Pressure control for drive segment in rebuild of control unit.
Dependencies: mbed QEI FastAnalogIn mbed-rtos FastPWM
main.cpp@0:20018747657d, 2018-12-17 (annotated)
- Committer:
- dofydoink
- Date:
- Mon Dec 17 15:11:37 2018 +0000
- Revision:
- 0:20018747657d
- Child:
- 1:cb2859df7a4c
rgdfgbdfgd
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dofydoink | 0:20018747657d | 1 | #include "mbed.h" |
dofydoink | 0:20018747657d | 2 | #include "math.h" |
dofydoink | 0:20018747657d | 3 | |
dofydoink | 0:20018747657d | 4 | #include "QEI.h" |
dofydoink | 0:20018747657d | 5 | |
dofydoink | 0:20018747657d | 6 | #include "rtos.h" |
dofydoink | 0:20018747657d | 7 | #include "FastPWM.h" |
dofydoink | 0:20018747657d | 8 | |
dofydoink | 0:20018747657d | 9 | #define ERROR_LIMIT_POS 0.008 //limits for when any error measurement is considered to be zero. |
dofydoink | 0:20018747657d | 10 | #define ERROR_LIMIT_NEG -0.008 |
dofydoink | 0:20018747657d | 11 | |
dofydoink | 0:20018747657d | 12 | #define CHAN_1 0x80 |
dofydoink | 0:20018747657d | 13 | #define CHAN_2 0x90 |
dofydoink | 0:20018747657d | 14 | #define CHAN_3 0xA0 |
dofydoink | 0:20018747657d | 15 | #define CHAN_4 0xB0 |
dofydoink | 0:20018747657d | 16 | |
dofydoink | 0:20018747657d | 17 | #define PRESSURE_CHAN 1 |
dofydoink | 0:20018747657d | 18 | #define POSITION_CHAN 3 |
dofydoink | 0:20018747657d | 19 | |
dofydoink | 0:20018747657d | 20 | |
dofydoink | 0:20018747657d | 21 | |
dofydoink | 0:20018747657d | 22 | const float MAX_SPEED_MMPS = 24.3457; |
dofydoink | 0:20018747657d | 23 | |
dofydoink | 0:20018747657d | 24 | SPISlave slave(PA_7, PA_6, PA_5, PA_4 ); // mosi, miso, sclk, ssel |
dofydoink | 0:20018747657d | 25 | |
dofydoink | 0:20018747657d | 26 | QEI wheel (PB_5, PB_4, NC, 256, QEI::X4_ENCODING); |
dofydoink | 0:20018747657d | 27 | |
dofydoink | 0:20018747657d | 28 | DigitalOut Mntr(D3); |
dofydoink | 0:20018747657d | 29 | |
dofydoink | 0:20018747657d | 30 | #define EXTERNAL_CLOCK_MODE 0x08 |
dofydoink | 0:20018747657d | 31 | #define RANGE_CONFIG 0x03 |
dofydoink | 0:20018747657d | 32 | |
dofydoink | 0:20018747657d | 33 | #define EXTERNAL_CLOCK_MODE 0x08 |
dofydoink | 0:20018747657d | 34 | #define RANGE_CONFIG 0x03 //config for 1.5*Vref = 6.144V |
dofydoink | 0:20018747657d | 35 | |
dofydoink | 0:20018747657d | 36 | #define PRESSURE_BIAS_VOLTAGE 0.15151515151515 |
dofydoink | 0:20018747657d | 37 | |
dofydoink | 0:20018747657d | 38 | #define POT_2_MM 0.006750412 //convert potentiometer reading to mm (Tested and is right) |
dofydoink | 0:20018747657d | 39 | #define POT_OFFSET 7500//6666 |
dofydoink | 0:20018747657d | 40 | |
dofydoink | 0:20018747657d | 41 | Serial pc(USBTX, USBRX); // tx, rx |
dofydoink | 0:20018747657d | 42 | |
dofydoink | 0:20018747657d | 43 | Thread PositionControlThread(osPriorityHigh); |
dofydoink | 0:20018747657d | 44 | Thread DebugThread(osPriorityNormal); |
dofydoink | 0:20018747657d | 45 | Thread GateControlThread(osPriorityNormal); |
dofydoink | 0:20018747657d | 46 | |
dofydoink | 0:20018747657d | 47 | Thread DutyCycleThread(osPriorityRealtime); |
dofydoink | 0:20018747657d | 48 | Mutex mutDutyCycle; |
dofydoink | 0:20018747657d | 49 | Semaphore semDutyCycle(1); |
dofydoink | 0:20018747657d | 50 | Timer timerDutyCycle; |
dofydoink | 0:20018747657d | 51 | |
dofydoink | 0:20018747657d | 52 | volatile unsigned int intT; |
dofydoink | 0:20018747657d | 53 | volatile unsigned int intDeltaT; |
dofydoink | 0:20018747657d | 54 | double dblDutyCycle; |
dofydoink | 0:20018747657d | 55 | |
dofydoink | 0:20018747657d | 56 | double dblSensorDriftError; |
dofydoink | 0:20018747657d | 57 | |
dofydoink | 0:20018747657d | 58 | short randomvar; |
dofydoink | 0:20018747657d | 59 | |
dofydoink | 0:20018747657d | 60 | volatile int dataRx; |
dofydoink | 0:20018747657d | 61 | |
dofydoink | 0:20018747657d | 62 | void CalculateDutyCycle() |
dofydoink | 0:20018747657d | 63 | { |
dofydoink | 0:20018747657d | 64 | while(1) |
dofydoink | 0:20018747657d | 65 | { |
dofydoink | 0:20018747657d | 66 | semDutyCycle.wait(); |
dofydoink | 0:20018747657d | 67 | mutDutyCycle.lock(); |
dofydoink | 0:20018747657d | 68 | dblDutyCycle = (double) intDeltaT/intT; |
dofydoink | 0:20018747657d | 69 | mutDutyCycle.unlock(); |
dofydoink | 0:20018747657d | 70 | } |
dofydoink | 0:20018747657d | 71 | } |
dofydoink | 0:20018747657d | 72 | |
dofydoink | 0:20018747657d | 73 | Semaphore semPosCtrl(1); |
dofydoink | 0:20018747657d | 74 | Semaphore semDebug(1); |
dofydoink | 0:20018747657d | 75 | Semaphore semGate(1); |
dofydoink | 0:20018747657d | 76 | |
dofydoink | 0:20018747657d | 77 | Timer timer; |
dofydoink | 0:20018747657d | 78 | |
dofydoink | 0:20018747657d | 79 | long pulsesTest; |
dofydoink | 0:20018747657d | 80 | |
dofydoink | 0:20018747657d | 81 | //define all pins |
dofydoink | 0:20018747657d | 82 | SPI spi(PB_15, PB_14, PB_13); // mosi, miso, sclk //DO NOT USE D4 OR D5 !!! |
dofydoink | 0:20018747657d | 83 | |
dofydoink | 0:20018747657d | 84 | DigitalOut cs_ADC(PB_12); |
dofydoink | 0:20018747657d | 85 | |
