motor controller with P velocity control
Dependencies: HIDScope PID QEI mbed EMG
Fork of PID_VelocityExample by
main.cpp@5:8ae6d935a16a, 2015-09-25 (annotated)
- Committer:
- ewoud
- Date:
- Fri Sep 25 13:11:43 2015 +0000
- Revision:
- 5:8ae6d935a16a
- Parent:
- 4:be465e9a12cb
- Child:
- 6:f58052f57505
working with the correct values
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
aberk | 0:9bca35ae9c6b | 1 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 2 | // Includes |
aberk | 0:9bca35ae9c6b | 3 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 4 | #include "PID.h" |
aberk | 0:9bca35ae9c6b | 5 | #include "QEI.h" |
ewoud | 4:be465e9a12cb | 6 | #include "HIDScope.h" // Require the HIDScope library |
aberk | 0:9bca35ae9c6b | 7 | |
aberk | 0:9bca35ae9c6b | 8 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 9 | // Defines |
aberk | 0:9bca35ae9c6b | 10 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 11 | #define RATE 0.01 |
ewoud | 5:8ae6d935a16a | 12 | #define Kc 0.1 |
aberk | 0:9bca35ae9c6b | 13 | #define Ti 0.0 |
aberk | 0:9bca35ae9c6b | 14 | #define Td 0.0 |
aberk | 0:9bca35ae9c6b | 15 | |
aberk | 0:9bca35ae9c6b | 16 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 17 | // Globals |
aberk | 0:9bca35ae9c6b | 18 | //****************************************************************************/ |
ewoud | 2:b2ccd9f044bb | 19 | Serial pc(USBTX, USBRX); |
ewoud | 5:8ae6d935a16a | 20 | HIDScope scope(3); // Instantize a 2-channel HIDScope object |
ewoud | 4:be465e9a12cb | 21 | Ticker scopeTimer; // Instantize the timer for sending data to the PC |
aberk | 0:9bca35ae9c6b | 22 | //-------- |
aberk | 0:9bca35ae9c6b | 23 | // Motors |
aberk | 0:9bca35ae9c6b | 24 | //-------- |
aberk | 0:9bca35ae9c6b | 25 | //Left motor. |
ewoud | 2:b2ccd9f044bb | 26 | PwmOut leftMotor(D5); |
ewoud | 2:b2ccd9f044bb | 27 | DigitalOut leftBrake(D3); |
ewoud | 2:b2ccd9f044bb | 28 | DigitalOut leftDirection(D4); |
ewoud | 2:b2ccd9f044bb | 29 | QEI leftQei(D12, D13, NC, 624); |
aberk | 0:9bca35ae9c6b | 30 | PID leftController(Kc, Ti, Td, RATE); |
ewoud | 3:4c93be3a9010 | 31 | AnalogIn pot1(A0); |
aberk | 0:9bca35ae9c6b | 32 | //------- |
aberk | 0:9bca35ae9c6b | 33 | // Files |
aberk | 0:9bca35ae9c6b | 34 | //------- |
ewoud | 2:b2ccd9f044bb | 35 | //LocalFileSystem local("local"); |
ewoud | 2:b2ccd9f044bb | 36 | //FILE* fp; |
aberk | 0:9bca35ae9c6b | 37 | //-------- |
aberk | 0:9bca35ae9c6b | 38 | // Timers |
aberk | 0:9bca35ae9c6b | 39 | //-------- |
aberk | 0:9bca35ae9c6b | 40 | Timer endTimer; |
aberk | 0:9bca35ae9c6b | 41 | //-------------------- |
aberk | 0:9bca35ae9c6b | 42 | // Working variables. |
aberk | 0:9bca35ae9c6b | 43 | //-------------------- |
aberk | 0:9bca35ae9c6b | 44 | volatile int leftPulses = 0; |
aberk | 0:9bca35ae9c6b | 45 | volatile int leftPrevPulses = 0; |
aberk | 0:9bca35ae9c6b | 46 | volatile float leftPwmDuty = 1.0; |
ewoud | 5:8ae6d935a16a | 47 | volatile float leftPwmDutyPrev = 1.0; |
ewoud | 5:8ae6d935a16a | 48 | volatile float leftPwmDutyChange; |
aberk | 0:9bca35ae9c6b | 49 | volatile float leftVelocity = 0.0; |
aberk | 0:9bca35ae9c6b | 50 | //Velocity to reach. |
aberk | 0:9bca35ae9c6b | 51 | int goal = 3000; |
ewoud | 5:8ae6d935a16a | 52 | float request; |
aberk | 0:9bca35ae9c6b | 53 | |
aberk | 0:9bca35ae9c6b | 54 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 55 | // Prototypes |
aberk | 0:9bca35ae9c6b | 56 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 57 | //Set motors to go "forward", brake off, not moving. |
