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Moet dit er bij
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- BasB
- Date:
- 2019-10-28
- Revision:
- 0:335646ab45c0
- Child:
- 1:a76fd17e18b3
File content as of revision 0:335646ab45c0:
#include "mbed.h" #include "HIDScope.h" #include "QEI.h" #include "MODSERIAL.h" #include "BiQuad.h" #include "FastPWM.h" // 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); AnalogIn potmeter4(A3); // Encoder DigitalIn encA1(D9); DigitalIn encB1(D8); DigitalIn encA2(D13); DigitalIn encB2(D13); QEI encoder1(D9,D8,NC,64,QEI::X4_ENCODING); //Encoding motor 1 QEI encoder2(D13,D12,NC,64,QEI::X4_ENCODING); //Encoding motor 2 float Ts = 0.01; //Sample time float motor1angle; //Measured angle motor 1 float motor2angle; //Measured angle motor 2 float omega1; //velocity rad/s motor 1 float omega2; //Velocity rad/s motor2 float deg2rad=0.0174532; //Conversion factor degree to rad float rad2deg=57.29578; //Conversion factor rad to degree // Motor DigitalOut motor2Direction(D4); FastPWM motor2Power(D5); DigitalOut motor1Direction(D7); FastPWM motor1Power(D6); volatile int motortoggle = 1; //Toggle to stop motors //Motorcontrol bool motordir1; bool motordir2; float motor1ref=0.1745; float motor2ref=0.0873; double controlsignal1; double controlsignal2; double pi2= 6.283185; float motor1error; //motor 1 error float motor2error; float Kp=0.27; float Ki=0.35; float Kd=0.1; float u_p1; float u_p2; float u_i1; float u_i2; //Windup control float ux1; float ux2; float up1; //Proportional contribution motor 1 float up2; //Proportional contribution motor 2 float ek1; float ek2; float ei1= 0.0; //Error integral motor 1 float ei2=0.0; //Error integral motor 2 float Ka= 1.0; //Integral windup gain //RKI float Vx=0.0; //Desired linear velocity x direction float Vy=0.0; //Desired linear velocity y direction float q1=0.0f*deg2rad; //Angle of first joint [rad] float q2=-135.0f*deg2rad; //Angle of second joint [rad] float q1dot; //Velocity of first joint [rad/s] float q2dot; //Velocity of second joint [rad/s] float l1=26.0; //Distance base-link [cm] float l2=62.0; //Distance link-endpoint [cm] float xe; //Endpoint x position [cm] float ye; //Endpoint y position [cm] //Hidscope HIDScope scope(6); //Going to send x channels of data. To access data go to 'http:/localhost:18082/' after starting HIDScope application. // PC connection MODSERIAL pc(USBTX, USBRX); // Intializing tickers Ticker motorTicker; Ticker controlTicker; Ticker directionTicker; Ticker encoderTicker; Ticker scopeTicker; const float PWM_period = 1e-6; volatile int counts1; // Encoder counts volatile int counts2; volatile int countsPrev1 = 0; volatile int countsPrev2 = 0; volatile int deltaCounts1; volatile int deltaCounts2; float factorin = 6.23185/64; // Convert encoder counts to angle in rad float gearratio = 131.25; // Gear ratio of gearbox float PID_controller1(float motor1error){ static float error_integral1=0; static float e_prev1=motor1error; //Proportional part: u_p1=Kp*motor1error; //Integral part error_integral1=error_integral1+ei1*Ts; u_i1=Ki*error_integral1; //Derivative part float error_derivative1=(motor1error-e_prev1)/Ts; float u_d1=Kd*error_derivative1; e_prev1=motor1error; // Sum and limit up1= u_p1+u_i1+u_d1; if (up1>1){ controlsignal1=1;} else if (up1<-1){ controlsignal1=-1;} else { controlsignal1=up1;} // To prevent windup ux1= up1-controlsignal1; ek1= Ka*ux1; ei1= motor1error-ek1; //Return return controlsignal1; } float PID_controller2(float motor2error){ static float error_integral2=0; static float e_prev2=motor2error; //Proportional part: u_p2=Kp*motor2error; //Integral part error_integral2=error_integral2+ei2*Ts; u_i2=Ki*error_integral2; //Derivative part