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Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@8:3cfc8be293d3, 2019-10-29 (annotated)
- Committer:
- BasB
- Date:
- Tue Oct 29 16:42:46 2019 +0000
- Revision:
- 8:3cfc8be293d3
- Parent:
- 7:676a83def149
- Child:
- 9:298469a70280
Werkende calibratie [handmatig]
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
BasB | 0:335646ab45c0 | 1 | #include "mbed.h" |
BasB | 0:335646ab45c0 | 2 | #include "HIDScope.h" |
BasB | 0:335646ab45c0 | 3 | #include "QEI.h" |
BasB | 0:335646ab45c0 | 4 | #include "MODSERIAL.h" |
BasB | 0:335646ab45c0 | 5 | #include "BiQuad.h" |
BasB | 0:335646ab45c0 | 6 | #include "FastPWM.h" |
BasB | 0:335646ab45c0 | 7 | |
BasB | 0:335646ab45c0 | 8 | // Button and potmeter1 control |
BasB | 0:335646ab45c0 | 9 | InterruptIn button1(D11); |
BasB | 0:335646ab45c0 | 10 | InterruptIn button2(D10); |
BasB | 0:335646ab45c0 | 11 | InterruptIn buttonsw2(SW2); |
BasB | 0:335646ab45c0 | 12 | InterruptIn buttonsw3(SW3); |
BasB | 0:335646ab45c0 | 13 | AnalogIn potmeter1(A0); |
BasB | 0:335646ab45c0 | 14 | AnalogIn potmeter2(A1); |
BasB | 0:335646ab45c0 | 15 | AnalogIn potmeter3(A2); |
BasB | 0:335646ab45c0 | 16 | AnalogIn potmeter4(A3); |
BasB | 2:7ea5ae2287a7 | 17 | |
BasB | 0:335646ab45c0 | 18 | // Encoder |
BasB | 0:335646ab45c0 | 19 | DigitalIn encA1(D9); |
BasB | 0:335646ab45c0 | 20 | DigitalIn encB1(D8); |
BasB | 0:335646ab45c0 | 21 | DigitalIn encA2(D13); |
BasB | 0:335646ab45c0 | 22 | DigitalIn encB2(D13); |
BasB | 0:335646ab45c0 | 23 | QEI encoder1(D9,D8,NC,64,QEI::X4_ENCODING); //Encoding motor 1 |
BasB | 0:335646ab45c0 | 24 | QEI encoder2(D13,D12,NC,64,QEI::X4_ENCODING); //Encoding motor 2 |
BasB | 0:335646ab45c0 | 25 | float Ts = 0.01; //Sample time |
BasB | 0:335646ab45c0 | 26 | float motor1angle; //Measured angle motor 1 |
BasB | 0:335646ab45c0 | 27 | float motor2angle; //Measured angle motor 2 |
BasB | 7:676a83def149 | 28 | float motor1offset; //Offset bij calibratie |
BasB | 7:676a83def149 | 29 | float motor2offset; |
BasB | 2:7ea5ae2287a7 | 30 | float potmeter; |
BasB | 4:1e8da6b5f147 | 31 | float omega1; //velocity rad/s motor 1 |
BasB | 0:335646ab45c0 | 32 | float omega2; //Velocity rad/s motor2 |
BasB | 0:335646ab45c0 | 33 | float deg2rad=0.0174532; //Conversion factor degree to rad |
BasB | 0:335646ab45c0 | 34 | float rad2deg=57.29578; //Conversion factor rad to degree |
BasB | 0:335646ab45c0 | 35 | |
BasB | 0:335646ab45c0 | 36 | |
BasB | 0:335646ab45c0 | 37 | // Motor |
BasB | 0:335646ab45c0 | 38 | DigitalOut motor2Direction(D4); |
BasB | 0:335646ab45c0 | 39 | FastPWM motor2Power(D5); |
BasB | 0:335646ab45c0 | 40 | DigitalOut motor1Direction(D7); |
BasB | 0:335646ab45c0 | 41 | FastPWM motor1Power(D6); |
BasB | 0:335646ab45c0 | 42 | |
BasB | 0:335646ab45c0 | 43 | //Motorcontrol |
BasB | 0:335646ab45c0 | 44 | bool motordir1; |
BasB | 0:335646ab45c0 | 45 | bool motordir2; |
BasB | 0:335646ab45c0 | 46 | float motor1ref=0.1745; |
BasB | 0:335646ab45c0 | 47 | float motor2ref=0.0873; |
BasB | 0:335646ab45c0 | 48 | double controlsignal1; |
BasB | 0:335646ab45c0 | 49 | double controlsignal2; |
