M9 Biorobotics Group 8 / Mbed 2 deprecated MotorControlv2

Motor control

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@10:b871d1b05787, 2019-10-14 (annotated)

Committer:
BasB
Date:
Mon Oct 14 14:28:37 2019 +0000
Revision:
10:b871d1b05787
Parent:
9:08a7a8e59a6a
Child:
11:94a4dd7ed05c
Dit is zegmaar de versie aan het eind van maandag 14-10. Sinus volgen met PI controller, P en I aan te passen met potmeters

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);
BasB 10:b871d1b05787 11 InterruptIn buttonsw2(SW2);
BasB 10:b871d1b05787 12 InterruptIn buttonsw3(SW3);
freek100 6:1c0b6e55e900 13 AnalogIn potmeter1(A0);
freek100 6:1c0b6e55e900 14 AnalogIn potmeter2(A1);
freek100 8:c6c94d55b088 15 AnalogIn potmeter3(A2);
BasB 9:08a7a8e59a6a 16 AnalogIn potmeter4(A3);
freek100 0:e4858e2df9c7 17 // Encoder
freek100 0:e4858e2df9c7 18 DigitalIn encA(D13);
freek100 0:e4858e2df9c7 19 DigitalIn encB(D12);
freek100 0:e4858e2df9c7 20 QEI encoder(D13,D12,NC,64,QEI::X4_ENCODING);
freek100 2:d7286c36595f 21 float Ts = 0.01;
freek100 1:08e8cc33fcae 22 float angle;
freek100 1:08e8cc33fcae 23 float omega;
freek100 1:08e8cc33fcae 24
freek100 0:e4858e2df9c7 25
freek100 0:e4858e2df9c7 26 // Motor
freek100 0:e4858e2df9c7 27 DigitalOut motor2Direction(D4);
freek100 0:e4858e2df9c7 28 FastPWM motor2Power(D5);
freek100 0:e4858e2df9c7 29 DigitalOut motor1Direction(D7);
freek100 0:e4858e2df9c7 30 FastPWM motor1Power(D6);
freek100 0:e4858e2df9c7 31
freek100 5:17aa878564d0 32 volatile int motor1Toggle = 1;
freek100 5:17aa878564d0 33
freek100 0:e4858e2df9c7 34 //Motorcontrol
freek100 0:e4858e2df9c7 35 bool motordir;
freek100 0:e4858e2df9c7 36 double motorpwm;
BasB 10:b871d1b05787 37 double premotorpwm;
BasB 9:08a7a8e59a6a 38 float u1= 0;
freek100 1:08e8cc33fcae 39 double u2;
freek100 0:e4858e2df9c7 40 double potValue;
freek100 1:08e8cc33fcae 41 double pi2= 6.283185;
freek100 2:d7286c36595f 42 float e; //e = error
BasB 10:b871d1b05787 43 float Kp=0.49;
freek100 8:c6c94d55b088 44 float Ki;
freek100 2:d7286c36595f 45 float u_k;
freek100 2:d7286c36595f 46 float u_i;
freek100 3:07fedd2e252c 47
freek100 4:e7d50c6a7c53 48 //Hidscope
freek100 4:e7d50c6a7c53 49 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 50 // PC connection
freek100 0:e4858e2df9c7 51 MODSERIAL pc(USBTX, USBRX);
freek100 0:e4858e2df9c7 52
freek100 0:e4858e2df9c7 53 // Intializing tickers
freek100 0:e4858e2df9c7 54 Ticker motorTicker;
freek100 0:e4858e2df9c7 55 Ticker controlTicker;
freek100 0:e4858e2df9c7 56 Ticker directionTicker;
freek100 1:08e8cc33fcae 57 Ticker encoderTicker;
freek100 4:e7d50c6a7c53 58 Ticker scopeTicker;
freek100 0:e4858e2df9c7 59
freek100 0:e4858e2df9c7 60 const float PWM_period = 1e-6;
freek100 0:e4858e2df9c7 61
freek100 0:e4858e2df9c7 62 volatile int counts; // Encoder counts
freek100 0:e4858e2df9c7 63 volatile int countsPrev = 0;
freek100 0:e4858e2df9c7 64 volatile int deltaCounts;
freek100 0:e4858e2df9c7 65
freek100 0:e4858e2df9c7 66 float factorin = 6.23185/64; // Convert encoder counts to angle in rad
freek100 0:e4858e2df9c7 67 float gearratio = 131.25; // Gear ratio of gearbox
freek100 0:e4858e2df9c7 68
freek100 2:d7286c36595f 69
freek100 2:d7286c36595f 70 float PID_controller(float e){
freek100 2:d7286c36595f 71 static float error_integral=0;
freek100 3:07fedd2e252c 72 static float e_prev=e;
freek100 2:d7286c36595f 73
freek100 2:d7286c36595f 74 //Proportional part:
BasB 10:b871d1b05787 75 Kp=potmeter1.read();
freek100 2:d7286c36595f 76 u_k=Kp*e;
freek100 2:d7286c36595f 77
freek100 2:d7286c36595f 78 //Integral part
BasB 10:b871d1b05787 79 Ki=potmeter2.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 2:d7286c36595f 83 // Sum and return
