M9 Biorobotics Group 8 / Mbed 2 deprecated MotorControlv2

Motor control

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@1:08e8cc33fcae, 2019-10-11 (annotated)

Committer:
freek100
Date:
Fri Oct 11 09:53:22 2019 +0000
Revision:
1:08e8cc33fcae
Parent:
0:e4858e2df9c7
Child:
2:d7286c36595f
Motorcontrol met potmeter als hoek input en simpele error

Who changed what in which revision?

UserRevisionLine numberNew contents of line
freek100 0:e4858e2df9c7 1 #include "mbed.h"
freek100 0:e4858e2df9c7 2 //#include "HIDScope.h"
freek100 0:e4858e2df9c7 3 #include "QEI.h"
freek100 0:e4858e2df9c7 4 #include "MODSERIAL.h"
freek100 0:e4858e2df9c7 5 //#include "BiQuad.h"
freek100 0:e4858e2df9c7 6 #include "FastPWM.h"
freek100 0:e4858e2df9c7 7
freek100 0:e4858e2df9c7 8 // Button and potmeter control
freek100 0:e4858e2df9c7 9 InterruptIn button1(D11);
freek100 0:e4858e2df9c7 10 InterruptIn button2(D10);
freek100 0:e4858e2df9c7 11 AnalogIn potmeter(A0);
freek100 0:e4858e2df9c7 12
freek100 0:e4858e2df9c7 13 // Encoder
freek100 0:e4858e2df9c7 14 DigitalIn encA(D13);
freek100 0:e4858e2df9c7 15 DigitalIn encB(D12);
freek100 0:e4858e2df9c7 16 QEI encoder(D13,D12,NC,64,QEI::X4_ENCODING);
freek100 1:08e8cc33fcae 17 float T_encoder = 0.01;
freek100 1:08e8cc33fcae 18 float angle;
freek100 1:08e8cc33fcae 19 float omega;
freek100 1:08e8cc33fcae 20
freek100 0:e4858e2df9c7 21
freek100 0:e4858e2df9c7 22 // Motor
freek100 0:e4858e2df9c7 23 DigitalOut motor2Direction(D4);
freek100 0:e4858e2df9c7 24 FastPWM motor2Power(D5);
freek100 0:e4858e2df9c7 25 DigitalOut motor1Direction(D7);
freek100 0:e4858e2df9c7 26 FastPWM motor1Power(D6);
freek100 0:e4858e2df9c7 27
freek100 0:e4858e2df9c7 28 //Motorcontrol
freek100 0:e4858e2df9c7 29 bool motordir;
freek100 0:e4858e2df9c7 30 double motorpwm;
freek100 1:08e8cc33fcae 31 float u1;
freek100 1:08e8cc33fcae 32 double u2;
freek100 0:e4858e2df9c7 33 double potValue;
freek100 1:08e8cc33fcae 34 double pi2= 6.283185;
freek100 1:08e8cc33fcae 35 float fout;
freek100 0:e4858e2df9c7 36 // PC connection
freek100 0:e4858e2df9c7 37 MODSERIAL pc(USBTX, USBRX);
freek100 0:e4858e2df9c7 38
freek100 0:e4858e2df9c7 39 // Intializing tickers
freek100 0:e4858e2df9c7 40 Ticker motorTicker;
freek100 0:e4858e2df9c7 41 Ticker controlTicker;
freek100 0:e4858e2df9c7 42 Ticker directionTicker;
freek100 1:08e8cc33fcae 43 Ticker encoderTicker;
freek100 0:e4858e2df9c7 44
freek100 0:e4858e2df9c7 45 const float PWM_period = 1e-6;
freek100 0:e4858e2df9c7 46
freek100 0:e4858e2df9c7 47 volatile int counts; // Encoder counts
freek100 0:e4858e2df9c7 48 volatile int countsPrev = 0;
