Projectgroep 20 Biorobotics / Mbed 2 deprecated DEMO_en_autodemo

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Dependencies:   Encoder MODSERIAL mbed

Fork of DEMO by Annelotte Bex

main.cpp@7:1d3eefa00e20, 2017-11-02 (annotated)

Committer:
Miriam
Date:
Thu Nov 02 13:37:38 2017 +0000
Revision:
7:1d3eefa00e20
Parent:
6:9943f69ff668
Child:
8:83b2ab57cf0d
iets raars in de errors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Annelotte 0:ec8fa8a84edd 1 //libaries
Annelotte 0:ec8fa8a84edd 2 #include "mbed.h"
Annelotte 0:ec8fa8a84edd 3 #include "encoder.h"
Annelotte 0:ec8fa8a84edd 4 #include "MODSERIAL.h"
Annelotte 0:ec8fa8a84edd 5
Annelotte 0:ec8fa8a84edd 6
Annelotte 0:ec8fa8a84edd 7 // globale variables
Annelotte 0:ec8fa8a84edd 8 Ticker AInTicker; //We make a ticker named AIn (use for HIDScope)
Annelotte 0:ec8fa8a84edd 9
Annelotte 0:ec8fa8a84edd 10 Ticker Treecko; //We make a awesome ticker for our control system
Annelotte 0:ec8fa8a84edd 11 AnalogIn potMeter2(A1); //Analoge input of potmeter 2 (will be use for te reference position)
Annelotte 0:ec8fa8a84edd 12 PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed
Annelotte 0:ec8fa8a84edd 13 DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control
Annelotte 0:ec8fa8a84edd 14
Annelotte 0:ec8fa8a84edd 15 Encoder motor1(D13,D12,true);
Annelotte 0:ec8fa8a84edd 16 MODSERIAL pc(USBTX,USBRX);
Annelotte 0:ec8fa8a84edd 17
Annelotte 0:ec8fa8a84edd 18 float PwmPeriod = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde)
Annelotte 1:e3db171abbb2 19 const float Ts = 0.1; // tickettijd/ sample time
Annelotte 0:ec8fa8a84edd 20 float e_prev = 0;
Annelotte 0:ec8fa8a84edd 21 float e_int = 0;
Miriam 7:1d3eefa00e20 22 float error1;
Annelotte 0:ec8fa8a84edd 23 float PwmPeriod2 = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde)
Annelotte 0:ec8fa8a84edd 24 float e_prev2 = 0;
Annelotte 0:ec8fa8a84edd 25 float e_int2 = 0;
Miriam 7:1d3eefa00e20 26 float error2;
Annelotte 0:ec8fa8a84edd 27
Annelotte 0:ec8fa8a84edd 28 double pi = 3.14159265359;
Annelotte 4:836d7f9ac0ca 29 double SetPx = 0.38; //Setpoint position x-coordinate from changePosition (EMG dependent)
Annelotte 4:836d7f9ac0ca 30 double SetPy = 0.30; //Setpoint position y-coordinate from changePosition (EMG dependent)
Annelotte 3:120fbef23c17 31 double q1 = 0; //Reference position q1 from calibration (only the first time)
Annelotte 3:120fbef23c17 32 double q2 = (pi/2); //Reference position q2 from calibration (only the first time)
Annelotte 4:836d7f9ac0ca 33 const double L1 = 0.30; //Length arm 1
Annelotte 4:836d7f9ac0ca 34 const double L2 = 0.38; //Length arm 2
Annelotte 0:ec8fa8a84edd 35 double K = 1; //Spring constant for movement end-joint to setpoint
