Projectgroep 20 Biorobotics / Mbed 2 deprecated PIDZONDERRKI

blaa

Dependencies:   Encoder HIDScope MODSERIAL mbed

Fork of week6ordenenscript by Projectgroep 20 Biorobotics

main.cpp@11:d5369a546201, 2017-11-02 (annotated)

Committer:
Gerber
Date:
Thu Nov 02 11:22:08 2017 +0000
Revision:
11:d5369a546201
Parent:
10:2435c48d2032
Child:
12:126ae33919b3
HIJ DOET HET !!!; Motor 2 M2D moest omgedraaid worden, omdat deze de andere kant op moest en de error alleen maar groter werd ipv kleiner.; Daarnaast was de kI eerst te klein, waardoor de error heel groot blijft.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Miriam 3:f755b4d41aa8 1 //libaries
Miriam 0:2a99f692f683 2 #include "mbed.h"
Miriam 0:2a99f692f683 3 #include "HIDScope.h"
Miriam 0:2a99f692f683 4 #include "encoder.h"
Miriam 0:2a99f692f683 5 #include "MODSERIAL.h"
Miriam 0:2a99f692f683 6
Miriam 0:2a99f692f683 7
Miriam 3:f755b4d41aa8 8 // globale variables
Miriam 3:f755b4d41aa8 9 Ticker AInTicker; //We make a ticker named AIn (use for HIDScope)
Miriam 0:2a99f692f683 10
Miriam 3:f755b4d41aa8 11 Ticker Treecko; //We make a awesome ticker for our control system
Miriam 3:f755b4d41aa8 12 AnalogIn potMeter2(A1); //Analoge input of potmeter 2 (will be use for te reference position)
Miriam 3:f755b4d41aa8 13 PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed
Miriam 3:f755b4d41aa8 14 DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control
Gerber 9:42d1d02673ae 15 Encoder motor1(D13,D12,true);
Miriam 0:2a99f692f683 16
Miriam 0:2a99f692f683 17 MODSERIAL pc(USBTX,USBRX);
Miriam 0:2a99f692f683 18
Miriam 3:f755b4d41aa8 19 float PwmPeriod = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde)
Miriam 2:b504e35af662 20 const float Ts = 0.1; // tickettijd/ sample time
Miriam 2:b504e35af662 21 float e_prev = 0;
Miriam 2:b504e35af662 22 float e_int = 0;
Miriam 0:2a99f692f683 23
paulineoonk 7:05495acc08b0 24 //tweede motor
paulineoonk 7:05495acc08b0 25 AnalogIn potmeter1(A2);
paulineoonk 7:05495acc08b0 26 PwmOut M2E(D5);
paulineoonk 7:05495acc08b0 27 DigitalOut M2D(D4);
paulineoonk 7:05495acc08b0 28 Encoder motor2(D9,D8,true);
paulineoonk 7:05495acc08b0 29 Ticker DubbelTreecko;
paulineoonk 7:05495acc08b0 30
paulineoonk 7:05495acc08b0 31 float PwmPeriod2 = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde)
paulineoonk 7:05495acc08b0 32 float e_prev2 = 0;
paulineoonk 7:05495acc08b0 33 float e_int2 = 0;
paulineoonk 7:05495acc08b0 34
Gerber 9:42d1d02673ae 35 float Potmeterwaarde;
Gerber 9:42d1d02673ae 36 float potmeterwaarde2;
Gerber 10:2435c48d2032 37 int maxwaarde, maxwaarde2;
Gerber 10:2435c48d2032 38 float refP, refP2;
Gerber 11:d5369a546201 39 float kp, Proportional, kd, VelocityError, Derivative, ki, Integrator, motorValue;
Gerber 10:2435c48d2032 40 float kp2, Proportional2, kd2, VelocityError2, Derivative2, ki2, Integrator2, motorValue2;
Gerber 11:d5369a546201 41 float Huidigepositie;
Gerber 11:d5369a546201 42 float Aerror;
Gerber 11:d5369a546201 43 float Huidigepositie2;
Gerber 11:d5369a546201 44 float Aerror2;
Gerber 11:d5369a546201 45 float motorVal, motorVal2;
Miriam 3:f755b4d41aa8 46
Miriam 0:2a99f692f683 47 float GetReferencePosition()
Miriam 0:2a99f692f683 48 {
Gerber 9:42d1d02673ae 49 Potmeterwaarde = potMeter2.read();
Gerber 10:2435c48d2032 50 maxwaarde = 4096; // = 64x64
Gerber 10:2435c48d2032 51 refP = Potmeterwaarde*maxwaarde;
Miriam 3:f755b4d41aa8 52 return refP; // value between 0 and 4096
Miriam 0:2a99f692f683 53 }
paulineoonk 7:05495acc08b0 54
paulineoonk 7:05495acc08b0 55 float GetReferencePosition2()
