Projectgroep 20 Biorobotics / Mbed 2 deprecated week6ordenenscript

P-controller geordend

Dependencies:   Encoder HIDScope MODSERIAL mbed

main.cpp@13:eaaeb41e22d2, 2017-11-02 (annotated)

Committer:
Gerber
Date:
Thu Nov 02 20:16:38 2017 +0000
Revision:
13:eaaeb41e22d2
Parent:
12:e125b9fa77b9
Child:
14:5534b8282a06
meet huidigepositie encoder ineens niet meer :((((

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)
Gerber 13:eaaeb41e22d2 20 const float Ts = 0.002; // 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 {
Gerber 13:eaaeb41e22d2 78 float kp2 = 0.001; // kind of scaled.
paulineoonk 7:05495acc08b0 79 float Proportional2= kp2*error2;
paulineoonk 7:05495acc08b0 80
Gerber 13:eaaeb41e22d2 81 float kd2 = 0.001; // 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
Gerber 13:eaaeb41e22d2 86 float ki2 = 0.0005; // 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);
Gerber 13:eaaeb41e22d2 169 pc.printf("refP2 = %f, Huidigepositie2 = %f, error = %f, motorValue2 = %f \r\n", refP2, Huidigepositie2, 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);
Miriam 4:c119259c1ba5 176 Treecko.attach(MeasureAndControl, Ts); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende
Miriam 0:2a99f692f683 177 //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.
paulineoonk 7:05495acc08b0 178 DubbelTreecko.attach(MeasureAndControl2, Ts);
paulineoonk 12:e125b9fa77b9 179 pc.baud(115200);
Miriam 4:c119259c1ba5 180
Miriam 0:2a99f692f683 181 while(1)
Miriam 0:2a99f692f683 182 {
Miriam 0:2a99f692f683 183 wait(0.2);
paulineoonk 12:e125b9fa77b9 184 // pc.printf(" encoder 1 %f, encoder 2 %f\r\n",Huidigepositie,Huidigepositie2);
paulineoonk 12:e125b9fa77b9 185
paulineoonk 12:e125b9fa77b9 186 //float B = motor1.getPosition();
paulineoonk 12:e125b9fa77b9 187 //float Potmeterwaarde = potMeter2.read();
Miriam 0:2a99f692f683 188 //float positie = B%4096;
paulineoonk 12:e125b9fa77b9 189 // pc.printf("pos: %f, \r\n pos2 = %f",motor1.getPosition(),motor2.getPosition); //potmeter uitlezen. tussen 0-1. voltage, dus *3.3V
Miriam 0:2a99f692f683 190 }
Miriam 0:2a99f692f683 191 }