Team DIANA / Mbed OS speed_arm_controller

Controller of the linear speed of the arm

Dependencies:   QEI X_NUCLEO_IHM04A1

main.cpp@3:bbd927c5bfa9, 2019-05-23 (annotated)

Committer:
LuCordeschi
Date:
Thu May 23 07:00:53 2019 +0000
Revision:
3:bbd927c5bfa9
Parent:
2:fc8d58f9f5ce
Child:
4:0b8f77ae7af0
Speed arm controller

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LuCordeschi 0:839902368a34 1 #include "mbed.h"
LuCordeschi 1:97a0f449f19d 2 #include "L6206.h"
LuCordeschi 0:839902368a34 3 #include "BDCMotor.h"
LuCordeschi 0:839902368a34 4 #include <math.h>
LuCordeschi 3:bbd927c5bfa9 5 #include "QEI.h"
LuCordeschi 0:839902368a34 6
LuCordeschi 1:97a0f449f19d 7 Thread thread;
LuCordeschi 1:97a0f449f19d 8
LuCordeschi 3:bbd927c5bfa9 9 QEI encoder(PinName PB4, PinName PB5,PinName NC, int pulsesPerRev,QEI::Encoding X4_ENCODING); //Check the datasheet to know what is the pulses for revolution value
LuCordeschi 3:bbd927c5bfa9 10 //From the library it requires to pass NC in the index space in the case it is not present
LuCordeschi 3:bbd927c5bfa9 11
LuCordeschi 3:bbd927c5bfa9 12 InterruptIn endstop (PinName PC1);
LuCordeschi 3:bbd927c5bfa9 13 DigitalOut led(LED1);
LuCordeschi 3:bbd927c5bfa9 14 InterruptIn button(PinName Button);
LuCordeschi 3:bbd927c5bfa9 15
LuCordeschi 3:bbd927c5bfa9 16
LuCordeschi 3:bbd927c5bfa9 17 L6206 *motor;
LuCordeschi 3:bbd927c5bfa9 18
LuCordeschi 3:bbd927c5bfa9 19 L6206 L6206(PinName EN_A, PinName EN_B, PinName IN_1A, PinName IN_2A, PinName IN_1B, PinName IN_2B) ;
LuCordeschi 3:bbd927c5bfa9 20
LuCordeschi 3:bbd927c5bfa9 21 void go_to_zero(float maxAcceleration,float maxVelocity, float EncoderResolution, int PulseperPeriod, int k, int k1, int t) {
LuCordeschi 3:bbd927c5bfa9 22 motor->run(1, BDCMotor::BWD);
LuCordeschi 3:bbd927c5bfa9 23 k=0;
LuCordeschi 3:bbd927c5bfa9 24 while (t != 3) {
LuCordeschi 3:bbd927c5bfa9 25 k1 = k;
LuCordeschi 3:bbd927c5bfa9 26 k = k+maxAcceleration/EncoderResolution*100/maxVelocity;
LuCordeschi 3:bbd927c5bfa9 27 motor->set_speed(k1,k);
LuCordeschi 3:bbd927c5bfa9 28 PulseperPeriod = encoder.getPulses();
LuCordeschi 3:bbd927c5bfa9 29
LuCordeschi 3:bbd927c5bfa9 30 if (pos_encoder==0) {
LuCordeschi 3:bbd927c5bfa9 31 t++;
LuCordeschi 3:bbd927c5bfa9 32 } else {
LuCordeschi 3:bbd927c5bfa9 33 t=0;
LuCordeschi 3:bbd927c5bfa9 34 }
LuCordeschi 3:bbd927c5bfa9 35 }
LuCordeschi 3:bbd927c5bfa9 36 }
LuCordeschi 3:bbd927c5bfa9 37
LuCordeschi 3:bbd927c5bfa9 38 //Pin can: CANRX PB8 and CANTX PB9
LuCordeschi 3:bbd927c5bfa9 39 void canRxIsr() {
LuCordeschi 3:bbd927c5bfa9 40 while(1) {
LuCordeschi 3:bbd927c5bfa9 41
LuCordeschi 3:bbd927c5bfa9 42 if(can1.read(messageIn))
LuCordeschi 3:bbd927c5bfa9 43
LuCordeschi 3:bbd927c5bfa9 44 {
LuCordeschi 3:bbd927c5bfa9 45 led1 = !led1;
LuCordeschi 3:bbd927c5bfa9 46 printf("received\n\r");
