motor controller with P velocity control
Dependencies: HIDScope PID QEI mbed EMG
Fork of PID_VelocityExample by
main.cpp@4:be465e9a12cb, 2015-09-24 (annotated)
- Committer:
- ewoud
- Date:
- Thu Sep 24 12:46:27 2015 +0000
- Revision:
- 4:be465e9a12cb
- Parent:
- 3:4c93be3a9010
- Child:
- 5:8ae6d935a16a
working with better 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 |
aberk | 0:9bca35ae9c6b | 12 | #define Kc -2.6 |
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 | 4:be465e9a12cb | 20 | HIDScope scope(2); // 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; |
aberk | 0:9bca35ae9c6b | 47 | volatile float leftVelocity = 0.0; |
aberk | 0:9bca35ae9c6b | 48 | //Velocity to reach. |
aberk | 0:9bca35ae9c6b | 49 | int goal = 3000; |
ewoud | 3:4c93be3a9010 | 50 | float measure; |
aberk | 0:9bca35ae9c6b | 51 | |
aberk | 0:9bca35ae9c6b | 52 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 53 | // Prototypes |
aberk | 0:9bca35ae9c6b | 54 | //****************************************************************************/ |
aberk | 0:9bca35ae9c6b | 55 | //Set motors to go "forward", brake off, not moving. |
aberk | 0:9bca35ae9c6b | 56 | void initializeMotors(void); |
aberk | 0:9bca35ae9c6b | 57 | //Set up PID controllers with appropriate limits and biases. |
aberk | 0:9bca35ae9c6b | 58 | void initializePidControllers(void); |
aberk | 0:9bca35ae9c6b | 59 | |
aberk | 0:9bca35ae9c6b | 60 | void initializeMotors(void){ |
aberk | 0:9bca35ae9c6b | 61 | |
aberk | 0:9bca35ae9c6b | 62 | leftMotor.period_us(50); |
aberk | 0:9bca35ae9c6b | 63 | leftMotor = 1.0; |
aberk | 0:9bca35ae9c6b | 64 | leftBrake = 0.0; |
ewoud | 4:be465e9a12cb | 65 | leftDirection = 1; |
aberk | 0:9bca35ae9c6b | 66 | |
aberk | 0:9bca35ae9c6b | 67 | } |
aberk | 0:9bca35ae9c6b | 68 | |
aberk | 0:9bca35ae9c6b | 69 | void initializePidControllers(void){ |
aberk | 0:9bca35ae9c6b | 70 | |
aberk | 0:9bca35ae9c6b | 71 | leftController.setInputLimits(0.0, 10500.0); |
aberk | 0:9bca35ae9c6b | 72 | leftController.setOutputLimits(0.0, 1.0); |
aberk | 0:9bca35ae9c6b | 73 | leftController.setBias(1.0); |
aberk | 0:9bca35ae9c6b | 74 | leftController.setMode(AUTO_MODE); |
aberk | 0:9bca35ae9c6b | 75 | |
aberk | 0:9bca35ae9c6b | 76 | } |
aberk | 0:9bca35ae9c6b | 77 | |
aberk | 0:9bca35ae9c6b | 78 | int main() { |
ewoud | 4:be465e9a12cb | 79 | scopeTimer.attach_us(&scope, &HIDScope::send, 1e4); |
aberk | 0:9bca35ae9c6b | 80 | //Initialization. |
aberk | 0:9bca35ae9c6b | 81 | initializeMotors(); |
aberk | 0:9bca35ae9c6b | 82 | initializePidControllers(); |
aberk | 0:9bca35ae9c6b | 83 | |
aberk | 0:9bca35ae9c6b | 84 | //Open results file. |
ewoud | 2:b2ccd9f044bb | 85 | //fp = fopen("/local/pidtest.csv", "w"); |
aberk | 0:9bca35ae9c6b | 86 | |
aberk | 0:9bca35ae9c6b | 87 | endTimer.start(); |
aberk | 0:9bca35ae9c6b | 88 | |
aberk | 0:9bca35ae9c6b | 89 | //Set velocity set point. |
ewoud | 3:4c93be3a9010 | 90 | |
ewoud | 4:be465e9a12cb | 91 | |
ewoud | 2:b2ccd9f044bb | 92 | |
aberk | 0:9bca35ae9c6b | 93 | //Run for 3 seconds. |
ewoud | 4:be465e9a12cb | 94 | while (endTimer.read() < 100){ |
ewoud | 4:be465e9a12cb | 95 | measure = pot1.read()*10500; |
ewoud | 3:4c93be3a9010 | 96 | leftController.setSetPoint(measure); |
aberk | 0:9bca35ae9c6b | 97 | leftPulses = leftQei.getPulses(); |
aberk | 0:9bca35ae9c6b | 98 | leftVelocity = (leftPulses - leftPrevPulses) / RATE; |
aberk | 0:9bca35ae9c6b | 99 | leftPrevPulses = leftPulses; |
ewoud | 2:b2ccd9f044bb | 100 | |
ewoud | 4:be465e9a12cb | 101 | scope.set(0, measure); |
ewoud | 4:be465e9a12cb | 102 | scope.set(1, leftVelocity); |
ewoud | 4:be465e9a12cb | 103 | |
ewoud | 4:be465e9a12cb | 104 | leftController.setProcessValue(-leftVelocity); |
aberk | 1:ac598811dd00 | 105 | leftPwmDuty = leftController.compute(); |
aberk | 0:9bca35ae9c6b | 106 | leftMotor = leftPwmDuty; |
ewoud | 4:be465e9a12cb | 107 | |
ewoud | 2:b2ccd9f044bb | 108 | pc.printf("leftpusles: %d, lefVelocity: %f, leftPwmDuty: %f \n\r",leftPulses,leftVelocity,leftPwmDuty); |
ewoud | 2:b2ccd9f044bb | 109 | |
ewoud | 2:b2ccd9f044bb | 110 | //fprintf(fp, "%f,%f\n", leftVelocity, goal); |
aberk | 0:9bca35ae9c6b | 111 | wait(RATE); |
aberk | 0:9bca35ae9c6b | 112 | } |
aberk | 0:9bca35ae9c6b | 113 | |
aberk | 0:9bca35ae9c6b | 114 | //Stop motors. |
ewoud | 2:b2ccd9f044bb | 115 | leftMotor = 0; |
aberk | 0:9bca35ae9c6b | 116 | |
aberk | 0:9bca35ae9c6b | 117 | //Close results file. |
ewoud | 2:b2ccd9f044bb | 118 | //fclose(fp); |
aberk | 0:9bca35ae9c6b | 119 | |
aberk | 0:9bca35ae9c6b | 120 | } |