M9 Biorobotics Group 8 / Mbed 2 deprecated MotorControlv2

Motor control

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@7:20a802dfe664, 2019-10-11 (annotated)

Committer:
freek100
Date:
Fri Oct 11 13:02:43 2019 +0000
Revision:
7:20a802dfe664
Parent:
6:1c0b6e55e900
Child:
8:c6c94d55b088
Tuning in progress, volgende stap is Kp en Kd op potmeters aansluiten

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 6:1c0b6e55e900 8 // Button and potmeter1 control
freek100 0:e4858e2df9c7 9 InterruptIn button1(D11);
freek100 0:e4858e2df9c7 10 InterruptIn button2(D10);
freek100 6:1c0b6e55e900 11 AnalogIn potmeter1(A0);
freek100 6:1c0b6e55e900 12 AnalogIn potmeter2(A1);
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 7:20a802dfe664 38 float Kp=0.45;
freek100 7:20a802dfe664 39 float Ki=0;
freek100 7:20a802dfe664 40 float Kd;
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 7:20a802dfe664 73 Kd=0.5*potmeter2.read();
freek100 2:d7286c36595f 74 u_k=Kp*e;
freek100 2:d7286c36595f 75
freek100 2:d7286c36595f 76 //Integral part
freek100 2:d7286c36595f 77 error_integral=error_integral+e*Ts;
freek100 2:d7286c36595f 78 u_i=Ki*error_integral;
freek100 2:d7286c36595f 79
freek100 3:07fedd2e252c 80 //Derivative part
freek100 3:07fedd2e252c 81 float error_derivative =(e-e_prev)/Ts;
freek100 3:07fedd2e252c 82 float filtered_error_derivative = LowPassFilter.step(error_derivative);
freek100 3:07fedd2e252c 83 u_d=Kd*filtered_error_derivative;
freek100 3:07fedd2e252c 84 e_prev=e;
freek100 3:07fedd2e252c 85
freek100 2:d7286c36595f 86 // Sum and return
freek100 3:07fedd2e252c 87 return u_k+u_i+u_d;
freek100 2:d7286c36595f 88 }
freek100 2:d7286c36595f 89
freek100 4:e7d50c6a7c53 90
freek100 4:e7d50c6a7c53 91 void readEncoder()
freek100 4:e7d50c6a7c53 92 {
freek100 4:e7d50c6a7c53 93 counts = encoder.getPulses();
freek100 4:e7d50c6a7c53 94 deltaCounts = counts - countsPrev;
freek100 4:e7d50c6a7c53 95
freek100 4:e7d50c6a7c53 96 countsPrev = counts;
freek100 4:e7d50c6a7c53 97 }
freek100 0:e4858e2df9c7 98 void motorControl()
freek100 0:e4858e2df9c7 99 {
freek100 1:08e8cc33fcae 100 angle = counts * factorin / gearratio; // Angle of motor shaft in rad
freek100 2:d7286c36595f 101 omega = deltaCounts / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s
freek100 6:1c0b6e55e900 102 potValue= potmeter1.read();
freek100 1:08e8cc33fcae 103 u1= (potValue*2*pi2)-pi2;
freek100 2:d7286c36595f 104 e=u1-angle;
freek100 2:d7286c36595f 105
freek100 2:d7286c36595f 106 u2=PID_controller(e);
freek100 2:d7286c36595f 107
freek100 2:d7286c36595f 108 motorpwm= abs(u2);
freek100 1:08e8cc33fcae 109 if (u2<0){
freek100 0:e4858e2df9c7 110 motordir= 0;}
freek100 0:e4858e2df9c7 111 else {
freek100 0:e4858e2df9c7 112 motordir= 1;}
freek100 5:17aa878564d0 113 motor1Power.pulsewidth(motorpwm * PWM_period*motor1Toggle );
freek100 0:e4858e2df9c7 114 motor1Direction= motordir;
freek100 0:e4858e2df9c7 115 }
freek100 0:e4858e2df9c7 116
freek100 4:e7d50c6a7c53 117 void Plotje()
freek100 1:08e8cc33fcae 118 {
freek100 4:e7d50c6a7c53 119 scope.set(0,u1); //gewenste hoek
freek100 4:e7d50c6a7c53 120 scope.set(1,angle); //Gemeten hoek
freek100 4:e7d50c6a7c53 121 scope.set(2,e); //verschil in gewenste en gemeten hoek
freek100 1:08e8cc33fcae 122
freek100 4:e7d50c6a7c53 123 scope.send(); //send what's in scope memory to PC
freek100 1:08e8cc33fcae 124 }
freek100 0:e4858e2df9c7 125
freek100 5:17aa878564d0 126 void toggleMotor()
freek100 5:17aa878564d0 127 {
freek100 5:17aa878564d0 128 motor1Toggle = !motor1Toggle;
freek100 5:17aa878564d0 129 }
freek100 4:e7d50c6a7c53 130
freek100 0:e4858e2df9c7 131 int main()
freek100 0:e4858e2df9c7 132 {
freek100 0:e4858e2df9c7 133 pc.baud(115200);
freek100 0:e4858e2df9c7 134 pc.printf("\r\nStarting...\r\n\r\n");
freek100 0:e4858e2df9c7 135
freek100 0:e4858e2df9c7 136 motor1Power.period(PWM_period);
freek100 0:e4858e2df9c7 137 motorTicker.attach(motorControl, 0.01);
freek100 4:e7d50c6a7c53 138 scopeTicker.attach(Plotje, 0.01);
freek100 2:d7286c36595f 139 encoderTicker.attach(readEncoder, Ts);
freek100 5:17aa878564d0 140
freek100 5:17aa878564d0 141 button2.fall(&toggleMotor);
freek100 0:e4858e2df9c7 142 while (true) {
freek100 0:e4858e2df9c7 143
freek100 7:20a802dfe664 144 //pc.printf("Potmeter: %d \r\n", potValue,);
freek100 7:20a802dfe664 145 //pc.printf("Counts: %i DeltaCounts: %i\r\n", counts, deltaCounts);
freek100 1:08e8cc33fcae 146 pc.printf("Angle: %f Omega: %f\r\n", angle, omega);
freek100 2:d7286c36595f 147 pc.printf("U1: %f Error: %f \r\n",u1, e);
freek100 7:20a802dfe664 148 pc.printf("Kp: %f Kd: %f Ki: %f \r\n", Kp, Kd, Ki);
freek100 6:1c0b6e55e900 149
freek100 0:e4858e2df9c7 150 wait(0.5);
freek100 0:e4858e2df9c7 151 }
freek100 0:e4858e2df9c7 152 }