LuCordeschi 3:bbd927c5bfa9 47 }
LuCordeschi 3:bbd927c5bfa9 48 }
LuCordeschi 1:97a0f449f19d 49 }
LuCordeschi 1:97a0f449f19d 50 void command() {
LuCordeschi 3:bbd927c5bfa9 51
LuCordeschi 3:bbd927c5bfa9 52 canRxIsr();
LuCordeschi 3:bbd927c5bfa9 53 wait(0.5);
LuCordeschi 3:bbd927c5bfa9 54 }
LuCordeschi 3:bbd927c5bfa9 55 void sendMessage()
LuCordeschi 3:bbd927c5bfa9 56 {
LuCordeschi 3:bbd927c5bfa9 57 int status = can.write(messageOut);
LuCordeschi 3:bbd927c5bfa9 58 printf("Send status: %d\r\n", status);
LuCordeschi 3:bbd927c5bfa9 59 }
LuCordeschi 3:bbd927c5bfa9 60
LuCordeschi 3:bbd927c5bfa9 61 void controller(float v_normalized, float v_max,float v_actual, float a_max, float resolution, int pos_encoder) {
LuCordeschi 3:bbd927c5bfa9 62
LuCordeschi 3:bbd927c5bfa9 63 float v_request = abs(v_normalized*v_max); //*(100/v_max); //Command is think to be a normalized velocity
LuCordeschi 3:bbd927c5bfa9 64 float delta_v = v_request-v_actual;
LuCordeschi 3:bbd927c5bfa9 65 float k=0;
LuCordeschi 3:bbd927c5bfa9 66
LuCordeschi 3:bbd927c5bfa9 67 while (delta_v != 0) {
LuCordeschi 3:bbd927c5bfa9 68 /*Choosing a maximum acceleration, preferebly linked to the condition of the syste (motor, structure, Pwm and so on).
LuCordeschi 3:bbd927c5bfa9 69 Imposing an acceleration of 7.5 mm/s^2 to reach the v_max 2 secs are needed.*/
LuCordeschi 3:bbd927c5bfa9 70 //Measure the new position
LuCordeschi 3:bbd927c5bfa9 71
LuCordeschi 3:bbd927c5bfa9 72 if (v_normalized > 0){
LuCordeschi 3:bbd927c5bfa9 73 motor->run(1, BDCMotor::FWD);
LuCordeschi 3:bbd927c5bfa9 74 float k1 = k;
LuCordeschi 3:bbd927c5bfa9 75 k = k+ a_max/( resolution)*100/(v_max);
LuCordeschi 3:bbd927c5bfa9 76 motor->set_speed(k1,k);
LuCordeschi 3:bbd927c5bfa9 77
LuCordeschi 3:bbd927c5bfa9 78 } else if (v_normalized<0){
LuCordeschi 3:bbd927c5bfa9 79 motor->run(1, BDCMotor::BWD);
LuCordeschi 3:bbd927c5bfa9 80 float k1 = k;
LuCordeschi 3:bbd927c5bfa9 81 k = k+a_max/resolution*100/v_max;
LuCordeschi 3:bbd927c5bfa9 82 motor->set_speed(k1,k);
LuCordeschi 3:bbd927c5bfa9 83
LuCordeschi 3:bbd927c5bfa9 84 } else{
LuCordeschi 3:bbd927c5bfa9 85 float k1 = k;
LuCordeschi 3:bbd927c5bfa9 86 k = k-a_max/resolution*100/v_max;
LuCordeschi 3:bbd927c5bfa9 87 motor->set_speed(k1,k);
LuCordeschi 3:bbd927c5bfa9 88
LuCordeschi 3:bbd927c5bfa9 89 }
LuCordeschi 3:bbd927c5bfa9 90 pos_encoder = encoder.getPulses();
LuCordeschi 3:bbd927c5bfa9 91
LuCordeschi 3:bbd927c5bfa9 92 v_actual = (pos_encoder)*resolution;
LuCordeschi 3:bbd927c5bfa9 93
LuCordeschi 3:bbd927c5bfa9 94 delta_v = v_request-v_actual;
LuCordeschi 3:bbd927c5bfa9 95
LuCordeschi 3:bbd927c5bfa9 96 position = position + pos_encoder*/*Rad angle made (in average) by the encoder for each pulse*/;
LuCordeschi 3:bbd927c5bfa9 97
LuCordeschi 3:bbd927c5bfa9 98 wait(0.1);
LuCordeschi 3:bbd927c5bfa9 99 }
LuCordeschi 3:bbd927c5bfa9 100