BasB | 0:335646ab45c0 | 50 | double pi2= 6.283185; |
BasB | 0:335646ab45c0 | 51 | float motor1error; //motor 1 error |
BasB | 0:335646ab45c0 | 52 | float motor2error; |
BasB | 0:335646ab45c0 | 53 | float Kp=0.27; |
BasB | 0:335646ab45c0 | 54 | float Ki=0.35; |
BasB | 0:335646ab45c0 | 55 | float Kd=0.1; |
BasB | 0:335646ab45c0 | 56 | float u_p1; |
BasB | 0:335646ab45c0 | 57 | float u_p2; |
BasB | 0:335646ab45c0 | 58 | float u_i1; |
BasB | 0:335646ab45c0 | 59 | float u_i2; |
BasB | 0:335646ab45c0 | 60 | |
BasB | 0:335646ab45c0 | 61 | //Windup control |
BasB | 0:335646ab45c0 | 62 | float ux1; |
BasB | 0:335646ab45c0 | 63 | float ux2; |
BasB | 0:335646ab45c0 | 64 | float up1; //Proportional contribution motor 1 |
BasB | 0:335646ab45c0 | 65 | float up2; //Proportional contribution motor 2 |
BasB | 0:335646ab45c0 | 66 | float ek1; |
BasB | 0:335646ab45c0 | 67 | float ek2; |
BasB | 0:335646ab45c0 | 68 | float ei1= 0.0; //Error integral motor 1 |
BasB | 0:335646ab45c0 | 69 | float ei2=0.0; //Error integral motor 2 |
BasB | 0:335646ab45c0 | 70 | float Ka= 1.0; //Integral windup gain |
BasB | 0:335646ab45c0 | 71 | |
BasB | 0:335646ab45c0 | 72 | //RKI |
BasB | 0:335646ab45c0 | 73 | float Vx=0.0; //Desired linear velocity x direction |
BasB | 0:335646ab45c0 | 74 | float Vy=0.0; //Desired linear velocity y direction |
BasB | 0:335646ab45c0 | 75 | float q1=0.0f*deg2rad; //Angle of first joint [rad] |
BasB | 0:335646ab45c0 | 76 | float q2=-135.0f*deg2rad; //Angle of second joint [rad] |
BasB | 0:335646ab45c0 | 77 | float q1dot; //Velocity of first joint [rad/s] |
BasB | 0:335646ab45c0 | 78 | float q2dot; //Velocity of second joint [rad/s] |
BasB | 0:335646ab45c0 | 79 | float l1=26.0; //Distance base-link [cm] |
BasB | 0:335646ab45c0 | 80 | float l2=62.0; //Distance link-endpoint [cm] |
BasB | 0:335646ab45c0 | 81 | float xe; //Endpoint x position [cm] |
BasB | 0:335646ab45c0 | 82 | float ye; //Endpoint y position [cm] |
BasB | 0:335646ab45c0 | 83 | |
BasB | 0:335646ab45c0 | 84 | //Hidscope |
BasB | 0:335646ab45c0 | 85 | HIDScope scope(6); //Going to send x channels of data. To access data go to 'http:/localhost:18082/' after starting HIDScope application. |
BasB | 0:335646ab45c0 | 86 | |
BasB | 3:6e28b992b99e | 87 | //State maschine |
BasB | 8:3cfc8be293d3 | 88 | enum Motor_States{motor_wait , motor_encoderset}; |
BasB | 3:6e28b992b99e | 89 | Motor_States motor_curr_state; |
BasB | 3:6e28b992b99e | 90 | bool motor_state_changed = true; |
BasB | 3:6e28b992b99e | 91 | bool motor_cal1_done = false; |
BasB | 3:6e28b992b99e | 92 | bool motor_cal2_done = false; |
BasB | 3:6e28b992b99e | 93 | |
BasB | 3:6e28b992b99e | 94 | bool button1_pressed = false; |
BasB | 3:6e28b992b99e | 95 | bool button2_pressed = false; |
BasB | 3:6e28b992b99e | 96 | |
BasB | 0:335646ab45c0 | 97 | // PC connection |
BasB | 0:335646ab45c0 | 98 | MODSERIAL pc(USBTX, USBRX); |
BasB | 0:335646ab45c0 | 99 | |
BasB | 0:335646ab45c0 | 100 | // Intializing tickers |
BasB | 0:335646ab45c0 | 101 | Ticker motorTicker; |
BasB | 0:335646ab45c0 | 102 | Ticker controlTicker; |
BasB | 0:335646ab45c0 | 103 | Ticker directionTicker; |