Annelotte 0:ec8fa8a84edd 36 double B1 = 1; //Friction coefficient for motor 1
Annelotte 0:ec8fa8a84edd 37 double B2 = 1; //Friction coefficient for motot 2
Annelotte 1:e3db171abbb2 38 double T = 0.02; //Desired time step
Annelotte 0:ec8fa8a84edd 39 double Motor1Set; //Motor1 angle
Annelotte 0:ec8fa8a84edd 40 double Motor2Set; //Motor2 angle
Annelotte 0:ec8fa8a84edd 41 double p;
Annelotte 1:e3db171abbb2 42 double pp;
Annelotte 1:e3db171abbb2 43 double bb;
Annelotte 1:e3db171abbb2 44 double cc;
Annelotte 1:e3db171abbb2 45 double a;
Annelotte 1:e3db171abbb2 46 double aa;
Miriam 7:1d3eefa00e20 47 bool autodemo_done = 1; //automatische demo stand =0
Annelotte 0:ec8fa8a84edd 48
Annelotte 0:ec8fa8a84edd 49 //tweede motor
Annelotte 0:ec8fa8a84edd 50 AnalogIn potMeter1(A2);
Annelotte 0:ec8fa8a84edd 51 PwmOut M2E(D5);
Annelotte 0:ec8fa8a84edd 52 DigitalOut M2D(D4);
Annelotte 0:ec8fa8a84edd 53 Encoder motor2(D9,D8,true);
Annelotte 0:ec8fa8a84edd 54
Annelotte 4:836d7f9ac0ca 55
Annelotte 0:ec8fa8a84edd 56 void RKI()
Annelotte 0:ec8fa8a84edd 57 {
Annelotte 1:e3db171abbb2 58 p=sin(q1)*L1;
Annelotte 1:e3db171abbb2 59 pp=sin(q2)*L2;
Annelotte 1:e3db171abbb2 60 a=cos(q1)*L1;
Annelotte 1:e3db171abbb2 61 aa=cos(q2)*L2;
Annelotte 1:e3db171abbb2 62 bb=SetPy;
Annelotte 1:e3db171abbb2 63 cc=SetPx;
Annelotte 2:9f343567723c 64 q1 = q1 + ((p + pp)*bb - (a + aa)*cc)*(K*T)/B1; //Calculate desired joint 1 position
Annelotte 2:9f343567723c 65 q2 = q2 + ((bb - a)*pp + (p - cc)*aa)*(K*T)/B2; //Calculate desired joint 2 position
Annelotte 0:ec8fa8a84edd 66
Annelotte 2:9f343567723c 67 int maxwaarde = 4096; // = 64x64
Annelotte 2:9f343567723c 68
Annelotte 2:9f343567723c 69
Miriam 7:1d3eefa00e20 70 Motor1Set = -(q1/(2*pi))*maxwaarde; //Calculate the desired motor1 angle from the desired joint positions
Miriam 7:1d3eefa00e20 71 Motor2Set = ((pi-q2-q1)/(2*pi))*maxwaarde; //Calculate the desired motor2 angle from the desired joint positions
Annelotte 0:ec8fa8a84edd 72
Miriam 7:1d3eefa00e20 73 //pc.printf("waarde p = %f, waarde pp = %f, a= %f, aa = %f, bb = %f, cc = %f \r\n",p,pp,a,aa,bb,cc);
Annelotte 0:ec8fa8a84edd 74 //pc.printf("q1 = %f, q2 = %f, Motor1Set = %f, Motor2Set = %f \r\n", q1, q2, Motor1Set, Motor2Set);
Annelotte 0:ec8fa8a84edd 75 }
Annelotte 0:ec8fa8a84edd 76
Annelotte 0:ec8fa8a84edd 77 void SetpointRobot()
Annelotte 0:ec8fa8a84edd 78 {
Annelotte 0:ec8fa8a84edd 79 double Potmeterwaarde2 = potMeter2.read();
Annelotte 0:ec8fa8a84edd 80 double Potmeterwaarde1 = potMeter1.read();
Annelotte 0:ec8fa8a84edd 81
Annelotte 2:9f343567723c 82 if (Potmeterwaarde2>0.6) {
Annelotte 4:836d7f9ac0ca 83 SetPx += 0.001; // hoe veel verder gaat hij? 1 cm? 10 cm?
