Sera
/
yaw_joint_control_ver2
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Dependencies: mbed
Diff: main.cpp
- Revision:
- 0:db35d0ca1d41
- Child:
- 1:a9f2d00d7a56
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Mar 17 17:55:31 2021 +0000
@@ -0,0 +1,206 @@
+// Nucleo_CAN_slave (AIRo-4.1)
+// Angle control
+// Created by Atsushi Kakogawa, 2019.09.19
+// Edited by Yoshimichi Oka, 2020.2.5
+// Modified by Atsushi Kakogawa, 2020.03.22
+// Department of Robotics, Ritsumeikan University, Japan
+#include "mbed.h"
+#include "CAN.h"
+
+Ticker control; // timer for control
+DigitalOut myled(PF_1); // LED for communication check
+DigitalOut mdir1(PA_9); // D1 Motor ON/OFF (HIGH = ON, Changeable on ESCON Studio)
+DigitalOut mdir2(PA_10); // D0 Rotational direction (Direction is changeable on ESCON Studio)
+AnalogOut DA_vlc(PA_6); // A5 for velocity analog input to ESCON ANI1+ (0 to 1.0)
+AnalogOut DA_crt(PA_5); // A3 for current anaglog input to ESCON ANI2+ (0 to 1.0)
+AnalogIn potensio1(PA_0);
+AnalogIn potensio2(PA_7); // A6 Potentiometer 2 (5V potentiometer)
+AnalogIn AD_crt(PA_1); // Analog Signal from ESCON ANO1 (motor velocity, can be changed by ESCON) (0 to 1.0)
+AnalogIn AD_vlc(PA_3); // Analog Signal from ESCON ANO2 (motor current, can be changed by ESCON) (0 to 1.0)
+
+CAN can(PA_11, PA_12);
+CANMessage msg;
+
+
+float duty = 0;
+int id = 13; //4,6,8,9,11,13, 8,9はAnalog2pinにALPSのPOT
+int mode = 1;
+int flag = 0;
+int cal = 321; //for ID8, ID9
+float target_ang1 = 169;//ID4は100, ID6は165, ID8は180, ID9は140, ID11・13は169
+float ang, e = 0, pe=0, pang, de = 0;
+float dt=0.01;
+float kp = 0.01, kd = 0;
+//float kp=0.01, kd = 0.1;
+
+int i=0, j=0;
+
+char tx_data[8];
+char tx_data1_U, tx_data1_L, tx_data2_U, tx_data2_L, tx_data3_U, tx_data3_L;
+
+void can_reader(){
+ if(can.read(msg)) {
+ if (msg.data[0] == id) { // ID indentify
+ if (msg.data[1] == 0) { // mode indentify (0: control)
+ target_ang1 = (msg.data[3] << 8) + msg.data[4];
+ mode = 1;
+ } else if (msg.data[1] == 2) {
+ target_ang1 = (msg.data[3] << 8) + msg.data[4];
+ mode = 2;
+ } else if (msg.data[1] == 1) { // mode indentify (1: response)
+ int i_data1 = AD_crt.read()*1000;
+ tx_data1_U = (i_data1 >> 8) & 0xff;
+ tx_data1_L = i_data1 & 0xff;
+ int i_data2 = (-1*potensio2.read()*330+cal)*100;;//AD_vlc.read()*1000;
+ tx_data2_U = (i_data2 >> 8) & 0xff;
+ tx_data2_L = i_data2 & 0xff;
+ int i_data3 = potensio1.read()*330*100;
+ tx_data3_U = (i_data3 >> 8) & 0xff;
+ tx_data3_L = i_data3 & 0xff;
+ tx_data[0] = id; // ID
+ tx_data[1] = 1; // mode (1: response)
+ tx_data[2] = tx_data1_U; // response value1 upper 8bit
+ tx_data[3] = tx_data1_L; // response value1 lower 8bit
+ tx_data[4] = tx_data2_U; // response value2 upper 8bit
+ tx_data[5] = tx_data2_L; // response value2 lower 8bit
+ tx_data[6] = tx_data3_U; // response value3 upper 8bit
