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Dependencies: BEAR_Reciever Motor eeprom iSerial mbed
Fork of BEAR_Motion by
main.cpp@6:98871feebea0, 2016-01-16 (annotated)
- Committer:
- b0ssiz
- Date:
- Sat Jan 16 01:17:21 2016 +0000
- Revision:
- 6:98871feebea0
- Parent:
- 1:84167ca00307
- Child:
- 7:bf239d051e8c
Update Bear_Receiver library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ParinyaT | 0:451c27e4d55e | 1 | //*****************************************************/ |
b0ssiz | 6:98871feebea0 | 2 | // Include // |
ParinyaT | 0:451c27e4d55e | 3 | #include "mbed.h" |
ParinyaT | 0:451c27e4d55e | 4 | #include "pinconfig.h" |
ParinyaT | 0:451c27e4d55e | 5 | #include "PID.h" |
ParinyaT | 0:451c27e4d55e | 6 | #include "Motor.h" |
ParinyaT | 0:451c27e4d55e | 7 | #include "eeprom.h" |
b0ssiz | 6:98871feebea0 | 8 | #include "Receiver.h" |
ParinyaT | 0:451c27e4d55e | 9 | |
ParinyaT | 0:451c27e4d55e | 10 | //*****************************************************/ |
ParinyaT | 1:84167ca00307 | 11 | //--PID parameter-- |
ParinyaT | 1:84167ca00307 | 12 | //-Upper-// |
ParinyaT | 1:84167ca00307 | 13 | int U_Kc; |
ParinyaT | 1:84167ca00307 | 14 | int U_Ti; |
ParinyaT | 1:84167ca00307 | 15 | int U_Td; |
ParinyaT | 1:84167ca00307 | 16 | //-lower-// |
ParinyaT | 1:84167ca00307 | 17 | int L_Kc; |
ParinyaT | 1:84167ca00307 | 18 | int L_Ti; |
ParinyaT | 1:84167ca00307 | 19 | int L_Td; |
ParinyaT | 0:451c27e4d55e | 20 | |
ParinyaT | 0:451c27e4d55e | 21 | //*****************************************************/ |
ParinyaT | 0:451c27e4d55e | 22 | // Global // |
ParinyaT | 1:84167ca00307 | 23 | //-- Communication -- |
ParinyaT | 0:451c27e4d55e | 24 | Serial PC(D1,D0); |
ParinyaT | 1:84167ca00307 | 25 | ANDANTE_PROTOCOL_PACKET command; |
b0ssiz | 6:98871feebea0 | 26 | //-- encoder -- |
ParinyaT | 1:84167ca00307 | 27 | int Upper_Position; |
ParinyaT | 1:84167ca00307 | 28 | int Lower_Position; |
ParinyaT | 0:451c27e4d55e | 29 | int data; |
ParinyaT | 1:84167ca00307 | 30 | SPI ENC(Emosi, Emiso, Esck); |
ParinyaT | 1:84167ca00307 | 31 | DigitalOut EncA(EncoderA); |
ParinyaT | 1:84167ca00307 | 32 | DigitalOut EncB(EncoderB); |
ParinyaT | 0:451c27e4d55e | 33 | //-- Motor -- |
ParinyaT | 1:84167ca00307 | 34 | int dir; |
ParinyaT | 1:84167ca00307 | 35 | Motor Upper(PWM_LU,A_LU,B_LU); |
ParinyaT | 1:84167ca00307 | 36 | Motor Lower(PWM_LL,A_LL,B_LL); |
ParinyaT | 0:451c27e4d55e | 37 | //-- PID -- |
ParinyaT | 1:84167ca00307 | 38 | int Upper_SetPoint; |
ParinyaT | 1:84167ca00307 | 39 | int Lower_SetPoint; |
ParinyaT | 1:84167ca00307 | 40 | PID Up_PID(U_Kc, U_Ti, U_Td, 0.001);//Kp,Ki,Kd,Rate |
ParinyaT | 1:84167ca00307 | 41 | PID Low_PID(L_Kc, L_Ti, L_Td, 0.001); |
ParinyaT | 0:451c27e4d55e | 42 | //*****************************************************/ |
ParinyaT | 1:84167ca00307 | 43 | void Read_Encoder(PinName Encoder) |
ParinyaT | 0:451c27e4d55e | 44 | { |
