Projectgroep 20 Biorobotics / Mbed 2 deprecated week6ordenenscript_Kaartoppakken_1uurover

Kan kaart oppakken, maar duurt wel lang.

Dependencies:   Encoder HIDScope MODSERIAL mbed

Fork of week6ordenenscript by Projectgroep 20 Biorobotics

main.cpp@16:4bfcc154bba0, 2017-11-03 (annotated)

Committer:
Gerber
Date:
Fri Nov 03 01:14:58 2017 +0000
Revision:
16:4bfcc154bba0
Parent:
15:0cbbf84528bd
Child:
17:767cacdd0b1d
Child:
18:05ff73b29654
RKI met alles erna voor motors werkend!!!

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 14:5534b8282a06 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
Gerber 15:0cbbf84528bd 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
Gerber 15:0cbbf84528bd 39 // RKI
Gerber 15:0cbbf84528bd 40 double pi = 3.14159265359;
Gerber 15:0cbbf84528bd 41 double q1 = (pi/2); //Reference position hoek 1 in radiance
Gerber 15:0cbbf84528bd 42 double q2 = -(pi/2); //Reference position hoek 2 in radiance
Gerber 15:0cbbf84528bd 43 const double L1 = 0.30; //Length arm 1 in mm
Gerber 15:0cbbf84528bd 44 const double L2 = 0.38; //Length arm 2 in mm
Gerber 15:0cbbf84528bd 45 double B1 = 1; //Friction constant motor 1
Gerber 15:0cbbf84528bd 46 double B2 = 1; //Friction constant motor 2
Gerber 15:0cbbf84528bd 47 double K = 1; //Spring constant movement from end-effector position to setpoint position
Gerber 15:0cbbf84528bd 48 double Tijd = 1; //Timestep value
Gerber 15:0cbbf84528bd 49 double Rsx = 0.38; //Reference x-component of the setpoint radius
Gerber 15:0cbbf84528bd 50 double Rsy = 0.30; //Reference y-component of the setpoint radius
Gerber 15:0cbbf84528bd 51 double refP = 0; //Reference position motor 1
Gerber 15:0cbbf84528bd 52 double refP2 = 0.5*pi; //Reference position motor 2
Gerber 15:0cbbf84528bd 53 double Rex = cos(q1)*L1 - sin(q2)*L2; //The x-component of the end-effector radius
Gerber 15:0cbbf84528bd 54 double Rey = sin(q1)*L1 + cos(q2)*L2; //The y-component of the end-effector radius
Gerber 15:0cbbf84528bd 55 double R1x = 0; //The x-component of the joint 1 radius
Gerber 15:0cbbf84528bd 56 double R1y = 0; //The y-component of the joint 1 radius
Gerber 15:0cbbf84528bd 57 double R2x = cos(q1)*L1; //The x-component of the joint 2 radius
Gerber 15:0cbbf84528bd 58 double R2y = sin(q1)*L1; //The y-component of the joint 1 radius
Gerber 15:0cbbf84528bd 59 double Fx = 0;
Gerber 15:0cbbf84528bd 60 double Fy = 0;
Gerber 15:0cbbf84528bd 61 double Tor1 = 0;
Gerber 15:0cbbf84528bd 62 double Tor2 = 0;
Gerber 15:0cbbf84528bd 63 double w1= 0;
Gerber 15:0cbbf84528bd 64 double w2= 0;
Miriam 3:f755b4d41aa8 65
Gerber 15:0cbbf84528bd 66 void RKI()
Gerber 15:0cbbf84528bd 67 {
Gerber 15:0cbbf84528bd 68 Rex = cos(q1)*L1 - sin(q2)*L2;
Gerber 15:0cbbf84528bd 69 Rey = sin(q1)*L1 + cos(q2)*L2;
Gerber 15:0cbbf84528bd 70 R2x = cos(q1)*L1;
Gerber 15:0cbbf84528bd 71 R2y = sin(q1)*L1;
Gerber 15:0cbbf84528bd 72 Fx = (Rsx-Rex)*K;
Gerber 15:0cbbf84528bd 73 Fy = (Rsy-Rey)*K;
Gerber 15:0cbbf84528bd 74 Tor1 = (Rex-R1x)*Fy + (R1y-Rey)*Fx;
Gerber 15:0cbbf84528bd 75 Tor2 = (Rex-R2x)*Fy + (R2y-Rey)*Fx;
Gerber 15:0cbbf84528bd 76 w1 = Tor1/B1;
Gerber 15:0cbbf84528bd 77 w2 = Tor2/B2;
