P-controller geordend
Dependencies: Encoder HIDScope MODSERIAL mbed
main.cpp@12:e125b9fa77b9, 2017-11-02 (annotated)
- Committer:
- paulineoonk
- Date:
- Thu Nov 02 18:18:44 2017 +0000
- Revision:
- 12:e125b9fa77b9
- Parent:
- 7:05495acc08b0
- Child:
- 13:eaaeb41e22d2
PID waarden aanpassen;
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 | |
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 | 12:e125b9fa77b9 | 31 | //motors |
paulineoonk | 12:e125b9fa77b9 | 32 | //float Huidigepositie2; |
paulineoonk | 12:e125b9fa77b9 | 33 | //float Huidigepositie; |
paulineoonk | 12:e125b9fa77b9 | 34 | |
paulineoonk | 7:05495acc08b0 | 35 | float PwmPeriod2 = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde) |
paulineoonk | 7:05495acc08b0 | 36 | float e_prev2 = 0; |
paulineoonk | 7:05495acc08b0 | 37 | float e_int2 = 0; |
paulineoonk | 7:05495acc08b0 | 38 | |
Miriam | 3:f755b4d41aa8 | 39 | |
Miriam | 3:f755b4d41aa8 | 40 | |
Miriam | 0:2a99f692f683 | 41 | float GetReferencePosition() |
Miriam | 0:2a99f692f683 | 42 | { |
Miriam | 0:2a99f692f683 | 43 | float Potmeterwaarde = potMeter2.read(); |
Miriam | 0:2a99f692f683 | 44 | int maxwaarde = 4096; // = 64x64 |
Miriam | 0:2a99f692f683 | 45 | float refP = Potmeterwaarde*maxwaarde; |
Miriam | 3:f755b4d41aa8 | 46 | return refP; // value between 0 and 4096 |
Miriam | 0:2a99f692f683 | 47 | } |
paulineoonk | 7:05495acc08b0 | 48 | |
paulineoonk | 7:05495acc08b0 | 49 | float GetReferencePosition2() |
paulineoonk | 7:05495acc08b0 | 50 | { |
paulineoonk | 7:05495acc08b0 | 51 | float potmeterwaarde2 = potmeter1.read(); |
paulineoonk | 7:05495acc08b0 | 52 | int maxwaarde2 = 4096; // = 64x64 |
paulineoonk | 12:e125b9fa77b9 | 53 | float refP2 = -potmeterwaarde2*maxwaarde2; |
paulineoonk | 7:05495acc08b0 | 54 | return refP2; // value between 0 and 4096 |
paulineoonk | 7:05495acc08b0 | 55 | } |
Miriam | 0:2a99f692f683 | 56 | |
Miriam | 2:b504e35af662 | 57 | 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 | 58 | { |
paulineoonk | 12:e125b9fa77b9 | 59 | float kp = 0.001; // kind of scaled. |
Miriam | 2:b504e35af662 | 60 | float Proportional= kp*error; |
Miriam | 2:b504e35af662 | 61 | |
Miriam | 6:083bd713670b | 62 | float kd = 0.0004; // kind of scaled. |
Miriam | 2:b504e35af662 | 63 | float VelocityError = (error - e_prev)/Ts; |
Miriam | 2:b504e35af662 | 64 | float Derivative = kd*VelocityError; |
Miriam | 2:b504e35af662 | 65 | e_prev = error; |
Miriam | 2:b504e35af662 | 66 | |
Miriam | 6:083bd713670b | 67 | float ki = 0.00005; // kind of scaled. |
Miriam | 2:b504e35af662 | 68 | e_int = e_int+Ts*error; |
Miriam | 2:b504e35af662 | 69 | float Integrator = ki*e_int; |
Miriam | 2:b504e35af662 | 70 | |
Miriam | 2:b504e35af662 | 71 | |
Miriam | 2:b504e35af662 | 72 | float motorValue = Proportional + Integrator + Derivative; |
Miriam | 0:2a99f692f683 | 73 | return motorValue; |
Miriam | 0:2a99f692f683 | 74 | } |
Miriam | 0:2a99f692f683 | 75 | |
paulineoonk | 7:05495acc08b0 | 76 | 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 | 77 | { |
paulineoonk | 12:e125b9fa77b9 | 78 | float kp2 = 0.1; // kind of scaled. |
paulineoonk | 7:05495acc08b0 | 79 | float Proportional2= kp2*error2; |