ParinyaT | 1:84167ca00307 | 45 | Enc.format(8,0); |
ParinyaT | 1:84167ca00307 | 46 | Enc.frequency(200000);//due to rising time,have to decrease clock from 1M - 240k |
b0ssiz | 6:98871feebea0 | 47 | |
ParinyaT | 0:451c27e4d55e | 48 | Encoder = 0; |
ParinyaT | 1:84167ca00307 | 49 | Enc.write(0x41); |
ParinyaT | 1:84167ca00307 | 50 | Enc.write(0x09); |
ParinyaT | 1:84167ca00307 | 51 | data = Enc.write(0x00); |
ParinyaT | 0:451c27e4d55e | 52 | Encoder = 1; |
b0ssiz | 6:98871feebea0 | 53 | |
ParinyaT | 0:451c27e4d55e | 54 | } |
ParinyaT | 0:451c27e4d55e | 55 | //*****************************************************/ |
ParinyaT | 1:84167ca00307 | 56 | int Get_EnValue(int Val) |
ParinyaT | 0:451c27e4d55e | 57 | { |
ParinyaT | 0:451c27e4d55e | 58 | int i = 0; |
ParinyaT | 0:451c27e4d55e | 59 | static unsigned char codes[] = { |
b0ssiz | 6:98871feebea0 | 60 | 127, 63, 62, 58, 56, 184, 152, 24, 8, 72, 73, 77, 79, 15, 47, 175, |
b0ssiz | 6:98871feebea0 | 61 | 191, 159, 31, 29, 28, 92, 76, 12, 4, 36, 164, 166, 167, 135, 151, 215, |
b0ssiz | 6:98871feebea0 | 62 | 223, 207, 143, 142, 14, 46, 38, 6, 2, 18, 82, 83, 211, 195, 203, 235, |
b0ssiz | 6:98871feebea0 | 63 | 239, 231, 199, 71, 7, 23, 19, 3, 1, 9, 41, 169, 233, 225, 229, 245, |
b0ssiz | 6:98871feebea0 | 64 | 247, 243, 227, 163, 131, 139, 137, 129, 128, 132, 148, 212, 244, 240, 242, 250, |
b0ssiz | 6:98871feebea0 | 65 | 251, 249, 241, 209, 193, 197, 196, 192, 64, 66, 74, 106, 122, 120, 121, 125, |
b0ssiz | 6:98871feebea0 | 66 | 253, 252, 248, 232, 224, 226, 98, 96, 32, 33, 37, 53, 61, 60, 188, 190, |
b0ssiz | 6:98871feebea0 | 67 | 254, 126, 124, 116, 112, 113, 49, 48, 16, 144, 146, 154, 158, 30, 94, 95 |
b0ssiz | 6:98871feebea0 | 68 | }; |
b0ssiz | 6:98871feebea0 | 69 | |
b0ssiz | 6:98871feebea0 | 70 | while(Val != codes[i]) { |
ParinyaT | 1:84167ca00307 | 71 | i++; |
ParinyaT | 0:451c27e4d55e | 72 | } |
b0ssiz | 6:98871feebea0 | 73 | |
ParinyaT | 1:84167ca00307 | 74 | return i; |
b0ssiz | 6:98871feebea0 | 75 | |
ParinyaT | 0:451c27e4d55e | 76 | } |
ParinyaT | 0:451c27e4d55e | 77 | //*****************************************************/ |
ParinyaT | 1:84167ca00307 | 78 | void SET_UpperPID() |
ParinyaT | 1:84167ca00307 | 79 | { |
ParinyaT | 1:84167ca00307 | 80 | Upper.period(0.001); |
ParinyaT | 1:84167ca00307 | 81 | Up_PID.setMode(0); |
ParinyaT | 1:84167ca00307 | 82 | Up_PID.setInputLimits(0,127); |
ParinyaT | 1:84167ca00307 | 83 | Up_PID.setOutputLimits(0,1); |
ParinyaT | 1:84167ca00307 | 84 | } |
ParinyaT | 1:84167ca00307 | 85 | //******************************************************/ |
ParinyaT | 1:84167ca00307 | 86 | void SET_LowerPID() |
ParinyaT | 1:84167ca00307 | 87 | { |
ParinyaT | 1:84167ca00307 | 88 | Lower.period(0.001); |
ParinyaT | 1:84167ca00307 | 89 | Low_PID.setMode(0); |
ParinyaT | 1:84167ca00307 | 90 | Low_PID.setInputLimits(0,127); |
