Moet dit er bij
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@1:a76fd17e18b3, 2019-10-28 (annotated)
- Committer:
- BasB
- Date:
- Mon Oct 28 16:11:15 2019 +0000
- Revision:
- 1:a76fd17e18b3
- Parent:
- 0:335646ab45c0
- Child:
- 2:7ea5ae2287a7
Opzet pre-testen
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 | 0:335646ab45c0 | 17 | // Encoder |
BasB | 0:335646ab45c0 | 18 | DigitalIn encA1(D9); |
BasB | 0:335646ab45c0 | 19 | DigitalIn encB1(D8); |
BasB | 0:335646ab45c0 | 20 | DigitalIn encA2(D13); |
BasB | 0:335646ab45c0 | 21 | DigitalIn encB2(D13); |
BasB | 0:335646ab45c0 | 22 | QEI encoder1(D9,D8,NC,64,QEI::X4_ENCODING); //Encoding motor 1 |
BasB | 0:335646ab45c0 | 23 | QEI encoder2(D13,D12,NC,64,QEI::X4_ENCODING); //Encoding motor 2 |
BasB | 0:335646ab45c0 | 24 | float Ts = 0.01; //Sample time |
BasB | 0:335646ab45c0 | 25 | float motor1angle; //Measured angle motor 1 |
BasB | 0:335646ab45c0 | 26 | float motor2angle; //Measured angle motor 2 |
BasB | 0:335646ab45c0 | 27 | float omega1; //velocity rad/s motor 1 |
BasB | 0:335646ab45c0 | 28 | float omega2; //Velocity rad/s motor2 |
BasB | 0:335646ab45c0 | 29 | float deg2rad=0.0174532; //Conversion factor degree to rad |
BasB | 0:335646ab45c0 | 30 | float rad2deg=57.29578; //Conversion factor rad to degree |
BasB | 0:335646ab45c0 | 31 | |
BasB | 0:335646ab45c0 | 32 | |
BasB | 0:335646ab45c0 | 33 | // Motor |
BasB | 0:335646ab45c0 | 34 | DigitalOut motor2Direction(D4); |
BasB | 0:335646ab45c0 | 35 | FastPWM motor2Power(D5); |
BasB | 0:335646ab45c0 | 36 | DigitalOut motor1Direction(D7); |
BasB | 0:335646ab45c0 | 37 | FastPWM motor1Power(D6); |
BasB | 0:335646ab45c0 | 38 | |
BasB | 0:335646ab45c0 | 39 | volatile int motortoggle = 1; //Toggle to stop motors |
BasB | 0:335646ab45c0 | 40 | |
BasB | 0:335646ab45c0 | 41 | //Motorcontrol |
BasB | 0:335646ab45c0 | 42 | bool motordir1; |
BasB | 0:335646ab45c0 | 43 | bool motordir2; |
BasB | 0:335646ab45c0 | 44 | float motor1ref=0.1745; |
BasB | 0:335646ab45c0 | 45 | float motor2ref=0.0873; |
BasB | 0:335646ab45c0 | 46 | double controlsignal1; |
BasB | 0:335646ab45c0 | 47 | double controlsignal2; |
BasB | 0:335646ab45c0 | 48 | double pi2= 6.283185; |
BasB | 0:335646ab45c0 | 49 | float motor1error; //motor 1 error |
BasB | 0:335646ab45c0 | 50 | float motor2error; |
BasB | 0:335646ab45c0 | 51 | float Kp=0.27; |
BasB | 0:335646ab45c0 | 52 | float Ki=0.35; |
BasB | 0:335646ab45c0 | 53 | float Kd=0.1; |
BasB | 0:335646ab45c0 | 54 | float u_p1; |
BasB | 0:335646ab45c0 | 55 | float u_p2; |
BasB | 0:335646ab45c0 | 56 | float u_i1; |
BasB | 0:335646ab45c0 | 57 | float u_i2; |
BasB | 0:335646ab45c0 | 58 | |
BasB | 0:335646ab45c0 | 59 | //Windup control |
BasB | 0:335646ab45c0 | 60 | float ux1; |
BasB | 0:335646ab45c0 | 61 | float ux2; |
BasB | 0:335646ab45c0 | 62 | float up1; //Proportional contribution motor 1 |
BasB | 0:335646ab45c0 | 63 | float up2; //Proportional contribution motor 2 |
BasB | 0:335646ab45c0 | 64 | float ek1; |
BasB | 0:335646ab45c0 | 65 | float ek2; |
BasB | 0:335646ab45c0 | 66 | float ei1= 0.0; //Error integral motor 1 |
BasB | 0:335646ab45c0 | 67 | float ei2=0.0; //Error integral motor 2 |
BasB | 0:335646ab45c0 | 68 | float Ka= 1.0; //Integral windup gain |
BasB | 0:335646ab45c0 | 69 | |
BasB | 0:335646ab45c0 | 70 | //RKI |
BasB | 0:335646ab45c0 | 71 | float Vx=0.0; //Desired linear velocity x direction |
BasB | 0:335646ab45c0 | 72 | float Vy=0.0; //Desired linear velocity y direction |