paulineoonk | 7:05495acc08b0 | 80 | |
paulineoonk | 12:e125b9fa77b9 | 81 | float kd2 = 0.04; // kind of scaled. |
paulineoonk | 7:05495acc08b0 | 82 | float VelocityError2 = (error2 - e_prev2)/Ts; |
paulineoonk | 7:05495acc08b0 | 83 | float Derivative2 = kd2*VelocityError2; |
paulineoonk | 7:05495acc08b0 | 84 | e_prev2 = error2; |
paulineoonk | 7:05495acc08b0 | 85 | |
paulineoonk | 12:e125b9fa77b9 | 86 | float ki2 = 0.05; // kind of scaled. |
paulineoonk | 7:05495acc08b0 | 87 | e_int2 = e_int2+Ts*error2; |
paulineoonk | 7:05495acc08b0 | 88 | float Integrator2 = ki2*e_int2; |
paulineoonk | 7:05495acc08b0 | 89 | |
paulineoonk | 7:05495acc08b0 | 90 | |
paulineoonk | 7:05495acc08b0 | 91 | float motorValue2 = Proportional2 + Integrator2 + Derivative2; |
paulineoonk | 7:05495acc08b0 | 92 | return motorValue2; |
paulineoonk | 7:05495acc08b0 | 93 | } |
paulineoonk | 7:05495acc08b0 | 94 | |
paulineoonk | 7:05495acc08b0 | 95 | |
Miriam | 0:2a99f692f683 | 96 | void SetMotor1(float motorValue) |
Miriam | 0:2a99f692f683 | 97 | { |
Miriam | 1:609671b1c96c | 98 | if (motorValue >= 0) |
Miriam | 0:2a99f692f683 | 99 | { |
Miriam | 0:2a99f692f683 | 100 | M1D = 0; |
Miriam | 0:2a99f692f683 | 101 | } |
Miriam | 0:2a99f692f683 | 102 | else |
Miriam | 0:2a99f692f683 | 103 | { |
Miriam | 0:2a99f692f683 | 104 | M1D = 1; |
Miriam | 0:2a99f692f683 | 105 | } |
Miriam | 0:2a99f692f683 | 106 | |
Miriam | 0:2a99f692f683 | 107 | if (fabs(motorValue) > 1) |
Miriam | 0:2a99f692f683 | 108 | { |
Miriam | 3:f755b4d41aa8 | 109 | M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1) |
Miriam | 0:2a99f692f683 | 110 | } |
Miriam | 0:2a99f692f683 | 111 | else |
Miriam | 0:2a99f692f683 | 112 | { |
Miriam | 0:2a99f692f683 | 113 | M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0 |
Miriam | 0:2a99f692f683 | 114 | } |
Miriam | 0:2a99f692f683 | 115 | } |
Miriam | 0:2a99f692f683 | 116 | |
paulineoonk | 7:05495acc08b0 | 117 | void SetMotor2(float motorValue2) |
paulineoonk | 7:05495acc08b0 | 118 | { |
paulineoonk | 7:05495acc08b0 | 119 | if (motorValue2 >= 0) |
paulineoonk | 7:05495acc08b0 | 120 | { |
paulineoonk | 12:e125b9fa77b9 | 121 | M2D = 1; |
paulineoonk | 7:05495acc08b0 | 122 | } |
paulineoonk | 7:05495acc08b0 | 123 | else |
paulineoonk | 7:05495acc08b0 | 124 | { |
paulineoonk | 12:e125b9fa77b9 | 125 | M2D =0; |
paulineoonk | 7:05495acc08b0 | 126 | } |
paulineoonk | 7:05495acc08b0 | 127 | |
paulineoonk | 7:05495acc08b0 | 128 | if (fabs(motorValue2) > 1) |
paulineoonk | 7:05495acc08b0 | 129 | { |
paulineoonk | 7:05495acc08b0 | 130 | M2E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1) |
paulineoonk | 7:05495acc08b0 | 131 | } |
paulineoonk | 7:05495acc08b0 | 132 | else |
paulineoonk | 7:05495acc08b0 | 133 | { |
paulineoonk | 7:05495acc08b0 | 134 | M2E = fabs(motorValue2); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0 |
paulineoonk | 7:05495acc08b0 | 135 | } |
paulineoonk | 7:05495acc08b0 | 136 | } |
paulineoonk | 7:05495acc08b0 | 137 | |
Miriam | 0:2a99f692f683 | 138 | float Encoder () |
Miriam | 0:2a99f692f683 | 139 | { |
Miriam | 0:2a99f692f683 | 140 | float Huidigepositie = motor1.getPosition (); |
Miriam | 3:f755b4d41aa8 | 141 | return Huidigepositie; // huidige positie = current position |
