MEGACARAZ / Mbed 2 deprecated ILC

Iterative Learning Control

Dependencies:   btbee m3pi_ng mbed

main.cpp@2:e8a983e2852b, 2015-06-10 (annotated)

Committer:
crmackey
Date:
Wed Jun 10 12:23:01 2015 +0000
Revision:
2:e8a983e2852b
Parent:
1:b7028d9ab40d
Child:
3:b0dcacecad2b
Added vector of U and E terms, plus added more constants at top to use in new functions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
crmackey 0:21048d818ec9 1 #include "mbed.h"
crmackey 0:21048d818ec9 2 #include "m3pi_ng.h"
crmackey 0:21048d818ec9 3 #include "time.h"
crmackey 0:21048d818ec9 4 #include "btbee.h"
crmackey 1:b7028d9ab40d 5 #include <vector>
crmackey 1:b7028d9ab40d 6 #include <string>
crmackey 0:21048d818ec9 7
crmackey 0:21048d818ec9 8 m3pi m3pi;
crmackey 0:21048d818ec9 9 btbee btbee;
crmackey 0:21048d818ec9 10 DigitalIn m3pi_pb(p21);
crmackey 0:21048d818ec9 11 DigitalIn m3pi_IN[] = {(p12)};
crmackey 0:21048d818ec9 12 DigitalOut mbed_led[] = {(LED1), (LED2),(LED3), (LED4)};
crmackey 0:21048d818ec9 13 DigitalOut m3pi_led[] = {(p13), (p14), (p15), (p16), (p17), (p18), (p19), (p20)};
crmackey 0:21048d818ec9 14
crmackey 0:21048d818ec9 15 // Minimum and maximum motor speeds
crmackey 0:21048d818ec9 16 #define MAX 1.0
crmackey 0:21048d818ec9 17 #define MIN 0
crmackey 0:21048d818ec9 18
crmackey 0:21048d818ec9 19 // PID terms
crmackey 0:21048d818ec9 20 #define P_TERM 1.5
crmackey 0:21048d818ec9 21 #define D_TERM 0.1
crmackey 2:e8a983e2852b 22 #define ILC_P_TERM 0.75
crmackey 2:e8a983e2852b 23 #define ILC_D_TERM 0.05
crmackey 0:21048d818ec9 24
crmackey 0:21048d818ec9 25 int main() {
crmackey 0:21048d818ec9 26
crmackey 0:21048d818ec9 27
crmackey 0:21048d818ec9 28 while(1) {
crmackey 0:21048d818ec9 29
crmackey 0:21048d818ec9 30 btbee.reset();
crmackey 0:21048d818ec9 31 m3pi_pb.mode(PullUp);
crmackey 0:21048d818ec9 32
crmackey 0:21048d818ec9 33 m3pi.printf("Wait 4");
crmackey 0:21048d818ec9 34 m3pi.locate(0,1);
crmackey 0:21048d818ec9 35 m3pi.printf("PC");
crmackey 0:21048d818ec9 36
crmackey 0:21048d818ec9 37 while(m3pi_pb) {
crmackey 0:21048d818ec9 38 m3pi_led[0]=!m3pi_led[0];
crmackey 0:21048d818ec9 39 wait(3);
crmackey 0:21048d818ec9 40 btbee.printf("\n");
crmackey 0:21048d818ec9 41 btbee.printf("PC connected. Press the button \n");
crmackey 0:21048d818ec9 42 }
crmackey 0:21048d818ec9 43
crmackey 0:21048d818ec9 44 m3pi.cls();
crmackey 0:21048d818ec9 45
crmackey 0:21048d818ec9 46 Timer LapTimer;
crmackey 0:21048d818ec9 47 Timer LoopTimer;
crmackey 0:21048d818ec9 48
crmackey 0:21048d818ec9 49 char Bat[] = {'V','o','l','t',' ','i','s'};
crmackey 0:21048d818ec9 50 m3pi.print(Bat,7);
crmackey 0:21048d818ec9 51 wait(0.75);
crmackey 0:21048d818ec9 52 m3pi.cls();
crmackey 0:21048d818ec9 53 float batteryvoltage = m3pi.battery();
crmackey 0:21048d818ec9 54 char* str = new char[30];
crmackey 0:21048d818ec9 55 sprintf(str, "%.4g", batteryvoltage);
crmackey 0:21048d818ec9 56 m3pi.print(str,6);
