Projectgroep 20 Biorobotics / Mbed 2 deprecated week6ordenenscript

P-controller geordend

Dependencies:   Encoder HIDScope MODSERIAL mbed

main.cpp@9:2435c48d2032, 2017-11-02 (annotated)

Committer:
Gerber
Date:
Thu Nov 02 10:48:44 2017 +0000
Revision:
9:2435c48d2032
Parent:
8:42d1d02673ae
Child:
10:d5369a546201
globale variabelen aangemaakt. dingen waren dubbel gedefinieerd, even bij vorige checken.

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 8:42d1d02673ae 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 8:42d1d02673ae 35 float Potmeterwaarde;
Gerber 8:42d1d02673ae 36 float potmeterwaarde2;
Gerber 9:2435c48d2032 37 int maxwaarde, maxwaarde2;
Gerber 9:2435c48d2032 38 float refP, refP2;
Gerber 9:2435c48d2032 39 float kp, Proportional, kd, VelocidyError, Dervative, ki, Integrator, motorValue
Gerber 9:2435c48d2032 40 float kp2, Proportional2, kd2, VelocityError2, Derivative2, ki2, Integrator2, motorValue2;
Gerber 9:2435c48d2032 41 float Huidigepositie, error,
Miriam 3:f755b4d41aa8 42
Miriam 0:2a99f692f683 43 float GetReferencePosition()
Miriam 0:2a99f692f683 44 {
Gerber 8:42d1d02673ae 45 Potmeterwaarde = potMeter2.read();
Gerber 9:2435c48d2032 46 maxwaarde = 4096; // = 64x64
Gerber 9:2435c48d2032 47 refP = Potmeterwaarde*maxwaarde;
Miriam 3:f755b4d41aa8 48 return refP; // value between 0 and 4096
Miriam 0:2a99f692f683 49 }
paulineoonk 7:05495acc08b0 50
paulineoonk 7:05495acc08b0 51 float GetReferencePosition2()
paulineoonk 7:05495acc08b0 52 {
Gerber 8:42d1d02673ae 53 potmeterwaarde2 = potmeter1.read();
Gerber 9:2435c48d2032 54 maxwaarde2 = 4096; // = 64x64
Gerber 9:2435c48d2032 55 refP2 = potmeterwaarde2*maxwaarde2;
paulineoonk 7:05495acc08b0 56 return refP2; // value between 0 and 4096
paulineoonk 7:05495acc08b0 57 }
Miriam 0:2a99f692f683 58
Miriam 2:b504e35af662 59 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 60 {
Gerber 9:2435c48d2032 61 kp = 0.001; // kind of scaled.
Gerber 9:2435c48d2032 62 Proportional= kp*error;
Miriam 2:b504e35af662 63
Gerber 9:2435c48d2032 64 kd = 0.0004; // kind of scaled.
Gerber 9:2435c48d2032 65 VelocityError = (error - e_prev)/Ts;
Gerber 9:2435c48d2032 66 Derivative = kd*VelocityError;
Miriam 2:b504e35af662 67 e_prev = error;
Miriam 2:b504e35af662 68
Gerber 9:2435c48d2032 69 ki = 0.00005; // kind of scaled.
Miriam 2:b504e35af662 70 e_int = e_int+Ts*error;
Gerber 9:2435c48d2032 71 Integrator = ki*e_int;
Miriam 2:b504e35af662 72
Miriam 2:b504e35af662 73
Gerber 9:2435c48d2032 74 motorValue = Proportional + Integrator + Derivative;
Miriam 0:2a99f692f683 75 return motorValue;
Miriam 0:2a99f692f683 76 }
Miriam 0:2a99f692f683 77
paulineoonk 7:05495acc08b0 78 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 79 {
Gerber 9:2435c48d2032 80 kp2 = 0.001; // kind of scaled.
