Group 9 BioRobotics / Mbed 2 deprecated newRKI

RKI

Dependencies:   QEI mbed

main.cpp@5:0bbb52e29790, 2018-10-31 (annotated)

Committer:
s1574396
Date:
Wed Oct 31 18:34:20 2018 +0000
Revision:
5:0bbb52e29790
Parent:
4:d568f61be1d1
Child:
6:23880486c8fc
Met PID code erin

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kweisbeek 0:7789750c3b36 1 #include "mbed.h"
kweisbeek 0:7789750c3b36 2 #include "QEI.h"
kweisbeek 0:7789750c3b36 3 #define SERIAL_BAUD 115200
kweisbeek 0:7789750c3b36 4
kweisbeek 0:7789750c3b36 5 //Initial allocations
kweisbeek 0:7789750c3b36 6 Serial pc(USBTX,USBRX);
kweisbeek 0:7789750c3b36 7
kweisbeek 0:7789750c3b36 8 AnalogIn pot1(A1);
kweisbeek 0:7789750c3b36 9 AnalogIn pot2(A2);
kweisbeek 0:7789750c3b36 10
kweisbeek 3:a07e8f090946 11 DigitalOut dirpin(D7); //Motor 1 (Rotatie)
kweisbeek 2:d41aa6d0e3cc 12 PwmOut pwmpin(D6);
kweisbeek 3:a07e8f090946 13
kweisbeek 3:a07e8f090946 14 DigitalOut dirpin2(D4); //Motor 2 (Translatie)
kweisbeek 2:d41aa6d0e3cc 15 PwmOut pwmpin2(D5);
kweisbeek 3:a07e8f090946 16
kweisbeek 3:a07e8f090946 17 QEI encoder1(D12,D13,NC,64,QEI::X4_ENCODING); //Encoder motor 1
kweisbeek 3:a07e8f090946 18 QEI encoder2(D10,D11,NC,64,QEI::X4_ENCODING); // Encoder motor 2
kweisbeek 0:7789750c3b36 19
s1574396 5:0bbb52e29790 20 const double Ts = 0.001;// sample frequency
s1574396 5:0bbb52e29790 21
s1574396 4:d568f61be1d1 22 //constants motor
kweisbeek 3:a07e8f090946 23 const double delta_t = 0.01;
kweisbeek 3:a07e8f090946 24 const double L1 = 370.0 / 2.0;
kweisbeek 3:a07e8f090946 25 const double L2 = 65.0/2.0;
kweisbeek 3:a07e8f090946 26 const double pi = 3.14159265359;
kweisbeek 3:a07e8f090946 27 const double alpha = (2.0 * pi) /(25.0*8400.0);
kweisbeek 3:a07e8f090946 28 const double beta = (((2.0 * L1) - (2.0 * L2)) * 20.0 * pi) / (305.0 * 8400.0);
kweisbeek 0:7789750c3b36 29
kweisbeek 3:a07e8f090946 30 //variables motors
kweisbeek 3:a07e8f090946 31 double out1;
kweisbeek 3:a07e8f090946 32 double out2;
kweisbeek 3:a07e8f090946 33 int counts1;
kweisbeek 3:a07e8f090946 34 int counts2;
kweisbeek 3:a07e8f090946 35 double vdesx;
kweisbeek 3:a07e8f090946 36 double vdesy;
kweisbeek 3:a07e8f090946 37 double q1;
kweisbeek 3:a07e8f090946 38 double q2;
kweisbeek 3:a07e8f090946 39 double MPe;
kweisbeek 3:a07e8f090946 40 double xe;
kweisbeek 3:a07e8f090946 41 double ye;
kweisbeek 3:a07e8f090946 42 double gamma;
kweisbeek 3:a07e8f090946 43 double dq1;
kweisbeek 3:a07e8f090946 44 double dq2;
kweisbeek 3:a07e8f090946 45 double dC1;
kweisbeek 3:a07e8f090946 46 double dC2;
kweisbeek 3:a07e8f090946 47 double pwm1;
kweisbeek 3:a07e8f090946 48 double pwm2;
kweisbeek 2:d41aa6d0e3cc 49
s1574396 5:0bbb52e29790 50 //PID rotation constants
s1574396 5:0bbb52e29790 51 double Rot_Kp = 1;
s1574396 5:0bbb52e29790 52 double Rot_Ki = 0.01;
s1574396 5:0bbb52e29790 53 double Rot_Kd = 0.01;
s1574396 5:0bbb52e29790 54 double Rot_error = 0;
s1574396 5:0bbb52e29790 55 double Rot_prev_error = 0;
s1574396 5:0bbb52e29790 56
s1574396 5:0bbb52e29790 57 //PID translation constants
s1574396 5:0bbb52e29790 58 const double Trans_Kp = 1;
s1574396 5:0bbb52e29790 59 const double Trans_Ki = 0.01;
s1574396 5:0bbb52e29790 60 const double Trans_Kd = 0.01;
s1574396 5:0bbb52e29790 61 double Trans_error = 0;
s1574396 5:0bbb52e29790 62 double Trans_prev_error = 0;
s1574396 5:0bbb52e29790 63
s1574396 5:0bbb52e29790 64 // PID execution