crmackey 0:21048d818ec9 57 btbee.printf("Battery voltage is %f \n", batteryvoltage);
crmackey 0:21048d818ec9 58 wait(0.75);
crmackey 0:21048d818ec9 59 m3pi.cls();
crmackey 0:21048d818ec9 60
crmackey 0:21048d818ec9 61 if (batteryvoltage < 4.2)
crmackey 0:21048d818ec9 62 {
crmackey 0:21048d818ec9 63 char low[] = {'L','o','w',' ','b','a','t'};
crmackey 0:21048d818ec9 64 m3pi.print(low,7);
crmackey 0:21048d818ec9 65 char ExitSound[]={'V','1','5','O','6','E','4','O','5','E','4'};
crmackey 0:21048d818ec9 66 m3pi.playtune(ExitSound,11);
crmackey 0:21048d818ec9 67 btbee.printf("Battery voltage is too low. Stopping program");
crmackey 0:21048d818ec9 68 exit(1);
crmackey 0:21048d818ec9 69 }
crmackey 0:21048d818ec9 70
crmackey 0:21048d818ec9 71 m3pi.locate(0,1);
crmackey 0:21048d818ec9 72 m3pi.printf("Line PID");
crmackey 0:21048d818ec9 73
crmackey 0:21048d818ec9 74 wait(2.0);
crmackey 0:21048d818ec9 75
crmackey 0:21048d818ec9 76 btbee.printf("Now calibrating \n");
crmackey 0:21048d818ec9 77
crmackey 0:21048d818ec9 78 m3pi.sensor_auto_calibrate();
crmackey 0:21048d818ec9 79
crmackey 0:21048d818ec9 80 btbee.printf("Finished calibrating \n");
crmackey 0:21048d818ec9 81
crmackey 0:21048d818ec9 82
crmackey 0:21048d818ec9 83 float right;
crmackey 0:21048d818ec9 84 float left;
crmackey 0:21048d818ec9 85 float current_pos_of_line = 0.0;
crmackey 0:21048d818ec9 86 float previous_pos_of_line = 0.0;
crmackey 0:21048d818ec9 87 float derivative,proportional,integral = 0;
crmackey 0:21048d818ec9 88 float power;
crmackey 0:21048d818ec9 89 float speed = MAX;
crmackey 0:21048d818ec9 90 int LapTest[5];
crmackey 0:21048d818ec9 91 int s1, s2, s3, s4, s5;
crmackey 0:21048d818ec9 92 int counter = -1;
crmackey 0:21048d818ec9 93 int checkvar = 0;
crmackey 0:21048d818ec9 94 double Time1, Time2, Time3, Time4, Time5, TimeAve;
crmackey 0:21048d818ec9 95 btbee.printf("\n");
crmackey 0:21048d818ec9 96 btbee.printf("Now starting \n");
crmackey 0:21048d818ec9 97 int number = 0;
crmackey 0:21048d818ec9 98 double dt;
crmackey 1:b7028d9ab40d 99 vector < double > uvalues;
crmackey 1:b7028d9ab40d 100 vector < double > evalues;
crmackey 1:b7028d9ab40d 101 double u;
crmackey 1:b7028d9ab40d 102 double e;
crmackey 0:21048d818ec9 103
crmackey 0:21048d818ec9 104
crmackey 0:21048d818ec9 105
crmackey 0:21048d818ec9 106 while (1) {
crmackey 0:21048d818ec9 107
crmackey 0:21048d818ec9 108 if(number == 0) {
crmackey 0:21048d818ec9 109
crmackey 0:21048d818ec9 110 dt = 0.005;
crmackey 0:21048d818ec9 111 number = 1;
crmackey 0:21048d818ec9 112
crmackey 0:21048d818ec9 113 }
crmackey 0:21048d818ec9 114 else {
crmackey 0:21048d818ec9 115
crmackey 0:21048d818ec9 116 LoopTimer.stop();
crmackey 0:21048d818ec9 117 dt = LoopTimer.read();
crmackey 0:21048d818ec9 118
crmackey 0:21048d818ec9 119 }
crmackey 0:21048d818ec9 120
crmackey 0:21048d818ec9 121 LoopTimer.reset();
crmackey 0:21048d818ec9 122 LoopTimer.start();
crmackey 0:21048d818ec9 123
crmackey 0:21048d818ec9 124 // Get the position of the line.
