 16:ff375f62a95f 335 Loop1_output = Cuboid_Angle_Radians*K_SS_Controller[0];
BoulusAJ 16:ff375f62a95f 336 // Loop 2
BoulusAJ 16:ff375f62a95f 337 Loop2_output = GyroZ_RadiansPerSecond*K_SS_Controller[1];
BoulusAJ 16:ff375f62a95f 338 // PI Controller
BoulusAJ 16:ff375f62a95f 339 PID_Input = Desired_input - Velocity;
BoulusAJ 16:ff375f62a95f 340 PID_Output = C1.update(PID_Input);
BoulusAJ 16:ff375f62a95f 341
BoulusAJ 16:ff375f62a95f 342 // System input
BoulusAJ 16:ff375f62a95f 343 Sys_input_Amps = PID_Output - Loop1_output - Loop2_output;
BoulusAJ 16:ff375f62a95f 344
BoulusAJ 16:ff375f62a95f 345
BoulusAJ 16:ff375f62a95f 346 // Do Not Modify - This is implemented to prevent the Cube from continuously speeding up while being still for after falling due to the user interrupting its movement
BoulusAJ 16:ff375f62a95f 347 if ( abs(Velocity) > 250.0f && (abs(Cuboid_Angle_Degrees)<50.0f && abs(Cuboid_Angle_Degrees)>40.0f) ) {
BoulusAJ 16:ff375f62a95f 348 Button_Status = 4;
BoulusAJ 16:ff375f62a95f 349 break;
BoulusAJ 16:ff375f62a95f 350 }
BoulusAJ 16:ff375f62a95f 351 break;
BoulusAJ 16:ff375f62a95f 352
BoulusAJ 16:ff375f62a95f 353 case 3: // Fall
BoulusAJ 17:04eebb7c29b5 354
BoulusAJ 17:04eebb7c29b5 355 Sys_input_Amps = 0.0;
BoulusAJ 16:ff375f62a95f 356 // Not implemented Yet :)
BoulusAJ 16:ff375f62a95f 357 break;
BoulusAJ 17:04eebb7c29b5 358
BoulusAJ 16:ff375f62a95f 359 case 4: // Lift up when stuck
BoulusAJ 17:04eebb7c29b5 360 // Do Not Modify - This is implemented to prevent the Cube from continuously speeding up while being still for after falling due to the user interrupting its movement
BoulusAJ 16:ff375f62a95f 361
BoulusAJ 16:ff375f62a95f 362 PID_Input2 = 0.0f - Velocity;
BoulusAJ 16:ff375f62a95f 363 PID_Output2 = C3.update(-1*PID_Input2);
BoulusAJ 16:ff375f62a95f 364
BoulusAJ 16:ff375f62a95f 365 // System input
BoulusAJ 16:ff375f62a95f 366 Sys_input_Amps = PID_Output2;
BoulusAJ 16:ff375f62a95f 367 if (Sys_input_Amps > 1.0f) {
BoulusAJ 16:ff375f62a95f 368 Sys_input_Amps = 1.0f;
BoulusAJ 16:ff375f62a95f 369 }
BoulusAJ 16:ff375f62a95f 370 if (Sys_input_Amps < -1.0f) {
BoulusAJ 16:ff375f62a95f 371 Sys_input_Amps = -1.0f;
BoulusAJ 16:ff375f62a95f 372 }
BoulusAJ 16:ff375f62a95f 373 VoltageOut.write(CurrentToVoltage(Sys_input_Amps));
BoulusAJ 16:ff375f62a95f 374 //pc.printf("%0.7f, %0.7f, \n\r", abs(Cuboid_Angle_Degrees), abs(Velocity));
BoulusAJ 16:ff375f62a95f 375
BoulusAJ 18:3b1aa67e11ca 376 if (abs(Velocity) < 15.0f) {
BoulusAJ 17:04eebb7c29b5 377 Sys_input_Amps = 0.0;
BoulusAJ 16:ff375f62a95f 378 Button_Status = 2;
BoulusAJ 16:ff375f62a95f 379 break;
BoulusAJ 16:ff375f62a95f 380 }
BoulusAJ 16:ff375f62a95f 381 break;
BoulusAJ 16:ff375f62a95f 382 }
BoulusAJ 16:ff375f62a95f 383 // End of Switch Statement
BoulusAJ 17:04eebb7c29b5 384