float error_derivative2=(motor2error-e_prev2)/Ts; float u_d2=Kd*error_derivative2; e_prev2=motor2error; // Sum and limit up2= u_p2+u_i2+u_d2; if (up2>1){ controlsignal2=1;} else if (up2<-1){ controlsignal2=-1;} else { controlsignal2=up2;} // To prevent windup ux2= up2-controlsignal2; ek2= Ka*ux2; ei2= motor2error-ek2; //Return return controlsignal2; } void readEncoder() { counts1 = encoder1.getPulses(); deltaCounts1 = counts1 - countsPrev1; countsPrev1 = counts1; counts2 = encoder2.getPulses(); deltaCounts2 = counts2 - countsPrev2; countsPrev2 = counts2; } void togglehoek(){ // static float t=0; // Vy=6.0f*sin(50.0f*t); // t+=0.01f; } void RKI(){ //Vy=potmeter1.read()*10.0*motortoggle; //Vy=potmeter2.read()*10*motortoggle; static float t=0; Vx=6.0f*sin(1.0f*t); t+=0.01f; //Vx=-1.0*; Vy=0.0f; q1dot=(l2*cos(q1+q2)*Vx+l2*sin(q1+q2)*Vy)/((-l1*sin(q1)-l2*sin(q1+q2))*l2*cos(q1+q2)+l2*sin(q1+q2)*(l1*cos(q1)+l2*cos(q1+q2))); q2dot=((-l1*cos(q1)-l2*cos(q1+q2))*Vx+(-l1*sin(q1)-l2*sin(q1+q2))*Vy)/((-l1*sin(q1)-l2*sin(q1+q2))*l2*cos(q1+q2)+l2*sin(q1+q2)*(l1*cos(q1)+l2*cos(q1+q2))); q1=q1+q1dot*Ts; q2=q2+q2dot*Ts; xe=l1*cos(q1)+l2*cos(q1+q2); ye=l1*sin(q1)+l2*sin(q1+q2); if (q1<0.0f){ q1=0.0;} else if (q1>90.0f*deg2rad){ q1=90.0f*deg2rad;} else{ q1=q1;} if (q2>-45.0*deg2rad){ q2=-45.0*deg2rad;} else if (q2<-135.0*deg2rad){ q2=-135.0*deg2rad;} else{ q2=q2;} motor1ref=5.5f*q1+5.5f*q2; motor2ref=2.75f*q1; } void motorControl() { button1.fall(&togglehoek); RKI(); motor1angle = (counts1 * factorin / gearratio)-(135.0*5.5*deg2rad); // Angle of motor shaft in rad omega1 = deltaCounts1 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s motor1error=motor1ref-motor1angle; controlsignal1=PID_controller1(motor1error); if (controlsignal1<0){ motordir1= 0;} else { motordir1= 1;} motor1Power.write(abs(controlsignal1*motortoggle)); motor1Direction= motordir1; motor2angle = (counts2 * factorin / gearratio); // Angle of motor shaft in rad omega2 = deltaCounts2 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s motor2error=motor2ref-motor2angle; controlsignal2=PID_controller2(motor2error); if (controlsignal2<0){ motordir2= 0;} else { motordir2= 1;} motor2Power.write(abs(controlsignal2*motortoggle)); motor2Direction= motordir2; } void Plotje(){ scope.set(0,q1*rad2deg); //gewenste hoek scope.set(1,motor1angle/5.5f*rad2deg); //Gemeten hoek scope.set(2,motor1error/5.5f*rad2deg); //verschil in gewenste en gemeten hoek scope.set(3,q2*rad2deg); //gewenste hoek scope.set(4,motor2angle/5.5f*rad2deg); //Gemeten hoek scope.set(5,motor2error/5.5f*rad2deg); //verschil in gewenste en gemeten hoek scope.send(); //send what's in scope memory to PC } void toggleMotor() { motortoggle = !motortoggle; } int main() { pc.baud(115200); pc.printf("\r\nStarting...\r\n\r\n"); motor1Power.period(PWM_period); motor2Power.period(PWM_period); motorTicker.attach(motorControl, 0.01); scopeTicker.attach(Plotje, 0.01); encoderTicker.attach(readEncoder, Ts); button2.fall(&toggleMotor); while (true) { // pc.printf("Angle1: %f Omega1: %f\r\n", motor1angle, omega1); // pc.printf("refangle1: %f Error1: %f \r\n",motor1ref, motor1error); // pc.printf("Angle2: %f Omega2: %f\r\n", motor2angle, omega2); // pc.printf("refangle2: %f Error2: %f \r\n",motor2ref, motor2error); // pc.printf("controlsignal2: %d \r\n", controlsignal2); // pc.printf("Vx: %f Vy: %f \r\n",Vx,Vy); // pc.printf("q1dot: %f q2dot: %f \r\n",q1dot,q2dot); pc.printf("q1: %f q1dot: %f motor1ref: %f motor1angle: %f\r\n", q1*rad2deg, q1dot*rad2deg, motor1ref*rad2deg, motor1angle*rad2deg); pc.printf("q2: %f q2dot: %f motor2ref: %f motor2angle: %f\r\n", q2*rad2deg, q2dot*rad2deg, motor2ref*rad2deg, motor2angle*rad2deg); pc.printf("X: %f Y: %f\r\n",xe,ye); wait(0.5); } }