Miriam | 0:2a99f692f683 | 142 | } |
Miriam | 0:2a99f692f683 | 143 | |
paulineoonk | 7:05495acc08b0 | 144 | float Encoder2 () |
paulineoonk | 7:05495acc08b0 | 145 | { |
paulineoonk | 7:05495acc08b0 | 146 | float Huidigepositie2 = motor2.getPosition (); |
paulineoonk | 7:05495acc08b0 | 147 | return Huidigepositie2; // huidige positie = current position |
paulineoonk | 7:05495acc08b0 | 148 | } |
paulineoonk | 7:05495acc08b0 | 149 | |
Miriam | 0:2a99f692f683 | 150 | void MeasureAndControl(void) |
Miriam | 0:2a99f692f683 | 151 | { |
Miriam | 3:f755b4d41aa8 | 152 | // hier the control of the control system |
Miriam | 0:2a99f692f683 | 153 | float refP = GetReferencePosition(); |
Miriam | 0:2a99f692f683 | 154 | float Huidigepositie = Encoder(); |
Miriam | 3:f755b4d41aa8 | 155 | float error = (refP - Huidigepositie);// make an error |
Miriam | 2:b504e35af662 | 156 | float motorValue = FeedBackControl(error, e_prev, e_int); |
Miriam | 0:2a99f692f683 | 157 | SetMotor1(motorValue); |
Miriam | 0:2a99f692f683 | 158 | } |
Miriam | 0:2a99f692f683 | 159 | |
paulineoonk | 7:05495acc08b0 | 160 | void MeasureAndControl2(void) |
paulineoonk | 7:05495acc08b0 | 161 | { |
paulineoonk | 7:05495acc08b0 | 162 | // hier the control of the control system |
paulineoonk | 7:05495acc08b0 | 163 | float refP2 = GetReferencePosition2(); |
paulineoonk | 7:05495acc08b0 | 164 | float Huidigepositie2 = Encoder2(); |
paulineoonk | 7:05495acc08b0 | 165 | float error2 = (refP2 - Huidigepositie2);// make an error |
paulineoonk | 7:05495acc08b0 | 166 | float motorValue2 = FeedBackControl2(error2, e_prev2, e_int2); |
paulineoonk | 7:05495acc08b0 | 167 | SetMotor2(motorValue2); |
paulineoonk | 12:e125b9fa77b9 | 168 | //pc.printf("encoder 2 = %f\r\n",Huidigepositie2); |
paulineoonk | 7:05495acc08b0 | 169 | } |
paulineoonk | 7:05495acc08b0 | 170 | |
Miriam | 0:2a99f692f683 | 171 | |
Miriam | 0:2a99f692f683 | 172 | int main() |
Miriam | 0:2a99f692f683 | 173 | { |
Miriam | 5:987cc578988e | 174 | M1E.period(PwmPeriod); |
Miriam | 4:c119259c1ba5 | 175 | Treecko.attach(MeasureAndControl, Ts); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende |
Miriam | 0:2a99f692f683 | 176 | //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd. |
paulineoonk | 7:05495acc08b0 | 177 | DubbelTreecko.attach(MeasureAndControl2, Ts); |
paulineoonk | 12:e125b9fa77b9 | 178 | pc.baud(115200); |
Miriam | 4:c119259c1ba5 | 179 | |
Miriam | 0:2a99f692f683 | 180 | while(1) |
Miriam | 0:2a99f692f683 | 181 | { |
Miriam | 0:2a99f692f683 | 182 | wait(0.2); |
paulineoonk | 12:e125b9fa77b9 | 183 | // pc.printf(" encoder 1 %f, encoder 2 %f\r\n",Huidigepositie,Huidigepositie2); |
paulineoonk | 12:e125b9fa77b9 | 184 | |
paulineoonk | 12:e125b9fa77b9 | 185 | //float B = motor1.getPosition(); |
paulineoonk | 12:e125b9fa77b9 | 186 | //float Potmeterwaarde = potMeter2.read(); |
Miriam | 0:2a99f692f683 | 187 | //float positie = B%4096; |
paulineoonk | 12:e125b9fa77b9 | 188 | // pc.printf("pos: %f, \r\n pos2 = %f",motor1.getPosition(),motor2.getPosition); //potmeter uitlezen. tussen 0-1. voltage, dus *3.3V |
Miriam | 0:2a99f692f683 | 189 | } |
Miriam | 0:2a99f692f683 | 190 | } |