![](/media/cache/group/9e3cc099b3b04bca937a1cca1da81b19.jpg.50x50_q85.jpg)
Moet dit er bij
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 0:335646ab45c0
- Child:
- 1:a76fd17e18b3
diff -r 000000000000 -r 335646ab45c0 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Mon Oct 28 15:50:03 2019 +0000 @@ -0,0 +1,298 @@ +#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); + } +}