LuCordeschi 3:bbd927c5bfa9 101 }
LuCordeschi 3:bbd927c5bfa9 102
LuCordeschi 0:839902368a34 103 int main (int argc,char **argv) {
LuCordeschi 0:839902368a34 104
LuCordeschi 1:97a0f449f19d 105 //Prendo il comando -> fisso un punto da raggiungere (Automatico) -> In tot step voglio tale duty cicle
LuCordeschi 1:97a0f449f19d 106 //Common variables
LuCordeschi 1:97a0f449f19d 107 float k = 0;
LuCordeschi 1:97a0f449f19d 108 float v_max = 15; //mm/s
LuCordeschi 1:97a0f449f19d 109 float pos_encoder = 0; //Posizione misurata dall'encoder
LuCordeschi 1:97a0f449f19d 110 float k1 = 0;
LuCordeschi 3:bbd927c5bfa9 111 float resolution; //sampling = resolution of the encoder
LuCordeschi 1:97a0f449f19d 112 int Auto = 0;
LuCordeschi 3:bbd927c5bfa9 113 int t=0;
LuCordeschi 1:97a0f449f19d 114
LuCordeschi 1:97a0f449f19d 115 //Auto variables
LuCordeschi 0:839902368a34 116 float finalDestination; //posizione da raggiungere RICEVUTA COME PARAMETRO
LuCordeschi 1:97a0f449f19d 117 float acceleration_range = 15; //n° step in accelerazione/decelerazione. Deciso da me
LuCordeschi 1:97a0f449f19d 118 float track_error = 1;
LuCordeschi 0:839902368a34 119 float sens_error; //Error given by the amplitude of a step of the encoder
LuCordeschi 1:97a0f449f19d 120 float v_request = 0;
LuCordeschi 1:97a0f449f19d 121 float PWM_dutyReduct = 0; //Variables used in case of triangular control
LuCordeschi 1:97a0f449f19d 122 float acc_rangeReduct = 0;
LuCordeschi 1:97a0f449f19d 123 float Contr_reference = 0; //Is the starting tracking error, needed to impose the right form of controller
LuCordeschi 1:97a0f449f19d 124
LuCordeschi 1:97a0f449f19d 125 //Manual variables
LuCordeschi 1:97a0f449f19d 126 float v_normalized = 0; //Manual command that indicates the direction and the magnitude of the velocity
LuCordeschi 1:97a0f449f19d 127 float v_actual = 0; //real velocity of the arm, computed through as incremental ratio
LuCordeschi 1:97a0f449f19d 128 float delta_v=0; //Difference of velocities used as input for control
LuCordeschi 1:97a0f449f19d 129 float a_max = 7.5; //maximum accelerazion mm/s^2
LuCordeschi 1:97a0f449f19d 130 float time = 0;
LuCordeschi 3:bbd927c5bfa9 131 float position=0;
LuCordeschi 1:97a0f449f19d 132 //Initialization: to write the right pins
LuCordeschi 1:97a0f449f19d 133 //L6206(PinName EN_flag_A, PinName EN_flag_B, PinName pwm_1A, PinName pwm_2A, PinName pwm_1B, PinName pwm_2B) : BDCMotor(), flag_A_irq(EN_flag_A), flag_B_irq(EN_flag_B), EN_flag_A(EN_flag_A), EN_flag_B(EN_flag_B), pwm_1A(pwm_1A), pwm_2A(pwm_2A), pwm_1B(pwm_1B), pwm_2B(pwm_2B)
LuCordeschi 1:97a0f449f19d 134
LuCordeschi 3:bbd927c5bfa9 135 gotozero(a_max,v_max,resolution, k, k1, t);
LuCordeschi 3:bbd927c5bfa9 136
LuCordeschi 0:839902368a34 137
LuCordeschi 3:bbd927c5bfa9 138 //Absolute position of the actuator (from can?)
