TeamSurface / Mbed 2 deprecated RT2_P3_students

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main.cpp@13:724759951a6f, 2018-05-07 (annotated)

Committer:
Kiwicjam
Date:
Mon May 07 09:06:54 2018 +0000
Revision:
13:724759951a6f
Parent:
12:1aa5ff8333e8 
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UserRevisionLine numberNew contents of line
altb 0:78ca29b4c49e 1 #include "mbed.h"
altb 0:78ca29b4c49e 2 #include "math.h"
altb 0:78ca29b4c49e 3 //------------------------------------------
altb 0:78ca29b4c49e 4 #define PI 3.1415927f
altb 0:78ca29b4c49e 5 //------------------------------------------
altb 0:78ca29b4c49e 6 #include "EncoderCounter.h"
altb 0:78ca29b4c49e 7 #include "DiffCounter.h"
altb 0:78ca29b4c49e 8 #include "IIR_filter.h"
altb 0:78ca29b4c49e 9 #include "LinearCharacteristics.h"
altb 5:d79c437626e7 10 #include "PI_Cntrl.h"
altb 8:8ed679044a72 11 #include "GPA.h"
altb 0:78ca29b4c49e 12 /* Cuboid balance on one edge on Nucleo F446RE
altb 0:78ca29b4c49e 13
altb 0:78ca29b4c49e 14 **** IMPORTANT: use ..\Labormodelle\RT-MOD054 - Würfel\Escon_Parameter_4nucleo.edc
altb 0:78ca29b4c49e 15 settings for Maxon ESCON controller (upload via ESCON Studio) ****
altb 0:78ca29b4c49e 16 hardware Connections:
altb 0:78ca29b4c49e 17
altb 0:78ca29b4c49e 18 CN7 CN10
altb 0:78ca29b4c49e 19 : :
altb 0:78ca29b4c49e 20 : :
altb 0:78ca29b4c49e 21 .. ..
altb 0:78ca29b4c49e 22 .. .. 15.
altb 0:78ca29b4c49e 23 .. AOUT i_des on (PA_5)o.
altb 0:78ca29b4c49e 24 .. ..
altb 0:78ca29b4c49e 25 .. ..
altb 0:78ca29b4c49e 26 .. ENC CH A o.
altb 0:78ca29b4c49e 27 o. GND .. 10.
altb 0:78ca29b4c49e 28 o. ENC CH B ..
altb 0:78ca29b4c49e 29 .. ..
altb 0:78ca29b4c49e 30 .. ..
altb 0:78ca29b4c49e 31 .o AIN acx (PA_0) ..
altb 0:78ca29b4c49e 32 .o AIN acy (PA_1) .. 5.
altb 0:78ca29b4c49e 33 .o AIN Gyro(PA_4) .o Analog GND
altb 0:78ca29b4c49e 34 .. ..
altb 0:78ca29b4c49e 35 .. ..
altb 0:78ca29b4c49e 36 .. .. 1.
altb 0:78ca29b4c49e 37 ----------------------------
altb 0:78ca29b4c49e 38 CN7 CN10
altb 0:78ca29b4c49e 39 */
altb 0:78ca29b4c49e 40 Serial pc(SERIAL_TX, SERIAL_RX); // serial connection via USB - programmer
altb 0:78ca29b4c49e 41 InterruptIn button(USER_BUTTON); // User Button, short presses: reduce speed, long presses: increase speed
altb 0:78ca29b4c49e 42 AnalogIn ax(PA_0); // Analog IN (acc x) on PA_0
altb 0:78ca29b4c49e 43 AnalogIn ay(PA_1); // Analog IN (acc y) on PA_1
altb 0:78ca29b4c49e 44 AnalogIn gz(PA_4); // Analog IN (gyr z) on PA_4
altb 0:78ca29b4c49e 45 AnalogOut out(PA_5); // Analog OUT on PA_5 1.6 V -> 0A 3.2A -> 2A (see ESCON)
altb 0:78ca29b4c49e 46 float out_value = 1.6f; // set voltage on 1.6 V (0 A current)
altb 0:78ca29b4c49e 47 float w_soll = 10.0f; // desired velocity
Kiwicjam 9:dc0eb7dd0d92 48 float Ts = 0.002f; // sample time of main loops
altb 3:769ce5f06d3e 49 int k = 0;
altb 6:2cc56521aa16 50
altb 0:78ca29b4c49e 51 //------------------------------------------
altb 0:78ca29b4c49e 52 // ... here define variables like gains etc.
