M9 Biorobotics Group 8 / Mbed 2 deprecated MotorControlv2

Motor control

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@8:c6c94d55b088, 2019-10-14 (annotated)

Committer:
freek100
Date:
Mon Oct 14 07:14:19 2019 +0000
Revision:
8:c6c94d55b088
Parent:
7:20a802dfe664
Child:
9:08a7a8e59a6a
PID 4potmeters test

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 8:c6c94d55b088 13 AnalogIn potmeter3(A2);
freek100 8:c6c94d55b088 14 AnalogIn potmeter4(A4);
freek100 0:e4858e2df9c7 15 // Encoder
freek100 0:e4858e2df9c7 16 DigitalIn encA(D13);
freek100 0:e4858e2df9c7 17 DigitalIn encB(D12);
freek100 0:e4858e2df9c7 18 QEI encoder(D13,D12,NC,64,QEI::X4_ENCODING);
freek100 2:d7286c36595f 19 float Ts = 0.01;
freek100 1:08e8cc33fcae 20 float angle;
freek100 1:08e8cc33fcae 21 float omega;
freek100 1:08e8cc33fcae 22
freek100 0:e4858e2df9c7 23
freek100 0:e4858e2df9c7 24 // Motor
freek100 0:e4858e2df9c7 25 DigitalOut motor2Direction(D4);
freek100 0:e4858e2df9c7 26 FastPWM motor2Power(D5);
freek100 0:e4858e2df9c7 27 DigitalOut motor1Direction(D7);
freek100 0:e4858e2df9c7 28 FastPWM motor1Power(D6);
freek100 0:e4858e2df9c7 29
freek100 5:17aa878564d0 30 volatile int motor1Toggle = 1;
freek100 5:17aa878564d0 31
freek100 0:e4858e2df9c7 32 //Motorcontrol
freek100 0:e4858e2df9c7 33 bool motordir;
freek100 0:e4858e2df9c7 34 double motorpwm;
freek100 1:08e8cc33fcae 35 float u1;
freek100 1:08e8cc33fcae 36 double u2;
freek100 0:e4858e2df9c7 37 double potValue;
freek100 1:08e8cc33fcae 38 double pi2= 6.283185;
freek100 2:d7286c36595f 39 float e; //e = error
freek100 8:c6c94d55b088 40 float Kp;
freek100 8:c6c94d55b088 41 float Ki;
freek100 7:20a802dfe664 42 float Kd;
freek100 2:d7286c36595f 43 float u_k;
freek100 2:d7286c36595f 44 float u_i;
freek100 2:d7286c36595f 45 float u_d;
freek100 3:07fedd2e252c 46
freek100 4:e7d50c6a7c53 47 //Hidscope
freek100 4:e7d50c6a7c53 48 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 49 // PC connection
freek100 0:e4858e2df9c7 50 MODSERIAL pc(USBTX, USBRX);
freek100 0:e4858e2df9c7 51
freek100 0:e4858e2df9c7 52 // Intializing tickers
freek100 0:e4858e2df9c7 53 Ticker motorTicker;
freek100 0:e4858e2df9c7 54 Ticker controlTicker;
freek100 0:e4858e2df9c7 55 Ticker directionTicker;
freek100 1:08e8cc33fcae 56 Ticker encoderTicker;
freek100 4:e7d50c6a7c53 57 Ticker scopeTicker;
freek100 0:e4858e2df9c7 58
freek100 0:e4858e2df9c7 59 const float PWM_period = 1e-6;
freek100 0:e4858e2df9c7 60
freek100 0:e4858e2df9c7 61 volatile int counts; // Encoder counts
freek100 0:e4858e2df9c7 62 volatile int countsPrev = 0;
freek100 0:e4858e2df9c7 63 volatile int deltaCounts;
freek100 0:e4858e2df9c7 64
freek100 0:e4858e2df9c7 65 float factorin = 6.23185/64; // Convert encoder counts to angle in rad
freek100 0:e4858e2df9c7 66 float gearratio = 131.25; // Gear ratio of gearbox
freek100 0:e4858e2df9c7 67
freek100 2:d7286c36595f 68
freek100 2:d7286c36595f 69 float PID_controller(float e){
freek100 2:d7286c36595f 70 static float error_integral=0;
freek100 3:07fedd2e252c 71 static float e_prev=e;
freek100 3:07fedd2e252c 72 static BiQuad LowPassFilter(0.0640,0.1279,0.0640,-1.1683,0.4241);
freek100 2:d7286c36595f 73
freek100 2:d7286c36595f 74 //Proportional part:
freek100 8:c6c94d55b088 75 Kp=2*potmeter2.read();
freek100 2:d7286c36595f 76 u_k=Kp*e;
freek100 2:d7286c36595f 77
freek100 2:d7286c36595f 78 //Integral part
freek100 8:c6c94d55b088 79 Ki=2*potmeter3.read();
freek100 2:d7286c36595f 80 error_integral=error_integral+e*Ts;
freek100 2:d7286c36595f 81 u_i=Ki*error_integral;
freek100 2:d7286c36595f 82