+ tx_data[7] = tx_data3_L; // response value3 lower 8bit
+ can.write(CANMessage(1300 + id, tx_data, 8));
+ }
+ }
+ myled = 1; // LED is ON
+ wait (0.01);
+ //break;
+ } else {
+ myled = 0; // LED is OFF
+ }
+}
+
+// PD-control timer
+void controller() {
+ if (mode == 1){
+ if (e < 0) {
+ mdir1 = 1;
+ mdir2 = 0;
+ } else if (e > 0) {
+ mdir1 = 1;
+ mdir2 = 1;
+ } else {
+ mdir1 = 0;
+ mdir2 = 0;
+ }
+
+ ang = (potensio1.read())*330;
+ e = target_ang1 - ang;
+ de = (e - pe)/dt;
+ //de = ang - pang;
+ DA_crt = kp*abs(e) + kd*abs(de);
+ if (DA_crt > 1){
+ DA_crt = 1;
+ } else if (DA_crt <= 0){
+ DA_crt = 0;
+ }
+
+ pe = e;
+ //pang = ang;
+
+ } else if (mode==2){
+ /*
+ for (i=1; i<200; i++) {
+ can_reader();
+ if (e < 0) {
+ mdir1 = 1;
+ mdir2 = 0;
+ } else if (e > 0) {
+ mdir1 = 1;
+ mdir2 = 1;
+ } else {
+ mdir1 = 0;
+ mdir2 = 0;
+ }
+
+ ang = (potensio1.read())*330;
+ e = target_ang1 - ang;
+ de = (e - pe)/dt;
+ //de = ang - pang;
+ DA_crt = kp*abs(e) + kd*abs(de);
+ if (DA_crt > 1){
+ DA_crt = 1;
+ } else if (DA_crt <= 0){
+ DA_crt = 0;
+ }
+
+ pe = e;
+ wait(0.01);
+ if (mode == 1){
+ break;
+ }
+ }
+ */
+ //for (j=1; j<120; j++) {
+ //can_reader();
+ mdir1 = 0;
+ //wait(0.01);
+ /* if (mode == 1){
+ break;
+ }
+ }
+ */
+ //can_reader();
+ }
+}
+
+int main() {
+
+ control.attach(&controller, dt); // 1 ms
+
+ can.frequency(50000);
+
+ while(1) {
+ can_reader();
+ //control.attach(&controller, dt);
+/*
+ if(can.read(msg)) {
+ if (msg.data[0] == id) { // ID indentify
+ if (msg.data[1] == 0) { // mode indentify (0: control)
+ target_ang1 = (msg.data[3] << 8) + msg.data[4];
+ mode = 1;
+ if (mode==1){
+ control.attach(&controller, dt);
+ }
+ } else if (msg.data[1] == 2) {
+ target_ang1 = (msg.data[3] << 8) + msg.data[4];
+ mode = 2;
+ controller();
+ wait(2);
+ stop_motion();
+ } else if (msg.data[1] == 1) { // mode indentify (1: response)
+ int i_data1 = AD_crt.read()*1000;
+ tx_data1_U = (i_data1 >> 8) & 0xff;
+ tx_data1_L = i_data1 & 0xff;
+ int i_data2 = AD_vlc.read()*1000;
+ tx_data2_U = (i_data2 >> 8) & 0xff;
+ tx_data2_L = i_data2 & 0xff;
+ int i_data3 = potensio1.read()*330*100;
+ tx_data3_U = (i_data3 >> 8) & 0xff;
+ tx_data3_L = i_data3 & 0xff;
+ tx_data[0] = id; // ID
+ tx_data[1] = 1; // mode (1: response)
+ tx_data[2] = tx_data1_U; // response value1 upper 8bit
+ tx_data[3] = tx_data1_L; // response value1 lower 8bit
+ tx_data[4] = tx_data2_U; // response value2 upper 8bit
+ tx_data[5] = tx_data2_L; // response value2 lower 8bit
+ tx_data[6] = tx_data3_U; // response value3 upper 8bit
+ tx_data[7] = tx_data3_L; // response value3 lower 8bit
+ can.write(CANMessage(1300 + id, tx_data, 8));
+ }
+ }
+ myled = 1; // LED is ON
+ wait (0.01);
+ //break;
+ } else {
+ myled = 0; // LED is OFF
+ }
+ */
+ } // while
+}
\ No newline at end of file