BoulusAJ 16:ff375f62a95f 385 if (Sys_input_Amps > uMax) {
BoulusAJ 16:ff375f62a95f 386 Sys_input_Amps = uMax;
BoulusAJ 16:ff375f62a95f 387 }
BoulusAJ 16:ff375f62a95f 388 if (Sys_input_Amps < uMin) {
BoulusAJ 16:ff375f62a95f 389 Sys_input_Amps = uMin;
BoulusAJ 16:ff375f62a95f 390 }
BoulusAJ 18:3b1aa67e11ca 391 if (Cuboid_Angle_Degrees > -50.0f && Cuboid_Angle_Degrees < 50.0f) {
BoulusAJ 17:04eebb7c29b5 392 // Scaling the controller output from -15 A --> 15 A to 0 V --> 5 V
BoulusAJ 17:04eebb7c29b5 393 VoltageOut.write(CurrentToVoltage(Sys_input_Amps));
BoulusAJ 18:3b1aa67e11ca 394 }
BoulusAJ 18:3b1aa67e11ca 395 else {
BoulusAJ 18:3b1aa67e11ca 396 Sys_input_Amps = 0.0f;
BoulusAJ 18:3b1aa67e11ca 397 VoltageOut.write(CurrentToVoltage(Sys_input_Amps));
BoulusAJ 18:3b1aa67e11ca 398 }
BoulusAJ 16:ff375f62a95f 399
BoulusAJ 14:fe003a27018d 400 // ----------------
BoulusAJ 12:ba4ce3fa4f53 401
BoulusAJ 16:ff375f62a95f 402 // Print Data // Printing Rate (in this case) is every Ts*100 = 0.007*100 = every 0.7 seconds
BoulusAJ 13:41edfb8e3b3c 403 if(++k >= 100) {
BoulusAJ 12:ba4ce3fa4f53 404 k = 0;
BoulusAJ 17:04eebb7c29b5 405 pc.printf("Some Outputs: %0.6f, %0.6f, %i\n\r", Sys_input_Amps, Cuboid_Angle_Degrees, Button_Status);
BoulusAJ 12:ba4ce3fa4f53 406 }
BoulusAJ 12:ba4ce3fa4f53 407
BoulusAJ 13:41edfb8e3b3c 408
BoulusAJ 1:d3406369c297 409 }
BoulusAJ 14:fe003a27018d 410 //******************************************************************************
BoulusAJ 14:fe003a27018d 411 //------------------ User functions like buttens handle etc. -------------------
BoulusAJ 14:fe003a27018d 412 //******************************************************************************
BoulusAJ 0:8e87cdf07037 413
BoulusAJ 14:fe003a27018d 414 //...
BoulusAJ 16:ff375f62a95f 415 // start timer as soon as Button is pressed
BoulusAJ 16:ff375f62a95f 416 void pressed()
BoulusAJ 16:ff375f62a95f 417 {
BoulusAJ 16:ff375f62a95f 418 T_Button.start();
BoulusAJ 16:ff375f62a95f 419 }
BoulusAJ 16:ff375f62a95f 420 // Falling edge of button: enable/disable controller
BoulusAJ 16:ff375f62a95f 421 void released()
BoulusAJ 16:ff375f62a95f 422 {
BoulusAJ 16:ff375f62a95f 423 // readout, stop and reset timer
BoulusAJ 16:ff375f62a95f 424 float ButtonTime = T_Button.read();
BoulusAJ 16:ff375f62a95f 425 T_Button.stop();
BoulusAJ 16:ff375f62a95f 426 T_Button.reset();
BoulusAJ 16:ff375f62a95f 427 if(ButtonTime > 0.05f) {
BoulusAJ 16:ff375f62a95f 428 Button_Status = Button_Status + 1;
BoulusAJ 16:ff375f62a95f 429 if (Button_Status > 3.0f) {
BoulusAJ 16:ff375f62a95f 430 Button_Status = 1.0;
BoulusAJ 16:ff375f62a95f 431 }
BoulusAJ 17:04eebb7c29b5 432 //pc.printf("Button Status: %i\r\n", Button_Status);
BoulusAJ 16:ff375f62a95f 433 }
BoulusAJ 16:ff375f62a95f 434 }