freek100 3:07fedd2e252c 83 //Derivative part
freek100 8:c6c94d55b088 84 Kd=2*potmeter4.read();
freek100 3:07fedd2e252c 85 float error_derivative =(e-e_prev)/Ts;
freek100 3:07fedd2e252c 86 float filtered_error_derivative = LowPassFilter.step(error_derivative);
freek100 3:07fedd2e252c 87 u_d=Kd*filtered_error_derivative;
freek100 3:07fedd2e252c 88 e_prev=e;
freek100 3:07fedd2e252c 89
freek100 2:d7286c36595f 90 // Sum and return
freek100 3:07fedd2e252c 91 return u_k+u_i+u_d;
freek100 2:d7286c36595f 92 }
freek100 2:d7286c36595f 93
freek100 4:e7d50c6a7c53 94
freek100 4:e7d50c6a7c53 95 void readEncoder()
freek100 4:e7d50c6a7c53 96 {
freek100 4:e7d50c6a7c53 97 counts = encoder.getPulses();
freek100 4:e7d50c6a7c53 98 deltaCounts = counts - countsPrev;
freek100 4:e7d50c6a7c53 99
freek100 4:e7d50c6a7c53 100 countsPrev = counts;
freek100 4:e7d50c6a7c53 101 }
freek100 0:e4858e2df9c7 102 void motorControl()
freek100 0:e4858e2df9c7 103 {
freek100 1:08e8cc33fcae 104 angle = counts * factorin / gearratio; // Angle of motor shaft in rad
freek100 2:d7286c36595f 105 omega = deltaCounts / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s
freek100 6:1c0b6e55e900 106 potValue= potmeter1.read();
freek100 1:08e8cc33fcae 107 u1= (potValue*2*pi2)-pi2;
freek100 2:d7286c36595f 108 e=u1-angle;
freek100 2:d7286c36595f 109
freek100 2:d7286c36595f 110 u2=PID_controller(e);
freek100 2:d7286c36595f 111
freek100 2:d7286c36595f 112 motorpwm= abs(u2);
freek100 1:08e8cc33fcae 113 if (u2<0){
freek100 0:e4858e2df9c7 114 motordir= 0;}
freek100 0:e4858e2df9c7 115 else {
freek100 0:e4858e2df9c7 116 motordir= 1;}
freek100 5:17aa878564d0 117 motor1Power.pulsewidth(motorpwm * PWM_period*motor1Toggle );
freek100 0:e4858e2df9c7 118 motor1Direction= motordir;
freek100 0:e4858e2df9c7 119 }
freek100 0:e4858e2df9c7 120
freek100 4:e7d50c6a7c53 121 void Plotje()
freek100 1:08e8cc33fcae 122 {
freek100 4:e7d50c6a7c53 123 scope.set(0,u1); //gewenste hoek
freek100 4:e7d50c6a7c53 124 scope.set(1,angle); //Gemeten hoek
freek100 4:e7d50c6a7c53 125 scope.set(2,e); //verschil in gewenste en gemeten hoek
freek100 1:08e8cc33fcae 126
freek100 4:e7d50c6a7c53 127 scope.send(); //send what's in scope memory to PC
freek100 1:08e8cc33fcae 128 }
freek100 0:e4858e2df9c7 129
freek100 5:17aa878564d0 130 void toggleMotor()
freek100 5:17aa878564d0 131 {
freek100 5:17aa878564d0 132 motor1Toggle = !motor1Toggle;
freek100 5:17aa878564d0 133 }
freek100 4:e7d50c6a7c53 134
freek100 0:e4858e2df9c7 135 int main()
freek100 0:e4858e2df9c7 136 {
freek100 0:e4858e2df9c7 137 pc.baud(115200);
freek100 0:e4858e2df9c7 138 pc.printf("\r\nStarting...\r\n\r\n");
freek100 0:e4858e2df9c7 139
freek100 0:e4858e2df9c7 140 motor1Power.period(PWM_period);
freek100 0:e4858e2df9c7 141 motorTicker.attach(motorControl, 0.01);
freek100 4:e7d50c6a7c53 142 scopeTicker.attach(Plotje, 0.01);
freek100 2:d7286c36595f 143 encoderTicker.attach(readEncoder, Ts);
freek100 5:17aa878564d0 144
freek100 5:17aa878564d0 145 button2.fall(&toggleMotor);
freek100 0:e4858e2df9c7 146 while (true) {
freek100 0:e4858e2df9c7 147
freek100 7:20a802dfe664 148 //pc.printf("Potmeter: %d \r\n", potValue,);
freek100 7:20a802dfe664 149 //pc.printf("Counts: %i DeltaCounts: %i\r\n", counts, deltaCounts);
freek100 1:08e8cc33fcae 150 pc.printf("Angle: %f Omega: %f\r\n", angle, omega);
freek100 2:d7286c36595f 151 pc.printf("U1: %f Error: %f \r\n",u1, e);
freek100 7:20a802dfe664 152 pc.printf("Kp: %f Kd: %f Ki: %f \r\n", Kp, Kd, Ki);
freek100 6:1c0b6e55e900 153
freek100 0:e4858e2df9c7 154 wait(0.5);
freek100 0:e4858e2df9c7 155 }
freek100 0:e4858e2df9c7 156 }