BasB 10:b871d1b05787 84 return u_k+u_i;
freek100 2:d7286c36595f 85 }
freek100 2:d7286c36595f 86
freek100 4:e7d50c6a7c53 87
freek100 4:e7d50c6a7c53 88 void readEncoder()
freek100 4:e7d50c6a7c53 89 {
freek100 4:e7d50c6a7c53 90 counts = encoder.getPulses();
freek100 4:e7d50c6a7c53 91 deltaCounts = counts - countsPrev;
freek100 4:e7d50c6a7c53 92
freek100 4:e7d50c6a7c53 93 countsPrev = counts;
freek100 4:e7d50c6a7c53 94 }
BasB 9:08a7a8e59a6a 95
BasB 9:08a7a8e59a6a 96 void togglehoek(){
BasB 10:b871d1b05787 97 static float t = 0;
BasB 10:b871d1b05787 98 u1= pi2/3.0f*sin(5.0f*t)*motor1Toggle;
BasB 10:b871d1b05787 99 t+=0.01;
BasB 9:08a7a8e59a6a 100 }
BasB 9:08a7a8e59a6a 101
freek100 0:e4858e2df9c7 102 void motorControl()
freek100 0:e4858e2df9c7 103 {
BasB 10:b871d1b05787 104 togglehoek();
BasB 10:b871d1b05787 105 //button1.fall(&togglehoek);
freek100 1:08e8cc33fcae 106 angle = counts * factorin / gearratio; // Angle of motor shaft in rad
freek100 2:d7286c36595f 107 omega = deltaCounts / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s
freek100 6:1c0b6e55e900 108 potValue= potmeter1.read();
BasB 9:08a7a8e59a6a 109 //u1= (potValue*2*pi2)-pi2;
freek100 2:d7286c36595f 110 e=u1-angle;
freek100 2:d7286c36595f 111
freek100 2:d7286c36595f 112 u2=PID_controller(e);
freek100 2:d7286c36595f 113
BasB 10:b871d1b05787 114 premotorpwm= fabs(u2);
BasB 10:b871d1b05787 115 if (premotorpwm>1.0){
BasB 10:b871d1b05787 116 motorpwm=1;}
BasB 10:b871d1b05787 117 else {
BasB 10:b871d1b05787 118 motorpwm=premotorpwm;}
freek100 1:08e8cc33fcae 119 if (u2<0){
freek100 0:e4858e2df9c7 120 motordir= 0;}
freek100 0:e4858e2df9c7 121 else {
freek100 0:e4858e2df9c7 122 motordir= 1;}
BasB 10:b871d1b05787 123 motor1Power.write(motorpwm);
freek100 0:e4858e2df9c7 124 motor1Direction= motordir;
freek100 0:e4858e2df9c7 125 }
freek100 0:e4858e2df9c7 126
BasB 10:b871d1b05787 127 void Plotje(){
freek100 4:e7d50c6a7c53 128 scope.set(0,u1); //gewenste hoek
freek100 4:e7d50c6a7c53 129 scope.set(1,angle); //Gemeten hoek
freek100 4:e7d50c6a7c53 130 scope.set(2,e); //verschil in gewenste en gemeten hoek
freek100 1:08e8cc33fcae 131
freek100 4:e7d50c6a7c53 132 scope.send(); //send what's in scope memory to PC
freek100 1:08e8cc33fcae 133 }
freek100 0:e4858e2df9c7 134
freek100 5:17aa878564d0 135 void toggleMotor()
freek100 5:17aa878564d0 136 {
freek100 5:17aa878564d0 137 motor1Toggle = !motor1Toggle;
freek100 5:17aa878564d0 138 }
freek100 4:e7d50c6a7c53 139
freek100 0:e4858e2df9c7 140 int main()
freek100 0:e4858e2df9c7 141 {
freek100 0:e4858e2df9c7 142 pc.baud(115200);
freek100 0:e4858e2df9c7 143 pc.printf("\r\nStarting...\r\n\r\n");
freek100 0:e4858e2df9c7 144
freek100 0:e4858e2df9c7 145 motor1Power.period(PWM_period);
freek100 0:e4858e2df9c7 146 motorTicker.attach(motorControl, 0.01);
freek100 4:e7d50c6a7c53 147 scopeTicker.attach(Plotje, 0.01);
freek100 2:d7286c36595f 148 encoderTicker.attach(readEncoder, Ts);
freek100 5:17aa878564d0 149
freek100 5:17aa878564d0 150 button2.fall(&toggleMotor);
BasB 9:08a7a8e59a6a 151
freek100 0:e4858e2df9c7 152 while (true) {
freek100 0:e4858e2df9c7 153
freek100 7:20a802dfe664 154 //pc.printf("Potmeter: %d \r\n", potValue,);
freek100 7:20a802dfe664 155 //pc.printf("Counts: %i DeltaCounts: %i\r\n", counts, deltaCounts);
freek100 1:08e8cc33fcae 156 pc.printf("Angle: %f Omega: %f\r\n", angle, omega);
freek100 2:d7286c36595f 157 pc.printf("U1: %f Error: %f \r\n",u1, e);
BasB 10:b871d1b05787 158 pc.printf("Kp: %f Ki: %f \r\n", Kp, Ki);
freek100 6:1c0b6e55e900 159
freek100 0:e4858e2df9c7 160 wait(0.5);
freek100 0:e4858e2df9c7 161 }
freek100 0:e4858e2df9c7 162 }