Moet dit er bij
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@3:6e28b992b99e, 2019-10-29 (annotated)
- Committer:
- BasB
- Date:
- Tue Oct 29 14:04:26 2019 +0000
- Revision:
- 3:6e28b992b99e
- Parent:
- 2:7ea5ae2287a7
- Child:
- 4:1e8da6b5f147
Hoplakee dit is gewoon die state machine waar ik over heb gehoord
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 | 2:7ea5ae2287a7 | 28 | float potmeter; |
BasB | 2:7ea5ae2287a7 | 29 | float omega1=1; //velocity rad/s motor 1 |
BasB | 0:335646ab45c0 | 30 | float omega2; //Velocity rad/s motor2 |
BasB | 0:335646ab45c0 | 31 | float deg2rad=0.0174532; //Conversion factor degree to rad |
BasB | 0:335646ab45c0 | 32 | float rad2deg=57.29578; //Conversion factor rad to degree |
BasB | 0:335646ab45c0 | 33 | |
BasB | 0:335646ab45c0 | 34 | |
BasB | 0:335646ab45c0 | 35 | // Motor |
BasB | 0:335646ab45c0 | 36 | DigitalOut motor2Direction(D4); |
BasB | 0:335646ab45c0 | 37 | FastPWM motor2Power(D5); |
BasB | 0:335646ab45c0 | 38 | DigitalOut motor1Direction(D7); |
BasB | 0:335646ab45c0 | 39 | FastPWM motor1Power(D6); |
BasB | 0:335646ab45c0 | 40 | |
BasB | 0:335646ab45c0 | 41 | volatile int motortoggle = 1; //Toggle to stop motors |
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 | 3:6e28b992b99e | 88 | enum Motor_States{motor_wait , motor_cal1 , motor_cal2 , 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 | 0:335646ab45c0 | 125 | |
BasB | 3:6e28b992b99e | 126 | // Ticker Functions |
BasB | 0:335646ab45c0 | 127 | void readEncoder() |
BasB | 0:335646ab45c0 | 128 | { |
BasB | 0:335646ab45c0 | 129 | counts1 = encoder1.getPulses(); |
BasB | 0:335646ab45c0 | 130 | deltaCounts1 = counts1 - countsPrev1; |
BasB | 0:335646ab45c0 | 131 | countsPrev1 = counts1; |
BasB | 0:335646ab45c0 | 132 | |
BasB | 0:335646ab45c0 | 133 | counts2 = encoder2.getPulses(); |
BasB | 0:335646ab45c0 | 134 | deltaCounts2 = counts2 - countsPrev2; |
BasB | 0:335646ab45c0 | 135 | countsPrev2 = counts2; |
BasB | 0:335646ab45c0 | 136 | } |
BasB | 0:335646ab45c0 | 137 | |
BasB | 3:6e28b992b99e | 138 | void do_motorCalibration1() { |
BasB | 3:6e28b992b99e | 139 | // Entry function |
BasB | 3:6e28b992b99e | 140 | if ( motor_state_changed == true ) { |
BasB | 3:6e28b992b99e | 141 | motor_state_changed = false; |
BasB | 3:6e28b992b99e | 142 | // More functions |
BasB | 3:6e28b992b99e | 143 | } |
BasB | 3:6e28b992b99e | 144 | |
BasB | 3:6e28b992b99e | 145 | // Do stuff until end condition is met |
BasB | 1:a76fd17e18b3 | 146 | motor1angle = (counts1 * factorin / gearratio); // Angle of motor shaft in rad |
BasB | 0:335646ab45c0 | 147 | omega1 = deltaCounts1 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s |
BasB | 1:a76fd17e18b3 | 148 | float potmeter=potmeter1.read(); |
BasB | 2:7ea5ae2287a7 | 149 | controlsignal1=0.0980f; |
BasB | 0:335646ab45c0 | 150 | motor1Power.write(abs(controlsignal1*motortoggle)); |
BasB | 2:7ea5ae2287a7 | 151 | motor1Direction=0; |
BasB | 3:6e28b992b99e | 152 | |
BasB | 3:6e28b992b99e | 153 | // State transition guard |
BasB | 3:6e28b992b99e | 154 | if ( omega1 <= 0.5f ) { |
BasB | 3:6e28b992b99e | 155 | motor_curr_state = motor_cal2; |