paulineoonk 7:05495acc08b0 56 {
Gerber 9:42d1d02673ae 57 potmeterwaarde2 = potmeter1.read();
Gerber 10:2435c48d2032 58 maxwaarde2 = 4096; // = 64x64
Gerber 10:2435c48d2032 59 refP2 = potmeterwaarde2*maxwaarde2;
paulineoonk 7:05495acc08b0 60 return refP2; // value between 0 and 4096
paulineoonk 7:05495acc08b0 61 }
Miriam 0:2a99f692f683 62
Miriam 2:b504e35af662 63 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)
Miriam 0:2a99f692f683 64 {
Gerber 10:2435c48d2032 65 kp = 0.001; // kind of scaled.
Gerber 10:2435c48d2032 66 Proportional= kp*error;
Miriam 2:b504e35af662 67
Gerber 10:2435c48d2032 68 kd = 0.0004; // kind of scaled.
Gerber 10:2435c48d2032 69 VelocityError = (error - e_prev)/Ts;
Gerber 10:2435c48d2032 70 Derivative = kd*VelocityError;
Miriam 2:b504e35af662 71 e_prev = error;
Miriam 2:b504e35af662 72
Gerber 11:d5369a546201 73 ki = 0.0005; // kind of scaled.
Miriam 2:b504e35af662 74 e_int = e_int+Ts*error;
Gerber 10:2435c48d2032 75 Integrator = ki*e_int;
Miriam 2:b504e35af662 76
Miriam 2:b504e35af662 77
Gerber 11:d5369a546201 78 motorVal = Proportional + Integrator + Derivative;
Gerber 11:d5369a546201 79 return motorVal;
Miriam 0:2a99f692f683 80 }
Miriam 0:2a99f692f683 81
paulineoonk 7:05495acc08b0 82 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)
paulineoonk 7:05495acc08b0 83 {
Gerber 10:2435c48d2032 84 kp2 = 0.001; // kind of scaled.
Gerber 10:2435c48d2032 85 Proportional2= kp2*error2;
paulineoonk 7:05495acc08b0 86
Gerber 10:2435c48d2032 87 kd2 = 0.0004; // kind of scaled.
Gerber 10:2435c48d2032 88 VelocityError2 = (error2 - e_prev2)/Ts;
Gerber 10:2435c48d2032 89 Derivative2 = kd2*VelocityError2;
paulineoonk 7:05495acc08b0 90 e_prev2 = error2;
paulineoonk 7:05495acc08b0 91
Gerber 11:d5369a546201 92 ki2 = 0.0005; // kind of scaled.
paulineoonk 7:05495acc08b0 93 e_int2 = e_int2+Ts*error2;
Gerber 10:2435c48d2032 94 Integrator2 = ki2*e_int2;
paulineoonk 7:05495acc08b0 95
paulineoonk 7:05495acc08b0 96
Gerber 11:d5369a546201 97 motorVal2 = Proportional2 + Integrator2 + Derivative2;
Gerber 11:d5369a546201 98 return motorVal2;
paulineoonk 7:05495acc08b0 99 }
paulineoonk 7:05495acc08b0 100
paulineoonk 7:05495acc08b0 101
Miriam 0:2a99f692f683 102 void SetMotor1(float motorValue)
Miriam 0:2a99f692f683 103 {
Miriam 1:609671b1c96c 104 if (motorValue >= 0)
Miriam 0:2a99f692f683 105 {
Miriam 0:2a99f692f683 106 M1D = 0;
Miriam 0:2a99f692f683 107 }
Miriam 0:2a99f692f683 108 else
Miriam 0:2a99f692f683 109 {
Miriam 0:2a99f692f683 110 M1D = 1;
Miriam 0:2a99f692f683 111 }
Miriam 0:2a99f692f683 112
Miriam 0:2a99f692f683 113 if (fabs(motorValue) > 1)
Miriam 0:2a99f692f683 114 {
Miriam 3:f755b4d41aa8 115 M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
Miriam 0:2a99f692f683 116 }
Miriam 0:2a99f692f683 117 else
Miriam 0:2a99f692f683 118 {
Miriam 0:2a99f692f683 119 M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
Miriam 0:2a99f692f683 120 }
Miriam 0:2a99f692f683 121 }
Miriam 0:2a99f692f683 122
paulineoonk 7:05495acc08b0 123 void SetMotor2(float motorValue2)
paulineoonk 7:05495acc08b0 124 {
paulineoonk 7:05495acc08b0 125 if (motorValue2 >= 0)
paulineoonk 7:05495acc08b0 126 {
Gerber 11:d5369a546201 127 M2D = 1;
paulineoonk 7:05495acc08b0 128 }
paulineoonk 7:05495acc08b0 129 else
paulineoonk 7:05495acc08b0 130 {
Gerber 11:d5369a546201 131 M2D = 0;
paulineoonk 7:05495acc08b0 132 }
paulineoonk 7:05495acc08b0 133
paulineoonk 7:05495acc08b0 134 if (fabs(motorValue2) > 1)
paulineoonk 7:05495acc08b0 135 {
