P-controller geordend
Dependencies: Encoder HIDScope MODSERIAL mbed
main.cpp@15:a5849f3a60fc, 2017-11-02 (annotated)
- Committer:
- Annelotte
- Date:
- Thu Nov 02 23:17:37 2017 +0000
- Revision:
- 15:a5849f3a60fc
- Parent:
- 14:5534b8282a06
- Child:
- 16:0a0b1c3be4d0
Aanvulling van poging 1000 RKI
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Who changed what in which revision?
User | Revision | Line number | New 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 | |
Annelotte | 15:a5849f3a60fc | 16 | double pi = 3.14159265359; |
Annelotte | 15:a5849f3a60fc | 17 | double q1 = (pi/2); //Reference position hoek 1 in radiance |
Annelotte | 15:a5849f3a60fc | 18 | double q2 = -(pi/2); //Reference position hoek 2 in radiance |
Annelotte | 15:a5849f3a60fc | 19 | const double L1 = 0.30; //Length arm 1 in mm |
Annelotte | 15:a5849f3a60fc | 20 | const double L2 = 0.38; //Length arm 2 in mm |
Annelotte | 15:a5849f3a60fc | 21 | double B1 = 1; //Friction constant motor 1 |
Annelotte | 15:a5849f3a60fc | 22 | double B2 = 1; //Friction constant motor 2 |
Annelotte | 15:a5849f3a60fc | 23 | double K = 1; //Spring constant movement from end-effector position to setpoint position |
Annelotte | 15:a5849f3a60fc | 24 | double Tijd = 1; //Timestep value |
Annelotte | 15:a5849f3a60fc | 25 | double Rsx = 0.38; //Reference x-component of the setpoint radius |
Annelotte | 15:a5849f3a60fc | 26 | double Rsy = 0.30; //Reference y-component of the setpoint radius |
Annelotte | 15:a5849f3a60fc | 27 | double Motor1Set = 0; //Reference position motor 1 |
Annelotte | 15:a5849f3a60fc | 28 | double Motor2Set = 0.5*pi; //Reference position motor 2 |
Annelotte | 15:a5849f3a60fc | 29 | double Rex = cos(q1)*L1 - sin(q2)*L2; //The x-component of the end-effector radius |
Annelotte | 15:a5849f3a60fc | 30 | double Rey = sin(q1)*L1 + cos(q2)*L2; //The y-component of the end-effector radius |
Annelotte | 15:a5849f3a60fc | 31 | double R1x = 0; //The x-component of the joint 1 radius |
Annelotte | 15:a5849f3a60fc | 32 | double R1y = 0; //The y-component of the joint 1 radius |
Annelotte | 15:a5849f3a60fc | 33 | double R2x = cos(q1)*L1; //The x-component of the joint 2 radius |
Annelotte | 15:a5849f3a60fc | 34 | double R2y = sin(q1)*L1; //The y-component of the joint 1 radius |
Annelotte | 15:a5849f3a60fc | 35 | double Fx = 0; |
Annelotte | 15:a5849f3a60fc | 36 | double Fy = 0; |
Annelotte | 15:a5849f3a60fc | 37 | double Tor1 = 0; |
Annelotte | 15:a5849f3a60fc | 38 | double Tor2 = 0; |
Annelotte | 15:a5849f3a60fc | 39 | double w1=0; |
Annelotte | 15:a5849f3a60fc | 40 | double w2=0; |
Annelotte | 15:a5849f3a60fc | 41 | |
Miriam | 0:2a99f692f683 | 42 | Encoder motor1(D13,D12,true); |
Miriam | 0:2a99f692f683 | 43 | MODSERIAL pc(USBTX,USBRX); |
Miriam | 0:2a99f692f683 | 44 | |
