mit pathdingsbums
Dependencies: mbed
Fork of MicroMouse_MASTER_TWO by
Controller.cpp@2:592f01278db4, 2018-04-04 (annotated)
- Committer:
- ruesipat
- Date:
- Wed Apr 04 15:24:28 2018 +0000
- Revision:
- 2:592f01278db4
- Parent:
- 1:d9e840c48b1e
- Child:
- 5:b8b1a979b0d5
p
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ruesipat | 0:a9fe4ef404bf | 1 | #include "Controller.h" |
ruesipat | 0:a9fe4ef404bf | 2 | |
ruesipat | 0:a9fe4ef404bf | 3 | using namespace std; |
ruesipat | 0:a9fe4ef404bf | 4 | |
ruesipat | 2:592f01278db4 | 5 | const float Controller::PERIOD = 0.001f; // Periode von 1 ms //const float Controller::PERIOD = 0.001f; // Periode von 1 ms |
ruesipat | 2:592f01278db4 | 6 | const float Controller::COUNTS_PER_TURN = 1560.0f; // Encoder-Aufloesung //const float Controller::COUNTS_PER_TURN = 1200.0f; // Encoder-Aufloesung (20Counts rp Umdrehung und Getriebe 78:1) => 1560 |
ruesipat | 0:a9fe4ef404bf | 7 | const float Controller::LOWPASS_FILTER_FREQUENCY = 300.0f; // in [rad/s] |
ruesipat | 2:592f01278db4 | 8 | const float Controller::KN = 15.0f; // Drehzahlkonstante in [rpm/V] //const float Controller::KN = 40.0f; // Drehzahlkonstante in [rpm/V] Nenndrehzahl durch max Spannung = 180Rpm/12V |
ruesipat | 2:592f01278db4 | 9 | const float Controller::KP = 0.25f; // KP Regler-Parameter //const float Controller::KP = 0.25f; // KP Regler-Parameter |
ruesipat | 2:592f01278db4 | 10 | const float Controller::KI = 4.0f; // KI Regler-Parameter //const float Controller::KI = 4.0f; // KI Regler-Parameter |
ruesipat | 1:d9e840c48b1e | 11 | const float Controller::I_MAX = 10000.0f; // KI Regler-Parameter Saettigung |
ruesipat | 0:a9fe4ef404bf | 12 | const float Controller::MAX_VOLTAGE = 12.0f; // Batteriespannung in [V] |
ruesipat | 0:a9fe4ef404bf | 13 | const float Controller::MIN_DUTY_CYCLE = 0.02f; // minimale Duty-Cycle |
ruesipat | 0:a9fe4ef404bf | 14 | const float Controller::MAX_DUTY_CYCLE = 0.98f; // maximale Duty-Cycle |
ruesipat | 0:a9fe4ef404bf | 15 | |
ruesipat | 2:592f01278db4 | 16 | |
ruesipat | 1:d9e840c48b1e | 17 | |
ruesipat | 0:a9fe4ef404bf | 18 | Controller::Controller(PwmOut& pwmLeft, PwmOut& pwmRight, |
ruesipat | 2:592f01278db4 | 19 | EncoderCounter& counterLeft, EncoderCounter& counterRight) : |
ruesipat | 2:592f01278db4 | 20 | pwmLeft(pwmLeft), pwmRight(pwmRight), |
ruesipat | 2:592f01278db4 | 21 | counterLeft(counterLeft), counterRight(counterRight) { |
ruesipat | 0:a9fe4ef404bf | 22 | |
ruesipat | 0:a9fe4ef404bf | 23 | // Initialisieren der PWM Ausgaenge |