s1574396 5:0bbb52e29790 65 double PID_control(double error, const double kp, const double ki, const double kd, double &error_int, double &error_prev)
s1574396 5:0bbb52e29790 66 {
s1574396 5:0bbb52e29790 67 // P control
s1574396 5:0bbb52e29790 68 double u_k = kp * error;
s1574396 5:0bbb52e29790 69
s1574396 5:0bbb52e29790 70 // I control
s1574396 5:0bbb52e29790 71 error_int = error_int + (Ts * error);
s1574396 5:0bbb52e29790 72 double u_i = ki * error_int;
s1574396 5:0bbb52e29790 73
s1574396 5:0bbb52e29790 74 // D control
s1574396 5:0bbb52e29790 75 double error_deriv = (error - error_prev);
s1574396 5:0bbb52e29790 76 double u_d = kd * error_deriv;
s1574396 5:0bbb52e29790 77 error_prev = error;
s1574396 5:0bbb52e29790 78
s1574396 5:0bbb52e29790 79 return u_k + u_i + u_d;
s1574396 5:0bbb52e29790 80 }
s1574396 5:0bbb52e29790 81
kweisbeek 3:a07e8f090946 82 void motor_control()
kweisbeek 3:a07e8f090946 83 {
kweisbeek 3:a07e8f090946 84 out1 = (pot1*2.0f)-1.0f; //control x-direction
kweisbeek 3:a07e8f090946 85 out2 = (pot2*2.0f)-1.0f; //control y-direction
kweisbeek 3:a07e8f090946 86 counts1 = encoder1.getPulses(); //counts encoder 1
kweisbeek 3:a07e8f090946 87 counts2 = encoder2.getPulses(); //counts encoder 2
kweisbeek 3:a07e8f090946 88 vdesx = out1 * 20.0; //speed x-direction
kweisbeek 3:a07e8f090946 89 vdesy = out2 * 20.0; //speed y-direction
kweisbeek 3:a07e8f090946 90 q1 = counts1 * alpha; //counts to rotation (rad)
kweisbeek 3:a07e8f090946 91 q2 = counts2 * beta; //counts to translation (mm)
kweisbeek 3:a07e8f090946 92 MPe = L1 - L2 + q2; //x location end effector, x-axis along the translation
kweisbeek 3:a07e8f090946 93 xe = cos(q1) * MPe; //x location in frame 0
kweisbeek 3:a07e8f090946 94 ye = sin(q1) * MPe; //y location in frame 0
kweisbeek 3:a07e8f090946 95 gamma = 1.0 /((-1.0 * ye * sin(q1)) - (xe * cos(q1))); //(1 / det(J'')inverse)
kweisbeek 3:a07e8f090946 96 dq1 = gamma * delta_t * (sin(q1) * vdesx - cos(q1) * vdesy); //target rotation
kweisbeek 3:a07e8f090946 97 dq2 = gamma * delta_t * (-1.0 * xe * vdesx - ye * vdesy); //target translation
s1574396 5:0bbb52e29790 98 dC1 = PID_control( dq1, Rot_Kp, Rot_Ki, Rot_Kd, Rot_error, Rot_prev_error) / alpha; //target rotation to counts
s1574396 5:0bbb52e29790 99 dC2 = PID_control( dq2, Trans_Kp, Trans_Ki, Trans_Kd, Trans_error, Trans_prev_error) / beta; //target translation to counts
s1574396 4:d568f61be1d1 100 pwm1 = 3.0 * (dC1 / delta_t) / 8400.0; //
s1574396 4:d568f61be1d1 101 pwm2 = 3.0 * (dC2 / delta_t) / 8400.0; //
kweisbeek 3:a07e8f090946 102 dirpin.write(pwm1 < 0);
s1574396 5:0bbb52e29790 103 pwmpin = fabs (pwm1);
kweisbeek 3:a07e8f090946 104 dirpin2.write(pwm2 < 0);
kweisbeek 3:a07e8f090946 105 pwmpin2 = fabs (pwm2);
kweisbeek 3:a07e8f090946 106 }
kweisbeek 3:a07e8f090946 107
kweisbeek 0:7789750c3b36 108 //main
kweisbeek 0:7789750c3b36 109 int main(){
kweisbeek 0:7789750c3b36 110 pc.baud(115200);
kweisbeek 0:7789750c3b36 111 pc.printf("start\r\n");
kweisbeek 0:7789750c3b36 112 pwmpin.period_us(60);
kweisbeek 0:7789750c3b36 113
kweisbeek 0:7789750c3b36 114 while(1){
kweisbeek 3:a07e8f090946 115 motor_control();
s1574396 5:0bbb52e29790 116 pc.printf("PWM_rot = %f PWM_trans = %f VdesX = %f VdesY = %f \n\r",pwm1,pwm2,vdesx,vdesy);
s1725696 1:125af627e307 117 wait(delta_t);
s1725696 1:125af627e307 118 }
s1574396 4:d568f61be1d1 119 }