BasB | 3:6e28b992b99e | 156 | motor_state_changed = true; |
BasB | 3:6e28b992b99e | 157 | // More functions |
BasB | 3:6e28b992b99e | 158 | } |
BasB | 3:6e28b992b99e | 159 | } |
BasB | 3:6e28b992b99e | 160 | |
BasB | 3:6e28b992b99e | 161 | void do_motorCalibration2(){ |
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 | 1:a76fd17e18b3 | 166 | } |
BasB | 1:a76fd17e18b3 | 167 | |
BasB | 3:6e28b992b99e | 168 | // Do stuff until end condition is met |
BasB | 2:7ea5ae2287a7 | 169 | potmeter=potmeter1.read(); |
BasB | 1:a76fd17e18b3 | 170 | motor1angle = (counts1 * factorin / gearratio); // Angle of motor shaft in rad |
BasB | 1:a76fd17e18b3 | 171 | omega1 = deltaCounts1 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s |
BasB | 1:a76fd17e18b3 | 172 | controlsignal1=potmeter; |
BasB | 1:a76fd17e18b3 | 173 | motor1Power.write(abs(controlsignal1*motortoggle)); |
BasB | 2:7ea5ae2287a7 | 174 | motor1Direction=0; |
BasB | 0:335646ab45c0 | 175 | |
BasB | 0:335646ab45c0 | 176 | motor2angle = (counts2 * factorin / gearratio); // Angle of motor shaft in rad |
BasB | 1:a76fd17e18b3 | 177 | omega2 = deltaCounts2 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s |
BasB | 1:a76fd17e18b3 | 178 | controlsignal2=potmeter; |
BasB | 0:335646ab45c0 | 179 | motor2Power.write(abs(controlsignal2*motortoggle)); |
BasB | 1:a76fd17e18b3 | 180 | motor2Direction=1; |
BasB | 1:a76fd17e18b3 | 181 | //Dit moet je doen zolang omega van motor 2 > 0.iets |
BasB | 3:6e28b992b99e | 182 | |
BasB | 3:6e28b992b99e | 183 | // State transition guard |
BasB | 3:6e28b992b99e | 184 | if ( omega2 <= 0.5f ) { |
BasB | 3:6e28b992b99e | 185 | motor_curr_state = motor_encoderset; |
BasB | 3:6e28b992b99e | 186 | motor_state_changed = true; |
BasB | 3:6e28b992b99e | 187 | // More functions |
BasB | 3:6e28b992b99e | 188 | } |
BasB | 0:335646ab45c0 | 189 | } |
BasB | 0:335646ab45c0 | 190 | |
BasB | 3:6e28b992b99e | 191 | void do_motor_Encoder_Set(){ |
BasB | 3:6e28b992b99e | 192 | // Entry function |
BasB | 3:6e28b992b99e | 193 | if ( motor_state_changed == true ) { |
BasB | 3:6e28b992b99e | 194 | motor_state_changed = false; |
BasB | 3:6e28b992b99e | 195 | // More functions |
BasB | 3:6e28b992b99e | 196 | } |
BasB | 3:6e28b992b99e | 197 | |
BasB | 3:6e28b992b99e | 198 | // Do stuff until end condition is met |
BasB | 3:6e28b992b99e | 199 | |
BasB | 3:6e28b992b99e | 200 | |
BasB | 3:6e28b992b99e | 201 | // State transition guard |
BasB | 3:6e28b992b99e | 202 | if ( omega2 <= 0.5f ) { |
BasB | 3:6e28b992b99e | 203 | motor_curr_state = motor_encoderset; |
BasB | 3:6e28b992b99e | 204 | motor_state_changed = true; |
BasB | 3:6e28b992b99e | 205 | // More functions |
BasB | 3:6e28b992b99e | 206 | } |
BasB | 3:6e28b992b99e | 207 | } |
BasB | 3:6e28b992b99e | 208 | |
BasB | 3:6e28b992b99e | 209 | void do_motor_wait(){ |
BasB | 3:6e28b992b99e | 210 | // Entry function |
BasB | 3:6e28b992b99e | 211 | if ( motor_state_changed == true ) { |
BasB | 3:6e28b992b99e | 212 | motor_state_changed = false; |
BasB | 3:6e28b992b99e | 213 | // More functions |
BasB | 3:6e28b992b99e | 214 | } |
BasB | 3:6e28b992b99e | 215 | |
