Projectgroep 20 Biorobotics / Mbed 2 deprecated week6ordenenscript

P-controller geordend

Dependencies:   Encoder HIDScope MODSERIAL mbed

main.cpp@7:05495acc08b0, 2017-11-01 (annotated)

Committer:
paulineoonk
Date:
Wed Nov 01 14:59:42 2017 +0000
Revision:
7:05495acc08b0
Parent:
6:083bd713670b
Child:
8:42d1d02673ae
Child:
12:e125b9fa77b9
Twee motoren

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
Miriam 0:2a99f692f683 15
Miriam 0:2a99f692f683 16 Encoder motor1(D13,D12,true);
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
Miriam 3:f755b4d41aa8 35
Miriam 3:f755b4d41aa8 36
Miriam 0:2a99f692f683 37 float GetReferencePosition()
Miriam 0:2a99f692f683 38 {
Miriam 0:2a99f692f683 39 float Potmeterwaarde = potMeter2.read();
Miriam 0:2a99f692f683 40 int maxwaarde = 4096; // = 64x64
Miriam 0:2a99f692f683 41 float refP = Potmeterwaarde*maxwaarde;
Miriam 3:f755b4d41aa8 42 return refP; // value between 0 and 4096
Miriam 0:2a99f692f683 43 }
paulineoonk 7:05495acc08b0 44
paulineoonk 7:05495acc08b0 45 float GetReferencePosition2()
paulineoonk 7:05495acc08b0 46 {
paulineoonk 7:05495acc08b0 47 float potmeterwaarde2 = potmeter1.read();
paulineoonk 7:05495acc08b0 48 int maxwaarde2 = 4096; // = 64x64
paulineoonk 7:05495acc08b0 49 float refP2 = potmeterwaarde2*maxwaarde2;
paulineoonk 7:05495acc08b0 50 return refP2; // value between 0 and 4096
paulineoonk 7:05495acc08b0 51 }
Miriam 0:2a99f692f683 52
Miriam 2:b504e35af662 53 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 54 {
Miriam 6:083bd713670b 55 float kp = 0.001; // kind of scaled.
Miriam 2:b504e35af662 56 float Proportional= kp*error;
Miriam 2:b504e35af662 57
Miriam 6:083bd713670b 58 float kd = 0.0004; // kind of scaled.
Miriam 2:b504e35af662 59 float VelocityError = (error - e_prev)/Ts;
Miriam 2:b504e35af662 60 float Derivative = kd*VelocityError;
Miriam 2:b504e35af662 61 e_prev = error;
Miriam 2:b504e35af662 62
Miriam 6:083bd713670b 63 float ki = 0.00005; // kind of scaled.
Miriam 2:b504e35af662 64 e_int = e_int+Ts*error;
Miriam 2:b504e35af662 65 float Integrator = ki*e_int;
Miriam 2:b504e35af662 66
Miriam 2:b504e35af662 67
Miriam 2:b504e35af662 68 float motorValue = Proportional + Integrator + Derivative;
Miriam 0:2a99f692f683 69 return motorValue;
Miriam 0:2a99f692f683 70 }
Miriam 0:2a99f692f683 71
paulineoonk 7:05495acc08b0 72 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 73 {
paulineoonk 7:05495acc08b0 74 float kp2 = 0.001; // kind of scaled.
paulineoonk 7:05495acc08b0 75 float Proportional2= kp2*error2;
paulineoonk 7:05495acc08b0 76
paulineoonk 7:05495acc08b0 77 float kd2 = 0.0004; // kind of scaled.
paulineoonk 7:05495acc08b0 78 float VelocityError2 = (error2 - e_prev2)/Ts;
paulineoonk 7:05495acc08b0 79 float Derivative2 = kd2*VelocityError2;
paulineoonk 7:05495acc08b0 80 e_prev2 = error2;
paulineoonk 7:05495acc08b0 81
paulineoonk 7:05495acc08b0 82 float ki2 = 0.00005; // kind of scaled.
paulineoonk 7:05495acc08b0 83 e_int2 = e_int2+Ts*error2;
paulineoonk 7:05495acc08b0 84 float Integrator2 = ki2*e_int2;
paulineoonk 7:05495acc08b0 85
paulineoonk 7:05495acc08b0 86
paulineoonk 7:05495acc08b0 87 float motorValue2 = Proportional2 + Integrator2 + Derivative2;
paulineoonk 7:05495acc08b0 88 return motorValue2;
paulineoonk 7:05495acc08b0 89 }
paulineoonk 7:05495acc08b0 90
paulineoonk 7:05495acc08b0 91
Miriam 0:2a99f692f683 92 void SetMotor1(float motorValue)
Miriam 0:2a99f692f683 93 {
Miriam 1:609671b1c96c 94 if (motorValue >= 0)
Miriam 0:2a99f692f683 95 {
Miriam 0:2a99f692f683 96 M1D = 0;
Miriam 0:2a99f692f683 97 }
Miriam 0:2a99f692f683 98 else
Miriam 0:2a99f692f683 99 {
Miriam 0:2a99f692f683 100 M1D = 1;
Miriam 0:2a99f692f683 101 }
Miriam 0:2a99f692f683 102
Miriam 0:2a99f692f683 103 if (fabs(motorValue) > 1)
Miriam 0:2a99f692f683 104 {
Miriam 3:f755b4d41aa8 105 M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