LuCordeschi 1:97a0f449f19d 139
LuCordeschi 3:bbd927c5bfa9 140 switch (Auto) {
LuCordeschi 0:839902368a34 141
LuCordeschi 1:97a0f449f19d 142 case 1: {/*The rover is in its automatic mode*/
LuCordeschi 1:97a0f449f19d 143
LuCordeschi 1:97a0f449f19d 144 //OTTENGO LA posizione iniziale dell'encoder startPos_encoder
LuCordeschi 0:839902368a34 145 //Ottengo il comando
LuCordeschi 1:97a0f449f19d 146 Contr_reference = finalDestination-startPos_encoder;
LuCordeschi 1:97a0f449f19d 147 track_error = Contr_reference;
LuCordeschi 0:839902368a34 148 while (track_error>sens_error) {
LuCordeschi 0:839902368a34 149
LuCordeschi 0:839902368a34 150 if (Contr_reference>2*acceleration_range) { //Controllo trapezoidale
LuCordeschi 0:839902368a34 151
LuCordeschi 0:839902368a34 152 if (track_error>(finalDestination-acceleration_range)) {
LuCordeschi 1:97a0f449f19d 153 k1 = k;
LuCordeschi 1:97a0f449f19d 154 k = (track_error/(finalDestination-acceleration_range))*100; //V da imporre
LuCordeschi 0:839902368a34 155 motor->set_speed(k1,k);
LuCordeschi 1:97a0f449f19d 156
LuCordeschi 0:839902368a34 157
LuCordeschi 0:839902368a34 158 } else if (track_error<acceleration_range) {
LuCordeschi 0:839902368a34 159
LuCordeschi 1:97a0f449f19d 160 k1 = k;
LuCordeschi 1:97a0f449f19d 161 k = ((track_error)/acceleration_range)*100; //PWM_duty = 90*(1-k)
LuCordeschi 0:839902368a34 162 motor->set_speed(k1,k);
LuCordeschi 1:97a0f449f19d 163
LuCordeschi 3:bbd927c5bfa9 164 }
LuCordeschi 3:bbd927c5bfa9 165
LuCordeschi 0:839902368a34 166 //Leggo la pos_encoder attuale
LuCordeschi 0:839902368a34 167
LuCordeschi 0:839902368a34 168 } else { //Controllo triangolare
LuCordeschi 0:839902368a34 169 /*Si agisce in maniera analoga al caso non saturato ma si impone un duty cicle massimo minore
LuCordeschi 0:839902368a34 170 In particolare la v_max è proporzionale alla dimensione dello spostamento con 90 che corrisponde
LuCordeschi 1:97a0f449f19d 171 a un intervallo pari a 40 e poi si defininisce il nuovo PWM_dutyReduct = interval*90/40
LuCordeschi 0:839902368a34 172 */
LuCordeschi 0:839902368a34 173
LuCordeschi 1:97a0f449f19d 174 PWM_dutyReduct = (Contr_reference/(2*acceleration_range))*100;
LuCordeschi 0:839902368a34 175
LuCordeschi 0:839902368a34 176 //A new variable is needed to indicate the range of acceleration (in this case is less than the acceleration_range)
LuCordeschi 1:97a0f449f19d 177 acc_rangeReduct = Contr_reference/2;
LuCordeschi 1:97a0f449f19d 178 if (track_error>acc_rangeReduct) {
LuCordeschi 1:97a0f449f19d 179 k1 = k;
LuCordeschi 1:97a0f449f19d 180 k = (track_error/(finalDestination-acc_rangeReduct))*PWM_dutyReduct; //costante di proporzionalità
LuCordeschi 1:97a0f449f19d 181 //PWM_duty = k1*PWM_dutyReduct
LuCordeschi 1:97a0f449f19d 182 motor->set_speed(k1,k);
LuCordeschi 1:97a0f449f19d 183
LuCordeschi 0:839902368a34 184 } else {
LuCordeschi 1:97a0f449f19d 185 k1 = k;
LuCordeschi 1:97a0f449f19d 186 k = (track_error/acc_rangeReduct)*PWM_dutyReduct;
LuCordeschi 1:97a0f449f19d 187 //PWM_duty = PWM_dutyReduct*(1-k)
LuCordeschi 0:839902368a34 188 motor->set_speed(k1,k);
LuCordeschi 1:97a0f449f19d 189
LuCordeschi 0:839902368a34 190 }
LuCordeschi 0:839902368a34 191 //Leggo la pos_encoder attuale
LuCordeschi 0:839902368a34 192 }
LuCordeschi 1:97a0f449f19d 193 track_error = finalDestination-pos_encoder; //It is used as counter
LuCordeschi 0:839902368a34 194 }
LuCordeschi 0:839902368a34 195 }
LuCordeschi 0:839902368a34 196 break;
LuCordeschi 0:839902368a34 197
LuCordeschi 1:97a0f449f19d 198 default: { //Manual control based on a velocity control with a position feedback. The following velocities are gotten through a [-1,1] command,
LuCordeschi 1:97a0f449f19d 199 //normalized velocity
LuCordeschi 3:bbd927c5bfa9 200
LuCordeschi 3:bbd927c5bfa9 201
LuCordeschi 3:bbd927c5bfa9 202 thread.start(controller);
LuCordeschi 3:bbd927c5bfa9 203
LuCordeschi 3:bbd927c5bfa9 204 thread.start(command);
LuCordeschi 3:bbd927c5bfa9 205
LuCordeschi 3:bbd927c5bfa9 206 while(1){
LuCordeschi 3:bbd927c5bfa9 207
LuCordeschi 3:bbd927c5bfa9 208 sendMessage(); //position
LuCordeschi 3:bbd927c5bfa9 209
LuCordeschi 1:97a0f449f19d 210 }
LuCordeschi 3:bbd927c5bfa9 211
LuCordeschi 3:bbd927c5bfa9 212 break;
LuCordeschi 1:97a0f449f19d 213
LuCordeschi 1:97a0f449f19d 214 }
LuCordeschi 3:bbd927c5bfa9 215 }