Miriam | 3:f755b4d41aa8 | 45 | float PwmPeriod = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde) |
Gerber | 14:5534b8282a06 | 46 | const float Ts = 0.1; // tickettijd/ sample time |
Miriam | 2:b504e35af662 | 47 | float e_prev = 0; |
Miriam | 2:b504e35af662 | 48 | float e_int = 0; |
Miriam | 0:2a99f692f683 | 49 | |
paulineoonk | 7:05495acc08b0 | 50 | //tweede motor |
paulineoonk | 7:05495acc08b0 | 51 | AnalogIn potmeter1(A2); |
paulineoonk | 7:05495acc08b0 | 52 | PwmOut M2E(D5); |
paulineoonk | 7:05495acc08b0 | 53 | DigitalOut M2D(D4); |
paulineoonk | 7:05495acc08b0 | 54 | Encoder motor2(D9,D8,true); |
paulineoonk | 7:05495acc08b0 | 55 | Ticker DubbelTreecko; |
paulineoonk | 7:05495acc08b0 | 56 | |
paulineoonk | 12:e125b9fa77b9 | 57 | //motors |
paulineoonk | 12:e125b9fa77b9 | 58 | //float Huidigepositie2; |
paulineoonk | 12:e125b9fa77b9 | 59 | //float Huidigepositie; |
paulineoonk | 12:e125b9fa77b9 | 60 | |
paulineoonk | 7:05495acc08b0 | 61 | float PwmPeriod2 = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde) |
paulineoonk | 7:05495acc08b0 | 62 | float e_prev2 = 0; |
paulineoonk | 7:05495acc08b0 | 63 | float e_int2 = 0; |
paulineoonk | 7:05495acc08b0 | 64 | |
Annelotte | 15:a5849f3a60fc | 65 | void RKI() |
Miriam | 0:2a99f692f683 | 66 | { |
Annelotte | 15:a5849f3a60fc | 67 | Rex = cos(q1)*L1 - sin(q2)*L2; |
Annelotte | 15:a5849f3a60fc | 68 | Rey = sin(q1)*L1 + cos(q2)*L2; |
Annelotte | 15:a5849f3a60fc | 69 | R2x = cos(q1)*L1; |
Annelotte | 15:a5849f3a60fc | 70 | R2y = sin(q1)*L1; |
Annelotte | 15:a5849f3a60fc | 71 | Fx = (Rsx-Rex)*K; |
Annelotte | 15:a5849f3a60fc | 72 | Fy = (Rsy-Rey)*K; |
Annelotte | 15:a5849f3a60fc | 73 | Tor1 = (Rex-R1x)*Fy + (R1y-Rey)*Fx; |
Annelotte | 15:a5849f3a60fc | 74 | Tor2 = (Rex-R2x)*Fy + (R2y-Rey)*Fx; |
Annelotte | 15:a5849f3a60fc | 75 | w1 = Tor1/B1; |
Annelotte | 15:a5849f3a60fc | 76 | w2 = Tor2/B2; |
Annelotte | 15:a5849f3a60fc | 77 | q1 = q1 + w1*Tijd; |
Annelotte | 15:a5849f3a60fc | 78 | q2 = q2 + w2*Tijd; |
Annelotte | 15:a5849f3a60fc | 79 | |
Miriam | 0:2a99f692f683 | 80 | int maxwaarde = 4096; // = 64x64 |
Annelotte | 15:a5849f3a60fc | 81 | refP = (((0.5*pi) - q1)/(2*pi))*maxwaarde; |
Annelotte | 15:a5849f3a60fc | 82 | refP2 = (((0.5*pi) + q1 - q2)/(2*pi))*maxwaarde; //Get reference positions |
Miriam | 0:2a99f692f683 | 83 | } |
paulineoonk | 7:05495acc08b0 | 84 | |
Annelotte | 15:a5849f3a60fc | 85 | void SetpointRobot() |
Annelotte | 15:a5849f3a60fc | 86 | { |
Annelotte | 15:a5849f3a60fc | 87 | if (Potmeterwaarde2>0.6) { |
Annelotte | 15:a5849f3a60fc | 88 | Rsx += 0.001; //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat |
Annelotte | 15:a5849f3a60fc | 89 | } |
Annelotte | 15:a5849f3a60fc | 90 | else if (Potmeterwaarde2<0.4) { |
Annelotte | 15:a5849f3a60fc | 91 | Rsx -= 0.001; //het gaat telkens 1 mm terug wanneer de potmeter onder de 0.4 staat |
