M9 Biorobotics Group 8 / Mbed 2 deprecated MotorControlv2

Motor control

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@5:17aa878564d0, 2019-10-11 (annotated)

Committer:
freek100
Date:
Fri Oct 11 12:22:26 2019 +0000
Revision:
5:17aa878564d0
Parent:
4:e7d50c6a7c53
Child:
6:1c0b6e55e900
Motor Toggle ingebouwd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
freek100 0:e4858e2df9c7 1 #include "mbed.h"
freek100 3:07fedd2e252c 2 #include "HIDScope.h"
freek100 0:e4858e2df9c7 3 #include "QEI.h"
freek100 0:e4858e2df9c7 4 #include "MODSERIAL.h"
freek100 3:07fedd2e252c 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 2:d7286c36595f 17 float Ts = 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 5:17aa878564d0 28 volatile int motor1Toggle = 1;
freek100 5:17aa878564d0 29
freek100 0:e4858e2df9c7 30 //Motorcontrol
freek100 0:e4858e2df9c7 31 bool motordir;
freek100 0:e4858e2df9c7 32 double motorpwm;
freek100 1:08e8cc33fcae 33 float u1;
freek100 1:08e8cc33fcae 34 double u2;
freek100 0:e4858e2df9c7 35 double potValue;
freek100 1:08e8cc33fcae 36 double pi2= 6.283185;
freek100 2:d7286c36595f 37 float e; //e = error
freek100 3:07fedd2e252c 38 float Kp=17.5;
freek100 3:07fedd2e252c 39 float Ki=1;
freek100 3:07fedd2e252c 40 float Kd=21.5;
freek100 2:d7286c36595f 41 float u_k;
freek100 2:d7286c36595f 42 float u_i;
freek100 2:d7286c36595f 43 float u_d;
freek100 3:07fedd2e252c 44
freek100 4:e7d50c6a7c53 45 //Hidscope
freek100 4:e7d50c6a7c53 46 HIDScope scope(3); //Going to send 3 channels of data. To access data go to 'http:/localhost:18082/' after starting HIDScope application.
freek100 0:e4858e2df9c7 47 // PC connection
freek100 0:e4858e2df9c7 48 MODSERIAL pc(USBTX, USBRX);
freek100 0:e4858e2df9c7 49
freek100 0:e4858e2df9c7 50 // Intializing tickers
freek100 0:e4858e2df9c7 51 Ticker motorTicker;
freek100 0:e4858e2df9c7 52 Ticker controlTicker;
freek100 0:e4858e2df9c7 53 Ticker directionTicker;
freek100 1:08e8cc33fcae 54 Ticker encoderTicker;
freek100 4:e7d50c6a7c53 55 Ticker scopeTicker;
freek100 0:e4858e2df9c7 56
freek100 0:e4858e2df9c7 57 const float PWM_period = 1e-6;
freek100 0:e4858e2df9c7 58
freek100 0:e4858e2df9c7 59 volatile int counts; // Encoder counts
freek100 0:e4858e2df9c7 60 volatile int countsPrev = 0;
freek100 0:e4858e2df9c7 61 volatile int deltaCounts;
freek100 0:e4858e2df9c7 62
freek100 0:e4858e2df9c7 63 float factorin = 6.23185/64; // Convert encoder counts to angle in rad
freek100 0:e4858e2df9c7 64 float gearratio = 131.25; // Gear ratio of gearbox
freek100 0:e4858e2df9c7 65
freek100 2:d7286c36595f 66
freek100 2:d7286c36595f 67 float PID_controller(float e){
freek100 2:d7286c36595f 68 static float error_integral=0;
freek100 3:07fedd2e252c 69 static float e_prev=e;
freek100 3:07fedd2e252c 70 static BiQuad LowPassFilter(0.0640,0.1279,0.0640,-1.1683,0.4241);
freek100 2:d7286c36595f 71
freek100 2:d7286c36595f 72 //Proportional part:
freek100 2:d7286c36595f 73 u_k=Kp*e;
freek100 2:d7286c36595f 74
freek100 2:d7286c36595f 75 //Integral part
freek100 2:d7286c36595f 76 error_integral=error_integral+e*Ts;
freek100 2:d7286c36595f 77 u_i=Ki*error_integral;
freek100 2:d7286c36595f 78
freek100 3:07fedd2e252c 79 //Derivative part
freek100 3:07fedd2e252c 80 float error_derivative =(e-e_prev)/Ts;
