motor controller with P velocity control
Dependencies: HIDScope PID QEI mbed EMG
Fork of PID_VelocityExample by
main.cpp@2:b2ccd9f044bb, 2015-09-24 (annotated)
- Committer:
- ewoud
- Date:
- Thu Sep 24 11:20:14 2015 +0000
- Revision:
- 2:b2ccd9f044bb
- Parent:
- 1:ac598811dd00
- Child:
- 3:4c93be3a9010
made working for own setup
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" |
aberk | 0:9bca35ae9c6b | 6 | |
aberk | 0:9bca35ae9c6b | 7 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 8 | // Defines |
aberk | 0:9bca35ae9c6b | 9 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 10 | #define RATE 0.01 |
aberk | 0:9bca35ae9c6b | 11 | #define Kc -2.6 |
aberk | 0:9bca35ae9c6b | 12 | #define Ti 0.0 |
aberk | 0:9bca35ae9c6b | 13 | #define Td 0.0 |
aberk | 0:9bca35ae9c6b | 14 | |
aberk | 0:9bca35ae9c6b | 15 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 16 | // Globals |
aberk | 0:9bca35ae9c6b | 17 | //****************************************************************************/ |
ewoud | 2:b2ccd9f044bb | 18 | Serial pc(USBTX, USBRX); |
aberk | 0:9bca35ae9c6b | 19 | //-------- |
aberk | 0:9bca35ae9c6b | 20 | // Motors |
aberk | 0:9bca35ae9c6b | 21 | //-------- |
aberk | 0:9bca35ae9c6b | 22 | //Left motor. |
ewoud | 2:b2ccd9f044bb | 23 | PwmOut leftMotor(D5); |
ewoud | 2:b2ccd9f044bb | 24 | DigitalOut leftBrake(D3); |
ewoud | 2:b2ccd9f044bb | 25 | DigitalOut leftDirection(D4); |
ewoud | 2:b2ccd9f044bb | 26 | QEI leftQei(D12, D13, NC, 624); |
aberk | 0:9bca35ae9c6b | 27 | PID leftController(Kc, Ti, Td, RATE); |
aberk | 0:9bca35ae9c6b | 28 | //------- |
aberk | 0:9bca35ae9c6b | 29 | // Files |
aberk | 0:9bca35ae9c6b | 30 | //------- |
ewoud | 2:b2ccd9f044bb | 31 | //LocalFileSystem local("local"); |
ewoud | 2:b2ccd9f044bb | 32 | //FILE* fp; |
aberk | 0:9bca35ae9c6b | 33 | //-------- |
aberk | 0:9bca35ae9c6b | 34 | // Timers |
aberk | 0:9bca35ae9c6b | 35 | //-------- |
aberk | 0:9bca35ae9c6b | 36 | Timer endTimer; |
aberk | 0:9bca35ae9c6b | 37 | //-------------------- |
aberk | 0:9bca35ae9c6b | 38 | // Working variables. |
aberk | 0:9bca35ae9c6b | 39 | //-------------------- |
aberk | 0:9bca35ae9c6b | 40 | volatile int leftPulses = 0; |
aberk | 0:9bca35ae9c6b | 41 | volatile int leftPrevPulses = 0; |
aberk | 0:9bca35ae9c6b | 42 | volatile float leftPwmDuty = 1.0; |
aberk | 0:9bca35ae9c6b | 43 | volatile float leftVelocity = 0.0; |
aberk | 0:9bca35ae9c6b | 44 | //Velocity to reach. |
aberk | 0:9bca35ae9c6b | 45 | int goal = 3000; |
aberk | 0:9bca35ae9c6b | 46 | |
aberk | 0:9bca35ae9c6b | 47 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 48 | // Prototypes |
aberk | 0:9bca35ae9c6b | 49 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 50 | //Set motors to go "forward", brake off, not moving. |
aberk | 0:9bca35ae9c6b | 51 | void initializeMotors(void); |
aberk | 0:9bca35ae9c6b | 52 | //Set up PID controllers with appropriate limits and biases. |