crmackey 0:21048d818ec9 125 current_pos_of_line = m3pi.line_position();
crmackey 0:21048d818ec9 126 proportional = current_pos_of_line;
crmackey 1:b7028d9ab40d 127 e = current_pos_of_line;
crmackey 0:21048d818ec9 128
crmackey 0:21048d818ec9 129 // Compute the derivative
crmackey 0:21048d818ec9 130 derivative = (current_pos_of_line - previous_pos_of_line)/(dt);
crmackey 0:21048d818ec9 131
crmackey 0:21048d818ec9 132 // Remember the last position.
crmackey 0:21048d818ec9 133 previous_pos_of_line = current_pos_of_line;
crmackey 0:21048d818ec9 134
crmackey 0:21048d818ec9 135 // Compute the power
crmackey 0:21048d818ec9 136 power = (proportional * (P_TERM) ) + (derivative*(D_TERM)) ;
crmackey 1:b7028d9ab40d 137 u = power;
crmackey 0:21048d818ec9 138
crmackey 0:21048d818ec9 139 // Compute new speeds
crmackey 0:21048d818ec9 140 right = speed+power;
crmackey 0:21048d818ec9 141 left = speed-power;
crmackey 0:21048d818ec9 142
crmackey 0:21048d818ec9 143 // limit checks
crmackey 0:21048d818ec9 144 if (right < MIN)
crmackey 0:21048d818ec9 145 right = MIN;
crmackey 0:21048d818ec9 146 else if (right > MAX)
crmackey 0:21048d818ec9 147 right = MAX;
crmackey 0:21048d818ec9 148
crmackey 0:21048d818ec9 149 if (left < MIN)
crmackey 0:21048d818ec9 150 left = MIN;
crmackey 0:21048d818ec9 151 else if (left > MAX)
crmackey 0:21048d818ec9 152 left = MAX;
crmackey 0:21048d818ec9 153
crmackey 0:21048d818ec9 154 // set speed
crmackey 0:21048d818ec9 155 m3pi.left_motor(left);
crmackey 0:21048d818ec9 156 m3pi.right_motor(right);
crmackey 0:21048d818ec9 157
crmackey 1:b7028d9ab40d 158 uvalues.push_back(u);
crmackey 1:b7028d9ab40d 159 evalues.push_back(e);
crmackey 1:b7028d9ab40d 160
crmackey 0:21048d818ec9 161 m3pi.calibrated_sensor(LapTest);
crmackey 0:21048d818ec9 162
crmackey 0:21048d818ec9 163 s1 = LapTest[0];
crmackey 0:21048d818ec9 164 s2 = LapTest[1];
crmackey 0:21048d818ec9 165 s3 = LapTest[2];
crmackey 0:21048d818ec9 166 s4 = LapTest[3];
crmackey 0:21048d818ec9 167 s5 = LapTest[4];
crmackey 0:21048d818ec9 168
crmackey 0:21048d818ec9 169 if (s1 > 500 and s5 > 500) {
crmackey 0:21048d818ec9 170 checkvar = 1;
crmackey 0:21048d818ec9 171 }
crmackey 0:21048d818ec9 172
crmackey 0:21048d818ec9 173 if (s1 < 500 and s5 < 500 and checkvar == 1 and counter == -1) {
crmackey 0:21048d818ec9 174 LapTimer.start();
crmackey 0:21048d818ec9 175 }
crmackey 0:21048d818ec9 176
crmackey 0:21048d818ec9 177 if (s1 < 500 and s5 < 500 and checkvar == 1) {
crmackey 0:21048d818ec9 178 counter = counter + 1;
crmackey 2:e8a983e2852b 179 uvalues.clear();
crmackey 2:e8a983e2852b 180 evalues.clear();
crmackey 0:21048d818ec9 181 m3pi.cls();