dofydoink | 0:20018747657d | 86 | DigitalOut pinGate(PA_8); |
dofydoink | 0:20018747657d | 87 | |
dofydoink | 0:20018747657d | 88 | AnalogIn pinDemand1(PA_0); |
dofydoink | 0:20018747657d | 89 | AnalogIn pinDemand2(PA_1); |
dofydoink | 0:20018747657d | 90 | |
dofydoink | 0:20018747657d | 91 | AnalogIn pinCurSense(PB_0); |
dofydoink | 0:20018747657d | 92 | |
dofydoink | 0:20018747657d | 93 | FastPWM pinPwmOutput(PC_8); |
dofydoink | 0:20018747657d | 94 | |
dofydoink | 0:20018747657d | 95 | FastPWM pinSigOut(D2); |
dofydoink | 0:20018747657d | 96 | |
dofydoink | 0:20018747657d | 97 | DigitalOut pinDirectionFwd(PA_13);//INB |
dofydoink | 0:20018747657d | 98 | DigitalOut pinDirectionRev(PA_14);//INA |
dofydoink | 0:20018747657d | 99 | |
dofydoink | 0:20018747657d | 100 | //define all variables |
dofydoink | 0:20018747657d | 101 | |
dofydoink | 0:20018747657d | 102 | int ii,jj,kk,nn, spiTick; //counting variables |
dofydoink | 0:20018747657d | 103 | |
dofydoink | 0:20018747657d | 104 | volatile int slaveReceivePos; |
dofydoink | 0:20018747657d | 105 | volatile int slaveReceiveVel; |
dofydoink | 0:20018747657d | 106 | |
dofydoink | 0:20018747657d | 107 | volatile int dataFlag; |
dofydoink | 0:20018747657d | 108 | volatile int intFeedBack_pos; |
dofydoink | 0:20018747657d | 109 | volatile int intFeedBack_pres; |
dofydoink | 0:20018747657d | 110 | |
dofydoink | 0:20018747657d | 111 | int intChkSum_pos; |
dofydoink | 0:20018747657d | 112 | int intChkSum_vel; |
dofydoink | 0:20018747657d | 113 | |
dofydoink | 0:20018747657d | 114 | int intPar_pos; |
dofydoink | 0:20018747657d | 115 | int intPar_vel; |
dofydoink | 0:20018747657d | 116 | |
dofydoink | 0:20018747657d | 117 | //raw Data Readings |
dofydoink | 0:20018747657d | 118 | int intPotRead = 0; |
dofydoink | 0:20018747657d | 119 | int intPressureRead = 0; |
dofydoink | 0:20018747657d | 120 | double analogReadingDemPos; |
dofydoink | 0:20018747657d | 121 | double analogReadingDemVel; |
dofydoink | 0:20018747657d | 122 | double analogReadingCurSens; |
dofydoink | 0:20018747657d | 123 | |
dofydoink | 0:20018747657d | 124 | char buf[10]; |
dofydoink | 0:20018747657d | 125 | int dataReceived; |
dofydoink | 0:20018747657d | 126 | |
dofydoink | 0:20018747657d | 127 | //sample time variables |
dofydoink | 0:20018747657d | 128 | double dblSampleTime_s = 0.001; |
dofydoink | 0:20018747657d | 129 | |
dofydoink | 0:20018747657d | 130 | |
dofydoink | 0:20018747657d | 131 | //system state variables |
dofydoink | 0:20018747657d | 132 | double dblPos[10];//current position in mm |
dofydoink | 0:20018747657d | 133 | double dblPosFil[10];//current position in mm |
dofydoink | 0:20018747657d | 134 | double dblLastPos;//previous position in mm |
dofydoink | 0:20018747657d | 135 | double dblVel[10];//velocity in mm/s |
dofydoink | 0:20018747657d | 136 | double dblAccel; //acceleration in mm/s^2 |
dofydoink | 0:20018747657d | 137 | double dblIntegral = 0;//integral of position; |
dofydoink | 0:20018747657d | 138 | |
dofydoink | 0:20018747657d | 139 | double dblPotPositionRead; |
dofydoink | 0:20018747657d | 140 | |
dofydoink | 0:20018747657d | 141 | double dblPosBias = 48.0; |
dofydoink | 0:20018747657d | 142 | |
dofydoink | 0:20018747657d | 143 | double dblStartingPos; |
dofydoink | 0:20018747657d | 144 | |
dofydoink | 0:20018747657d | 145 | //demand variables |
dofydoink | 0:20018747657d | 146 | double dblPosD[10]; |
dofydoink | 0:20018747657d | 147 | double dblLastPosD; |
dofydoink | 0:20018747657d | 148 | double dblVelD[10]; |
dofydoink | 0:20018747657d | 149 | double dblAccelD; |
dofydoink | 0:20018747657d | 150 | |
dofydoink | 0:20018747657d | 151 | double dblTargetPos; |
dofydoink | 0:20018747657d | 152 | double dblTargetVel; |
dofydoink | 0:20018747657d | 153 | |
dofydoink | 0:20018747657d | 154 | double dblMaxPos = 41.0; //maximum actuator position position in mm |
dofydoink | 0:20018747657d | 155 | double dblPosConv; |
dofydoink | 0:20018747657d | 156 | |
dofydoink | 0:20018747657d | 157 | double dblError; |
dofydoink | 0:20018747657d | 158 | double dblLastError; |
dofydoink | 0:20018747657d | 159 | double dblErrorDot; |
dofydoink | 0:20018747657d | 160 | |
dofydoink | 0:20018747657d | 161 | //filter Variables |
dofydoink | 0:20018747657d | 162 | int intPosFilOrder = 1; |
dofydoink | 0:20018747657d | 163 | int intVelFilOrder = 1; |
dofydoink | 0:20018747657d | 164 | int intDemPosFilOrder = 6; |
dofydoink | 0:20018747657d | 165 | int intDemVelFilOrder = 6; |
dofydoink | 0:20018747657d | 166 | int intOutFilOrder = 0; |
dofydoink | 0:20018747657d | 167 | |
dofydoink | 0:20018747657d | 168 | //controller variables |
dofydoink | 0:20018747657d | 169 | double omega; |
dofydoink | 0:20018747657d | 170 | double zeta; |
dofydoink | 0:20018747657d | 171 | |
dofydoink | 0:20018747657d | 172 | double Kp = 20.0; |
dofydoink | 0:20018747657d | 173 | double Ki = 2.0; |
dofydoink | 0:20018747657d | 174 | double Kd = 1.5; |
dofydoink | 0:20018747657d | 175 | double dblIntTerm; |
dofydoink | 0:20018747657d | 176 | double dblIntLimit = 0.8; |
