Numero Uno / Mbed 2 deprecated PID_VelocityExample

motor controller with P velocity control

Dependencies:   HIDScope PID QEI mbed EMG

Fork of PID_VelocityExample by Aaron Berk

main.cpp@20:8064435d21da, 2015-10-12 (annotated)

Committer:
ewoud
Date:
Mon Oct 12 08:47:59 2015 +0000
Revision:
20:8064435d21da
Parent:
13:40141b362092
Child:
22:ae8012b12890
integrated first version of emg processing library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aberk 0:9bca35ae9c6b 1 //****************************************************************************/
aberk 0:9bca35ae9c6b 2 // Includes
aberk 0:9bca35ae9c6b 3 #include "PID.h"
aberk 0:9bca35ae9c6b 4 #include "QEI.h"
ewoud 9:07189a75e979 5 #include "HIDScope.h"
ewoud 20:8064435d21da 6 #include "EMG.h"
ewoud 9:07189a75e979 7 #include "inits.h" // all globals, pin and variable initialization
aberk 0:9bca35ae9c6b 8
ewoud 9:07189a75e979 9 void setGoFlag(){
ewoud 13:40141b362092 10 if (goFlag==true){
ewoud 13:40141b362092 11 // flag is already set true: code too slow or frequency too high
ewoud 13:40141b362092 12 }
ewoud 9:07189a75e979 13 goFlag=true;
ewoud 9:07189a75e979 14 }
aberk 0:9bca35ae9c6b 15
ewoud 13:40141b362092 16 void systemStart(){
ewoud 13:40141b362092 17 systemOn=true;
ewoud 13:40141b362092 18 }
ewoud 13:40141b362092 19 void systemStop(){
ewoud 13:40141b362092 20 systemOn=false;
ewoud 13:40141b362092 21 leftMotor=0;
ewoud 13:40141b362092 22 rightMotor=0;
ewoud 13:40141b362092 23 }
ewoud 7:e14e28d8cae3 24 int main() {
ewoud 7:e14e28d8cae3 25
ewoud 9:07189a75e979 26 // initialize (defined in inits.h)
ewoud 9:07189a75e979 27 initMotors();
ewoud 9:07189a75e979 28 initPIDs();
ewoud 9:07189a75e979 29
ewoud 9:07189a75e979 30 motorControlTicker.attach(&setGoFlag, RATE);
ewoud 20:8064435d21da 31 T1.attach(&samplego, (float)1/Fs);
ewoud 9:07189a75e979 32
ewoud 20:8064435d21da 33 cali_button.rise(&calibrate);
ewoud 13:40141b362092 34 startButton.rise(&systemStart);
ewoud 13:40141b362092 35 stopButton.rise(&systemStop);
ewoud 13:40141b362092 36
ewoud 8:55ca92c0e39d 37 endTimer.start(); //Run for 100 seconds.
ewoud 20:8064435d21da 38 while (true){
ewoud 20:8064435d21da 39 if(sample_go && systemOn==true)
ewoud 20:8064435d21da 40 {
ewoud 20:8064435d21da 41 sample_filter();
ewoud 20:8064435d21da 42 sample_go = 0;
ewoud 20:8064435d21da 43 }
ewoud 13:40141b362092 44 if (goFlag==true && systemOn==true){
ewoud 9:07189a75e979 45 // get 'emg' signal
ewoud 20:8064435d21da 46 request_pos=y1;
ewoud 20:8064435d21da 47 request_neg=y2;
ewoud 9:07189a75e979 48
ewoud 9:07189a75e979 49 // determine if forward or backward signal is stronger and set reference
ewoud 9:07189a75e979 50 if (request_pos > request_neg){
ewoud 9:07189a75e979 51 request = request_pos;
ewoud 9:07189a75e979 52 }
ewoud 9:07189a75e979 53 else {