Gerber 15:0cbbf84528bd 78 q1 = q1 + w1*Tijd;
Gerber 15:0cbbf84528bd 79 q2 = q2 + w2*Tijd;
Gerber 15:0cbbf84528bd 80
Gerber 15:0cbbf84528bd 81 int maxwaarde = 4096; // = 64x64
Gerber 15:0cbbf84528bd 82 refP = (((0.5*pi) - q1)/(2*pi))*maxwaarde;
Gerber 16:4bfcc154bba0 83 refP2 = (((-pi) + q1 - q2)/(2*pi))*maxwaarde; //Get reference positions was eerst 0.5*pi
Gerber 15:0cbbf84528bd 84 }
Gerber 15:0cbbf84528bd 85
Gerber 15:0cbbf84528bd 86 void SetpointRobot()
Gerber 15:0cbbf84528bd 87 {
Gerber 15:0cbbf84528bd 88 double Potmeterwaarde2 = potMeter2.read();
Gerber 15:0cbbf84528bd 89 double Potmeterwaarde1 = potMeter1.read();
Gerber 15:0cbbf84528bd 90
Gerber 15:0cbbf84528bd 91 if (Potmeterwaarde2>0.6) {
Gerber 15:0cbbf84528bd 92 Rsx += 0.001; //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat
Gerber 15:0cbbf84528bd 93 }
Gerber 15:0cbbf84528bd 94 else if (Potmeterwaarde2<0.4) {
Gerber 15:0cbbf84528bd 95 Rsx -= 0.001; //het gaat telkens 1 mm terug wanneer de potmeter onder de 0.4 staat
Gerber 15:0cbbf84528bd 96 }
Gerber 15:0cbbf84528bd 97 else { //de x-waarde van de setpoint verandert niet
Gerber 15:0cbbf84528bd 98 }
Gerber 15:0cbbf84528bd 99
Gerber 15:0cbbf84528bd 100 if (Potmeterwaarde1>0.6) { //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat
Gerber 15:0cbbf84528bd 101 Rsy += 0.001;
Gerber 15:0cbbf84528bd 102 }
Gerber 15:0cbbf84528bd 103 else if (Potmeterwaarde1<0.4) { //het gaat telkens 1 mm terug wanneer de potmeter onder de 0.4
Gerber 15:0cbbf84528bd 104 Rsy -= 0.001;
Gerber 15:0cbbf84528bd 105 }
Gerber 15:0cbbf84528bd 106 else { //de y-waarde van de setpoint verandert niet
Gerber 15:0cbbf84528bd 107 }
Gerber 15:0cbbf84528bd 108 }
Miriam 3:f755b4d41aa8 109
Miriam 0:2a99f692f683 110 float GetReferencePosition()
Miriam 0:2a99f692f683 111 {
Miriam 0:2a99f692f683 112 float Potmeterwaarde = potMeter2.read();
Miriam 0:2a99f692f683 113 int maxwaarde = 4096; // = 64x64
Miriam 0:2a99f692f683 114 float refP = Potmeterwaarde*maxwaarde;
Miriam 3:f755b4d41aa8 115 return refP; // value between 0 and 4096
Miriam 0:2a99f692f683 116 }
paulineoonk 7:05495acc08b0 117
paulineoonk 7:05495acc08b0 118 float GetReferencePosition2()
paulineoonk 7:05495acc08b0 119 {
Gerber 15:0cbbf84528bd 120 float potmeterwaarde2 = potMeter1.read();
paulineoonk 7:05495acc08b0 121 int maxwaarde2 = 4096; // = 64x64
paulineoonk 12:e125b9fa77b9 122 float refP2 = -potmeterwaarde2*maxwaarde2;
paulineoonk 7:05495acc08b0 123 return refP2; // value between 0 and 4096
paulineoonk 7:05495acc08b0 124 }
Miriam 0:2a99f692f683 125
Miriam 2:b504e35af662 126 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 127 {
Gerber 15:0cbbf84528bd 128 float kp = 0.0015; // kind of scaled.
Miriam 2:b504e35af662 129 float Proportional= kp*error;
Miriam 2:b504e35af662 130
Gerber 15:0cbbf84528bd 131 float kd = 0.000008; // kind of scaled.
Miriam 2:b504e35af662 132 float VelocityError = (error - e_prev)/Ts;
Miriam 2:b504e35af662 133 float Derivative = kd*VelocityError;
Miriam 2:b504e35af662 134 e_prev = error;
Miriam 2:b504e35af662 135
Gerber 15:0cbbf84528bd 136 float ki = 0.0001; // kind of scaled.