BasB | 3:6e28b992b99e | 216 | // Do nothing until end condition is met |
BasB | 3:6e28b992b99e | 217 | |
BasB | 3:6e28b992b99e | 218 | // State transition guard |
BasB | 3:6e28b992b99e | 219 | if ( button1_pressed ) { |
BasB | 3:6e28b992b99e | 220 | button1_pressed = false; |
BasB | 3:6e28b992b99e | 221 | motor_curr_state = motor_cal1; //Beginnen met calibratie |
BasB | 3:6e28b992b99e | 222 | motor_state_changed = true; |
BasB | 3:6e28b992b99e | 223 | // More functions |
BasB | 3:6e28b992b99e | 224 | } |
BasB | 3:6e28b992b99e | 225 | } |
BasB | 3:6e28b992b99e | 226 | |
BasB | 0:335646ab45c0 | 227 | void toggleMotor() |
BasB | 0:335646ab45c0 | 228 | { |
BasB | 0:335646ab45c0 | 229 | motortoggle = !motortoggle; |
BasB | 0:335646ab45c0 | 230 | } |
BasB | 0:335646ab45c0 | 231 | |
BasB | 3:6e28b992b99e | 232 | void motor_state_machine() |
BasB | 3:6e28b992b99e | 233 | { |
BasB | 3:6e28b992b99e | 234 | switch(motor_curr_state) { |
BasB | 3:6e28b992b99e | 235 | case motor_wait: |
BasB | 3:6e28b992b99e | 236 | do_motor_wait(); |
BasB | 3:6e28b992b99e | 237 | break; |
BasB | 3:6e28b992b99e | 238 | case motor_cal1: |
BasB | 3:6e28b992b99e | 239 | do_motorCalibration1(); |
BasB | 3:6e28b992b99e | 240 | break; |
BasB | 3:6e28b992b99e | 241 | case motor_cal2: |
BasB | 3:6e28b992b99e | 242 | do_motorCalibration2(); |
BasB | 3:6e28b992b99e | 243 | break; |
BasB | 3:6e28b992b99e | 244 | case motor_encoderset: |
BasB | 3:6e28b992b99e | 245 | do_motor_Encoder_Set(); |
BasB | 3:6e28b992b99e | 246 | break; |
BasB | 3:6e28b992b99e | 247 | } |
BasB | 3:6e28b992b99e | 248 | } |
BasB | 3:6e28b992b99e | 249 | |
BasB | 3:6e28b992b99e | 250 | // Global loop of program |
BasB | 3:6e28b992b99e | 251 | void tickGlobalFunc() |
BasB | 3:6e28b992b99e | 252 | { |
BasB | 3:6e28b992b99e | 253 | //sampleSignal(); |
BasB | 3:6e28b992b99e | 254 | //emg_state_machine(); |
BasB | 3:6e28b992b99e | 255 | motor_state_machine(); |
BasB | 3:6e28b992b99e | 256 | // controller(); |
BasB | 3:6e28b992b99e | 257 | // outputToMotors(); |
BasB | 3:6e28b992b99e | 258 | } |
BasB | 3:6e28b992b99e | 259 | |
BasB | 3:6e28b992b99e | 260 | |
BasB | 0:335646ab45c0 | 261 | int main() |
BasB | 0:335646ab45c0 | 262 | { |
BasB | 0:335646ab45c0 | 263 | pc.baud(115200); |
BasB | 0:335646ab45c0 | 264 | pc.printf("\r\nStarting...\r\n\r\n"); |
BasB | 0:335646ab45c0 | 265 | motor1Power.period(PWM_period); |
BasB | 0:335646ab45c0 | 266 | motor2Power.period(PWM_period); |
BasB | 2:7ea5ae2287a7 | 267 | |
BasB | 3:6e28b992b99e | 268 | motor_curr_state = motor_wait; // Start off in EMG Wait state |
BasB | 3:6e28b992b99e | 269 | tickGlobal.attach( &tickGlobalFunc, Ts ); |
BasB | 0:335646ab45c0 | 270 | |
BasB | 0:335646ab45c0 | 271 | button2.fall(&toggleMotor); |
BasB | 0:335646ab45c0 | 272 | |
BasB | 0:335646ab45c0 | 273 | while (true) { |
BasB | 2:7ea5ae2287a7 | 274 | potmeter=potmeter1.read(); |
BasB | 2:7ea5ae2287a7 | 275 | pc.printf("Omega1: %f Omega 2: %f controlsignal1: %f \r\n", omega1, omega2, controlsignal1); |
BasB | 0:335646ab45c0 | 276 | wait(0.5); |
BasB | 0:335646ab45c0 | 277 | } |
BasB | 0:335646ab45c0 | 278 | } |