Group 9 BioRobotics / Mbed 2 deprecated newRKI

RKI

Dependencies:   QEI mbed

main.cpp@6:23880486c8fc, 2018-11-01 (annotated)

Committer:
kweisbeek
Date:
Thu Nov 01 09:31:35 2018 +0000
Revision:
6:23880486c8fc
Parent:
5:0bbb52e29790
Child:
7:29c93152d96a
met boundaries

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 6:23880486c8fc 29 double rotation_end_position=1;
kweisbeek 6:23880486c8fc 30 double tower_1_position=1;
kweisbeek 6:23880486c8fc 31 double tower_end_position=1;
kweisbeek 6:23880486c8fc 32 const double q1start = rotation_end_position * alpha;
kweisbeek 6:23880486c8fc 33 const double q2start = tower_1_position * beta; //!!!!afhankelijk van een variabelle die in anderscript wordt bepaald!!!!
kweisbeek 6:23880486c8fc 34 const double q2end = tower_end_position * beta; //!!!!afhankelijk van een variabelle die in anderscript wordt bepaald!!!!
kweisbeek 0:7789750c3b36 35
kweisbeek 3:a07e8f090946 36 //variables motors
kweisbeek 3:a07e8f090946 37 double out1;
kweisbeek 3:a07e8f090946 38 double out2;
kweisbeek 3:a07e8f090946 39 int counts1;
kweisbeek 3:a07e8f090946 40 int counts2;
kweisbeek 3:a07e8f090946 41 double vdesx;
kweisbeek 3:a07e8f090946 42 double vdesy;
kweisbeek 3:a07e8f090946 43 double q1;
kweisbeek 3:a07e8f090946 44 double q2;
kweisbeek 3:a07e8f090946 45 double MPe;
kweisbeek 3:a07e8f090946 46 double xe;
kweisbeek 3:a07e8f090946 47 double ye;
kweisbeek 3:a07e8f090946 48 double gamma;
kweisbeek 3:a07e8f090946 49 double dq1;
kweisbeek 3:a07e8f090946 50 double dq2;
kweisbeek 3:a07e8f090946 51 double dC1;
kweisbeek 3:a07e8f090946 52 double dC2;
kweisbeek 3:a07e8f090946 53 double pwm1;
kweisbeek 3:a07e8f090946 54 double pwm2;
kweisbeek 2:d41aa6d0e3cc 55
s1574396 5:0bbb52e29790 56 //PID rotation constants
s1574396 5:0bbb52e29790 57 double Rot_Kp = 1;
s1574396 5:0bbb52e29790 58 double Rot_Ki = 0.01;
s1574396 5:0bbb52e29790 59 double Rot_Kd = 0.01;
s1574396 5:0bbb52e29790 60 double Rot_error = 0;
s1574396 5:0bbb52e29790 61 double Rot_prev_error = 0;
s1574396 5:0bbb52e29790 62
s1574396 5:0bbb52e29790 63 //PID translation constants
s1574396 5:0bbb52e29790 64 const double Trans_Kp = 1;
s1574396 5:0bbb52e29790 65 const double Trans_Ki = 0.01;
s1574396 5:0bbb52e29790 66 const double Trans_Kd = 0.01;
s1574396 5:0bbb52e29790 67 double Trans_error = 0;
s1574396 5:0bbb52e29790 68 double Trans_prev_error = 0;
s1574396 5:0bbb52e29790 69
s1574396 5:0bbb52e29790 70 // PID execution
s1574396 5:0bbb52e29790 71 double PID_control(double error, const double kp, const double ki, const double kd, double &error_int, double &error_prev)
s1574396 5:0bbb52e29790 72 {
s1574396 5:0bbb52e29790 73 // P control
s1574396 5:0bbb52e29790 74 double u_k = kp * error;
s1574396 5:0bbb52e29790 75
s1574396 5:0bbb52e29790 76 // I control
s1574396 5:0bbb52e29790 77 error_int = error_int + (Ts * error);
s1574396 5:0bbb52e29790 78 double u_i = ki * error_int;
s1574396 5:0bbb52e29790 79
s1574396 5:0bbb52e29790 80 // D control
s1574396 5:0bbb52e29790 81 double error_deriv = (error - error_prev);
s1574396 5:0bbb52e29790 82 double u_d = kd * error_deriv;
s1574396 5:0bbb52e29790 83 error_prev = error;
s1574396 5:0bbb52e29790 84