Miriam 2:b504e35af662 137 e_int = e_int+Ts*error;
Miriam 2:b504e35af662 138 float Integrator = ki*e_int;
Miriam 2:b504e35af662 139
Miriam 2:b504e35af662 140
Miriam 2:b504e35af662 141 float motorValue = Proportional + Integrator + Derivative;
Miriam 0:2a99f692f683 142 return motorValue;
Miriam 0:2a99f692f683 143 }
Miriam 0:2a99f692f683 144
paulineoonk 7:05495acc08b0 145 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 146 {
Gerber 15:0cbbf84528bd 147 float kp2 = 0.002; // kind of scaled.
paulineoonk 7:05495acc08b0 148 float Proportional2= kp2*error2;
paulineoonk 7:05495acc08b0 149
Gerber 15:0cbbf84528bd 150 float kd2 = 0.000008; // kind of scaled.
paulineoonk 7:05495acc08b0 151 float VelocityError2 = (error2 - e_prev2)/Ts;
paulineoonk 7:05495acc08b0 152 float Derivative2 = kd2*VelocityError2;
paulineoonk 7:05495acc08b0 153 e_prev2 = error2;
paulineoonk 7:05495acc08b0 154
Gerber 15:0cbbf84528bd 155 float ki2 = 0.00005; // kind of scaled.
paulineoonk 7:05495acc08b0 156 e_int2 = e_int2+Ts*error2;
paulineoonk 7:05495acc08b0 157 float Integrator2 = ki2*e_int2;
paulineoonk 7:05495acc08b0 158
paulineoonk 7:05495acc08b0 159
paulineoonk 7:05495acc08b0 160 float motorValue2 = Proportional2 + Integrator2 + Derivative2;
paulineoonk 7:05495acc08b0 161 return motorValue2;
Gerber 15:0cbbf84528bd 162
paulineoonk 7:05495acc08b0 163 }
paulineoonk 7:05495acc08b0 164
paulineoonk 7:05495acc08b0 165
Miriam 0:2a99f692f683 166 void SetMotor1(float motorValue)
Miriam 0:2a99f692f683 167 {
Miriam 1:609671b1c96c 168 if (motorValue >= 0)
Miriam 0:2a99f692f683 169 {
Miriam 0:2a99f692f683 170 M1D = 0;
Miriam 0:2a99f692f683 171 }
Miriam 0:2a99f692f683 172 else
Miriam 0:2a99f692f683 173 {
Miriam 0:2a99f692f683 174 M1D = 1;
Miriam 0:2a99f692f683 175 }
Miriam 0:2a99f692f683 176
Miriam 0:2a99f692f683 177 if (fabs(motorValue) > 1)
Miriam 0:2a99f692f683 178 {
Miriam 3:f755b4d41aa8 179 M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
Miriam 0:2a99f692f683 180 }
Miriam 0:2a99f692f683 181 else
Miriam 0:2a99f692f683 182 {
Miriam 0:2a99f692f683 183 M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
Miriam 0:2a99f692f683 184 }
Miriam 0:2a99f692f683 185 }
Miriam 0:2a99f692f683 186
paulineoonk 7:05495acc08b0 187 void SetMotor2(float motorValue2)
paulineoonk 7:05495acc08b0 188 {
paulineoonk 7:05495acc08b0 189 if (motorValue2 >= 0)
paulineoonk 7:05495acc08b0 190 {
paulineoonk 12:e125b9fa77b9 191 M2D = 1;
paulineoonk 7:05495acc08b0 192 }
paulineoonk 7:05495acc08b0 193 else
paulineoonk 7:05495acc08b0 194 {
paulineoonk 12:e125b9fa77b9 195 M2D =0;
paulineoonk 7:05495acc08b0 196 }
paulineoonk 7:05495acc08b0 197
paulineoonk 7:05495acc08b0 198 if (fabs(motorValue2) > 1)
paulineoonk 7:05495acc08b0 199 {
paulineoonk 7:05495acc08b0 200 M2E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
paulineoonk 7:05495acc08b0 201 }
paulineoonk 7:05495acc08b0 202 else
paulineoonk 7:05495acc08b0 203 {
paulineoonk 7:05495acc08b0 204 M2E = fabs(motorValue2); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
paulineoonk 7:05495acc08b0 205 }
paulineoonk 7:05495acc08b0 206 }
paulineoonk 7:05495acc08b0 207
Miriam 0:2a99f692f683 208 float Encoder ()
Miriam 0:2a99f692f683 209 {