aberk | 0:9bca35ae9c6b | 58 | void initializeMotors(void); |
aberk | 0:9bca35ae9c6b | 59 | //Set up PID controllers with appropriate limits and biases. |
aberk | 0:9bca35ae9c6b | 60 | void initializePidControllers(void); |
aberk | 0:9bca35ae9c6b | 61 | |
aberk | 0:9bca35ae9c6b | 62 | void initializeMotors(void){ |
aberk | 0:9bca35ae9c6b | 63 | |
aberk | 0:9bca35ae9c6b | 64 | leftMotor.period_us(50); |
aberk | 0:9bca35ae9c6b | 65 | leftMotor = 1.0; |
aberk | 0:9bca35ae9c6b | 66 | leftBrake = 0.0; |
ewoud | 4:be465e9a12cb | 67 | leftDirection = 1; |
aberk | 0:9bca35ae9c6b | 68 | |
aberk | 0:9bca35ae9c6b | 69 | } |
aberk | 0:9bca35ae9c6b | 70 | |
aberk | 0:9bca35ae9c6b | 71 | void initializePidControllers(void){ |
aberk | 0:9bca35ae9c6b | 72 | |
ewoud | 5:8ae6d935a16a | 73 | leftController.setInputLimits(0.0, 30000.0); |
aberk | 0:9bca35ae9c6b | 74 | leftController.setOutputLimits(0.0, 1.0); |
ewoud | 5:8ae6d935a16a | 75 | leftController.setBias(0.0); |
aberk | 0:9bca35ae9c6b | 76 | leftController.setMode(AUTO_MODE); |
aberk | 0:9bca35ae9c6b | 77 | |
aberk | 0:9bca35ae9c6b | 78 | } |
aberk | 0:9bca35ae9c6b | 79 | |
aberk | 0:9bca35ae9c6b | 80 | int main() { |
ewoud | 4:be465e9a12cb | 81 | scopeTimer.attach_us(&scope, &HIDScope::send, 1e4); |
aberk | 0:9bca35ae9c6b | 82 | //Initialization. |
aberk | 0:9bca35ae9c6b | 83 | initializeMotors(); |
aberk | 0:9bca35ae9c6b | 84 | initializePidControllers(); |
aberk | 0:9bca35ae9c6b | 85 | |
aberk | 0:9bca35ae9c6b | 86 | //Open results file. |
ewoud | 2:b2ccd9f044bb | 87 | //fp = fopen("/local/pidtest.csv", "w"); |
aberk | 0:9bca35ae9c6b | 88 | |
aberk | 0:9bca35ae9c6b | 89 | endTimer.start(); |
aberk | 0:9bca35ae9c6b | 90 | |
aberk | 0:9bca35ae9c6b | 91 | //Set velocity set point. |
ewoud | 3:4c93be3a9010 | 92 | |
ewoud | 4:be465e9a12cb | 93 | |
ewoud | 2:b2ccd9f044bb | 94 | |
aberk | 0:9bca35ae9c6b | 95 | //Run for 3 seconds. |
ewoud | 4:be465e9a12cb | 96 | while (endTimer.read() < 100){ |
ewoud | 5:8ae6d935a16a | 97 | request = pot1.read()*30000; |
ewoud | 5:8ae6d935a16a | 98 | leftController.setSetPoint(request); |
aberk | 0:9bca35ae9c6b | 99 | leftPulses = leftQei.getPulses(); |
aberk | 0:9bca35ae9c6b | 100 | leftVelocity = (leftPulses - leftPrevPulses) / RATE; |
aberk | 0:9bca35ae9c6b | 101 | leftPrevPulses = leftPulses; |
ewoud | 2:b2ccd9f044bb | 102 | |
ewoud | 5:8ae6d935a16a | 103 | |
ewoud | 4:be465e9a12cb | 104 | |
ewoud | 5:8ae6d935a16a | 105 | leftController.setProcessValue(leftVelocity); |
aberk | 1:ac598811dd00 | 106 | leftPwmDuty = leftController.compute(); |
aberk | 0:9bca35ae9c6b | 107 | leftMotor = leftPwmDuty; |
ewoud | 5:8ae6d935a16a | 108 | |
ewoud | 5:8ae6d935a16a | 109 | scope.set(0, request); |
ewoud | 5:8ae6d935a16a | 110 | scope.set(1, leftPwmDuty); |
ewoud | 5:8ae6d935a16a | 111 | scope.set(2, leftVelocity); |
ewoud | 5:8ae6d935a16a | 112 | |
ewoud | 5:8ae6d935a16a | 113 | pc.printf("request: %f, lefVelocity: %f, output: %f \n\r",request,leftVelocity,leftPwmDuty); |
ewoud | 2:b2ccd9f044bb | 114 | |
ewoud | 2:b2ccd9f044bb | 115 | //fprintf(fp, "%f,%f\n", leftVelocity, goal); |
aberk | 0:9bca35ae9c6b | 116 | wait(RATE); |
aberk | 0:9bca35ae9c6b | 117 | } |
aberk | 0:9bca35ae9c6b | 118 | |
aberk | 0:9bca35ae9c6b | 119 | //Stop motors. |
ewoud | 2:b2ccd9f044bb | 120 | leftMotor = 0; |
aberk | 0:9bca35ae9c6b | 121 | |
aberk | 0:9bca35ae9c6b | 122 | //Close results file. |
ewoud | 2:b2ccd9f044bb | 123 | //fclose(fp); |
aberk | 0:9bca35ae9c6b | 124 | |
aberk | 0:9bca35ae9c6b | 125 | } |