dofydoink | 0:20018747657d | 177 | |
dofydoink | 0:20018747657d | 178 | double dblControlBias = 0.0; |
dofydoink | 0:20018747657d | 179 | |
dofydoink | 0:20018747657d | 180 | double dblMotorVoltage = 12.0; |
dofydoink | 0:20018747657d | 181 | |
dofydoink | 0:20018747657d | 182 | double output[10];//controller output |
dofydoink | 0:20018747657d | 183 | |
dofydoink | 0:20018747657d | 184 | //current limit variables |
dofydoink | 0:20018747657d | 185 | double CurrentLimitSet; |
dofydoink | 0:20018747657d | 186 | double dblCurrentLimitAmps = 3.0; |
dofydoink | 0:20018747657d | 187 | double currentBuck; |
dofydoink | 0:20018747657d | 188 | double currentBuckGain = 3.0; |
dofydoink | 0:20018747657d | 189 | |
dofydoink | 0:20018747657d | 190 | //define custom Functions |
dofydoink | 0:20018747657d | 191 | |
dofydoink | 0:20018747657d | 192 | int Read14BitADC(int channel, DigitalOut CSpin) |
dofydoink | 0:20018747657d | 193 | { |
dofydoink | 0:20018747657d | 194 | char message; |
dofydoink | 0:20018747657d | 195 | unsigned int outputA; |
dofydoink | 0:20018747657d | 196 | unsigned int outputB; |
dofydoink | 0:20018747657d | 197 | int output; |
dofydoink | 0:20018747657d | 198 | |
dofydoink | 0:20018747657d | 199 | switch(channel) |
dofydoink | 0:20018747657d | 200 | { |
dofydoink | 0:20018747657d | 201 | case 1: |
dofydoink | 0:20018747657d | 202 | message = CHAN_1; |
dofydoink | 0:20018747657d | 203 | break; |
dofydoink | 0:20018747657d | 204 | |
dofydoink | 0:20018747657d | 205 | case 2: |
dofydoink | 0:20018747657d | 206 | message = CHAN_2; |
dofydoink | 0:20018747657d | 207 | break; |
dofydoink | 0:20018747657d | 208 | |
dofydoink | 0:20018747657d | 209 | case 3: |
dofydoink | 0:20018747657d | 210 | message = CHAN_3; |
dofydoink | 0:20018747657d | 211 | break; |
dofydoink | 0:20018747657d | 212 | case 4: |
dofydoink | 0:20018747657d | 213 | message = CHAN_4; |
dofydoink | 0:20018747657d | 214 | break; |
dofydoink | 0:20018747657d | 215 | |
dofydoink | 0:20018747657d | 216 | default: |
dofydoink | 0:20018747657d | 217 | message = CHAN_1; |
dofydoink | 0:20018747657d | 218 | } |
dofydoink | 0:20018747657d | 219 | |
dofydoink | 0:20018747657d | 220 | spi.format(8,0); |
dofydoink | 0:20018747657d | 221 | spi.frequency(3000000);//3MHz clock speed (3.67MHz max) |
dofydoink | 0:20018747657d | 222 | |
dofydoink | 0:20018747657d | 223 | CSpin.write(0); |
dofydoink | 0:20018747657d | 224 | spi.write(message); |
dofydoink | 0:20018747657d | 225 | spi.write(0x00); |
dofydoink | 0:20018747657d | 226 | outputA = spi.write(0x00); |
dofydoink | 0:20018747657d | 227 | outputB = spi.write(0x00); |
dofydoink | 0:20018747657d | 228 | CSpin.write(1); |
dofydoink | 0:20018747657d | 229 | |
dofydoink | 0:20018747657d | 230 | //convert result to sensible value |
dofydoink | 0:20018747657d | 231 | outputA = outputA<<8; |
dofydoink | 0:20018747657d | 232 | output = outputA | outputB; |
dofydoink | 0:20018747657d | 233 | output = output>>2; |
dofydoink | 0:20018747657d | 234 | |
dofydoink | 0:20018747657d | 235 | return output; |
dofydoink | 0:20018747657d | 236 | } |
dofydoink | 0:20018747657d | 237 | |
dofydoink | 0:20018747657d | 238 | void ADC_Config() |
dofydoink | 0:20018747657d | 239 | { |
dofydoink | 0:20018747657d | 240 | |
dofydoink | 0:20018747657d | 241 | unsigned int msg; |
dofydoink | 0:20018747657d | 242 | spi.format(8,0); |
dofydoink | 0:20018747657d | 243 | spi.frequency(3000000);//3MHz clock speed (3.67MHz max) |
dofydoink | 0:20018747657d | 244 | |
dofydoink | 0:20018747657d | 245 | msg = CHAN_1 | RANGE_CONFIG; //config channel 1 set Vref as |
dofydoink | 0:20018747657d | 246 | cs_ADC = 0; |
dofydoink | 0:20018747657d | 247 | spi.write(msg); |
dofydoink | 0:20018747657d | 248 | cs_ADC = 1; |
dofydoink | 0:20018747657d | 249 | |
dofydoink | 0:20018747657d | 250 | cs_ADC = 0; |
dofydoink | 0:20018747657d | 251 | spi.write(EXTERNAL_CLOCK_MODE); |
dofydoink | 0:20018747657d | 252 | cs_ADC = 1; |
dofydoink | 0:20018747657d | 253 | |
dofydoink | 0:20018747657d | 254 | msg = CHAN_2 | RANGE_CONFIG; //config channel 2 |
dofydoink | 0:20018747657d | 255 | cs_ADC = 0; |
dofydoink | 0:20018747657d | 256 | spi.write(msg); |
dofydoink | 0:20018747657d | 257 | cs_ADC = 1; |
dofydoink | 0:20018747657d | 258 | |
dofydoink | 0:20018747657d | 259 | cs_ADC = 0; |
dofydoink | 0:20018747657d | 260 | spi.write(EXTERNAL_CLOCK_MODE); |
dofydoink | 0:20018747657d | 261 | cs_ADC = 1; |
dofydoink | 0:20018747657d | 262 | |
dofydoink | 0:20018747657d | 263 | msg = CHAN_3 | RANGE_CONFIG; //config channel 3 |
dofydoink | 0:20018747657d | 264 | cs_ADC = 0; |
dofydoink | 0:20018747657d | 265 | spi.write(msg); |
dofydoink | 0:20018747657d | 266 | cs_ADC = 1; |
dofydoink | 0:20018747657d | 267 | |
dofydoink | 0:20018747657d | 268 | cs_ADC = 0; |
dofydoink | 0:20018747657d | 269 | spi.write(EXTERNAL_CLOCK_MODE); |
dofydoink | 0:20018747657d | 270 | cs_ADC = 1; |
dofydoink | 0:20018747657d | 271 | |
dofydoink | 0:20018747657d | 272 | msg = CHAN_4 | RANGE_CONFIG; //config channel 4 |