aberk | 0:9bca35ae9c6b | 53 | void initializePidControllers(void); |
aberk | 0:9bca35ae9c6b | 54 | |
aberk | 0:9bca35ae9c6b | 55 | void initializeMotors(void){ |
aberk | 0:9bca35ae9c6b | 56 | |
aberk | 0:9bca35ae9c6b | 57 | leftMotor.period_us(50); |
aberk | 0:9bca35ae9c6b | 58 | leftMotor = 1.0; |
aberk | 0:9bca35ae9c6b | 59 | leftBrake = 0.0; |
aberk | 0:9bca35ae9c6b | 60 | leftDirection = 0; |
aberk | 0:9bca35ae9c6b | 61 | |
aberk | 0:9bca35ae9c6b | 62 | } |
aberk | 0:9bca35ae9c6b | 63 | |
aberk | 0:9bca35ae9c6b | 64 | void initializePidControllers(void){ |
aberk | 0:9bca35ae9c6b | 65 | |
aberk | 0:9bca35ae9c6b | 66 | leftController.setInputLimits(0.0, 10500.0); |
aberk | 0:9bca35ae9c6b | 67 | leftController.setOutputLimits(0.0, 1.0); |
aberk | 0:9bca35ae9c6b | 68 | leftController.setBias(1.0); |
aberk | 0:9bca35ae9c6b | 69 | leftController.setMode(AUTO_MODE); |
aberk | 0:9bca35ae9c6b | 70 | |
aberk | 0:9bca35ae9c6b | 71 | } |
aberk | 0:9bca35ae9c6b | 72 | |
aberk | 0:9bca35ae9c6b | 73 | int main() { |
aberk | 0:9bca35ae9c6b | 74 | |
aberk | 0:9bca35ae9c6b | 75 | //Initialization. |
aberk | 0:9bca35ae9c6b | 76 | initializeMotors(); |
aberk | 0:9bca35ae9c6b | 77 | initializePidControllers(); |
aberk | 0:9bca35ae9c6b | 78 | |
aberk | 0:9bca35ae9c6b | 79 | //Open results file. |
ewoud | 2:b2ccd9f044bb | 80 | //fp = fopen("/local/pidtest.csv", "w"); |
aberk | 0:9bca35ae9c6b | 81 | |
aberk | 0:9bca35ae9c6b | 82 | endTimer.start(); |
aberk | 0:9bca35ae9c6b | 83 | |
aberk | 0:9bca35ae9c6b | 84 | //Set velocity set point. |
aberk | 0:9bca35ae9c6b | 85 | leftController.setSetPoint(goal); |
ewoud | 2:b2ccd9f044bb | 86 | leftMotor.period_ms(0.1); |
ewoud | 2:b2ccd9f044bb | 87 | |
aberk | 0:9bca35ae9c6b | 88 | //Run for 3 seconds. |
aberk | 0:9bca35ae9c6b | 89 | while (endTimer.read() < 3.0){ |
aberk | 0:9bca35ae9c6b | 90 | leftPulses = leftQei.getPulses(); |
aberk | 0:9bca35ae9c6b | 91 | leftVelocity = (leftPulses - leftPrevPulses) / RATE; |
aberk | 0:9bca35ae9c6b | 92 | leftPrevPulses = leftPulses; |
ewoud | 2:b2ccd9f044bb | 93 | |
aberk | 0:9bca35ae9c6b | 94 | leftController.setProcessValue(leftVelocity); |
aberk | 1:ac598811dd00 | 95 | leftPwmDuty = leftController.compute(); |
aberk | 0:9bca35ae9c6b | 96 | leftMotor = leftPwmDuty; |
ewoud | 2:b2ccd9f044bb | 97 | pc.printf("leftpusles: %d, lefVelocity: %f, leftPwmDuty: %f \n\r",leftPulses,leftVelocity,leftPwmDuty); |
ewoud | 2:b2ccd9f044bb | 98 | |
ewoud | 2:b2ccd9f044bb | 99 | //fprintf(fp, "%f,%f\n", leftVelocity, goal); |
aberk | 0:9bca35ae9c6b | 100 | wait(RATE); |
aberk | 0:9bca35ae9c6b | 101 | } |
aberk | 0:9bca35ae9c6b | 102 | |
aberk | 0:9bca35ae9c6b | 103 | //Stop motors. |
ewoud | 2:b2ccd9f044bb | 104 | leftMotor = 0; |
aberk | 0:9bca35ae9c6b | 105 | |
aberk | 0:9bca35ae9c6b | 106 | //Close results file. |
ewoud | 2:b2ccd9f044bb | 107 | //fclose(fp); |
aberk | 0:9bca35ae9c6b | 108 | |
aberk | 0:9bca35ae9c6b | 109 | } |