Miriam 0:2a99f692f683 210 float Huidigepositie = motor1.getPosition ();
Miriam 3:f755b4d41aa8 211 return Huidigepositie; // huidige positie = current position
Miriam 0:2a99f692f683 212 }
Miriam 0:2a99f692f683 213
paulineoonk 7:05495acc08b0 214 float Encoder2 ()
paulineoonk 7:05495acc08b0 215 {
paulineoonk 7:05495acc08b0 216 float Huidigepositie2 = motor2.getPosition ();
paulineoonk 7:05495acc08b0 217 return Huidigepositie2; // huidige positie = current position
paulineoonk 7:05495acc08b0 218 }
paulineoonk 7:05495acc08b0 219
Miriam 0:2a99f692f683 220 void MeasureAndControl(void)
Miriam 0:2a99f692f683 221 {
Gerber 15:0cbbf84528bd 222 SetpointRobot();
Gerber 15:0cbbf84528bd 223 // RKI aanroepen
Gerber 15:0cbbf84528bd 224 RKI();
Miriam 3:f755b4d41aa8 225 // hier the control of the control system
Gerber 15:0cbbf84528bd 226 //float refP = GetReferencePosition();
Miriam 0:2a99f692f683 227 float Huidigepositie = Encoder();
Miriam 3:f755b4d41aa8 228 float error = (refP - Huidigepositie);// make an error
Miriam 2:b504e35af662 229 float motorValue = FeedBackControl(error, e_prev, e_int);
Miriam 0:2a99f692f683 230 SetMotor1(motorValue);
Gerber 15:0cbbf84528bd 231 pc.printf("refP = %f, Huidigepositie = %f, error = %f, motorValue = %f \r\n", refP, Huidigepositie, error, motorValue);
Miriam 0:2a99f692f683 232
paulineoonk 7:05495acc08b0 233 // hier the control of the control system
Gerber 15:0cbbf84528bd 234 //float refP2 = GetReferencePosition2();
paulineoonk 7:05495acc08b0 235 float Huidigepositie2 = Encoder2();
paulineoonk 7:05495acc08b0 236 float error2 = (refP2 - Huidigepositie2);// make an error
paulineoonk 7:05495acc08b0 237 float motorValue2 = FeedBackControl2(error2, e_prev2, e_int2);
paulineoonk 7:05495acc08b0 238 SetMotor2(motorValue2);
paulineoonk 12:e125b9fa77b9 239 //pc.printf("encoder 2 = %f\r\n",Huidigepositie2);
Gerber 13:eaaeb41e22d2 240 pc.printf("refP2 = %f, Huidigepositie2 = %f, error = %f, motorValue2 = %f \r\n", refP2, Huidigepositie2, error2, motorValue2);
paulineoonk 7:05495acc08b0 241 }
paulineoonk 7:05495acc08b0 242
Miriam 0:2a99f692f683 243
Miriam 0:2a99f692f683 244 int main()
Miriam 0:2a99f692f683 245 {
Miriam 5:987cc578988e 246 M1E.period(PwmPeriod);
Miriam 4:c119259c1ba5 247 Treecko.attach(MeasureAndControl, Ts); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende
Miriam 0:2a99f692f683 248 //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.
Gerber 15:0cbbf84528bd 249 //DubbelTreecko.attach(MeasureAndControl2, Ts);
paulineoonk 12:e125b9fa77b9 250 pc.baud(115200);
Miriam 4:c119259c1ba5 251
Miriam 0:2a99f692f683 252 while(1)
Miriam 0:2a99f692f683 253 {
Miriam 0:2a99f692f683 254 wait(0.2);
paulineoonk 12:e125b9fa77b9 255 // pc.printf(" encoder 1 %f, encoder 2 %f\r\n",Huidigepositie,Huidigepositie2);
paulineoonk 12:e125b9fa77b9 256
paulineoonk 12:e125b9fa77b9 257 //float B = motor1.getPosition();
paulineoonk 12:e125b9fa77b9 258 //float Potmeterwaarde = potMeter2.read();
Miriam 0:2a99f692f683 259 //float positie = B%4096;
paulineoonk 12:e125b9fa77b9 260 // pc.printf("pos: %f, \r\n pos2 = %f",motor1.getPosition(),motor2.getPosition); //potmeter uitlezen. tussen 0-1. voltage, dus *3.3V
Miriam 0:2a99f692f683 261 }
Miriam 0:2a99f692f683 262 }