BasB | 0:335646ab45c0 | 104 | Ticker encoderTicker; |
BasB | 0:335646ab45c0 | 105 | Ticker scopeTicker; |
BasB | 3:6e28b992b99e | 106 | Ticker tickGlobal; //Global ticker |
BasB | 0:335646ab45c0 | 107 | |
BasB | 0:335646ab45c0 | 108 | const float PWM_period = 1e-6; |
BasB | 0:335646ab45c0 | 109 | |
BasB | 0:335646ab45c0 | 110 | volatile int counts1; // Encoder counts |
BasB | 0:335646ab45c0 | 111 | volatile int counts2; |
BasB | 0:335646ab45c0 | 112 | volatile int countsPrev1 = 0; |
BasB | 0:335646ab45c0 | 113 | volatile int countsPrev2 = 0; |
BasB | 0:335646ab45c0 | 114 | volatile int deltaCounts1; |
BasB | 0:335646ab45c0 | 115 | volatile int deltaCounts2; |
BasB | 0:335646ab45c0 | 116 | |
BasB | 0:335646ab45c0 | 117 | float factorin = 6.23185/64; // Convert encoder counts to angle in rad |
BasB | 0:335646ab45c0 | 118 | float gearratio = 131.25; // Gear ratio of gearbox |
BasB | 0:335646ab45c0 | 119 | |
BasB | 3:6e28b992b99e | 120 | void button1Press() |
BasB | 3:6e28b992b99e | 121 | { |
BasB | 3:6e28b992b99e | 122 | button1_pressed = true; |
BasB | 3:6e28b992b99e | 123 | } |
BasB | 0:335646ab45c0 | 124 | |
BasB | 6:e7e39d116ed0 | 125 | void button2Press() |
BasB | 6:e7e39d116ed0 | 126 | { |
BasB | 6:e7e39d116ed0 | 127 | button2_pressed = true; |
BasB | 6:e7e39d116ed0 | 128 | } |
BasB | 0:335646ab45c0 | 129 | |
BasB | 3:6e28b992b99e | 130 | // Ticker Functions |
BasB | 0:335646ab45c0 | 131 | void readEncoder() |
BasB | 0:335646ab45c0 | 132 | { |
BasB | 0:335646ab45c0 | 133 | counts1 = encoder1.getPulses(); |
BasB | 0:335646ab45c0 | 134 | deltaCounts1 = counts1 - countsPrev1; |
BasB | 0:335646ab45c0 | 135 | countsPrev1 = counts1; |
BasB | 0:335646ab45c0 | 136 | |
BasB | 0:335646ab45c0 | 137 | counts2 = encoder2.getPulses(); |
BasB | 0:335646ab45c0 | 138 | deltaCounts2 = counts2 - countsPrev2; |
BasB | 0:335646ab45c0 | 139 | countsPrev2 = counts2; |
BasB | 0:335646ab45c0 | 140 | } |
BasB | 0:335646ab45c0 | 141 | |
BasB | 8:3cfc8be293d3 | 142 | void do_motor_wait(){ |
BasB | 3:6e28b992b99e | 143 | // Entry function |
BasB | 3:6e28b992b99e | 144 | if ( motor_state_changed == true ) { |
BasB | 3:6e28b992b99e | 145 | motor_state_changed = false; |
BasB | 3:6e28b992b99e | 146 | // More functions |
BasB | 3:6e28b992b99e | 147 | } |
BasB | 3:6e28b992b99e | 148 | |
BasB | 8:3cfc8be293d3 | 149 | // Do nothing until end condition is met |
BasB | 5:4d8b85b7cfc4 | 150 | |
BasB | 8:3cfc8be293d3 | 151 | // State transition guard |
BasB | 8:3cfc8be293d3 | 152 | if ( button2_pressed ) { |
BasB | 8:3cfc8be293d3 | 153 | button2_pressed = false; |
BasB | 8:3cfc8be293d3 | 154 | motor_curr_state = motor_encoderset; //Beginnen met calibratie |
BasB | 3:6e28b992b99e | 155 | motor_state_changed = true; |
BasB | 3:6e28b992b99e | 156 | // More functions |
BasB | 3:6e28b992b99e | 157 | } |
BasB | 8:3cfc8be293d3 | 158 | |
BasB | 8:3cfc8be293d3 | 159 | } |
BasB | 0:335646ab45c0 | 160 | |
BasB | 3:6e28b992b99e | 161 | void do_motor_Encoder_Set(){ |
BasB | 3:6e28b992b99e | 162 | // Entry function |
BasB | 3:6e28b992b99e | 163 | if ( motor_state_changed == true ) { |