Gerber 9:2435c48d2032 81 Proportional2= kp2*error2;
paulineoonk 7:05495acc08b0 82
Gerber 9:2435c48d2032 83 kd2 = 0.0004; // kind of scaled.
Gerber 9:2435c48d2032 84 VelocityError2 = (error2 - e_prev2)/Ts;
Gerber 9:2435c48d2032 85 Derivative2 = kd2*VelocityError2;
paulineoonk 7:05495acc08b0 86 e_prev2 = error2;
paulineoonk 7:05495acc08b0 87
Gerber 9:2435c48d2032 88 ki2 = 0.00005; // kind of scaled.
paulineoonk 7:05495acc08b0 89 e_int2 = e_int2+Ts*error2;
Gerber 9:2435c48d2032 90 Integrator2 = ki2*e_int2;
paulineoonk 7:05495acc08b0 91
paulineoonk 7:05495acc08b0 92
Gerber 9:2435c48d2032 93 motorValue2 = Proportional2 + Integrator2 + Derivative2;
paulineoonk 7:05495acc08b0 94 return motorValue2;
paulineoonk 7:05495acc08b0 95 }
paulineoonk 7:05495acc08b0 96
paulineoonk 7:05495acc08b0 97
Miriam 0:2a99f692f683 98 void SetMotor1(float motorValue)
Miriam 0:2a99f692f683 99 {
Miriam 1:609671b1c96c 100 if (motorValue >= 0)
Miriam 0:2a99f692f683 101 {
Miriam 0:2a99f692f683 102 M1D = 0;
Miriam 0:2a99f692f683 103 }
Miriam 0:2a99f692f683 104 else
Miriam 0:2a99f692f683 105 {
Miriam 0:2a99f692f683 106 M1D = 1;
Miriam 0:2a99f692f683 107 }
Miriam 0:2a99f692f683 108
Miriam 0:2a99f692f683 109 if (fabs(motorValue) > 1)
Miriam 0:2a99f692f683 110 {
Miriam 3:f755b4d41aa8 111 M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
Miriam 0:2a99f692f683 112 }
Miriam 0:2a99f692f683 113 else
Miriam 0:2a99f692f683 114 {
Miriam 0:2a99f692f683 115 M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
Miriam 0:2a99f692f683 116 }
Miriam 0:2a99f692f683 117 }
Miriam 0:2a99f692f683 118
paulineoonk 7:05495acc08b0 119 void SetMotor2(float motorValue2)
paulineoonk 7:05495acc08b0 120 {
paulineoonk 7:05495acc08b0 121 if (motorValue2 >= 0)
paulineoonk 7:05495acc08b0 122 {
paulineoonk 7:05495acc08b0 123 M2D = 0;
paulineoonk 7:05495acc08b0 124 }
paulineoonk 7:05495acc08b0 125 else
paulineoonk 7:05495acc08b0 126 {
paulineoonk 7:05495acc08b0 127 M2D = 1;
paulineoonk 7:05495acc08b0 128 }
paulineoonk 7:05495acc08b0 129
paulineoonk 7:05495acc08b0 130 if (fabs(motorValue2) > 1)
paulineoonk 7:05495acc08b0 131 {
paulineoonk 7:05495acc08b0 132 M2E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
paulineoonk 7:05495acc08b0 133 }
paulineoonk 7:05495acc08b0 134 else
paulineoonk 7:05495acc08b0 135 {
paulineoonk 7:05495acc08b0 136 M2E = fabs(motorValue2); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
paulineoonk 7:05495acc08b0 137 }
paulineoonk 7:05495acc08b0 138 }
paulineoonk 7:05495acc08b0 139
Miriam 0:2a99f692f683 140 float Encoder ()
Miriam 0:2a99f692f683 141 {
Miriam 0:2a99f692f683 142 float Huidigepositie = motor1.getPosition ();
Miriam 3:f755b4d41aa8 143 return Huidigepositie; // huidige positie = current position
Miriam 0:2a99f692f683 144 }
Miriam 0:2a99f692f683 145
paulineoonk 7:05495acc08b0 146 float Encoder2 ()