ruesipat | 2:592f01278db4 | 24 | |
ruesipat | 0:a9fe4ef404bf | 25 | pwmLeft.period(0.00005f); // PWM Periode von 50 us |
ruesipat | 0:a9fe4ef404bf | 26 | pwmLeft = 0.5f; // Duty-Cycle von 50% |
ruesipat | 0:a9fe4ef404bf | 27 | pwmRight.period(0.00005f); // PWM Periode von 50 us |
ruesipat | 0:a9fe4ef404bf | 28 | pwmRight = 0.5f; // Duty-Cycle von 50% |
ruesipat | 0:a9fe4ef404bf | 29 | |
ruesipat | 0:a9fe4ef404bf | 30 | // Initialisieren von lokalen Variabeln |
ruesipat | 0:a9fe4ef404bf | 31 | |
ruesipat | 0:a9fe4ef404bf | 32 | previousValueCounterLeft = counterLeft.read(); |
ruesipat | 0:a9fe4ef404bf | 33 | previousValueCounterRight = counterRight.read(); |
ruesipat | 0:a9fe4ef404bf | 34 | |
ruesipat | 0:a9fe4ef404bf | 35 | speedLeftFilter.setPeriod(PERIOD); |
ruesipat | 0:a9fe4ef404bf | 36 | speedLeftFilter.setFrequency(LOWPASS_FILTER_FREQUENCY); |
ruesipat | 0:a9fe4ef404bf | 37 | |
ruesipat | 0:a9fe4ef404bf | 38 | speedRightFilter.setPeriod(PERIOD); |
ruesipat | 0:a9fe4ef404bf | 39 | speedRightFilter.setFrequency(LOWPASS_FILTER_FREQUENCY); |
ruesipat | 0:a9fe4ef404bf | 40 | |
ruesipat | 0:a9fe4ef404bf | 41 | desiredSpeedLeft = 0.0f; |
ruesipat | 0:a9fe4ef404bf | 42 | desiredSpeedRight = 0.0f; |
ruesipat | 0:a9fe4ef404bf | 43 | |
ruesipat | 0:a9fe4ef404bf | 44 | actualSpeedLeft = 0.0f; |
ruesipat | 0:a9fe4ef404bf | 45 | actualSpeedRight = 0.0f; |
ruesipat | 0:a9fe4ef404bf | 46 | |
ruesipat | 0:a9fe4ef404bf | 47 | // Starten des periodischen Tasks |
ruesipat | 0:a9fe4ef404bf | 48 | ticker.attach(callback(this, &Controller::run), PERIOD); |
ruesipat | 0:a9fe4ef404bf | 49 | } |
ruesipat | 0:a9fe4ef404bf | 50 | |
ruesipat | 0:a9fe4ef404bf | 51 | Controller::~Controller() |
ruesipat | 0:a9fe4ef404bf | 52 | { |
ruesipat | 0:a9fe4ef404bf | 53 | ticker.detach(); // Stoppt den periodischen Task |
ruesipat | 0:a9fe4ef404bf | 54 | } |
ruesipat | 0:a9fe4ef404bf | 55 | |
ruesipat | 0:a9fe4ef404bf | 56 | |
ruesipat | 0:a9fe4ef404bf | 57 | void Controller::setDesiredSpeedLeft(float desiredSpeedLeft) |
ruesipat | 0:a9fe4ef404bf | 58 | { |
ruesipat | 0:a9fe4ef404bf | 59 | this->desiredSpeedLeft = desiredSpeedLeft; |
ruesipat | 0:a9fe4ef404bf | 60 | } |
ruesipat | 0:a9fe4ef404bf | 61 | |
ruesipat | 0:a9fe4ef404bf | 62 | void Controller::setDesiredSpeedRight(float desiredSpeedRight) |
ruesipat | 0:a9fe4ef404bf | 63 | { |
ruesipat | 0:a9fe4ef404bf | 64 | this->desiredSpeedRight = desiredSpeedRight; |
ruesipat | 0:a9fe4ef404bf | 65 | } |
ruesipat | 0:a9fe4ef404bf | 66 | |
ruesipat | 1:d9e840c48b1e | 67 | float Controller::getSpeedLeft() |