s1574396 5:0bbb52e29790 85 return u_k + u_i + u_d;
s1574396 5:0bbb52e29790 86 }
s1574396 5:0bbb52e29790 87
kweisbeek 6:23880486c8fc 88 void boundaries(){
kweisbeek 6:23880486c8fc 89 double q2tot = q2 + dq2;
kweisbeek 6:23880486c8fc 90 if (q2tot > q2end){
kweisbeek 6:23880486c8fc 91 dq2 = 0;} //kan ook zeggen q2end-q2 is dat dan juiste waarde of moet q2-q2end?
kweisbeek 6:23880486c8fc 92 else if (q2tot < q2start){
kweisbeek 6:23880486c8fc 93 dq2 = 0;}
kweisbeek 6:23880486c8fc 94 else{}
kweisbeek 6:23880486c8fc 95 }
kweisbeek 6:23880486c8fc 96
kweisbeek 3:a07e8f090946 97 void motor_control()
kweisbeek 3:a07e8f090946 98 {
kweisbeek 3:a07e8f090946 99 out1 = (pot1*2.0f)-1.0f; //control x-direction
kweisbeek 3:a07e8f090946 100 out2 = (pot2*2.0f)-1.0f; //control y-direction
kweisbeek 3:a07e8f090946 101 counts1 = encoder1.getPulses(); //counts encoder 1
kweisbeek 3:a07e8f090946 102 counts2 = encoder2.getPulses(); //counts encoder 2
kweisbeek 3:a07e8f090946 103 vdesx = out1 * 20.0; //speed x-direction
kweisbeek 3:a07e8f090946 104 vdesy = out2 * 20.0; //speed y-direction
kweisbeek 6:23880486c8fc 105
kweisbeek 6:23880486c8fc 106 q1 = counts1 * alpha + q1start; //counts to rotation (rad)
kweisbeek 6:23880486c8fc 107 q2 = counts2 * beta + q2start; //counts to translation (mm)
kweisbeek 3:a07e8f090946 108 MPe = L1 - L2 + q2; //x location end effector, x-axis along the translation
kweisbeek 3:a07e8f090946 109 xe = cos(q1) * MPe; //x location in frame 0
kweisbeek 3:a07e8f090946 110 ye = sin(q1) * MPe; //y location in frame 0
kweisbeek 3:a07e8f090946 111 gamma = 1.0 /((-1.0 * ye * sin(q1)) - (xe * cos(q1))); //(1 / det(J'')inverse)
kweisbeek 3:a07e8f090946 112 dq1 = gamma * delta_t * (sin(q1) * vdesx - cos(q1) * vdesy); //target rotation
kweisbeek 3:a07e8f090946 113 dq2 = gamma * delta_t * (-1.0 * xe * vdesx - ye * vdesy); //target translation
kweisbeek 6:23880486c8fc 114 boundaries();
s1574396 5:0bbb52e29790 115 dC1 = PID_control( dq1, Rot_Kp, Rot_Ki, Rot_Kd, Rot_error, Rot_prev_error) / alpha; //target rotation to counts
s1574396 5:0bbb52e29790 116 dC2 = PID_control( dq2, Trans_Kp, Trans_Ki, Trans_Kd, Trans_error, Trans_prev_error) / beta; //target translation to counts
s1574396 4:d568f61be1d1 117 pwm1 = 3.0 * (dC1 / delta_t) / 8400.0; //
s1574396 4:d568f61be1d1 118 pwm2 = 3.0 * (dC2 / delta_t) / 8400.0; //
kweisbeek 3:a07e8f090946 119 dirpin.write(pwm1 < 0);
s1574396 5:0bbb52e29790 120 pwmpin = fabs (pwm1);
kweisbeek 3:a07e8f090946 121 dirpin2.write(pwm2 < 0);
kweisbeek 3:a07e8f090946 122 pwmpin2 = fabs (pwm2);
kweisbeek 3:a07e8f090946 123 }
kweisbeek 6:23880486c8fc 124
kweisbeek 6:23880486c8fc 125
kweisbeek 0:7789750c3b36 126 //main
kweisbeek 0:7789750c3b36 127 int main(){
kweisbeek 0:7789750c3b36 128 pc.baud(115200);
kweisbeek 0:7789750c3b36 129 pc.printf("start\r\n");
kweisbeek 0:7789750c3b36 130 pwmpin.period_us(60);
kweisbeek 0:7789750c3b36 131
kweisbeek 0:7789750c3b36 132 while(1){
kweisbeek 3:a07e8f090946 133 motor_control();
s1574396 5:0bbb52e29790 134 pc.printf("PWM_rot = %f PWM_trans = %f VdesX = %f VdesY = %f \n\r",pwm1,pwm2,vdesx,vdesy);
s1725696 1:125af627e307 135 wait(delta_t);
s1725696 1:125af627e307 136 }
s1574396 4:d568f61be1d1 137 }