dofydoink | 0:20018747657d | 273 | cs_ADC = 0; |
dofydoink | 0:20018747657d | 274 | spi.write(msg); |
dofydoink | 0:20018747657d | 275 | cs_ADC = 1; |
dofydoink | 0:20018747657d | 276 | |
dofydoink | 0:20018747657d | 277 | cs_ADC = 0; |
dofydoink | 0:20018747657d | 278 | spi.write(EXTERNAL_CLOCK_MODE); |
dofydoink | 0:20018747657d | 279 | cs_ADC = 1; |
dofydoink | 0:20018747657d | 280 | |
dofydoink | 0:20018747657d | 281 | } |
dofydoink | 0:20018747657d | 282 | |
dofydoink | 0:20018747657d | 283 | |
dofydoink | 0:20018747657d | 284 | int SumDigits(int var) |
dofydoink | 0:20018747657d | 285 | { |
dofydoink | 0:20018747657d | 286 | int intSumResult = 0; |
dofydoink | 0:20018747657d | 287 | int intTempVar = var; |
dofydoink | 0:20018747657d | 288 | while (intTempVar >0) |
dofydoink | 0:20018747657d | 289 | { |
dofydoink | 0:20018747657d | 290 | intSumResult += intTempVar%10; |
dofydoink | 0:20018747657d | 291 | intTempVar = int(intTempVar/10); |
dofydoink | 0:20018747657d | 292 | //intSumResult += int(var/100)%100; |
dofydoink | 0:20018747657d | 293 | } |
dofydoink | 0:20018747657d | 294 | |
dofydoink | 0:20018747657d | 295 | return intSumResult; |
dofydoink | 0:20018747657d | 296 | } |
dofydoink | 0:20018747657d | 297 | |
dofydoink | 0:20018747657d | 298 | int EvenParityBitGen(int var) |
dofydoink | 0:20018747657d | 299 | { |
dofydoink | 0:20018747657d | 300 | unsigned int count = 0, i, b = 1; |
dofydoink | 0:20018747657d | 301 | |
dofydoink | 0:20018747657d | 302 | for(i = 0; i < 32; i++){ |
dofydoink | 0:20018747657d | 303 | if( var & (b << i) ){count++;} |
dofydoink | 0:20018747657d | 304 | } |
dofydoink | 0:20018747657d | 305 | |
dofydoink | 0:20018747657d | 306 | if( (count % 2) ){return 0;} |
dofydoink | 0:20018747657d | 307 | |
dofydoink | 0:20018747657d | 308 | return 1; |
dofydoink | 0:20018747657d | 309 | } |
dofydoink | 0:20018747657d | 310 | |
dofydoink | 0:20018747657d | 311 | void CloseGate() |
dofydoink | 0:20018747657d | 312 | { |
dofydoink | 0:20018747657d | 313 | pinGate = 0; |
dofydoink | 0:20018747657d | 314 | |
dofydoink | 0:20018747657d | 315 | } |
dofydoink | 0:20018747657d | 316 | |
dofydoink | 0:20018747657d | 317 | Timer gateTimer; |
dofydoink | 0:20018747657d | 318 | |
dofydoink | 0:20018747657d | 319 | |
dofydoink | 0:20018747657d | 320 | void PositionControlPID() |
dofydoink | 0:20018747657d | 321 | { |
dofydoink | 0:20018747657d | 322 | while(1) |
dofydoink | 0:20018747657d | 323 | { |
dofydoink | 0:20018747657d | 324 | semPosCtrl.wait(); |
dofydoink | 0:20018747657d | 325 | |
dofydoink | 0:20018747657d | 326 | Mntr = 1;//!led; |
dofydoink | 0:20018747657d | 327 | pulsesTest = wheel.getPulses(); |
dofydoink | 0:20018747657d | 328 | |
dofydoink | 0:20018747657d | 329 | double testy = (double) abs(pulsesTest)/2000; |
dofydoink | 0:20018747657d | 330 | pinSigOut.write(testy); |
dofydoink | 0:20018747657d | 331 | |
dofydoink | 0:20018747657d | 332 | //take all readings |
dofydoink | 0:20018747657d | 333 | |
dofydoink | 0:20018747657d | 334 | //sensor readings |
dofydoink | 0:20018747657d | 335 | |
dofydoink | 0:20018747657d | 336 | intPressureRead = (Read14BitADC(PRESSURE_CHAN, cs_ADC));//read pressure |
dofydoink | 0:20018747657d | 337 | intFeedBack_pres = intPressureRead & 0xFFE0; |
dofydoink | 0:20018747657d | 338 | intFeedBack_pres = (intFeedBack_pres) | SumDigits(intFeedBack_pres>>5); |
dofydoink | 0:20018747657d | 339 | intFeedBack_pres = (intFeedBack_pres <<1) &0x1; |
dofydoink | 0:20018747657d | 340 | intFeedBack_pres = (intFeedBack_pres <<1) | EvenParityBitGen(intFeedBack_pres); |
dofydoink | 0:20018747657d | 341 | |
dofydoink | 0:20018747657d | 342 | intPotRead = (16383-Read14BitADC(POSITION_CHAN, cs_ADC));//read potentiometer |
dofydoink | 0:20018747657d | 343 | dblPotPositionRead = (double) POT_2_MM*(intPotRead - POT_OFFSET); |
dofydoink | 0:20018747657d | 344 | |
dofydoink | 0:20018747657d | 345 | |
dofydoink | 0:20018747657d | 346 | //demand Readings |
dofydoink | 0:20018747657d | 347 | |
dofydoink | 0:20018747657d | 348 | |
dofydoink | 0:20018747657d | 349 | //current reading |
dofydoink | 0:20018747657d | 350 | analogReadingCurSens = (double) 0.3*pinCurSense.read()+0.7*analogReadingCurSens; |
dofydoink | 0:20018747657d | 351 | |
dofydoink | 0:20018747657d | 352 | //convert units and filter |
dofydoink | 0:20018747657d | 353 | |
dofydoink | 0:20018747657d | 354 | //get position and filter |
dofydoink | 0:20018747657d | 355 | dblPos[0] = (double) pulsesTest*-0.0078125 + dblStartingPos; |
dofydoink | 0:20018747657d | 356 | dblSensorDriftError = dblPotPositionRead - dblPos[0]; |
dofydoink | 0:20018747657d | 357 | |
dofydoink | 0:20018747657d | 358 | if(dblSensorDriftError > 2.0)//if encoder reading is seriously wrong |
dofydoink | 0:20018747657d | 359 | { |
dofydoink | 0:20018747657d | 360 | //dblPos[0] = dblPotPositionRead; |
dofydoink | 0:20018747657d | 361 | } |
dofydoink | 0:20018747657d | 362 | |
dofydoink | 0:20018747657d | 363 | //printf("%d, %f, %f\r\n",pulsesTest,dblPos[0],dblPotPositionRead); |