crmackey 0:21048d818ec9 182 m3pi.printf("%d", counter);
crmackey 0:21048d818ec9 183 checkvar = 0;
crmackey 0:21048d818ec9 184 switch (counter) {
crmackey 0:21048d818ec9 185 case 1: {
crmackey 0:21048d818ec9 186 Time1 = LapTimer.read();
crmackey 0:21048d818ec9 187 LapTimer.reset();
crmackey 0:21048d818ec9 188 LapTimer.start();
crmackey 0:21048d818ec9 189 btbee.printf("Lap 1: %f \n", Time1);
crmackey 0:21048d818ec9 190 break;
crmackey 0:21048d818ec9 191 }
crmackey 0:21048d818ec9 192 case 2: {
crmackey 0:21048d818ec9 193 Time2 = LapTimer.read();
crmackey 0:21048d818ec9 194 LapTimer.reset();
crmackey 0:21048d818ec9 195 LapTimer.start();
crmackey 0:21048d818ec9 196 btbee.printf("Lap 2: %f \n", Time2);
crmackey 0:21048d818ec9 197 break;
crmackey 0:21048d818ec9 198 }
crmackey 0:21048d818ec9 199 case 3: {
crmackey 0:21048d818ec9 200 Time3 = LapTimer.read();
crmackey 0:21048d818ec9 201 LapTimer.reset();
crmackey 0:21048d818ec9 202 LapTimer.start();
crmackey 0:21048d818ec9 203 btbee.printf("Lap 3: %f \n", Time3);
crmackey 0:21048d818ec9 204 break;
crmackey 0:21048d818ec9 205 }
crmackey 0:21048d818ec9 206 case 4: {
crmackey 0:21048d818ec9 207 Time4 = LapTimer.read();
crmackey 0:21048d818ec9 208 LapTimer.reset();
crmackey 0:21048d818ec9 209 LapTimer.start();
crmackey 0:21048d818ec9 210 btbee.printf("Lap 4: %f \n", Time4);
crmackey 0:21048d818ec9 211 break;
crmackey 0:21048d818ec9 212 }
crmackey 0:21048d818ec9 213 case 5: {
crmackey 0:21048d818ec9 214 Time5 = LapTimer.read();
crmackey 0:21048d818ec9 215 LapTimer.reset();
crmackey 0:21048d818ec9 216 LapTimer.start();
crmackey 0:21048d818ec9 217 btbee.printf("Lap 5: %f \n", Time5);
crmackey 0:21048d818ec9 218 break;
crmackey 0:21048d818ec9 219 }
crmackey 0:21048d818ec9 220 }
crmackey 0:21048d818ec9 221
crmackey 0:21048d818ec9 222
crmackey 0:21048d818ec9 223 }
crmackey 0:21048d818ec9 224
crmackey 0:21048d818ec9 225 if (counter == 5) {
crmackey 0:21048d818ec9 226 m3pi.stop();
crmackey 0:21048d818ec9 227 m3pi.cls();
crmackey 0:21048d818ec9 228 m3pi.locate(0,0);
crmackey 0:21048d818ec9 229 m3pi.printf("Ave time");
crmackey 0:21048d818ec9 230 TimeAve = (Time1 + Time2 + Time3 + Time4 + Time5)/5.0;
crmackey 0:21048d818ec9 231 m3pi.locate(0,1);
crmackey 0:21048d818ec9 232 m3pi.printf("%f", TimeAve);
crmackey 0:21048d818ec9 233 btbee.printf("Average time per lap: %f ", TimeAve);
crmackey 0:21048d818ec9 234 exit(1);
crmackey 0:21048d818ec9 235 }
crmackey 0:21048d818ec9 236
crmackey 0:21048d818ec9 237
crmackey 0:21048d818ec9 238 }
crmackey 0:21048d818ec9 239
crmackey 0:21048d818ec9 240 }
crmackey 0:21048d818ec9 241
crmackey 0:21048d818ec9 242 }