ewoud 9:07189a75e979 54 request = -request_neg;
ewoud 9:07189a75e979 55 }
ewoud 9:07189a75e979 56 leftController.setSetPoint(request);
ewoud 20:8064435d21da 57 rightController.setSetPoint(0);
ewoud 9:07189a75e979 58
ewoud 12:d7bb475bb82d 59 // *******************
ewoud 9:07189a75e979 60 // Velocity calculation
ewoud 12:d7bb475bb82d 61 // left
ewoud 9:07189a75e979 62 leftPulses = leftQei.getPulses();
ewoud 9:07189a75e979 63 leftVelocity = ((float)(leftPulses - leftPrevPulses))/ RATE;
ewoud 9:07189a75e979 64 leftVelocity = leftVelocity/30000; // scale to 0 - 1, max velocity = 30000
ewoud 9:07189a75e979 65 leftPrevPulses = leftPulses;
ewoud 12:d7bb475bb82d 66
ewoud 12:d7bb475bb82d 67 // right
ewoud 12:d7bb475bb82d 68 rightPulses = rightQei.getPulses();
ewoud 12:d7bb475bb82d 69 rightVelocity = ((float)(rightPulses - rightPrevPulses))/ RATE;
ewoud 12:d7bb475bb82d 70 rightVelocity = rightVelocity/30000; // scale to 0 - 1, max velocity = 30000
ewoud 12:d7bb475bb82d 71 rightPrevPulses = rightPulses;
ewoud 12:d7bb475bb82d 72
ewoud 12:d7bb475bb82d 73 // ***********
ewoud 9:07189a75e979 74 // PID control
ewoud 12:d7bb475bb82d 75 // left
ewoud 9:07189a75e979 76 leftController.setProcessValue(leftVelocity);
ewoud 9:07189a75e979 77 leftPwmDuty = leftController.compute();
ewoud 9:07189a75e979 78 if (leftPwmDuty < 0){
ewoud 9:07189a75e979 79 leftDirection = 0;
ewoud 9:07189a75e979 80 leftMotor = -leftPwmDuty;
ewoud 9:07189a75e979 81 }
ewoud 9:07189a75e979 82 else {
ewoud 9:07189a75e979 83 leftDirection = 1;
ewoud 9:07189a75e979 84 leftMotor = leftPwmDuty;
ewoud 9:07189a75e979 85 }
ewoud 9:07189a75e979 86
ewoud 12:d7bb475bb82d 87 // right
ewoud 12:d7bb475bb82d 88 rightController.setProcessValue(rightVelocity);
ewoud 12:d7bb475bb82d 89 rightPwmDuty = rightController.compute();
ewoud 12:d7bb475bb82d 90 if (rightPwmDuty < 0){
ewoud 12:d7bb475bb82d 91 rightDirection = 0;
ewoud 12:d7bb475bb82d 92 rightMotor = -rightPwmDuty;
ewoud 12:d7bb475bb82d 93 }
ewoud 12:d7bb475bb82d 94 else {
ewoud 12:d7bb475bb82d 95 rightDirection = 1;
ewoud 12:d7bb475bb82d 96 rightMotor = rightPwmDuty;
ewoud 12:d7bb475bb82d 97 }
ewoud 9:07189a75e979 98
ewoud 12:d7bb475bb82d 99 // User feedback
ewoud 9:07189a75e979 100 scope.set(0, request);
ewoud 20:8064435d21da 101 scope.set(1, leftPwmDuty);
ewoud 20:8064435d21da 102 scope.set(2, leftVelocity);
ewoud 9:07189a75e979 103 scope.send();
ewoud 9:07189a75e979 104 pc.printf("pot2: %f, request: %f, lefVelocity: %f, output: %f \n\r",pot2.read(),request,leftVelocity,leftPwmDuty);
ewoud 8:55ca92c0e39d 105
ewoud 9:07189a75e979 106 goFlag=false;
ewoud 7:e14e28d8cae3 107 }
aberk 0:9bca35ae9c6b 108 }
aberk 0:9bca35ae9c6b 109
aberk 0:9bca35ae9c6b 110 //Stop motors.
ewoud 2:b2ccd9f044bb 111 leftMotor = 0;
ewoud 12:d7bb475bb82d 112 rightMotor = 0;
aberk 0:9bca35ae9c6b 113
aberk 0:9bca35ae9c6b 114 }