paulineoonk 7:05495acc08b0 136 M2E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
paulineoonk 7:05495acc08b0 137 }
paulineoonk 7:05495acc08b0 138 else
paulineoonk 7:05495acc08b0 139 {
paulineoonk 7:05495acc08b0 140 M2E = fabs(motorValue2); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
paulineoonk 7:05495acc08b0 141 }
paulineoonk 7:05495acc08b0 142 }
paulineoonk 7:05495acc08b0 143
Miriam 0:2a99f692f683 144 float Encoder ()
Miriam 0:2a99f692f683 145 {
Gerber 11:d5369a546201 146 Huidigepositie = motor1.getPosition ();
Miriam 3:f755b4d41aa8 147 return Huidigepositie; // huidige positie = current position
Miriam 0:2a99f692f683 148 }
Miriam 0:2a99f692f683 149
paulineoonk 7:05495acc08b0 150 float Encoder2 ()
paulineoonk 7:05495acc08b0 151 {
Gerber 11:d5369a546201 152 Huidigepositie2 = motor2.getPosition ();
paulineoonk 7:05495acc08b0 153 return Huidigepositie2; // huidige positie = current position
paulineoonk 7:05495acc08b0 154 }
paulineoonk 7:05495acc08b0 155
Miriam 0:2a99f692f683 156 void MeasureAndControl(void)
Miriam 0:2a99f692f683 157 {
Miriam 3:f755b4d41aa8 158 // hier the control of the control system
Gerber 11:d5369a546201 159 refP = GetReferencePosition();
Gerber 11:d5369a546201 160 Huidigepositie = Encoder();
Gerber 11:d5369a546201 161 Aerror = (refP - Huidigepositie);// make an error
Gerber 11:d5369a546201 162 motorValue = FeedBackControl(Aerror, e_prev, e_int);
Miriam 0:2a99f692f683 163 SetMotor1(motorValue);
Miriam 0:2a99f692f683 164
paulineoonk 7:05495acc08b0 165 // hier the control of the control system
Gerber 11:d5369a546201 166 refP2 = GetReferencePosition2();
Gerber 11:d5369a546201 167 Huidigepositie2 = Encoder2();
Gerber 11:d5369a546201 168 Aerror2 = (refP2 - Huidigepositie2);// make an error
Gerber 11:d5369a546201 169 motorValue2 = FeedBackControl2(Aerror2, e_prev2, e_int2);
paulineoonk 7:05495acc08b0 170 SetMotor2(motorValue2);
Gerber 9:42d1d02673ae 171
Gerber 9:42d1d02673ae 172 pc.baud(115200);
Gerber 11:d5369a546201 173 pc.printf("potmeter = %f, refP = %f, huidigepositie = %f, error = %f, motorvalue = %f \r\n, potmeter2 = %f, refP2 = %f, huidigepositie2 = %f, error2 = %f, motorvalue2 = %f \r\n", Potmeterwaarde, refP, Huidigepositie, Aerror, motorValue, potmeterwaarde2, refP2, Huidigepositie2, Aerror2, motorValue2);
paulineoonk 7:05495acc08b0 174 }
paulineoonk 7:05495acc08b0 175
Miriam 0:2a99f692f683 176
Miriam 0:2a99f692f683 177 int main()
Miriam 0:2a99f692f683 178 {
Miriam 5:987cc578988e 179 M1E.period(PwmPeriod);
Gerber 9:42d1d02673ae 180 M2E.period(PwmPeriod2);
Miriam 4:c119259c1ba5 181 Treecko.attach(MeasureAndControl, Ts); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende
Miriam 0:2a99f692f683 182 //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.
Gerber 9:42d1d02673ae 183 //DubbelTreecko.attach(MeasureAndControl2, Ts);
Miriam 4:c119259c1ba5 184
Miriam 4:c119259c1ba5 185
Miriam 0:2a99f692f683 186 while(1)
Miriam 0:2a99f692f683 187 {
Miriam 0:2a99f692f683 188 wait(0.2);
Gerber 9:42d1d02673ae 189 //pc.printf("Potmeter2 = %f, refP = %f, motorValue = %f, \r\nPotmeter1 = %f, refP2 = %f, motorValue2 = %f \r\n", Potmeterwaarde, refP, motorValue, potmeterwaarde2, refP2, motorValue2);
Gerber 9:42d1d02673ae 190 //pc.baud(115200);
Miriam 0:2a99f692f683 191 float B = motor1.getPosition();
Miriam 0:2a99f692f683 192 float Potmeterwaarde = potMeter2.read();
Miriam 0:2a99f692f683 193 //float positie = B%4096;
Miriam 6:083bd713670b 194 //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
Miriam 0:2a99f692f683 195 }
Miriam 0:2a99f692f683 196 }