ruesipat | 1:d9e840c48b1e | 68 | { |
ruesipat | 1:d9e840c48b1e | 69 | return actualSpeedLeft; |
ruesipat | 1:d9e840c48b1e | 70 | } |
ruesipat | 1:d9e840c48b1e | 71 | |
ruesipat | 1:d9e840c48b1e | 72 | float Controller::getSpeedRight() |
ruesipat | 1:d9e840c48b1e | 73 | { |
ruesipat | 1:d9e840c48b1e | 74 | return actualSpeedRight; |
ruesipat | 1:d9e840c48b1e | 75 | } |
ruesipat | 1:d9e840c48b1e | 76 | |
ruesipat | 1:d9e840c48b1e | 77 | float Controller::getIntegralLeft() |
ruesipat | 1:d9e840c48b1e | 78 | { |
ruesipat | 1:d9e840c48b1e | 79 | return iSumLeft; |
ruesipat | 1:d9e840c48b1e | 80 | } |
ruesipat | 1:d9e840c48b1e | 81 | |
ruesipat | 1:d9e840c48b1e | 82 | float Controller::getIntegralRight() |
ruesipat | 1:d9e840c48b1e | 83 | { |
ruesipat | 1:d9e840c48b1e | 84 | return iSumRight; |
ruesipat | 1:d9e840c48b1e | 85 | } |
ruesipat | 1:d9e840c48b1e | 86 | |
ruesipat | 1:d9e840c48b1e | 87 | float Controller::getProportionalLeft() |
ruesipat | 1:d9e840c48b1e | 88 | { |
ruesipat | 1:d9e840c48b1e | 89 | return (desiredSpeedLeft-actualSpeedLeft); |
ruesipat | 1:d9e840c48b1e | 90 | } |
ruesipat | 1:d9e840c48b1e | 91 | |
ruesipat | 1:d9e840c48b1e | 92 | float Controller::getProportionalRight() |
ruesipat | 1:d9e840c48b1e | 93 | { |
ruesipat | 1:d9e840c48b1e | 94 | return (desiredSpeedRight-actualSpeedRight); |
ruesipat | 1:d9e840c48b1e | 95 | } |
ruesipat | 1:d9e840c48b1e | 96 | |
ruesipat | 2:592f01278db4 | 97 | void Controller::run() { |
ruesipat | 0:a9fe4ef404bf | 98 | |
ruesipat | 0:a9fe4ef404bf | 99 | // Berechnen die effektiven Drehzahlen der Motoren in [rpm] |
ruesipat | 2:592f01278db4 | 100 | |
ruesipat | 0:a9fe4ef404bf | 101 | short valueCounterLeft = counterLeft.read(); |
ruesipat | 0:a9fe4ef404bf | 102 | short valueCounterRight = counterRight.read(); |
ruesipat | 0:a9fe4ef404bf | 103 | |
ruesipat | 0:a9fe4ef404bf | 104 | short countsInPastPeriodLeft = valueCounterLeft-previousValueCounterLeft; |
ruesipat | 0:a9fe4ef404bf | 105 | short countsInPastPeriodRight = valueCounterRight-previousValueCounterRight; |
ruesipat | 0:a9fe4ef404bf | 106 | |
ruesipat | 0:a9fe4ef404bf | 107 | previousValueCounterLeft = valueCounterLeft; |
ruesipat | 0:a9fe4ef404bf | 108 | previousValueCounterRight = valueCounterRight; |
ruesipat | 0:a9fe4ef404bf | 109 | |
ruesipat | 0:a9fe4ef404bf | 110 | actualSpeedLeft = speedLeftFilter.filter((float)countsInPastPeriodLeft |
ruesipat | 0:a9fe4ef404bf | 111 | /COUNTS_PER_TURN/PERIOD*60.0f); |