dofydoink | 0:20018747657d | 364 | if(intPosFilOrder > 0) |
dofydoink | 0:20018747657d | 365 | { |
dofydoink | 0:20018747657d | 366 | for (ii = 1; ii<intPosFilOrder+1; ii++) |
dofydoink | 0:20018747657d | 367 | { |
dofydoink | 0:20018747657d | 368 | dblPos[ii] = (double) 0.7*dblPos[ii-1] + 0.3*dblPos[ii]; |
dofydoink | 0:20018747657d | 369 | } |
dofydoink | 0:20018747657d | 370 | } |
dofydoink | 0:20018747657d | 371 | else |
dofydoink | 0:20018747657d | 372 | { |
dofydoink | 0:20018747657d | 373 | dblPos[intPosFilOrder] = dblPos[0]; |
dofydoink | 0:20018747657d | 374 | } |
dofydoink | 0:20018747657d | 375 | |
dofydoink | 0:20018747657d | 376 | //get velocity and filter |
dofydoink | 0:20018747657d | 377 | dblVel[0] = dblPos[intPosFilOrder] - dblLastPos; |
dofydoink | 0:20018747657d | 378 | if(intVelFilOrder>0) |
dofydoink | 0:20018747657d | 379 | { |
dofydoink | 0:20018747657d | 380 | for (ii = 1; ii<intVelFilOrder+1; ii++) |
dofydoink | 0:20018747657d | 381 | { |
dofydoink | 0:20018747657d | 382 | dblVel[ii] = (double) 0.7*dblVel[ii-1] + 0.3*dblVel[ii]; |
dofydoink | 0:20018747657d | 383 | } |
dofydoink | 0:20018747657d | 384 | } |
dofydoink | 0:20018747657d | 385 | else |
dofydoink | 0:20018747657d | 386 | { |
dofydoink | 0:20018747657d | 387 | dblVel[intVelFilOrder] = dblVel[0]; |
dofydoink | 0:20018747657d | 388 | } |
dofydoink | 0:20018747657d | 389 | |
dofydoink | 0:20018747657d | 390 | |
dofydoink | 0:20018747657d | 391 | //printf("%f\r\n",dblPosD[intDemPosFilOrder]); |
dofydoink | 0:20018747657d | 392 | |
dofydoink | 0:20018747657d | 393 | intFeedBack_pos = dblPos[intPosFilOrder]/dblMaxPos*511; |
dofydoink | 0:20018747657d | 394 | |
dofydoink | 0:20018747657d | 395 | if(intFeedBack_pos>511) |
dofydoink | 0:20018747657d | 396 | { |
dofydoink | 0:20018747657d | 397 | intFeedBack_pos = 511; |
dofydoink | 0:20018747657d | 398 | } |
dofydoink | 0:20018747657d | 399 | |
dofydoink | 0:20018747657d | 400 | if(intFeedBack_pos<0) |
dofydoink | 0:20018747657d | 401 | { |
dofydoink | 0:20018747657d | 402 | intFeedBack_pos = 0; |
dofydoink | 0:20018747657d | 403 | } |
dofydoink | 0:20018747657d | 404 | |
dofydoink | 0:20018747657d | 405 | |
dofydoink | 0:20018747657d | 406 | intFeedBack_pos = (intFeedBack_pos<<5) | SumDigits(intFeedBack_pos); |
dofydoink | 0:20018747657d | 407 | intFeedBack_pos = intFeedBack_pos <<1; |
dofydoink | 0:20018747657d | 408 | intFeedBack_pos = (intFeedBack_pos <<1) | EvenParityBitGen(intFeedBack_pos); |
dofydoink | 0:20018747657d | 409 | |
dofydoink | 0:20018747657d | 410 | //intFeedBack = dblSensorDriftError*8191; |
dofydoink | 0:20018747657d | 411 | |
dofydoink | 0:20018747657d | 412 | |
dofydoink | 0:20018747657d | 413 | |
dofydoink | 0:20018747657d | 414 | |
dofydoink | 0:20018747657d | 415 | |
dofydoink | 0:20018747657d | 416 | ///////////////PATH GENERATION//////////////////////// |
dofydoink | 0:20018747657d | 417 | //work out next path point |
dofydoink | 0:20018747657d | 418 | double dblPathDifference; |
dofydoink | 0:20018747657d | 419 | dblPathDifference = dblTargetPos - dblPosD[intDemPosFilOrder]; |
dofydoink | 0:20018747657d | 420 | double dblLinearPath; |
dofydoink | 0:20018747657d | 421 | double dblLastLinearPath; |
dofydoink | 0:20018747657d | 422 | //check if target has been reached |
dofydoink | 0:20018747657d | 423 | if (dblPathDifference > 1.05*MAX_SPEED_MMPS*dblSampleTime_s) { |
dofydoink | 0:20018747657d | 424 | //is velocity positive or negative? |
dofydoink | 0:20018747657d | 425 | double dblPathSign = dblPathDifference/fabs(dblPathDifference); |
dofydoink | 0:20018747657d | 426 | |
dofydoink | 0:20018747657d | 427 | dblLinearPath = dblLinearPath + dblPathSign*dblTargetVel*dblSampleTime_s;//next point in path |
dofydoink | 0:20018747657d | 428 | |
dofydoink | 0:20018747657d | 429 | //now smooth |
dofydoink | 0:20018747657d | 430 | dblPosD[intDemPosFilOrder] = 0.2*dblLinearPath + 0.8*dblPosD[intDemPosFilOrder]; |
dofydoink | 0:20018747657d | 431 | } |
dofydoink | 0:20018747657d | 432 | else { |
dofydoink | 0:20018747657d | 433 | //set velocity to zero |
dofydoink | 0:20018747657d | 434 | dblTargetVel = 0.0; |
dofydoink | 0:20018747657d | 435 | } |
dofydoink | 0:20018747657d | 436 | |
dofydoink | 0:20018747657d | 437 | //make sure path is safe |
dofydoink | 0:20018747657d | 438 | if (dblPosD[intDemPosFilOrder] > dblMaxPos) { |
dofydoink | 0:20018747657d | 439 | dblPosD[intDemPosFilOrder] = dblMaxPos; |
dofydoink | 0:20018747657d | 440 | } |
dofydoink | 0:20018747657d | 441 | if (dblPosD[intDemPosFilOrder] < 0.0) { |
dofydoink | 0:20018747657d | 442 | dblPosD[intDemPosFilOrder] = 0.0; |
dofydoink | 0:20018747657d | 443 | } |
dofydoink | 0:20018747657d | 444 | |
dofydoink | 0:20018747657d | 445 | |
dofydoink | 0:20018747657d | 446 | dblVelD[0] = dblPosD[intDemPosFilOrder] - dblLastPosD; |
dofydoink | 0:20018747657d | 447 | |
dofydoink | 0:20018747657d | 448 | //run PID calculations |
dofydoink | 0:20018747657d | 449 | //get errors |