BasB | 3:6e28b992b99e | 164 | motor_state_changed = false; |
BasB | 3:6e28b992b99e | 165 | // More functions |
BasB | 3:6e28b992b99e | 166 | } |
BasB | 7:676a83def149 | 167 | motor1Power.write(0.0f); |
BasB | 7:676a83def149 | 168 | motor2Power.write(0.0f); |
BasB | 7:676a83def149 | 169 | motor1offset = (counts1 * factorin / gearratio); |
BasB | 7:676a83def149 | 170 | motor2offset = (counts2 * factorin / gearratio); |
BasB | 7:676a83def149 | 171 | |
BasB | 3:6e28b992b99e | 172 | // State transition guard |
BasB | 7:676a83def149 | 173 | if ( button2_pressed ) { |
BasB | 7:676a83def149 | 174 | button2_pressed = false; |
BasB | 7:676a83def149 | 175 | motor_curr_state = motor_wait; |
BasB | 3:6e28b992b99e | 176 | motor_state_changed = true; |
BasB | 3:6e28b992b99e | 177 | } |
BasB | 3:6e28b992b99e | 178 | } |
BasB | 3:6e28b992b99e | 179 | |
BasB | 3:6e28b992b99e | 180 | void motor_state_machine() |
BasB | 3:6e28b992b99e | 181 | { |
BasB | 3:6e28b992b99e | 182 | switch(motor_curr_state) { |
BasB | 3:6e28b992b99e | 183 | case motor_wait: |
BasB | 3:6e28b992b99e | 184 | do_motor_wait(); |
BasB | 3:6e28b992b99e | 185 | break; |
BasB | 3:6e28b992b99e | 186 | case motor_encoderset: |
BasB | 3:6e28b992b99e | 187 | do_motor_Encoder_Set(); |
BasB | 3:6e28b992b99e | 188 | break; |
BasB | 3:6e28b992b99e | 189 | } |
BasB | 3:6e28b992b99e | 190 | } |
BasB | 3:6e28b992b99e | 191 | |
BasB | 3:6e28b992b99e | 192 | // Global loop of program |
BasB | 3:6e28b992b99e | 193 | void tickGlobalFunc() |
BasB | 3:6e28b992b99e | 194 | { |
BasB | 3:6e28b992b99e | 195 | //sampleSignal(); |
BasB | 3:6e28b992b99e | 196 | //emg_state_machine(); |
BasB | 3:6e28b992b99e | 197 | motor_state_machine(); |
BasB | 4:1e8da6b5f147 | 198 | readEncoder(); |
BasB | 3:6e28b992b99e | 199 | // controller(); |
BasB | 3:6e28b992b99e | 200 | // outputToMotors(); |
BasB | 3:6e28b992b99e | 201 | } |
BasB | 3:6e28b992b99e | 202 | |
BasB | 3:6e28b992b99e | 203 | |
BasB | 0:335646ab45c0 | 204 | int main() |
BasB | 0:335646ab45c0 | 205 | { |
BasB | 0:335646ab45c0 | 206 | pc.baud(115200); |
BasB | 0:335646ab45c0 | 207 | pc.printf("\r\nStarting...\r\n\r\n"); |
BasB | 0:335646ab45c0 | 208 | motor1Power.period(PWM_period); |
BasB | 0:335646ab45c0 | 209 | motor2Power.period(PWM_period); |
BasB | 2:7ea5ae2287a7 | 210 | |
BasB | 3:6e28b992b99e | 211 | motor_curr_state = motor_wait; // Start off in EMG Wait state |
BasB | 3:6e28b992b99e | 212 | tickGlobal.attach( &tickGlobalFunc, Ts ); |
BasB | 0:335646ab45c0 | 213 | |
BasB | 4:1e8da6b5f147 | 214 | button1.fall(&button1Press); |
BasB | 6:e7e39d116ed0 | 215 | button2.fall(&button2Press); |
BasB | 0:335646ab45c0 | 216 | |
BasB | 0:335646ab45c0 | 217 | while (true) { |
BasB | 2:7ea5ae2287a7 | 218 | pc.printf("Omega1: %f Omega 2: %f controlsignal1: %f \r\n", omega1, omega2, controlsignal1); |
BasB | 7:676a83def149 | 219 | pc.printf("Currentstate: %i\r\n",motor_curr_state); |
BasB | 7:676a83def149 | 220 | pc.printf("motor1offset: %f motor2offset: %f\r\n",motor1offset,motor2offset); |
BasB | 0:335646ab45c0 | 221 | wait(0.5); |
BasB | 0:335646ab45c0 | 222 | } |
BasB | 0:335646ab45c0 | 223 | } |