ruesipat | 0:a9fe4ef404bf | 112 | actualSpeedRight = speedRightFilter.filter((float)countsInPastPeriodRight |
ruesipat | 0:a9fe4ef404bf | 113 | /COUNTS_PER_TURN/PERIOD*60.0f); |
ruesipat | 0:a9fe4ef404bf | 114 | |
ruesipat | 1:d9e840c48b1e | 115 | |
ruesipat | 2:592f01278db4 | 116 | |
ruesipat | 1:d9e840c48b1e | 117 | //Berechnung I - Anteil |
ruesipat | 1:d9e840c48b1e | 118 | |
ruesipat | 2:592f01278db4 | 119 | |
ruesipat | 2:592f01278db4 | 120 | iSumLeft += (desiredSpeedLeft-actualSpeedLeft); |
ruesipat | 2:592f01278db4 | 121 | if (iSumLeft > I_MAX) iSumLeft = I_MAX; //Max Saettigung I - Anteil |
ruesipat | 1:d9e840c48b1e | 122 | if (iSumLeft < -I_MAX) iSumLeft = -I_MAX; //Min Saettigung I - Anteil |
ruesipat | 1:d9e840c48b1e | 123 | |
ruesipat | 2:592f01278db4 | 124 | iSumRight += (desiredSpeedRight-actualSpeedRight); |
ruesipat | 2:592f01278db4 | 125 | if (iSumRight > I_MAX) iSumRight = I_MAX; //Max Saettigung I - Anteil |
ruesipat | 1:d9e840c48b1e | 126 | if (iSumRight < -I_MAX) iSumRight = -I_MAX; //Min Saettigung I - Anteil |
ruesipat | 2:592f01278db4 | 127 | |
ruesipat | 0:a9fe4ef404bf | 128 | // Berechnen der Motorspannungen Uout |
ruesipat | 2:592f01278db4 | 129 | |
ruesipat | 1:d9e840c48b1e | 130 | float voltageLeft = KP*(desiredSpeedLeft-actualSpeedLeft)+KI*iSumLeft*PERIOD |
ruesipat | 1:d9e840c48b1e | 131 | +desiredSpeedLeft/KN; |
ruesipat | 1:d9e840c48b1e | 132 | float voltageRight = KP*(desiredSpeedRight-actualSpeedRight)+KI*iSumRight*PERIOD |
ruesipat | 2:592f01278db4 | 133 | +desiredSpeedRight/KN; |
ruesipat | 2:592f01278db4 | 134 | |
ruesipat | 0:a9fe4ef404bf | 135 | // Berechnen, Limitieren und Setzen der Duty-Cycle |
ruesipat | 2:592f01278db4 | 136 | |
ruesipat | 0:a9fe4ef404bf | 137 | float dutyCycleLeft = 0.5f+0.5f*voltageLeft/MAX_VOLTAGE; |
ruesipat | 0:a9fe4ef404bf | 138 | if (dutyCycleLeft < MIN_DUTY_CYCLE) dutyCycleLeft = MIN_DUTY_CYCLE; |
ruesipat | 0:a9fe4ef404bf | 139 | else if (dutyCycleLeft > MAX_DUTY_CYCLE) dutyCycleLeft = MAX_DUTY_CYCLE; |
ruesipat | 0:a9fe4ef404bf | 140 | pwmLeft = dutyCycleLeft; |
ruesipat | 2:592f01278db4 | 141 | |
ruesipat | 0:a9fe4ef404bf | 142 | float dutyCycleRight = 0.5f+0.5f*voltageRight/MAX_VOLTAGE; |
ruesipat | 0:a9fe4ef404bf | 143 | if (dutyCycleRight < MIN_DUTY_CYCLE) dutyCycleRight = MIN_DUTY_CYCLE; |
ruesipat | 0:a9fe4ef404bf | 144 | else if (dutyCycleRight > MAX_DUTY_CYCLE) dutyCycleRight = MAX_DUTY_CYCLE; |
ruesipat | 0:a9fe4ef404bf | 145 | pwmRight = dutyCycleRight; |
ruesipat | 2:592f01278db4 | 146 | |
ruesipat | 2:592f01278db4 | 147 | |
ruesipat | 0:a9fe4ef404bf | 148 | } |