Annelotte | 15:a5849f3a60fc | 92 | } |
Annelotte | 15:a5849f3a60fc | 93 | else { //de x-waarde van de setpoint verandert niet |
Annelotte | 15:a5849f3a60fc | 94 | } |
Annelotte | 15:a5849f3a60fc | 95 | |
Annelotte | 15:a5849f3a60fc | 96 | if (Potmeterwaarde1>0.6) { //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat |
Annelotte | 15:a5849f3a60fc | 97 | Rsy += 0.001; |
Annelotte | 15:a5849f3a60fc | 98 | } |
Annelotte | 15:a5849f3a60fc | 99 | else if (Potmeterwaarde1<0.4) { //het gaat telkens 1 mm terug wanneer de potmeter onder de 0.4 |
Annelotte | 15:a5849f3a60fc | 100 | Rsy -= 0.001; |
Annelotte | 15:a5849f3a60fc | 101 | } |
Annelotte | 15:a5849f3a60fc | 102 | else { //de y-waarde van de setpoint verandert niet |
Annelotte | 15:a5849f3a60fc | 103 | } |
paulineoonk | 7:05495acc08b0 | 104 | } |
Miriam | 0:2a99f692f683 | 105 | |
Miriam | 2:b504e35af662 | 106 | 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 | 107 | { |
paulineoonk | 12:e125b9fa77b9 | 108 | float kp = 0.001; // kind of scaled. |
Miriam | 2:b504e35af662 | 109 | float Proportional= kp*error; |
Miriam | 2:b504e35af662 | 110 | |
Miriam | 6:083bd713670b | 111 | float kd = 0.0004; // kind of scaled. |
Miriam | 2:b504e35af662 | 112 | float VelocityError = (error - e_prev)/Ts; |
Miriam | 2:b504e35af662 | 113 | float Derivative = kd*VelocityError; |
Miriam | 2:b504e35af662 | 114 | e_prev = error; |
Miriam | 2:b504e35af662 | 115 | |
Gerber | 14:5534b8282a06 | 116 | float ki = 0.0005; // kind of scaled. |
Miriam | 2:b504e35af662 | 117 | e_int = e_int+Ts*error; |
Miriam | 2:b504e35af662 | 118 | float Integrator = ki*e_int; |
Miriam | 2:b504e35af662 | 119 | |
Miriam | 2:b504e35af662 | 120 | |
Miriam | 2:b504e35af662 | 121 | float motorValue = Proportional + Integrator + Derivative; |
Miriam | 0:2a99f692f683 | 122 | return motorValue; |
Miriam | 0:2a99f692f683 | 123 | } |
Miriam | 0:2a99f692f683 | 124 | |
paulineoonk | 7:05495acc08b0 | 125 | 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 | 126 | { |
Gerber | 13:eaaeb41e22d2 | 127 | float kp2 = 0.001; // kind of scaled. |
paulineoonk | 7:05495acc08b0 | 128 | float Proportional2= kp2*error2; |
paulineoonk | 7:05495acc08b0 | 129 | |
Gerber | 13:eaaeb41e22d2 | 130 | float kd2 = 0.001; // kind of scaled. |
paulineoonk | 7:05495acc08b0 | 131 | float VelocityError2 = (error2 - e_prev2)/Ts; |
paulineoonk | 7:05495acc08b0 | 132 | float Derivative2 = kd2*VelocityError2; |
paulineoonk | 7:05495acc08b0 | 133 | e_prev2 = error2; |
paulineoonk | 7:05495acc08b0 | 134 | |
Gerber | 14:5534b8282a06 | 135 | float ki2 = 0.005; // kind of scaled. |
paulineoonk | 7:05495acc08b0 | 136 | e_int2 = e_int2+Ts*error2; |
paulineoonk | 7:05495acc08b0 | 137 | float Integrator2 = ki2*e_int2; |
paulineoonk | 7:05495acc08b0 | 138 | |