dofydoink | 0:20018747657d | 450 | dblError = dblPosD[intDemPosFilOrder] - dblPos[intPosFilOrder]; |
dofydoink | 0:20018747657d | 451 | dblErrorDot = dblVelD[intDemVelFilOrder] - dblVel[intVelFilOrder]; |
dofydoink | 0:20018747657d | 452 | //get integral |
dofydoink | 0:20018747657d | 453 | //printf("%f\r\n",dblError); |
dofydoink | 0:20018747657d | 454 | |
dofydoink | 0:20018747657d | 455 | |
dofydoink | 0:20018747657d | 456 | dblIntTerm = dblIntTerm + Ki*dblError; |
dofydoink | 0:20018747657d | 457 | |
dofydoink | 0:20018747657d | 458 | //limit integral term |
dofydoink | 0:20018747657d | 459 | if (dblIntTerm > dblIntLimit) |
dofydoink | 0:20018747657d | 460 | { |
dofydoink | 0:20018747657d | 461 | dblIntTerm = dblIntLimit; |
dofydoink | 0:20018747657d | 462 | } |
dofydoink | 0:20018747657d | 463 | if (dblIntTerm < -1.0*dblIntLimit) |
dofydoink | 0:20018747657d | 464 | { |
dofydoink | 0:20018747657d | 465 | dblIntTerm = (double) -1.0*dblIntLimit; |
dofydoink | 0:20018747657d | 466 | } |
dofydoink | 0:20018747657d | 467 | |
dofydoink | 0:20018747657d | 468 | if(fabs(dblError) <0.01) |
dofydoink | 0:20018747657d | 469 | { |
dofydoink | 0:20018747657d | 470 | dblError = 0.0; |
dofydoink | 0:20018747657d | 471 | dblErrorDot = 0.0; |
dofydoink | 0:20018747657d | 472 | |
dofydoink | 0:20018747657d | 473 | } |
dofydoink | 0:20018747657d | 474 | |
dofydoink | 0:20018747657d | 475 | if (fabs(dblErrorDot) < 0.1) |
dofydoink | 0:20018747657d | 476 | { |
dofydoink | 0:20018747657d | 477 | dblErrorDot = 0.0; |
dofydoink | 0:20018747657d | 478 | } |
dofydoink | 0:20018747657d | 479 | |
dofydoink | 0:20018747657d | 480 | //calculate output |
dofydoink | 0:20018747657d | 481 | output[0] = Kp*dblError + dblIntTerm + Kd*dblErrorDot; |
dofydoink | 0:20018747657d | 482 | |
dofydoink | 0:20018747657d | 483 | //limit output |
dofydoink | 0:20018747657d | 484 | if (output[0] > 0.95) |
dofydoink | 0:20018747657d | 485 | { |
dofydoink | 0:20018747657d | 486 | output[0] = 0.95; |
dofydoink | 0:20018747657d | 487 | } |
dofydoink | 0:20018747657d | 488 | if (output[0] < -0.95) |
dofydoink | 0:20018747657d | 489 | { |
dofydoink | 0:20018747657d | 490 | output[0] = -0.95; |
dofydoink | 0:20018747657d | 491 | } |
dofydoink | 0:20018747657d | 492 | |
dofydoink | 0:20018747657d | 493 | if(intOutFilOrder>0) |
dofydoink | 0:20018747657d | 494 | { |
dofydoink | 0:20018747657d | 495 | for (ii = 1; ii < intOutFilOrder+1; ii++) |
dofydoink | 0:20018747657d | 496 | { |
dofydoink | 0:20018747657d | 497 | output[ii] = 0.7*output[ii-1] + 0.3*output[ii]; |
dofydoink | 0:20018747657d | 498 | } |
dofydoink | 0:20018747657d | 499 | } |
dofydoink | 0:20018747657d | 500 | else |
dofydoink | 0:20018747657d | 501 | { |
dofydoink | 0:20018747657d | 502 | output[intOutFilOrder] = output[0]; |
dofydoink | 0:20018747657d | 503 | } |
dofydoink | 0:20018747657d | 504 | |
dofydoink | 0:20018747657d | 505 | //limit current |
dofydoink | 0:20018747657d | 506 | if (analogReadingCurSens> CurrentLimitSet) |
dofydoink | 0:20018747657d | 507 | { |
dofydoink | 0:20018747657d | 508 | currentBuck = CurrentLimitSet / analogReadingCurSens / currentBuckGain; |
dofydoink | 0:20018747657d | 509 | } |
dofydoink | 0:20018747657d | 510 | else |
dofydoink | 0:20018747657d | 511 | { |
dofydoink | 0:20018747657d | 512 | currentBuck = 1.0; |
dofydoink | 0:20018747657d | 513 | } |
dofydoink | 0:20018747657d | 514 | |
dofydoink | 0:20018747657d | 515 | output[intOutFilOrder] = currentBuck*output[intOutFilOrder]; |
dofydoink | 0:20018747657d | 516 | //end Current limit |
dofydoink | 0:20018747657d | 517 | |
dofydoink | 0:20018747657d | 518 | //find direction |
dofydoink | 0:20018747657d | 519 | if(output[intOutFilOrder] >=0.0) |
dofydoink | 0:20018747657d | 520 | { |
dofydoink | 0:20018747657d | 521 | pinDirectionFwd = 1; |
dofydoink | 0:20018747657d | 522 | pinDirectionRev = 0; |
dofydoink | 0:20018747657d | 523 | dblControlBias = 0.0; |
dofydoink | 0:20018747657d | 524 | } |
dofydoink | 0:20018747657d | 525 | else |
dofydoink | 0:20018747657d | 526 | { |
dofydoink | 0:20018747657d | 527 | pinDirectionFwd = 0; |
dofydoink | 0:20018747657d | 528 | pinDirectionRev = 1; |
dofydoink | 0:20018747657d | 529 | dblControlBias = 0.0; |
dofydoink | 0:20018747657d | 530 | } |
dofydoink | 0:20018747657d | 531 | |
dofydoink | 0:20018747657d | 532 | pinPwmOutput.write(abs(output[intOutFilOrder])+dblControlBias); |
dofydoink | 0:20018747657d | 533 | |
dofydoink | 0:20018747657d | 534 | //update all past variables |
dofydoink | 0:20018747657d | 535 | dblLastPos = dblPos[intPosFilOrder]; |
dofydoink | 0:20018747657d | 536 | dblLastPosD = dblPosD[intDemPosFilOrder]; |
dofydoink | 0:20018747657d | 537 | |
dofydoink | 0:20018747657d | 538 | Mntr = 0; |
dofydoink | 0:20018747657d | 539 | |
dofydoink | 0:20018747657d | 540 | //GateControl(); |
dofydoink | 0:20018747657d | 541 | gateTimer.reset(); |
dofydoink | 0:20018747657d | 542 | pinGate = 1; |
dofydoink | 0:20018747657d | 543 | |
dofydoink | 0:20018747657d | 544 | while((gateTimer.read_us() < 600) && pinGate == 1) |
