P-controller geordend
Dependencies: Encoder HIDScope MODSERIAL mbed
main.cpp@4:c119259c1ba5, 2017-10-13 (annotated)
- Committer:
- Miriam
- Date:
- Fri Oct 13 12:22:14 2017 +0000
- Revision:
- 4:c119259c1ba5
- Parent:
- 3:f755b4d41aa8
- Child:
- 5:987cc578988e
moest nog een periode in voor de PWM
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 | |
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 | 3:f755b4d41aa8 | 36 | float kp = 2.5; // has jet to be scaled |
Miriam | 2:b504e35af662 | 37 | float Proportional= kp*error; |
Miriam | 2:b504e35af662 | 38 | |
Miriam | 3:f755b4d41aa8 | 39 | float kd = 1; // has jet to be 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 | 3:f755b4d41aa8 | 44 | float ki = 0.5; // has jet to be 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 | 4:c119259c1ba5 | 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 | } |