paulineoonk | 7:05495acc08b0 | 139 | |
paulineoonk | 7:05495acc08b0 | 140 | float motorValue2 = Proportional2 + Integrator2 + Derivative2; |
paulineoonk | 7:05495acc08b0 | 141 | return motorValue2; |
paulineoonk | 7:05495acc08b0 | 142 | } |
paulineoonk | 7:05495acc08b0 | 143 | |
paulineoonk | 7:05495acc08b0 | 144 | |
Miriam | 0:2a99f692f683 | 145 | void SetMotor1(float motorValue) |
Miriam | 0:2a99f692f683 | 146 | { |
Miriam | 1:609671b1c96c | 147 | if (motorValue >= 0) |
Miriam | 0:2a99f692f683 | 148 | { |
Miriam | 0:2a99f692f683 | 149 | M1D = 0; |
Miriam | 0:2a99f692f683 | 150 | } |
Miriam | 0:2a99f692f683 | 151 | else |
Miriam | 0:2a99f692f683 | 152 | { |
Miriam | 0:2a99f692f683 | 153 | M1D = 1; |
Miriam | 0:2a99f692f683 | 154 | } |
Miriam | 0:2a99f692f683 | 155 | |
Miriam | 0:2a99f692f683 | 156 | if (fabs(motorValue) > 1) |
Miriam | 0:2a99f692f683 | 157 | { |
Miriam | 3:f755b4d41aa8 | 158 | M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1) |
Miriam | 0:2a99f692f683 | 159 | } |
Miriam | 0:2a99f692f683 | 160 | else |
Miriam | 0:2a99f692f683 | 161 | { |
Miriam | 0:2a99f692f683 | 162 | M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0 |
Miriam | 0:2a99f692f683 | 163 | } |
Miriam | 0:2a99f692f683 | 164 | } |
Miriam | 0:2a99f692f683 | 165 | |
paulineoonk | 7:05495acc08b0 | 166 | void SetMotor2(float motorValue2) |
paulineoonk | 7:05495acc08b0 | 167 | { |
paulineoonk | 7:05495acc08b0 | 168 | if (motorValue2 >= 0) |
paulineoonk | 7:05495acc08b0 | 169 | { |
paulineoonk | 12:e125b9fa77b9 | 170 | M2D = 1; |
paulineoonk | 7:05495acc08b0 | 171 | } |
paulineoonk | 7:05495acc08b0 | 172 | else |
paulineoonk | 7:05495acc08b0 | 173 | { |
paulineoonk | 12:e125b9fa77b9 | 174 | M2D =0; |
paulineoonk | 7:05495acc08b0 | 175 | } |
paulineoonk | 7:05495acc08b0 | 176 | |
paulineoonk | 7:05495acc08b0 | 177 | if (fabs(motorValue2) > 1) |
paulineoonk | 7:05495acc08b0 | 178 | { |
paulineoonk | 7:05495acc08b0 | 179 | M2E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1) |
paulineoonk | 7:05495acc08b0 | 180 | } |
paulineoonk | 7:05495acc08b0 | 181 | else |
paulineoonk | 7:05495acc08b0 | 182 | { |
paulineoonk | 7:05495acc08b0 | 183 | M2E = fabs(motorValue2); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0 |
paulineoonk | 7:05495acc08b0 | 184 | } |
paulineoonk | 7:05495acc08b0 | 185 | } |
paulineoonk | 7:05495acc08b0 | 186 | |
Miriam | 0:2a99f692f683 | 187 | float Encoder () |
Miriam | 0:2a99f692f683 | 188 | { |
Miriam | 0:2a99f692f683 | 189 | float Huidigepositie = motor1.getPosition (); |
Miriam | 3:f755b4d41aa8 | 190 | return Huidigepositie; // huidige positie = current position |
Miriam | 0:2a99f692f683 | 191 | } |
Miriam | 0:2a99f692f683 | 192 | |
paulineoonk | 7:05495acc08b0 | 193 | float Encoder2 () |
paulineoonk | 7:05495acc08b0 | 194 | { |
