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Moet dit er bij
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- BasB
- Date:
- 2019-10-28
- Revision:
- 1:a76fd17e18b3
- Parent:
- 0:335646ab45c0
- Child:
- 2:7ea5ae2287a7
File content as of revision 1:a76fd17e18b3:
#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 // Vanaf hier is het misschien belangrijk void readEncoder() { counts1 = encoder1.getPulses(); deltaCounts1 = counts1 - countsPrev1; countsPrev1 = counts1; counts2 = encoder2.getPulses(); deltaCounts2 = counts2 - countsPrev2; countsPrev2 = counts2; } void motorCalibration1() { button1.fall(&togglehoek); motor1angle = (counts1 * factorin / gearratio); // Angle of motor shaft in rad omega1 = deltaCounts1 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s float potmeter=potmeter1.read(); controlsignal1=potmeter; motor1Power.write(abs(controlsignal1*motortoggle)); motor1Direction=1; //Dit moet je doen zolang omega motor 1 > 0.iets //State switch //Dan motor 2 tot omega < 0.iets } void motorCalibration2(){ float potmeter=potmeter1.read(); button1.fall(&togglehoek); motor1angle = (counts1 * factorin / gearratio); // Angle of motor shaft in rad omega1 = deltaCounts1 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s controlsignal1=potmeter; motor1Power.write(abs(controlsignal1*motortoggle)); motor1Direction=1; motor2angle = (counts2 * factorin / gearratio); // Angle of motor shaft in rad omega2 = deltaCounts2 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s controlsignal2=potmeter; motor2Power.write(abs(controlsignal2*motortoggle)); motor2Direction=1; //Dit moet je doen zolang omega van motor 2 > 0.iets } 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(motorCalibration1, 0.01); //Dit moet je doen zolang omega < 0.iets motorTicker.attack(motorCalibration2, 0.01); scopeTicker.attach(Plotje, 0.01); encoderTicker.attach(readEncoder, Ts); button2.fall(&toggleMotor); while (true) { pc.printf("Omega1: %f Omega 2: %f Potmeter: %f \r\n", omega1, omega2, potmeter); wait(0.5); } }