Annelotte 0:ec8fa8a84edd 84 }
Annelotte 3:120fbef23c17 85 else if (Potmeterwaarde2<0.4) {
Annelotte 4:836d7f9ac0ca 86 SetPx -= 0.001;
Annelotte 0:ec8fa8a84edd 87 }
Annelotte 3:120fbef23c17 88 else
Annelotte 3:120fbef23c17 89 {}
Annelotte 2:9f343567723c 90 if (Potmeterwaarde1>0.6) {
Annelotte 4:836d7f9ac0ca 91 SetPy += 0.001;
Annelotte 0:ec8fa8a84edd 92 }
Annelotte 3:120fbef23c17 93 else if (Potmeterwaarde1<0.4) {
Annelotte 4:836d7f9ac0ca 94 SetPy -= 0.001;
Annelotte 0:ec8fa8a84edd 95 }
Annelotte 3:120fbef23c17 96 else
Annelotte 3:120fbef23c17 97 {}
Annelotte 0:ec8fa8a84edd 98 //pc.printf("Setpointx = %f, Setpointy = %f \r\n", SetPx, SetPy);
Annelotte 0:ec8fa8a84edd 99 }
Annelotte 0:ec8fa8a84edd 100
Annelotte 1:e3db171abbb2 101 /*float GetReferencePosition()
Annelotte 0:ec8fa8a84edd 102 {
Annelotte 0:ec8fa8a84edd 103 float Potmeterwaarde = potMeter2.read();
Annelotte 0:ec8fa8a84edd 104 int maxwaarde = 4096; // = 64x64
Annelotte 0:ec8fa8a84edd 105 float refP = Potmeterwaarde*maxwaarde;
Annelotte 0:ec8fa8a84edd 106 return refP; // value between 0 and 4096
Annelotte 0:ec8fa8a84edd 107 }
Annelotte 0:ec8fa8a84edd 108
Annelotte 0:ec8fa8a84edd 109 float GetReferencePosition2()
Annelotte 0:ec8fa8a84edd 110 {
Annelotte 1:e3db171abbb2 111 float Potmeterwaarde2 = potMeter1.read();
Annelotte 0:ec8fa8a84edd 112 int maxwaarde2 = 4096; // = 64x64
Annelotte 1:e3db171abbb2 113 float refP2 = Potmeterwaarde2*maxwaarde2;
Annelotte 0:ec8fa8a84edd 114 return refP2; // value between 0 and 4096
Annelotte 1:e3db171abbb2 115 }*/
Annelotte 0:ec8fa8a84edd 116
Annelotte 0:ec8fa8a84edd 117 float FeedBackControl(float error, float &e_prev, float &e_int) // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking)
Annelotte 0:ec8fa8a84edd 118 {
Annelotte 2:9f343567723c 119 float kp = 0.0005; // kind of scaled.
Annelotte 0:ec8fa8a84edd 120 float Proportional= kp*error;
Annelotte 0:ec8fa8a84edd 121
Annelotte 0:ec8fa8a84edd 122 float kd = 0.0004; // kind of scaled.
Annelotte 0:ec8fa8a84edd 123 float VelocityError = (error - e_prev)/Ts;
Annelotte 0:ec8fa8a84edd 124 float Derivative = kd*VelocityError;
Annelotte 0:ec8fa8a84edd 125 e_prev = error;
Annelotte 0:ec8fa8a84edd 126
Annelotte 0:ec8fa8a84edd 127 float ki = 0.00005; // kind of scaled.
Annelotte 0:ec8fa8a84edd 128 e_int = e_int+Ts*error;
Annelotte 0:ec8fa8a84edd 129 float Integrator = ki*e_int;
Annelotte 0:ec8fa8a84edd 130
Annelotte 0:ec8fa8a84edd 131
Annelotte 0:ec8fa8a84edd 132 float motorValue = Proportional + Integrator + Derivative;
Annelotte 0:ec8fa8a84edd 133 return motorValue;
Annelotte 0:ec8fa8a84edd 134 }
Annelotte 0:ec8fa8a84edd 135
Annelotte 0:ec8fa8a84edd 136 float FeedBackControl2(float error2, float &e_prev2, float &e_int2) // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking)
Annelotte 0:ec8fa8a84edd 137 {
Annelotte 2:9f343567723c 138 float kp2 = 0.0005; // kind of scaled.
Annelotte 0:ec8fa8a84edd 139 float Proportional2= kp2*error2;
Annelotte 0:ec8fa8a84edd 140
Annelotte 0:ec8fa8a84edd 141 float kd2 = 0.0004; // kind of scaled.
Annelotte 0:ec8fa8a84edd 142 float VelocityError2 = (error2 - e_prev2)/Ts;
Annelotte 0:ec8fa8a84edd 143 float Derivative2 = kd2*VelocityError2;
Annelotte 0:ec8fa8a84edd 144 e_prev2 = error2;
Annelotte 0:ec8fa8a84edd 145
Annelotte 0:ec8fa8a84edd 146 float ki2 = 0.00005; // kind of scaled.
Annelotte 0:ec8fa8a84edd 147 e_int2 = e_int2+Ts*error2;
Annelotte 0:ec8fa8a84edd 148 float Integrator2 = ki2*e_int2;
Annelotte 0:ec8fa8a84edd 149
Annelotte 0:ec8fa8a84edd 150
Annelotte 0:ec8fa8a84edd 151 float motorValue2 = Proportional2 + Integrator2 + Derivative2;
Annelotte 0:ec8fa8a84edd 152 return motorValue2;
Annelotte 0:ec8fa8a84edd 153 }
Annelotte 0:ec8fa8a84edd 154
Annelotte 0:ec8fa8a84edd 155
Annelotte 0:ec8fa8a84edd 156 void SetMotor1(float motorValue)
Annelotte 0:ec8fa8a84edd 157 {
Annelotte 0:ec8fa8a84edd 158 if (motorValue >= 0)
Annelotte 0:ec8fa8a84edd 159 {
Annelotte 1:e3db171abbb2 160 M1D = 0; //direction ...