BasB | 0:335646ab45c0 | 73 | float q1=0.0f*deg2rad; //Angle of first joint [rad] |
BasB | 0:335646ab45c0 | 74 | float q2=-135.0f*deg2rad; //Angle of second joint [rad] |
BasB | 0:335646ab45c0 | 75 | float q1dot; //Velocity of first joint [rad/s] |
BasB | 0:335646ab45c0 | 76 | float q2dot; //Velocity of second joint [rad/s] |
BasB | 0:335646ab45c0 | 77 | float l1=26.0; //Distance base-link [cm] |
BasB | 0:335646ab45c0 | 78 | float l2=62.0; //Distance link-endpoint [cm] |
BasB | 0:335646ab45c0 | 79 | float xe; //Endpoint x position [cm] |
BasB | 0:335646ab45c0 | 80 | float ye; //Endpoint y position [cm] |
BasB | 0:335646ab45c0 | 81 | |
BasB | 0:335646ab45c0 | 82 | //Hidscope |
BasB | 0:335646ab45c0 | 83 | 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 | 84 | |
BasB | 0:335646ab45c0 | 85 | // PC connection |
BasB | 0:335646ab45c0 | 86 | MODSERIAL pc(USBTX, USBRX); |
BasB | 0:335646ab45c0 | 87 | |
BasB | 0:335646ab45c0 | 88 | // Intializing tickers |
BasB | 0:335646ab45c0 | 89 | Ticker motorTicker; |
BasB | 0:335646ab45c0 | 90 | Ticker controlTicker; |
BasB | 0:335646ab45c0 | 91 | Ticker directionTicker; |
BasB | 0:335646ab45c0 | 92 | Ticker encoderTicker; |
BasB | 0:335646ab45c0 | 93 | Ticker scopeTicker; |
BasB | 0:335646ab45c0 | 94 | |
BasB | 0:335646ab45c0 | 95 | const float PWM_period = 1e-6; |
BasB | 0:335646ab45c0 | 96 | |
BasB | 0:335646ab45c0 | 97 | volatile int counts1; // Encoder counts |
BasB | 0:335646ab45c0 | 98 | volatile int counts2; |
BasB | 0:335646ab45c0 | 99 | volatile int countsPrev1 = 0; |
BasB | 0:335646ab45c0 | 100 | volatile int countsPrev2 = 0; |
BasB | 0:335646ab45c0 | 101 | volatile int deltaCounts1; |
BasB | 0:335646ab45c0 | 102 | volatile int deltaCounts2; |
BasB | 0:335646ab45c0 | 103 | |
BasB | 0:335646ab45c0 | 104 | float factorin = 6.23185/64; // Convert encoder counts to angle in rad |
BasB | 0:335646ab45c0 | 105 | float gearratio = 131.25; // Gear ratio of gearbox |
BasB | 0:335646ab45c0 | 106 | |
BasB | 0:335646ab45c0 | 107 | |
BasB | 1:a76fd17e18b3 | 108 | // Vanaf hier is het misschien belangrijk |
BasB | 0:335646ab45c0 | 109 | |
BasB | 0:335646ab45c0 | 110 | void readEncoder() |
BasB | 0:335646ab45c0 | 111 | { |
BasB | 0:335646ab45c0 | 112 | counts1 = encoder1.getPulses(); |
BasB | 0:335646ab45c0 | 113 | deltaCounts1 = counts1 - countsPrev1; |
BasB | 0:335646ab45c0 | 114 | countsPrev1 = counts1; |
BasB | 0:335646ab45c0 | 115 | |
BasB | 0:335646ab45c0 | 116 | counts2 = encoder2.getPulses(); |
BasB | 0:335646ab45c0 | 117 | deltaCounts2 = counts2 - countsPrev2; |
BasB | 0:335646ab45c0 | 118 | countsPrev2 = counts2; |
BasB | 0:335646ab45c0 | 119 | } |
BasB | 0:335646ab45c0 | 120 | |
BasB | 1:a76fd17e18b3 | 121 | void motorCalibration1() |
BasB | 0:335646ab45c0 | 122 | { |
BasB | 0:335646ab45c0 | 123 | button1.fall(&togglehoek); |
BasB | 1:a76fd17e18b3 | 124 | motor1angle = (counts1 * factorin / gearratio); // Angle of motor shaft in rad |
BasB | 0:335646ab45c0 | 125 | omega1 = deltaCounts1 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s |
BasB | 1:a76fd17e18b3 | 126 | float potmeter=potmeter1.read(); |
BasB | 1:a76fd17e18b3 | 127 | controlsignal1=potmeter; |
BasB | 0:335646ab45c0 | 128 | motor1Power.write(abs(controlsignal1*motortoggle)); |
BasB | 1:a76fd17e18b3 | 129 | motor1Direction=1; |
BasB | 1:a76fd17e18b3 | 130 | //Dit moet je doen zolang omega motor 1 > 0.iets |