dofydoink | 0:20018747657d | 545 | { |
dofydoink | 0:20018747657d | 546 | if(slave.receive()) |
dofydoink | 0:20018747657d | 547 | { |
dofydoink | 0:20018747657d | 548 | //receive first msg |
dofydoink | 0:20018747657d | 549 | slaveReceivePos = slave.read(); //reply with 0xFFFF |
dofydoink | 0:20018747657d | 550 | |
dofydoink | 0:20018747657d | 551 | slave.reply(intFeedBack_pos);//prepare position reply |
dofydoink | 0:20018747657d | 552 | slaveReceiveVel = slave.read();//get next message |
dofydoink | 0:20018747657d | 553 | |
dofydoink | 0:20018747657d | 554 | //intFeedBack = intPressureRead & 0xFFFF; |
dofydoink | 0:20018747657d | 555 | slave.reply(intFeedBack_pres); //prepare pressure reply |
dofydoink | 0:20018747657d | 556 | |
dofydoink | 0:20018747657d | 557 | slave.reply(0xFFFF); |
dofydoink | 0:20018747657d | 558 | pinGate = 0; |
dofydoink | 0:20018747657d | 559 | |
dofydoink | 0:20018747657d | 560 | //deal with position |
dofydoink | 0:20018747657d | 561 | //find parity & checkSum |
dofydoink | 0:20018747657d | 562 | intPar_pos = EvenParityBitGen(slaveReceivePos>>1); |
dofydoink | 0:20018747657d | 563 | intChkSum_pos = SumDigits(slaveReceivePos>>7); |
dofydoink | 0:20018747657d | 564 | |
dofydoink | 0:20018747657d | 565 | //check if parity, check Sum and mesage type matches |
dofydoink | 0:20018747657d | 566 | if((intPar_pos == (slaveReceivePos&0x1))&&(intChkSum_pos == ((slaveReceivePos>>2)&0x1F))&&( ( (slaveReceivePos>>1) &0x1) ) == 0) { |
dofydoink | 0:20018747657d | 567 | slaveReceivePos = slaveReceivePos>>7; |
dofydoink | 0:20018747657d | 568 | dblTargetPos = (double) dblMaxPos*slaveReceivePos/511; |
dofydoink | 0:20018747657d | 569 | |
dofydoink | 0:20018747657d | 570 | //limit demand to ensure safety |
dofydoink | 0:20018747657d | 571 | if(dblTargetPos > dblMaxPos) |
dofydoink | 0:20018747657d | 572 | { |
dofydoink | 0:20018747657d | 573 | dblTargetPos = dblMaxPos; |
dofydoink | 0:20018747657d | 574 | } |
dofydoink | 0:20018747657d | 575 | if(dblTargetPos < 0.0) |
dofydoink | 0:20018747657d | 576 | { |
dofydoink | 0:20018747657d | 577 | dblTargetPos = 0.0; |
dofydoink | 0:20018747657d | 578 | } |
dofydoink | 0:20018747657d | 579 | } |
dofydoink | 0:20018747657d | 580 | |
dofydoink | 0:20018747657d | 581 | //deal with velocity |
dofydoink | 0:20018747657d | 582 | //find parity & checkSum |
dofydoink | 0:20018747657d | 583 | intPar_vel = EvenParityBitGen(slaveReceiveVel>>1); |
dofydoink | 0:20018747657d | 584 | intChkSum_vel = SumDigits(slaveReceiveVel>>7); |
dofydoink | 0:20018747657d | 585 | |
dofydoink | 0:20018747657d | 586 | //check if parity, check Sum and mesage type matches |
dofydoink | 0:20018747657d | 587 | if((intPar_vel == (slaveReceiveVel&0x1))&&(intChkSum_vel == ((slaveReceiveVel>>2)&0x1F))&&( ( (slaveReceiveVel>>1) &0x1) ) == 0) { |
dofydoink | 0:20018747657d | 588 | slaveReceiveVel = slaveReceiveVel>>7; |
dofydoink | 0:20018747657d | 589 | dblTargetVel = (double) MAX_SPEED_MMPS*slaveReceiveVel/511; |
dofydoink | 0:20018747657d | 590 | |
dofydoink | 0:20018747657d | 591 | //limit demand to ensure safety |
dofydoink | 0:20018747657d | 592 | if(dblTargetVel > MAX_SPEED_MMPS) |
dofydoink | 0:20018747657d | 593 | { |
dofydoink | 0:20018747657d | 594 | dblTargetVel = MAX_SPEED_MMPS; |
dofydoink | 0:20018747657d | 595 | } |
dofydoink | 0:20018747657d | 596 | if(dblTargetVel < 0.0) |
dofydoink | 0:20018747657d | 597 | { |
dofydoink | 0:20018747657d | 598 | dblTargetVel = 0.0; |
dofydoink | 0:20018747657d | 599 | } |
dofydoink | 0:20018747657d | 600 | } |
dofydoink | 0:20018747657d | 601 | |
dofydoink | 0:20018747657d | 602 | |
dofydoink | 0:20018747657d | 603 | |
dofydoink | 0:20018747657d | 604 | |
dofydoink | 0:20018747657d | 605 | // dataFlag = slaveReceive>>13; |
dofydoink | 0:20018747657d | 606 | // |
dofydoink | 0:20018747657d | 607 | // if(dataFlag == 0) |
dofydoink | 0:20018747657d | 608 | // { |
dofydoink | 0:20018747657d | 609 | // slaveReceive = slaveReceive>>7 & 0x1FF; |
dofydoink | 0:20018747657d | 610 | // //get demand and filter |
dofydoink | 0:20018747657d | 611 | // dblPosD[intDemPosFilOrder] = (double) dblMaxPos*slaveReceive/511; |
dofydoink | 0:20018747657d | 612 | // |
dofydoink | 0:20018747657d | 613 | // //limit demand to ensure safety |
dofydoink | 0:20018747657d | 614 | // if(dblPosD[intDemPosFilOrder] > dblMaxPos) |
dofydoink | 0:20018747657d | 615 | // { |
dofydoink | 0:20018747657d | 616 | // dblPosD[intDemPosFilOrder] = dblMaxPos; |
dofydoink | 0:20018747657d | 617 | // } |
dofydoink | 0:20018747657d | 618 | // if(dblPosD[intDemPosFilOrder] < 0.0) |
dofydoink | 0:20018747657d | 619 | // { |
dofydoink | 0:20018747657d | 620 | // dblPosD[intDemPosFilOrder] = 0.0; |
dofydoink | 0:20018747657d | 621 | // } |
dofydoink | 0:20018747657d | 622 | // } |
dofydoink | 0:20018747657d | 623 | |
dofydoink | 0:20018747657d | 624 | } |
dofydoink | 0:20018747657d | 625 | } |
dofydoink | 0:20018747657d | 626 | pinGate = 0; |
dofydoink | 0:20018747657d | 627 | |
dofydoink | 0:20018747657d | 628 | |