altb 0:78ca29b4c49e 53 //------------------------------------------
Kiwicjam 9:dc0eb7dd0d92 54 //LinearCharacteristics i2u(0.8f,-2.0f);
Kiwicjam 13:724759951a6f 55 //LinearCharacteristics i2u(-2.0f,2.0f,0.0f,3.2f); // schwach parametrierung
Kiwicjam 13:724759951a6f 56 LinearCharacteristics i2u(-15.0f,15.0f,0.0f,3.2f); // starke parametrierung
Kiwicjam 12:1aa5ff8333e8 57 LinearCharacteristics u2ax(0.69630f,0.29792,9.81f,-9.81f);
Kiwicjam 12:1aa5ff8333e8 58 LinearCharacteristics u2ay(0.70012f,0.29750,9.81f,-9.81f);
Kiwicjam 10:ddbc7e4c41a0 59 LinearCharacteristics u2gyro(-4.65f,1.5f);
Kiwicjam 10:ddbc7e4c41a0 60
altb 0:78ca29b4c49e 61 //------------------------------------------
altb 0:78ca29b4c49e 62 Ticker ControllerLoopTimer; // interrupt for control loop
altb 0:78ca29b4c49e 63 EncoderCounter counter1(PB_6, PB_7); // initialize counter on PB_6 and PB_7
altb 0:78ca29b4c49e 64 DiffCounter diff(0.01,Ts); // discrete differentiate, based on encoder data
Kiwicjam 13:724759951a6f 65
altb 0:78ca29b4c49e 66 //------------------------------------------
altb 0:78ca29b4c49e 67 // ... here define instantiate classes
altb 0:78ca29b4c49e 68 //------------------------------------------
Kiwicjam 12:1aa5ff8333e8 69 PI_Cntrl vel_cntrl(0.5f,0.05f,Ts,0.4f);
Kiwicjam 12:1aa5ff8333e8 70 PI_Cntrl omega2zero(-0.002f,2.0f,Ts,0.5);
Kiwicjam 10:ddbc7e4c41a0 71
Kiwicjam 13:724759951a6f 72 float tau = 1.0f; //Zeitkonstante Filter
Kiwicjam 10:ddbc7e4c41a0 73 IIR_filter LPF_gyro(tau,Ts,tau);
Kiwicjam 10:ddbc7e4c41a0 74 IIR_filter LPF_accX(tau,Ts,1.0f);
Kiwicjam 10:ddbc7e4c41a0 75 IIR_filter LPF_accY(tau,Ts,1.0f);
Kiwicjam 10:ddbc7e4c41a0 76
altb 0:78ca29b4c49e 77 // ... define some linear characteristics -----------------------------------------
altb 0:78ca29b4c49e 78
altb 0:78ca29b4c49e 79 // ----- User defined functions -----------
altb 0:78ca29b4c49e 80 void updateControllers(void); // speed controller loop (via interrupt)
altb 0:78ca29b4c49e 81 // ------ END User defined functions ------
altb 0:78ca29b4c49e 82
altb 0:78ca29b4c49e 83 //******************************************************************************
altb 0:78ca29b4c49e 84 //---------- main loop -------------
altb 0:78ca29b4c49e 85 //******************************************************************************
altb 0:78ca29b4c49e 86 int main()
altb 0:78ca29b4c49e 87 {
altb 0:78ca29b4c49e 88 //attach controller loop to timer interrupt
altb 0:78ca29b4c49e 89 pc.baud(2000000); // for serial comm.
altb 0:78ca29b4c49e 90 counter1.reset(); // encoder reset
altb 0:78ca29b4c49e 91 diff.reset(0.0f,0.0f);
altb 0:78ca29b4c49e 92 ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = ...;
altb 5:d79c437626e7 93
altb 3:769ce5f06d3e 94
altb 0:78ca29b4c49e 95 }
altb 0:78ca29b4c49e 96 //******************************************************************************
altb 0:78ca29b4c49e 97 //---------- control loop (called via interrupt) -------------
altb 0:78ca29b4c49e 98 //******************************************************************************
altb 0:78ca29b4c49e 99 void updateControllers(void){
altb 0:78ca29b4c49e 100 short counts = counter1; // get counts from Encoder
altb 0:78ca29b4c49e 101 float vel = diff(counts); // motor velocity
altb 8:8ed679044a72 102
Kiwicjam 13:724759951a6f 103 // filterung der Input Daten
Kiwicjam 13:724759951a6f 104 float gyro = (u2gyro(gz.read()*3.3f));
Kiwicjam 13:724759951a6f 105 float gyroV = LPF_gyro.filter(gyro);
Kiwicjam 10:ddbc7e4c41a0 106 float accX = LPF_accX.filter(u2ax(ax.read()));
Kiwicjam 10:ddbc7e4c41a0 107 float accY = LPF_accY.filter(u2ay(ay.read()));
Kiwicjam 10:ddbc7e4c41a0 108
Kiwicjam 12:1aa5ff8333e8 109 // komplementärfilter
Kiwicjam 12:1aa5ff8333e8 110 float phi_mes = ((PI/4) + atan2(-accX, accY) + gyroV);
Kiwicjam 10:ddbc7e4c41a0 111
Kiwicjam 12:1aa5ff8333e8 112 // regler
Kiwicjam 13:724759951a6f 113 float torque = omega2zero(0-vel)-(-9.6910f*phi_mes - 0.71190f * gyro);
Kiwicjam 10:ddbc7e4c41a0 114 out.write(i2u(torque/0.217f)/3.3f);
altb 8:8ed679044a72 115
altb 8:8ed679044a72 116
Kiwicjam 10:ddbc7e4c41a0 117 // OUTPUT
Kiwicjam 10:ddbc7e4c41a0 118 if(++k >= 150){
Kiwicjam 9:dc0eb7dd0d92 119 k = 0;
Kiwicjam 10:ddbc7e4c41a0 120 pc.printf("Uax val %3.5f; ax val %3.5f; Uay val %3.5f; ay val %3.5f; gyro %3.5f\r\n",ax.read(),u2ax(ax.read()),ay.read(),u2ay(ay.read()), gz.read());
Kiwicjam 10:ddbc7e4c41a0 121 pc.printf("Phii: %3.3f\r\n", phi_mes);
Kiwicjam 9:dc0eb7dd0d92 122 }
altb 0:78ca29b4c49e 123 }
altb 0:78ca29b4c49e 124 //******************************************************************************
altb 0:78ca29b4c49e 125 //********** User functions like buttens handle etc. **************
altb 0:78ca29b4c49e 126 //******************************************************************************
altb 0:78ca29b4c49e 127 // pressed button
altb 0:78ca29b4c49e 128 //******************************************************************************
altb 0:78ca29b4c49e 129
Kiwicjam 12:1aa5ff8333e8 130 //...
Kiwicjam 12:1aa5ff8333e8 131
Kiwicjam 12:1aa5ff8333e8 132