Miriam 0:2a99f692f683 106 }
Miriam 0:2a99f692f683 107 else
Miriam 0:2a99f692f683 108 {
Miriam 0:2a99f692f683 109 M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
Miriam 0:2a99f692f683 110 }
Miriam 0:2a99f692f683 111 }
Miriam 0:2a99f692f683 112
paulineoonk 7:05495acc08b0 113 void SetMotor2(float motorValue2)
paulineoonk 7:05495acc08b0 114 {
paulineoonk 7:05495acc08b0 115 if (motorValue2 >= 0)
paulineoonk 7:05495acc08b0 116 {
paulineoonk 7:05495acc08b0 117 M2D = 0;
paulineoonk 7:05495acc08b0 118 }
paulineoonk 7:05495acc08b0 119 else
paulineoonk 7:05495acc08b0 120 {
paulineoonk 7:05495acc08b0 121 M2D = 1;
paulineoonk 7:05495acc08b0 122 }
paulineoonk 7:05495acc08b0 123
paulineoonk 7:05495acc08b0 124 if (fabs(motorValue2) > 1)
paulineoonk 7:05495acc08b0 125 {
paulineoonk 7:05495acc08b0 126 M2E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
paulineoonk 7:05495acc08b0 127 }
paulineoonk 7:05495acc08b0 128 else
paulineoonk 7:05495acc08b0 129 {
paulineoonk 7:05495acc08b0 130 M2E = fabs(motorValue2); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
paulineoonk 7:05495acc08b0 131 }
paulineoonk 7:05495acc08b0 132 }
paulineoonk 7:05495acc08b0 133
Miriam 0:2a99f692f683 134 float Encoder ()
Miriam 0:2a99f692f683 135 {
Miriam 0:2a99f692f683 136 float Huidigepositie = motor1.getPosition ();
Miriam 3:f755b4d41aa8 137 return Huidigepositie; // huidige positie = current position
Miriam 0:2a99f692f683 138 }
Miriam 0:2a99f692f683 139
paulineoonk 7:05495acc08b0 140 float Encoder2 ()
paulineoonk 7:05495acc08b0 141 {
paulineoonk 7:05495acc08b0 142 float Huidigepositie2 = motor2.getPosition ();
paulineoonk 7:05495acc08b0 143 return Huidigepositie2; // huidige positie = current position
paulineoonk 7:05495acc08b0 144 }
paulineoonk 7:05495acc08b0 145
Miriam 0:2a99f692f683 146 void MeasureAndControl(void)
Miriam 0:2a99f692f683 147 {
Miriam 3:f755b4d41aa8 148 // hier the control of the control system
Miriam 0:2a99f692f683 149 float refP = GetReferencePosition();
Miriam 0:2a99f692f683 150 float Huidigepositie = Encoder();
Miriam 3:f755b4d41aa8 151 float error = (refP - Huidigepositie);// make an error
Miriam 2:b504e35af662 152 float motorValue = FeedBackControl(error, e_prev, e_int);
Miriam 0:2a99f692f683 153 SetMotor1(motorValue);
Miriam 0:2a99f692f683 154 }
Miriam 0:2a99f692f683 155
paulineoonk 7:05495acc08b0 156 void MeasureAndControl2(void)
paulineoonk 7:05495acc08b0 157 {
paulineoonk 7:05495acc08b0 158 // hier the control of the control system
paulineoonk 7:05495acc08b0 159 float refP2 = GetReferencePosition2();
paulineoonk 7:05495acc08b0 160 float Huidigepositie2 = Encoder2();
paulineoonk 7:05495acc08b0 161 float error2 = (refP2 - Huidigepositie2);// make an error
paulineoonk 7:05495acc08b0 162 float motorValue2 = FeedBackControl2(error2, e_prev2, e_int2);
paulineoonk 7:05495acc08b0 163 SetMotor2(motorValue2);
paulineoonk 7:05495acc08b0 164 }
paulineoonk 7:05495acc08b0 165
Miriam 0:2a99f692f683 166
Miriam 0:2a99f692f683 167 int main()
Miriam 0:2a99f692f683 168 {
Miriam 5:987cc578988e 169 M1E.period(PwmPeriod);
Miriam 4:c119259c1ba5 170 Treecko.attach(MeasureAndControl, Ts); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende
Miriam 0:2a99f692f683 171 //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.
paulineoonk 7:05495acc08b0 172 DubbelTreecko.attach(MeasureAndControl2, Ts);
Miriam 4:c119259c1ba5 173
Miriam 4:c119259c1ba5 174
Miriam 0:2a99f692f683 175 while(1)
Miriam 0:2a99f692f683 176 {
Miriam 0:2a99f692f683 177 wait(0.2);
Miriam 0:2a99f692f683 178 pc.baud(115200);
Miriam 0:2a99f692f683 179 float B = motor1.getPosition();
Miriam 0:2a99f692f683 180 float Potmeterwaarde = potMeter2.read();
Miriam 0:2a99f692f683 181 //float positie = B%4096;
Miriam 6:083bd713670b 182 //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 183 }
Miriam 0:2a99f692f683 184 }