Motor control
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 10:b871d1b05787
- Parent:
- 9:08a7a8e59a6a
- Child:
- 11:94a4dd7ed05c
diff -r 08a7a8e59a6a -r b871d1b05787 main.cpp --- a/main.cpp Mon Oct 14 09:06:08 2019 +0000 +++ b/main.cpp Mon Oct 14 14:28:37 2019 +0000 @@ -8,6 +8,8 @@ // Button and potmeter1 control InterruptIn button1(D11); InterruptIn button2(D10); +InterruptIn buttonsw2(SW2); +InterruptIn buttonsw3(SW3); AnalogIn potmeter1(A0); AnalogIn potmeter2(A1); AnalogIn potmeter3(A2); @@ -32,17 +34,16 @@ //Motorcontrol bool motordir; double motorpwm; +double premotorpwm; float u1= 0; double u2; double potValue; double pi2= 6.283185; float e; //e = error -float Kp; +float Kp=0.49; float Ki; -float Kd; float u_k; float u_i; -float u_d; //Hidscope HIDScope scope(3); //Going to send 3 channels of data. To access data go to 'http:/localhost:18082/' after starting HIDScope application. @@ -69,28 +70,18 @@ float PID_controller(float e){ static float error_integral=0; static float e_prev=e; - static BiQuad LowPassFilter(0.0640,0.1279,0.0640,-1.1683,0.4241); //Proportional part: - //Kp=2*potmeter1.read(); - Kp=101; + Kp=potmeter1.read(); u_k=Kp*e; //Integral part - Ki=10; + Ki=potmeter2.read(); error_integral=error_integral+e*Ts; u_i=Ki*error_integral; - //Derivative part - //Kd=2*potmeter2.read(); - Kd=10; - float error_derivative =(e-e_prev)/Ts; - float filtered_error_derivative = LowPassFilter.step(error_derivative); - u_d=Kd*filtered_error_derivative; - e_prev=e; - // Sum and return - return u_k+u_i+u_d; + return u_k+u_i; } @@ -103,12 +94,15 @@ } void togglehoek(){ - u1= 0.25*pi2+u1; + static float t = 0; + u1= pi2/3.0f*sin(5.0f*t)*motor1Toggle; + t+=0.01; } void motorControl() { - button1.fall(&togglehoek); + togglehoek(); + //button1.fall(&togglehoek); angle = counts * factorin / gearratio; // Angle of motor shaft in rad omega = deltaCounts / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s potValue= potmeter1.read(); @@ -117,17 +111,20 @@ u2=PID_controller(e); - motorpwm= abs(u2); + premotorpwm= fabs(u2); + if (premotorpwm>1.0){ + motorpwm=1;} + else { + motorpwm=premotorpwm;} if (u2<0){ motordir= 0;} else { motordir= 1;} - motor1Power.pulsewidth(motorpwm * PWM_period*motor1Toggle ); + motor1Power.write(motorpwm); motor1Direction= motordir; } -void Plotje() -{ +void Plotje(){ scope.set(0,u1); //gewenste hoek scope.set(1,angle); //Gemeten hoek scope.set(2,e); //verschil in gewenste en gemeten hoek @@ -158,7 +155,7 @@ //pc.printf("Counts: %i DeltaCounts: %i\r\n", counts, deltaCounts); pc.printf("Angle: %f Omega: %f\r\n", angle, omega); pc.printf("U1: %f Error: %f \r\n",u1, e); - pc.printf("Kp: %f Kd: %f Ki: %f \r\n", Kp, Kd, Ki); + pc.printf("Kp: %f Ki: %f \r\n", Kp, Ki); wait(0.5); }