freek100 0:e4858e2df9c7 49 volatile int deltaCounts;
freek100 0:e4858e2df9c7 50
freek100 0:e4858e2df9c7 51 // motor1Direction = 1;
freek100 0:e4858e2df9c7 52 volatile int motor1Toggle = 1;
freek100 0:e4858e2df9c7 53
freek100 0:e4858e2df9c7 54 float factorin = 6.23185/64; // Convert encoder counts to angle in rad
freek100 0:e4858e2df9c7 55 float gearratio = 131.25; // Gear ratio of gearbox
freek100 0:e4858e2df9c7 56
freek100 0:e4858e2df9c7 57 void motorControl()
freek100 0:e4858e2df9c7 58 {
freek100 1:08e8cc33fcae 59 angle = counts * factorin / gearratio; // Angle of motor shaft in rad
freek100 1:08e8cc33fcae 60 omega = deltaCounts / T_encoder * factorin / gearratio; // Angular velocity of motor shaft in rad/s
freek100 0:e4858e2df9c7 61 potValue= potmeter.read();
freek100 1:08e8cc33fcae 62 u1= (potValue*2*pi2)-pi2;
freek100 1:08e8cc33fcae 63 fout=u1-angle;
freek100 1:08e8cc33fcae 64 u2= fout/pi2;
freek100 1:08e8cc33fcae 65 motorpwm= abs(u2);
freek100 1:08e8cc33fcae 66 if (u2<0){
freek100 0:e4858e2df9c7 67 motordir= 0;}
freek100 0:e4858e2df9c7 68 else {
freek100 0:e4858e2df9c7 69 motordir= 1;}
freek100 0:e4858e2df9c7 70 motor1Power.pulsewidth(motorpwm * PWM_period * motor1Toggle);
freek100 0:e4858e2df9c7 71 motor1Direction= motordir;
freek100 0:e4858e2df9c7 72 }
freek100 0:e4858e2df9c7 73
freek100 1:08e8cc33fcae 74 void readEncoder()
freek100 1:08e8cc33fcae 75 {
freek100 1:08e8cc33fcae 76 counts = encoder.getPulses();
freek100 1:08e8cc33fcae 77 deltaCounts = counts - countsPrev;
freek100 1:08e8cc33fcae 78
freek100 1:08e8cc33fcae 79 countsPrev = counts;
freek100 1:08e8cc33fcae 80 }
freek100 0:e4858e2df9c7 81
freek100 0:e4858e2df9c7 82 int main()
freek100 0:e4858e2df9c7 83 {
freek100 0:e4858e2df9c7 84 pc.baud(115200);
freek100 0:e4858e2df9c7 85 pc.printf("\r\nStarting...\r\n\r\n");
freek100 0:e4858e2df9c7 86
freek100 0:e4858e2df9c7 87 motor1Power.period(PWM_period);
freek100 0:e4858e2df9c7 88 motorTicker.attach(motorControl, 0.01);
freek100 0:e4858e2df9c7 89
freek100 1:08e8cc33fcae 90
freek100 1:08e8cc33fcae 91 encoderTicker.attach(readEncoder, T_encoder);
freek100 1:08e8cc33fcae 92
freek100 0:e4858e2df9c7 93 while (true) {
freek100 0:e4858e2df9c7 94
freek100 1:08e8cc33fcae 95 pc.printf("Potmeter: %d \r\n", potValue);
freek100 1:08e8cc33fcae 96 pc.printf("Counts: %i DeltaCounts: %i\r\n", counts, deltaCounts);
freek100 1:08e8cc33fcae 97 pc.printf("Angle: %f Omega: %f\r\n", angle, omega);
freek100 1:08e8cc33fcae 98 pc.printf("U1: %f Error: %f \r\n",u1, fout);
freek100 1:08e8cc33fcae 99
freek100 0:e4858e2df9c7 100 wait(0.5);
freek100 0:e4858e2df9c7 101 }
freek100 0:e4858e2df9c7 102 }