Projectgroep 20 Biorobotics / Mbed 2 deprecated week6ordenenscript

P-controller geordend

Dependencies:   Encoder HIDScope MODSERIAL mbed

main.cpp@5:987cc578988e, 2017-10-23 (annotated)

Committer:
Miriam
Date:
Mon Oct 23 07:58:28 2017 +0000
Revision:
5:987cc578988e
Parent:
4:c119259c1ba5
Child:
6:083bd713670b
soort van geschaalde PID controller

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
Miriam 3:f755b4d41aa8 24
Miriam 3:f755b4d41aa8 25
Miriam 0:2a99f692f683 26 float GetReferencePosition()
Miriam 0:2a99f692f683 27 {
Miriam 0:2a99f692f683 28 float Potmeterwaarde = potMeter2.read();
Miriam 0:2a99f692f683 29 int maxwaarde = 4096; // = 64x64
Miriam 0:2a99f692f683 30 float refP = Potmeterwaarde*maxwaarde;
Miriam 3:f755b4d41aa8 31 return refP; // value between 0 and 4096
Miriam 0:2a99f692f683 32 }
Miriam 0:2a99f692f683 33
Miriam 2:b504e35af662 34 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 35 {
Miriam 5:987cc578988e 36 float kp = 0.002; // kind of scaled.
Miriam 2:b504e35af662 37 float Proportional= kp*error;
Miriam 2:b504e35af662 38
Miriam 5:987cc578988e 39 float kd = 0.00025; // kind of scaled.
Miriam 2:b504e35af662 40 float VelocityError = (error - e_prev)/Ts;
Miriam 2:b504e35af662 41 float Derivative = kd*VelocityError;
Miriam 2:b504e35af662 42 e_prev = error;
Miriam 2:b504e35af662 43
Miriam 5:987cc578988e 44 float ki = 0.00001; // kind of scaled.
Miriam 2:b504e35af662 45 e_int = e_int+Ts*error;
Miriam 2:b504e35af662 46 float Integrator = ki*e_int;
Miriam 2:b504e35af662 47
Miriam 2:b504e35af662 48
Miriam 2:b504e35af662 49 float motorValue = Proportional + Integrator + Derivative;
Miriam 0:2a99f692f683 50 return motorValue;
Miriam 0:2a99f692f683 51 }
Miriam 0:2a99f692f683 52
Miriam 0:2a99f692f683 53 void SetMotor1(float motorValue)
Miriam 0:2a99f692f683 54 {
Miriam 1:609671b1c96c 55 if (motorValue >= 0)
Miriam 0:2a99f692f683 56 {
Miriam 0:2a99f692f683 57 M1D = 0;
Miriam 0:2a99f692f683 58 }
Miriam 0:2a99f692f683 59 else
Miriam 0:2a99f692f683 60 {
Miriam 0:2a99f692f683 61 M1D = 1;
Miriam 0:2a99f692f683 62 }
Miriam 0:2a99f692f683 63
Miriam 0:2a99f692f683 64 if (fabs(motorValue) > 1)
Miriam 0:2a99f692f683 65 {
Miriam 3:f755b4d41aa8 66 M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
Miriam 0:2a99f692f683 67 }
Miriam 0:2a99f692f683 68 else
Miriam 0:2a99f692f683 69 {
Miriam 0:2a99f692f683 70 M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
Miriam 0:2a99f692f683 71 }
Miriam 0:2a99f692f683 72 }
Miriam 0:2a99f692f683 73
Miriam 0:2a99f692f683 74 float Encoder ()
Miriam 0:2a99f692f683 75 {
Miriam 0:2a99f692f683 76 float Huidigepositie = motor1.getPosition ();
Miriam 3:f755b4d41aa8 77 return Huidigepositie; // huidige positie = current position
Miriam 0:2a99f692f683 78 }
Miriam 0:2a99f692f683 79
Miriam 0:2a99f692f683 80 void MeasureAndControl(void)
Miriam 0:2a99f692f683 81 {
Miriam 3:f755b4d41aa8 82 // hier the control of the control system
Miriam 0:2a99f692f683 83 float refP = GetReferencePosition();
Miriam 0:2a99f692f683 84 float Huidigepositie = Encoder();
Miriam 3:f755b4d41aa8 85 float error = (refP - Huidigepositie);// make an error
Miriam 2:b504e35af662 86 float motorValue = FeedBackControl(error, e_prev, e_int);
Miriam 0:2a99f692f683 87 SetMotor1(motorValue);
Miriam 0:2a99f692f683 88 }
Miriam 0:2a99f692f683 89
Miriam 0:2a99f692f683 90
Miriam 0:2a99f692f683 91 int main()
Miriam 0:2a99f692f683 92 {
Miriam 5:987cc578988e 93 M1E.period(PwmPeriod);
Miriam 4:c119259c1ba5 94 Treecko.attach(MeasureAndControl, Ts); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende
Miriam 0:2a99f692f683 95 //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.
Miriam 4:c119259c1ba5 96
Miriam 4:c119259c1ba5 97
Miriam 4:c119259c1ba5 98
Miriam 0:2a99f692f683 99 while(1)
Miriam 0:2a99f692f683 100 {
Miriam 0:2a99f692f683 101 wait(0.2);
Miriam 0:2a99f692f683 102 pc.baud(115200);
Miriam 0:2a99f692f683 103 float B = motor1.getPosition();
Miriam 0:2a99f692f683 104 float Potmeterwaarde = potMeter2.read();
Miriam 0:2a99f692f683 105 //float positie = B%4096;
Miriam 0:2a99f692f683 106 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 107 }
Miriam 0:2a99f692f683 108 }