Annelotte 0:ec8fa8a84edd 161 }
Annelotte 0:ec8fa8a84edd 162 else
Annelotte 0:ec8fa8a84edd 163 {
Annelotte 1:e3db171abbb2 164 M1D = 1; //direction ...
Annelotte 0:ec8fa8a84edd 165 }
Annelotte 0:ec8fa8a84edd 166
Annelotte 0:ec8fa8a84edd 167 if (fabs(motorValue) > 1)
Annelotte 0:ec8fa8a84edd 168 {
Annelotte 0:ec8fa8a84edd 169 M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
Annelotte 0:ec8fa8a84edd 170 }
Annelotte 0:ec8fa8a84edd 171 else
Annelotte 0:ec8fa8a84edd 172 {
Annelotte 0:ec8fa8a84edd 173 M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
Annelotte 0:ec8fa8a84edd 174 }
Annelotte 0:ec8fa8a84edd 175 }
Annelotte 0:ec8fa8a84edd 176
Annelotte 0:ec8fa8a84edd 177 void SetMotor2(float motorValue2)
Annelotte 0:ec8fa8a84edd 178 {
Annelotte 0:ec8fa8a84edd 179 if (motorValue2 >= 0)
Annelotte 0:ec8fa8a84edd 180 {
Miriam 6:9943f69ff668 181 M2D = 1;
Annelotte 0:ec8fa8a84edd 182 }
Annelotte 0:ec8fa8a84edd 183 else
Annelotte 0:ec8fa8a84edd 184 {
Miriam 6:9943f69ff668 185 M2D = 0;
Annelotte 0:ec8fa8a84edd 186 }
Annelotte 0:ec8fa8a84edd 187
Annelotte 0:ec8fa8a84edd 188 if (fabs(motorValue2) > 1)
Annelotte 0:ec8fa8a84edd 189 {
Annelotte 0:ec8fa8a84edd 190 M2E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
Annelotte 0:ec8fa8a84edd 191 }
Annelotte 0:ec8fa8a84edd 192 else
Annelotte 0:ec8fa8a84edd 193 {
Annelotte 0:ec8fa8a84edd 194 M2E = fabs(motorValue2); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
Annelotte 0:ec8fa8a84edd 195 }
Annelotte 0:ec8fa8a84edd 196 }
Annelotte 0:ec8fa8a84edd 197
Annelotte 0:ec8fa8a84edd 198 float Encoder ()
Annelotte 0:ec8fa8a84edd 199 {
Annelotte 0:ec8fa8a84edd 200 float Huidigepositie = motor1.getPosition ();
Annelotte 0:ec8fa8a84edd 201 return Huidigepositie; // huidige positie = current position
Annelotte 0:ec8fa8a84edd 202 }
Annelotte 0:ec8fa8a84edd 203
Annelotte 0:ec8fa8a84edd 204 float Encoder2 ()
Annelotte 0:ec8fa8a84edd 205 {
Annelotte 0:ec8fa8a84edd 206 float Huidigepositie2 = motor2.getPosition ();
Annelotte 0:ec8fa8a84edd 207 return Huidigepositie2; // huidige positie = current position
Annelotte 0:ec8fa8a84edd 208 }
Annelotte 0:ec8fa8a84edd 209
Miriam 7:1d3eefa00e20 210 void MeasureAndControl(void)
Miriam 7:1d3eefa00e20 211 {
Miriam 7:1d3eefa00e20 212 // RKI aanroepen
Miriam 7:1d3eefa00e20 213 RKI();
Miriam 7:1d3eefa00e20 214
Miriam 7:1d3eefa00e20 215 // hier the control of the control system
Miriam 7:1d3eefa00e20 216 //float refP = GetReferencePosition();
Miriam 7:1d3eefa00e20 217 float Huidigepositie = Encoder();
Miriam 7:1d3eefa00e20 218 error1 = (Motor1Set - Huidigepositie);// make an error
Miriam 7:1d3eefa00e20 219 float motorValue = FeedBackControl(error1, e_prev, e_int);
Miriam 7:1d3eefa00e20 220 SetMotor1(motorValue);
Miriam 7:1d3eefa00e20 221
Miriam 7:1d3eefa00e20 222 // hier the control of the control system
