Mirror actuator for RT2 lab
Dependencies: Library_Cntrl Library_Misc
ControllerLoop.cpp
- Committer:
- altb2
- Date:
- 2021-04-01
- Revision:
- 6:9ebeffe446e4
- Parent:
- 5:768e10f6d372
- Child:
- 7:942fd77d5e19
File content as of revision 6:9ebeffe446e4:
#include "ControllerLoop.h" using namespace std; ControllerLoop::ControllerLoop(float Ts) : thread(osPriorityNormal,4096) { this->Ts = Ts; diff1.reset(0.0f,0); diff2.reset(0.0f,0); is_initialized = false; ti.reset(); ti.start(); } ControllerLoop::~ControllerLoop() {} void ControllerLoop::loop(void){ float A=.6; uint32_t k=0; float Kv = 150; while(1) { ThisThread::flags_wait_any(threadFlag); // THE LOOP ------------------------------------------------------------ if(++k%500==0) { // short c1 = counter1; // get counts from Encoder // short c2 = counter2; // get counts from Encoder // printf("1: %d %d, 2: %d %d\r\n",index1.positionAtIndexPulse,c1-index1.positionAtIndexPulse-mc.inc_offset[0],index2.positionAtIndexPulse,c2-index2.positionAtIndexPulse-mc.inc_offset[1]); //led1=!led1; } if(0)//!is_initialized) { find_index(); if(index1.positionAtIndexPulse != 0 && index2.positionAtIndexPulse != 0) is_initialized=true; } else { short c1 = counter1 - index1.positionAtIndexPulse - mc.inc_offset[0]- mc.inc_additional_offset[0]; // get counts from Encoder short c2 = counter2 - index2.positionAtIndexPulse - mc.inc_offset[1]- mc.inc_additional_offset[1]; // get counts from Encoder data.sens_phi[0] = uw2pi1(2*3.1415927/4000.0*(float)c1); data.sens_Vphi[0] = diff1(c1); // motor velocity data.sens_phi[1] = uw2pi2(2*3.1415927/4000.0*(float)c2); data.sens_Vphi[1] = diff2(c2); // motor velocity float w01=2*3.1415927 * 3; float w02=2*3.1415927 * 1.5; //current_path->get_x_v(glob_ti.read(),&phi_des,&v_des); data.cntrl_phi_des[0] = 0.0f*A*sinf(w01*ti.read()); data.cntrl_phi_des[1] = 0.0f*A*sinf(w02*ti.read()); data.est_xy[0]=data.cntrl_phi_des[0]; // temporary data.est_xy[1]=data.cntrl_phi_des[1]; //laser_on = 1; float v_des1 = Kv*(data.cntrl_phi_des[0]-data.sens_phi[0]); float v_des2 = Kv*(data.cntrl_phi_des[1]-data.sens_phi[1]); data.i_des[0] = v_cntrl[0](v_des1 - data.sens_Vphi[0] ) ; data.i_des[1] = v_cntrl[1](v_des2 - data.sens_Vphi[1] ) ; //float dum = (float)(++u_test%16)/16.0f; //i_des1.write(i2u(.25f*sin(2*3.14f*1.0f))); //i_des1.write(i2u(data.i_des[0])); i_des2.write(i2u(data.i_des[1])); } } } void ControllerLoop::sendSignal() { thread.flags_set(threadFlag); } void ControllerLoop::start_loop(void) { thread.start(callback(this, &ControllerLoop::loop)); ticker.attach(callback(this, &ControllerLoop::sendSignal), Ts); } void ControllerLoop::init_controllers(void) { float Kp = 2000 * 4.89e-7/0.094f; // XX * J/km float TroV = 1.0f / (2.0f * 3.1415f * 330.0f); float Tn = .005f; v_cntrl[0].setCoefficients(Kp,Kp/Tn,0.0f,1.0,TroV,Ts,-.8,.8); v_cntrl[1].setCoefficients(Kp,Kp/Tn,0.0f,1.0,TroV,Ts,-.8,.8); } void ControllerLoop::find_index(void) { float Kp = 0.005; short counts1 = counter1; // get counts from Encoder float vel1 = diff1(counts1); // motor velocity short counts2 = counter2; // get counts from Encoder float vel2 = diff2(counts2); // motor velocity float i1 = Kp*(25.0f - vel1 ); float i2 = Kp*(25.0f - vel2 ) ; //float dum = (float)(++u_test%16)/16.0f; //i_des1.write(i2u(.25f*sin(2*3.14f*1.0f))); //i_des1.write(i2u(i1)); i_des2.write(i2u(i2)); }