freek100 3:07fedd2e252c 81 float filtered_error_derivative = LowPassFilter.step(error_derivative);
freek100 3:07fedd2e252c 82 u_d=Kd*filtered_error_derivative;
freek100 3:07fedd2e252c 83 e_prev=e;
freek100 3:07fedd2e252c 84
freek100 2:d7286c36595f 85 // Sum and return
freek100 3:07fedd2e252c 86 return u_k+u_i+u_d;
freek100 2:d7286c36595f 87 }
freek100 2:d7286c36595f 88
freek100 4:e7d50c6a7c53 89
freek100 4:e7d50c6a7c53 90 void readEncoder()
freek100 4:e7d50c6a7c53 91 {
freek100 4:e7d50c6a7c53 92 counts = encoder.getPulses();
freek100 4:e7d50c6a7c53 93 deltaCounts = counts - countsPrev;
freek100 4:e7d50c6a7c53 94
freek100 4:e7d50c6a7c53 95 countsPrev = counts;
freek100 4:e7d50c6a7c53 96 }
freek100 0:e4858e2df9c7 97 void motorControl()
freek100 0:e4858e2df9c7 98 {
freek100 1:08e8cc33fcae 99 angle = counts * factorin / gearratio; // Angle of motor shaft in rad
freek100 2:d7286c36595f 100 omega = deltaCounts / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s
freek100 0:e4858e2df9c7 101 potValue= potmeter.read();
freek100 1:08e8cc33fcae 102 u1= (potValue*2*pi2)-pi2;
freek100 2:d7286c36595f 103 e=u1-angle;
freek100 2:d7286c36595f 104
freek100 2:d7286c36595f 105 u2=PID_controller(e);
freek100 2:d7286c36595f 106
freek100 2:d7286c36595f 107 motorpwm= abs(u2);
freek100 1:08e8cc33fcae 108 if (u2<0){
freek100 0:e4858e2df9c7 109 motordir= 0;}
freek100 0:e4858e2df9c7 110 else {
freek100 0:e4858e2df9c7 111 motordir= 1;}
freek100 5:17aa878564d0 112 motor1Power.pulsewidth(motorpwm * PWM_period*motor1Toggle );
freek100 0:e4858e2df9c7 113 motor1Direction= motordir;
freek100 0:e4858e2df9c7 114 }
freek100 0:e4858e2df9c7 115
freek100 4:e7d50c6a7c53 116 void Plotje()
freek100 1:08e8cc33fcae 117 {
freek100 4:e7d50c6a7c53 118 scope.set(0,u1); //gewenste hoek
freek100 4:e7d50c6a7c53 119 scope.set(1,angle); //Gemeten hoek
freek100 4:e7d50c6a7c53 120 scope.set(2,e); //verschil in gewenste en gemeten hoek
freek100 1:08e8cc33fcae 121
freek100 4:e7d50c6a7c53 122 scope.send(); //send what's in scope memory to PC
freek100 1:08e8cc33fcae 123 }
freek100 0:e4858e2df9c7 124
freek100 5:17aa878564d0 125 void toggleMotor()
freek100 5:17aa878564d0 126 {
freek100 5:17aa878564d0 127 motor1Toggle = !motor1Toggle;
freek100 5:17aa878564d0 128 }
freek100 4:e7d50c6a7c53 129
freek100 0:e4858e2df9c7 130 int main()
freek100 0:e4858e2df9c7 131 {
freek100 0:e4858e2df9c7 132 pc.baud(115200);
freek100 0:e4858e2df9c7 133 pc.printf("\r\nStarting...\r\n\r\n");
freek100 0:e4858e2df9c7 134
freek100 0:e4858e2df9c7 135 motor1Power.period(PWM_period);
freek100 0:e4858e2df9c7 136 motorTicker.attach(motorControl, 0.01);
freek100 4:e7d50c6a7c53 137 scopeTicker.attach(Plotje, 0.01);
freek100 2:d7286c36595f 138 encoderTicker.attach(readEncoder, Ts);
freek100 5:17aa878564d0 139
freek100 5:17aa878564d0 140 button2.fall(&toggleMotor);
freek100 0:e4858e2df9c7 141 while (true) {
freek100 0:e4858e2df9c7 142
freek100 1:08e8cc33fcae 143 pc.printf("Potmeter: %d \r\n", potValue);
freek100 1:08e8cc33fcae 144 pc.printf("Counts: %i DeltaCounts: %i\r\n", counts, deltaCounts);
freek100 1:08e8cc33fcae 145 pc.printf("Angle: %f Omega: %f\r\n", angle, omega);
freek100 2:d7286c36595f 146 pc.printf("U1: %f Error: %f \r\n",u1, e);
freek100 1:08e8cc33fcae 147
freek100 0:e4858e2df9c7 148 wait(0.5);
freek100 0:e4858e2df9c7 149 }
freek100 0:e4858e2df9c7 150 }