ParinyaT | 1:84167ca00307 | 91 | Low_PID.setOutputLimits(0,1); |
ParinyaT | 1:84167ca00307 | 92 | } |
b0ssiz | 6:98871feebea0 | 93 | //******************************************************/ |
ParinyaT | 1:84167ca00307 | 94 | void Move_Upper() |
ParinyaT | 1:84167ca00307 | 95 | { |
ParinyaT | 1:84167ca00307 | 96 | Read_Encoder(EncoderA); |
ParinyaT | 1:84167ca00307 | 97 | Upper_Position = Get_EnValue(data); |
ParinyaT | 1:84167ca00307 | 98 | |
ParinyaT | 1:84167ca00307 | 99 | Up_PID.setProcessValue(Upper_Position); |
b0ssiz | 6:98871feebea0 | 100 | |
b0ssiz | 6:98871feebea0 | 101 | if(Upper_Position - Uppper_SetPoint > 0 ) { |
ParinyaT | 1:84167ca00307 | 102 | dir = 1; |
b0ssiz | 6:98871feebea0 | 103 | } |
b0ssiz | 6:98871feebea0 | 104 | if(Upper_Position - Uppper_SetPoint < 0 ) { |
ParinyaT | 1:84167ca00307 | 105 | dir = -1; |
b0ssiz | 6:98871feebea0 | 106 | } |
ParinyaT | 1:84167ca00307 | 107 | Upper.speed(LU_PID.compute() * dir); |
ParinyaT | 1:84167ca00307 | 108 | } |
ParinyaT | 1:84167ca00307 | 109 | //******************************************************/ |
ParinyaT | 1:84167ca00307 | 110 | void Move_Lower() |
ParinyaT | 1:84167ca00307 | 111 | { |
ParinyaT | 1:84167ca00307 | 112 | Read_Encoder(EncoderB); |
ParinyaT | 1:84167ca00307 | 113 | Lower_Position = Get_EnValue(data); |
ParinyaT | 1:84167ca00307 | 114 | |
ParinyaT | 1:84167ca00307 | 115 | Low_PID.setProcessValue(Lower_Position); |
b0ssiz | 6:98871feebea0 | 116 | |
b0ssiz | 6:98871feebea0 | 117 | if(Lower_Position - Lower_SetPoint > 0 ) { |
ParinyaT | 1:84167ca00307 | 118 | dir = 1; |
b0ssiz | 6:98871feebea0 | 119 | } |
b0ssiz | 6:98871feebea0 | 120 | if(Lower_Position - Lower_SetPoint < 0 ) { |
ParinyaT | 1:84167ca00307 | 121 | dir = -1; |
b0ssiz | 6:98871feebea0 | 122 | } |
ParinyaT | 1:84167ca00307 | 123 | Lower.speed(LU_PID.compute() * dir); |
b0ssiz | 6:98871feebea0 | 124 | } |
ParinyaT | 1:84167ca00307 | 125 | //******************************************************/ |
ParinyaT | 1:84167ca00307 | 126 | |
ParinyaT | 1:84167ca00307 | 127 | |
ParinyaT | 0:451c27e4d55e | 128 | int main() |
ParinyaT | 0:451c27e4d55e | 129 | { |
ParinyaT | 1:84167ca00307 | 130 | SET_UpperPID(); |
ParinyaT | 1:84167ca00307 | 131 | SET_LowerPID(); |
b0ssiz | 6:98871feebea0 | 132 | |
b0ssiz | 6:98871feebea0 | 133 | while(1) { |
ParinyaT | 1:84167ca00307 | 134 | Up_PID.setSetPoint(Upper_SetPoint); |
ParinyaT | 1:84167ca00307 | 135 | Low_PID.setSetPoint(Lower_SetPoint); |
ParinyaT | 1:84167ca00307 | 136 | |
ParinyaT | 1:84167ca00307 | 137 | Move_Upper(); |
ParinyaT | 1:84167ca00307 | 138 | Move_Lower(); |
ParinyaT | 0:451c27e4d55e | 139 | } |
ParinyaT | 1:84167ca00307 | 140 | |
ParinyaT | 0:451c27e4d55e | 141 | } |
b0ssiz | 6:98871feebea0 | 142 | |
ParinyaT | 0:451c27e4d55e | 143 | |
ParinyaT | 0:451c27e4d55e | 144 | |
b0ssiz | 6:98871feebea0 | 145 | |
b0ssiz | 6:98871feebea0 | 146 | |
b0ssiz | 6:98871feebea0 | 147 |