dofydoink | 0:20018747657d | 629 | } |
dofydoink | 0:20018747657d | 630 | } |
dofydoink | 0:20018747657d | 631 | |
dofydoink | 0:20018747657d | 632 | |
dofydoink | 0:20018747657d | 633 | //configure all control parameters |
dofydoink | 0:20018747657d | 634 | void ControlParameterConfig() |
dofydoink | 0:20018747657d | 635 | { |
dofydoink | 0:20018747657d | 636 | Kp = Kp/dblMotorVoltage; |
dofydoink | 0:20018747657d | 637 | Kd = Kd/dblSampleTime_s/dblMotorVoltage; |
dofydoink | 0:20018747657d | 638 | Ki = Ki*dblSampleTime_s/dblMotorVoltage; |
dofydoink | 0:20018747657d | 639 | |
dofydoink | 0:20018747657d | 640 | dblPosConv = dblMaxPos/0.8; |
dofydoink | 0:20018747657d | 641 | } |
dofydoink | 0:20018747657d | 642 | |
dofydoink | 0:20018747657d | 643 | Ticker debugTicker; |
dofydoink | 0:20018747657d | 644 | |
dofydoink | 0:20018747657d | 645 | void startPositionControl() |
dofydoink | 0:20018747657d | 646 | { |
dofydoink | 0:20018747657d | 647 | semPosCtrl.release(); |
dofydoink | 0:20018747657d | 648 | } |
dofydoink | 0:20018747657d | 649 | |
dofydoink | 0:20018747657d | 650 | void startDebug() |
dofydoink | 0:20018747657d | 651 | { |
dofydoink | 0:20018747657d | 652 | semDebug.release(); |
dofydoink | 0:20018747657d | 653 | } |
dofydoink | 0:20018747657d | 654 | |
dofydoink | 0:20018747657d | 655 | Ticker positionCtrlTicker; |
dofydoink | 0:20018747657d | 656 | |
dofydoink | 0:20018747657d | 657 | int main() { |
dofydoink | 0:20018747657d | 658 | cs_ADC = 1; |
dofydoink | 0:20018747657d | 659 | |
dofydoink | 0:20018747657d | 660 | pinPwmOutput.period_us(50); |
dofydoink | 0:20018747657d | 661 | printf("\r\nYo Yo Yo, Low Level innit\r\n\n\n"); |
dofydoink | 0:20018747657d | 662 | wait(0.5); |
dofydoink | 0:20018747657d | 663 | |
dofydoink | 0:20018747657d | 664 | timer.start(); |
dofydoink | 0:20018747657d | 665 | gateTimer.start(); |
dofydoink | 0:20018747657d | 666 | //cs_ADC = 1; |
dofydoink | 0:20018747657d | 667 | |
dofydoink | 0:20018747657d | 668 | ControlParameterConfig(); |
dofydoink | 0:20018747657d | 669 | // for (ii = 0; ii< 10; ii++) |
dofydoink | 0:20018747657d | 670 | // { |
dofydoink | 0:20018747657d | 671 | // uintPotRead = Read14BitADC(3, cs_ADC);//read potentiometer |
dofydoink | 0:20018747657d | 672 | // dblStartingPos = (double) POT_2_MM*uintPotRead - dblPosBias; |
dofydoink | 0:20018747657d | 673 | // } |
dofydoink | 0:20018747657d | 674 | // |
dofydoink | 0:20018747657d | 675 | slave.format(16,2); |
dofydoink | 0:20018747657d | 676 | slave.frequency(10000000); |
dofydoink | 0:20018747657d | 677 | dblPosD[intDemPosFilOrder] = 0.0; |
dofydoink | 0:20018747657d | 678 | slaveReceivePos = 0.0; |
dofydoink | 0:20018747657d | 679 | slaveReceiveVel = 0.0; |
dofydoink | 0:20018747657d | 680 | wait(0.1); |
dofydoink | 0:20018747657d | 681 | ADC_Config(); |
dofydoink | 0:20018747657d | 682 | wait(0.1); |
dofydoink | 0:20018747657d | 683 | ADC_Config(); |
dofydoink | 0:20018747657d | 684 | wait(0.1); |
dofydoink | 0:20018747657d | 685 | intPotRead = (16383-Read14BitADC(POSITION_CHAN, cs_ADC));//read potentiometer |
dofydoink | 0:20018747657d | 686 | //intPotRead = (Read14BitADC(POSITION_CHAN, cs_ADC));//read potentiometer |
dofydoink | 0:20018747657d | 687 | dblStartingPos = (double) POT_2_MM*(intPotRead - POT_OFFSET); |
dofydoink | 0:20018747657d | 688 | dblTargetPos = dblStartingPos; |
dofydoink | 0:20018747657d | 689 | dblPosD[intDemPosFilOrder] = dblStartingPos; |
dofydoink | 0:20018747657d | 690 | |
dofydoink | 0:20018747657d | 691 | printf("\r\n%d, %f\r\n", intPotRead, dblStartingPos); |
dofydoink | 0:20018747657d | 692 | //wait(0.05); |
dofydoink | 0:20018747657d | 693 | |
dofydoink | 0:20018747657d | 694 | |
dofydoink | 0:20018747657d | 695 | //printf("\n\n\n"); |
dofydoink | 0:20018747657d | 696 | |
dofydoink | 0:20018747657d | 697 | //dblStartingPos = (double) POT_2_MM*(uintPotRead - POT_OFFSET); |
dofydoink | 0:20018747657d | 698 | timerDutyCycle.start(); |
dofydoink | 0:20018747657d | 699 | |
dofydoink | 0:20018747657d | 700 | //calculate/convert variables |
dofydoink | 0:20018747657d | 701 | |
dofydoink | 0:20018747657d | 702 | CurrentLimitSet = dblCurrentLimitAmps *0.14/3.3; |
dofydoink | 0:20018747657d | 703 | PositionControlThread.start(PositionControlPID); |
dofydoink | 0:20018747657d | 704 | DutyCycleThread.start(CalculateDutyCycle); |
dofydoink | 0:20018747657d | 705 | positionCtrlTicker.attach(&startPositionControl, dblSampleTime_s); |
dofydoink | 0:20018747657d | 706 | |
dofydoink | 0:20018747657d | 707 | intFeedBack_pos = 0; |
dofydoink | 0:20018747657d | 708 | intFeedBack_pres = 0; |
dofydoink | 0:20018747657d | 709 | |
dofydoink | 0:20018747657d | 710 | |
dofydoink | 0:20018747657d | 711 | while(1) |
dofydoink | 0:20018747657d | 712 | { |
dofydoink | 0:20018747657d | 713 | Thread::wait(osWaitForever); |
dofydoink | 0:20018747657d | 714 | } |
dofydoink | 0:20018747657d | 715 | } |
dofydoink | 0:20018747657d | 716 | |
dofydoink | 0:20018747657d | 717 | |
dofydoink | 0:20018747657d | 718 |