Miriam 7:1d3eefa00e20 223 //float refP2 = GetReferencePosition2();
Miriam 7:1d3eefa00e20 224 float Huidigepositie2 = Encoder2();
Miriam 7:1d3eefa00e20 225 error2 = (Motor2Set - Huidigepositie2);// make an error
Miriam 7:1d3eefa00e20 226 float motorValue2 = FeedBackControl2(error2, e_prev2, e_int2);
Miriam 7:1d3eefa00e20 227 SetMotor2(motorValue2);
Miriam 7:1d3eefa00e20 228 }
Miriam 7:1d3eefa00e20 229
Annelotte 4:836d7f9ac0ca 230 void Autodemo_or_demo()
Annelotte 4:836d7f9ac0ca 231 {
Annelotte 4:836d7f9ac0ca 232 if (autodemo_done == 0)
Annelotte 4:836d7f9ac0ca 233 {
Miriam 5:9651c3f7602b 234 SetPx = 0.38 + 0.15;
Miriam 5:9651c3f7602b 235 SetPy = 0.30;
Annelotte 4:836d7f9ac0ca 236 MeasureAndControl ();
Miriam 5:9651c3f7602b 237 SetPx = 0.38;
Miriam 5:9651c3f7602b 238 SetPy = 0.30;
Annelotte 4:836d7f9ac0ca 239 MeasureAndControl ();
Miriam 5:9651c3f7602b 240 SetPx = 0.38;
Miriam 5:9651c3f7602b 241 SetPy = 0.30 - 0.30;
Annelotte 4:836d7f9ac0ca 242 MeasureAndControl ();
Miriam 5:9651c3f7602b 243 SetPx = 0.38;
Miriam 5:9651c3f7602b 244 SetPy = 0.30;
Annelotte 4:836d7f9ac0ca 245 MeasureAndControl ();
Annelotte 4:836d7f9ac0ca 246 autodemo_done = true;
Annelotte 4:836d7f9ac0ca 247 }
Annelotte 4:836d7f9ac0ca 248
Annelotte 4:836d7f9ac0ca 249 else if (autodemo_done == 1)
Annelotte 4:836d7f9ac0ca 250 {
Annelotte 4:836d7f9ac0ca 251 SetpointRobot();
Annelotte 4:836d7f9ac0ca 252 MeasureAndControl ();
Annelotte 4:836d7f9ac0ca 253 }
Annelotte 4:836d7f9ac0ca 254
Annelotte 4:836d7f9ac0ca 255 }
Annelotte 0:ec8fa8a84edd 256
Annelotte 0:ec8fa8a84edd 257
Annelotte 0:ec8fa8a84edd 258 int main()
Annelotte 0:ec8fa8a84edd 259 {
Annelotte 0:ec8fa8a84edd 260 M1E.period(PwmPeriod);
Annelotte 4:836d7f9ac0ca 261 Treecko.attach(&Autodemo_or_demo, Ts); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende
Annelotte 0:ec8fa8a84edd 262 //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.
Annelotte 1:e3db171abbb2 263 pc.baud(115200);
Annelotte 0:ec8fa8a84edd 264
Annelotte 0:ec8fa8a84edd 265
Annelotte 0:ec8fa8a84edd 266 while(1)
Annelotte 0:ec8fa8a84edd 267 {
Annelotte 1:e3db171abbb2 268 //wait(0.2);
Annelotte 0:ec8fa8a84edd 269 float B = motor1.getPosition();
Miriam 7:1d3eefa00e20 270 pc.printf("Setpointx = %f, Setpointy = %f, Motor1Set = %f, Motor2Set = %f \r\n, error1 = %f, error2 = %f", SetPx, SetPy, Motor1Set, Motor2Set,error1, error2);
Annelotte 0:ec8fa8a84edd 271 //float positie = B%4096;
Annelotte 0:ec8fa8a84edd 272 //pc.printf("pos: %d, speed %f, potmeter = %f V, \r\n",motor1.getPosition(), motor1.getSpeed(),(potMeter2.read()*3.3)); //potmeter uitlezen. tussen 0-1. voltage, dus *3.3V
Annelotte 1:e3db171abbb2 273 //pc.printf("q1 = %f, q2 = %f, Motor1Set = %f, Motor2Set = %f \r\n", q1, q2, Motor1Set, Motor2Set);
Annelotte 0:ec8fa8a84edd 274 }
Annelotte 0:ec8fa8a84edd 275 }