BasB | 1:a76fd17e18b3 | 131 | //State switch |
BasB | 1:a76fd17e18b3 | 132 | //Dan motor 2 tot omega < 0.iets |
BasB | 1:a76fd17e18b3 | 133 | } |
BasB | 1:a76fd17e18b3 | 134 | |
BasB | 1:a76fd17e18b3 | 135 | void motorCalibration2(){ |
BasB | 1:a76fd17e18b3 | 136 | |
BasB | 1:a76fd17e18b3 | 137 | float potmeter=potmeter1.read(); |
BasB | 1:a76fd17e18b3 | 138 | button1.fall(&togglehoek); |
BasB | 1:a76fd17e18b3 | 139 | motor1angle = (counts1 * factorin / gearratio); // Angle of motor shaft in rad |
BasB | 1:a76fd17e18b3 | 140 | omega1 = deltaCounts1 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s |
BasB | 1:a76fd17e18b3 | 141 | controlsignal1=potmeter; |
BasB | 1:a76fd17e18b3 | 142 | motor1Power.write(abs(controlsignal1*motortoggle)); |
BasB | 1:a76fd17e18b3 | 143 | motor1Direction=1; |
BasB | 0:335646ab45c0 | 144 | |
BasB | 0:335646ab45c0 | 145 | motor2angle = (counts2 * factorin / gearratio); // Angle of motor shaft in rad |
BasB | 1:a76fd17e18b3 | 146 | omega2 = deltaCounts2 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s |
BasB | 1:a76fd17e18b3 | 147 | controlsignal2=potmeter; |
BasB | 0:335646ab45c0 | 148 | motor2Power.write(abs(controlsignal2*motortoggle)); |
BasB | 1:a76fd17e18b3 | 149 | motor2Direction=1; |
BasB | 1:a76fd17e18b3 | 150 | //Dit moet je doen zolang omega van motor 2 > 0.iets |
BasB | 0:335646ab45c0 | 151 | } |
BasB | 0:335646ab45c0 | 152 | |
BasB | 0:335646ab45c0 | 153 | void Plotje(){ |
BasB | 0:335646ab45c0 | 154 | scope.set(0,q1*rad2deg); //gewenste hoek |
BasB | 0:335646ab45c0 | 155 | scope.set(1,motor1angle/5.5f*rad2deg); //Gemeten hoek |
BasB | 0:335646ab45c0 | 156 | scope.set(2,motor1error/5.5f*rad2deg); //verschil in gewenste en gemeten hoek |
BasB | 0:335646ab45c0 | 157 | scope.set(3,q2*rad2deg); //gewenste hoek |
BasB | 0:335646ab45c0 | 158 | scope.set(4,motor2angle/5.5f*rad2deg); //Gemeten hoek |
BasB | 0:335646ab45c0 | 159 | scope.set(5,motor2error/5.5f*rad2deg); //verschil in gewenste en gemeten hoek |
BasB | 0:335646ab45c0 | 160 | |
BasB | 0:335646ab45c0 | 161 | scope.send(); //send what's in scope memory to PC |
BasB | 0:335646ab45c0 | 162 | } |
BasB | 0:335646ab45c0 | 163 | |
BasB | 0:335646ab45c0 | 164 | void toggleMotor() |
BasB | 0:335646ab45c0 | 165 | { |
BasB | 0:335646ab45c0 | 166 | motortoggle = !motortoggle; |
BasB | 0:335646ab45c0 | 167 | } |
BasB | 0:335646ab45c0 | 168 | |
BasB | 0:335646ab45c0 | 169 | int main() |
BasB | 0:335646ab45c0 | 170 | { |
BasB | 0:335646ab45c0 | 171 | pc.baud(115200); |
BasB | 0:335646ab45c0 | 172 | pc.printf("\r\nStarting...\r\n\r\n"); |
BasB | 0:335646ab45c0 | 173 | motor1Power.period(PWM_period); |
BasB | 0:335646ab45c0 | 174 | motor2Power.period(PWM_period); |
BasB | 1:a76fd17e18b3 | 175 | motorTicker.attach(motorCalibration1, 0.01); //Dit moet je doen zolang omega < 0.iets |
BasB | 1:a76fd17e18b3 | 176 | motorTicker.attack(motorCalibration2, 0.01); |
BasB | 0:335646ab45c0 | 177 | scopeTicker.attach(Plotje, 0.01); |
BasB | 0:335646ab45c0 | 178 | encoderTicker.attach(readEncoder, Ts); |
BasB | 0:335646ab45c0 | 179 | |
BasB | 0:335646ab45c0 | 180 | button2.fall(&toggleMotor); |
BasB | 0:335646ab45c0 | 181 | |
BasB | 0:335646ab45c0 | 182 | while (true) { |
BasB | 1:a76fd17e18b3 | 183 | pc.printf("Omega1: %f Omega 2: %f Potmeter: %f \r\n", omega1, omega2, potmeter); |
BasB | 0:335646ab45c0 | 184 | wait(0.5); |
BasB | 0:335646ab45c0 | 185 | } |
BasB | 0:335646ab45c0 | 186 | } |