paulineoonk 7:05495acc08b0 147 {
paulineoonk 7:05495acc08b0 148 float Huidigepositie2 = motor2.getPosition ();
paulineoonk 7:05495acc08b0 149 return Huidigepositie2; // huidige positie = current position
paulineoonk 7:05495acc08b0 150 }
paulineoonk 7:05495acc08b0 151
Miriam 0:2a99f692f683 152 void MeasureAndControl(void)
Miriam 0:2a99f692f683 153 {
Miriam 3:f755b4d41aa8 154 // hier the control of the control system
Miriam 0:2a99f692f683 155 float refP = GetReferencePosition();
Miriam 0:2a99f692f683 156 float Huidigepositie = Encoder();
Miriam 3:f755b4d41aa8 157 float error = (refP - Huidigepositie);// make an error
Miriam 2:b504e35af662 158 float motorValue = FeedBackControl(error, e_prev, e_int);
Miriam 0:2a99f692f683 159 SetMotor1(motorValue);
Miriam 0:2a99f692f683 160
paulineoonk 7:05495acc08b0 161 // hier the control of the control system
paulineoonk 7:05495acc08b0 162 float refP2 = GetReferencePosition2();
paulineoonk 7:05495acc08b0 163 float Huidigepositie2 = Encoder2();
paulineoonk 7:05495acc08b0 164 float error2 = (refP2 - Huidigepositie2);// make an error
paulineoonk 7:05495acc08b0 165 float motorValue2 = FeedBackControl2(error2, e_prev2, e_int2);
paulineoonk 7:05495acc08b0 166 SetMotor2(motorValue2);
Gerber 8:42d1d02673ae 167
Gerber 8:42d1d02673ae 168 pc.baud(115200);
Gerber 9:2435c48d2032 169 pc.printf("potmeter = %f, refP = %f, error = %f, motorvalue = %f \r\n, potmeter2 = %f, refP2 = %f, error2 = %f, motorvalue2 = %f \r\n", Potmeterwaarde, refP, error, motorValue, potmeterwaarde2, refP2, error2, motorValue2);
paulineoonk 7:05495acc08b0 170 }
paulineoonk 7:05495acc08b0 171
Miriam 0:2a99f692f683 172
Miriam 0:2a99f692f683 173 int main()
Miriam 0:2a99f692f683 174 {
Miriam 5:987cc578988e 175 M1E.period(PwmPeriod);
Gerber 8:42d1d02673ae 176 M2E.period(PwmPeriod2);
Miriam 4:c119259c1ba5 177 Treecko.attach(MeasureAndControl, Ts); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende
Miriam 0:2a99f692f683 178 //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.
Gerber 8:42d1d02673ae 179 //DubbelTreecko.attach(MeasureAndControl2, Ts);
Miriam 4:c119259c1ba5 180
Miriam 4:c119259c1ba5 181
Miriam 0:2a99f692f683 182 while(1)
Miriam 0:2a99f692f683 183 {
Miriam 0:2a99f692f683 184 wait(0.2);
Gerber 8:42d1d02673ae 185 //pc.printf("Potmeter2 = %f, refP = %f, motorValue = %f, \r\nPotmeter1 = %f, refP2 = %f, motorValue2 = %f \r\n", Potmeterwaarde, refP, motorValue, potmeterwaarde2, refP2, motorValue2);
Gerber 8:42d1d02673ae 186 //pc.baud(115200);
Miriam 0:2a99f692f683 187 float B = motor1.getPosition();
Miriam 0:2a99f692f683 188 float Potmeterwaarde = potMeter2.read();
Miriam 0:2a99f692f683 189 //float positie = B%4096;
Miriam 6:083bd713670b 190 //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 191 }
Miriam 0:2a99f692f683 192 }