paulineoonk | 7:05495acc08b0 | 195 | float Huidigepositie2 = motor2.getPosition (); |
paulineoonk | 7:05495acc08b0 | 196 | return Huidigepositie2; // huidige positie = current position |
paulineoonk | 7:05495acc08b0 | 197 | } |
paulineoonk | 7:05495acc08b0 | 198 | |
Miriam | 0:2a99f692f683 | 199 | void MeasureAndControl(void) |
Miriam | 0:2a99f692f683 | 200 | { |
Annelotte | 15:a5849f3a60fc | 201 | SetpointRobot(); |
Annelotte | 15:a5849f3a60fc | 202 | // RKI aanroepen |
Annelotte | 15:a5849f3a60fc | 203 | RKI(); |
Annelotte | 15:a5849f3a60fc | 204 | |
Miriam | 3:f755b4d41aa8 | 205 | // hier the control of the control system |
Miriam | 0:2a99f692f683 | 206 | float Huidigepositie = Encoder(); |
Miriam | 3:f755b4d41aa8 | 207 | float error = (refP - Huidigepositie);// make an error |
Miriam | 2:b504e35af662 | 208 | float motorValue = FeedBackControl(error, e_prev, e_int); |
Miriam | 0:2a99f692f683 | 209 | SetMotor1(motorValue); |
Miriam | 0:2a99f692f683 | 210 | |
paulineoonk | 7:05495acc08b0 | 211 | float Huidigepositie2 = Encoder2(); |
paulineoonk | 7:05495acc08b0 | 212 | float error2 = (refP2 - Huidigepositie2);// make an error |
paulineoonk | 7:05495acc08b0 | 213 | float motorValue2 = FeedBackControl2(error2, e_prev2, e_int2); |
paulineoonk | 7:05495acc08b0 | 214 | SetMotor2(motorValue2); |
paulineoonk | 12:e125b9fa77b9 | 215 | //pc.printf("encoder 2 = %f\r\n",Huidigepositie2); |
Gerber | 13:eaaeb41e22d2 | 216 | pc.printf("refP2 = %f, Huidigepositie2 = %f, error = %f, motorValue2 = %f \r\n", refP2, Huidigepositie2, error2, motorValue2); |
paulineoonk | 7:05495acc08b0 | 217 | } |
paulineoonk | 7:05495acc08b0 | 218 | |
Miriam | 0:2a99f692f683 | 219 | int main() |
Miriam | 0:2a99f692f683 | 220 | { |
Miriam | 5:987cc578988e | 221 | M1E.period(PwmPeriod); |
Miriam | 4:c119259c1ba5 | 222 | Treecko.attach(MeasureAndControl, Ts); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende |
Miriam | 0:2a99f692f683 | 223 | //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd. |
Annelotte | 15:a5849f3a60fc | 224 | pc.baud(115200); |
Miriam | 4:c119259c1ba5 | 225 | |
Miriam | 0:2a99f692f683 | 226 | while(1) |
Miriam | 0:2a99f692f683 | 227 | { |
Miriam | 0:2a99f692f683 | 228 | wait(0.2); |
paulineoonk | 12:e125b9fa77b9 | 229 | // pc.printf(" encoder 1 %f, encoder 2 %f\r\n",Huidigepositie,Huidigepositie2); |
paulineoonk | 12:e125b9fa77b9 | 230 | |
paulineoonk | 12:e125b9fa77b9 | 231 | //float B = motor1.getPosition(); |
paulineoonk | 12:e125b9fa77b9 | 232 | //float Potmeterwaarde = potMeter2.read(); |
Miriam | 0:2a99f692f683 | 233 | //float positie = B%4096; |
paulineoonk | 12:e125b9fa77b9 | 234 | // pc.printf("pos: %f, \r\n pos2 = %f",motor1.getPosition(),motor2.getPosition); //potmeter uitlezen. tussen 0-1. voltage, dus *3.3V |
Miriam | 0:2a99f692f683 | 235 | } |
Miriam | 0:2a99f692f683 | 236 | } |