Ironcup Mar 2020
Dependencies: mbed mbed-rtos MotionSensor EthernetInterface
main.cpp@4:8ead8ada8a8b, 2016-04-17 (annotated)
- Committer:
- drelliak
- Date:
- Sun Apr 17 01:01:17 2016 +0000
- Revision:
- 4:8ead8ada8a8b
- Parent:
- 3:e213c44a9f6c
- Child:
- 6:c930555fd872
reupload
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
drelliak | 0:88faaa1afb83 | 1 | #include "FXAS21002.h" |
drelliak | 0:88faaa1afb83 | 2 | #include "FXOS8700Q.h" |
drelliak | 0:88faaa1afb83 | 3 | #include "mbed.h" |
drelliak | 0:88faaa1afb83 | 4 | #include "CarPWM.h" |
drelliak | 0:88faaa1afb83 | 5 | #include "receiver.h" |
drelliak | 0:88faaa1afb83 | 6 | |
drelliak | 0:88faaa1afb83 | 7 | |
drelliak | 0:88faaa1afb83 | 8 | #define PI 3.141592653589793238462 |
drelliak | 0:88faaa1afb83 | 9 | #define Ts 0.02 // Seconds |
drelliak | 0:88faaa1afb83 | 10 | #define INITIAL_P 0.452531214933414 |
drelliak | 0:88faaa1afb83 | 11 | #define INITIAL_I 5.45748932024049 |
drelliak | 0:88faaa1afb83 | 12 | #define INITIAL_D 0.000233453623255507 |
drelliak | 0:88faaa1afb83 | 13 | #define INITIAL_N 51.0605584484153 |
drelliak | 3:e213c44a9f6c | 14 | #define BRAKE_CONSTANT 30 |
drelliak | 0:88faaa1afb83 | 15 | #define GYRO_OFFSET 0.0152 |
drelliak | 0:88faaa1afb83 | 16 | #define END_THRESH 4 |
drelliak | 0:88faaa1afb83 | 17 | #define START_THRESH 10 |
drelliak | 0:88faaa1afb83 | 18 | #define MINIMUM_VELOCITY 15 |
drelliak | 0:88faaa1afb83 | 19 | Serial ser(USBTX, USBRX); // Initialize Serial port |
drelliak | 0:88faaa1afb83 | 20 | PwmOut motor(PTD1); // Motor connected to pin PTD1 |
drelliak | 0:88faaa1afb83 | 21 | PwmOut servo(PTD3); // Servo connected to pin PTD3 |
drelliak | 0:88faaa1afb83 | 22 | |
drelliak | 0:88faaa1afb83 | 23 | FXOS8700Q_mag mag(PTE25,PTE24,FXOS8700CQ_SLAVE_ADDR1); |
drelliak | 0:88faaa1afb83 | 24 | FXAS21002 gyro(PTE25,PTE24); |
drelliak | 0:88faaa1afb83 | 25 | |
drelliak | 0:88faaa1afb83 | 26 | |
drelliak | 0:88faaa1afb83 | 27 | |
drelliak | 0:88faaa1afb83 | 28 | // PID controller parameters and functions |
drelliak | 0:88faaa1afb83 | 29 | float e[2], u, up[1],ui[2], ud[2]; // The vector coeficient means a time delay, for exemple e[a] = e(k-a) -> z^(-a)e(k) |
drelliak | 0:88faaa1afb83 | 30 | float P, I, D, N, reference = 0; |
drelliak | 0:88faaa1afb83 | 31 | void controlAnglePID(float P, float I, float D, float N); |
drelliak | 0:88faaa1afb83 | 32 | void initializeController(); |
drelliak | 0:88faaa1afb83 | 33 | |
drelliak | 0:88faaa1afb83 | 34 | // Gyroscope variables and functions |
drelliak | 0:88faaa1afb83 | 35 | float gyro_data[3], gyro_angle; |
drelliak | 0:88faaa1afb83 | 36 | Timer t; |
drelliak | 0:88faaa1afb83 | 37 | void processGyroAngle(); |
drelliak | 0:88faaa1afb83 | 38 | void startGyro(); |
drelliak | 0:88faaa1afb83 | 39 | void stopGyro(); |
drelliak | 0:88faaa1afb83 | 40 | |
drelliak | 0:88faaa1afb83 | 41 | // Magnetometer variables and functions |
drelliak | 0:88faaa1afb83 | 42 | float max_x, max_y, min_x, min_y,x,y; |
drelliak | 0:88faaa1afb83 | 43 | MotionSensorDataUnits mag_data; |
drelliak | 0:88faaa1afb83 | 44 | float processMagAngle(); |
drelliak | 0:88faaa1afb83 | 45 | void magCal(); |
drelliak | 0:88faaa1afb83 | 46 | |
drelliak | 0:88faaa1afb83 | 47 | // State variables |
drelliak | 4:8ead8ada8a8b | 48 | float feedback, velocity; |
drelliak | 0:88faaa1afb83 | 49 | void readProtocol(); |
drelliak | 0:88faaa1afb83 | 50 | void brakeMotor(); |
drelliak | 0:88faaa1afb83 | 51 | // Test functions |
drelliak | 0:88faaa1afb83 | 52 | void debug(); |
drelliak | 0:88faaa1afb83 | 53 | |
drelliak | 0:88faaa1afb83 | 54 | int main(){ |
drelliak | 0:88faaa1afb83 | 55 | // Initializing serial communication |
drelliak | 0:88faaa1afb83 | 56 | ser.baud(9600); |
drelliak | 0:88faaa1afb83 | 57 | ser.format(8, SerialBase::None, 1); |
drelliak | 0:88faaa1afb83 | 58 | // Initializing controller |
drelliak | 0:88faaa1afb83 | 59 | printf("Initializing controller....\r\n\r\n"); |
drelliak | 0:88faaa1afb83 | 60 | initializeController(); |
drelliak | 0:88faaa1afb83 | 61 | printf("Controller Initialized. \r\n"); |
drelliak | 0:88faaa1afb83 | 62 | // Calibrating magnetometer and setting the initial position |
drelliak | 0:88faaa1afb83 | 63 | magCal(); |
drelliak | 0:88faaa1afb83 | 64 | gyro_angle = processMagAngle(); |
drelliak | 0:88faaa1afb83 | 65 | // Start moving the robot and integrating the gyroscope |
drelliak | 0:88faaa1afb83 | 66 | velocity = MINIMUM_VELOCITY; |
drelliak | 0:88faaa1afb83 | 67 | setMotorPWM(velocity,motor); |
drelliak | 0:88faaa1afb83 | 68 | startGyro(); |
drelliak | 0:88faaa1afb83 | 69 | // main loop |
drelliak | 0:88faaa1afb83 | 70 | while (true){ |
drelliak | 4:8ead8ada8a8b | 71 | processGyroAngle(); |
drelliak | 4:8ead8ada8a8b | 72 | controlAnglePID(P,I,D,N); |
drelliak | 4:8ead8ada8a8b | 73 | //debug(); |
drelliak | 4:8ead8ada8a8b | 74 | if(t.read_us() < Ts*1000000) |
drelliak | 4:8ead8ada8a8b | 75 | wait_us(Ts*1000000 - t.read_us()); |
drelliak | 4:8ead8ada8a8b | 76 | if(ser.readable()) |
drelliak | 4:8ead8ada8a8b | 77 | readProtocol(); |
drelliak | 0:88faaa1afb83 | 78 | } |
drelliak | 0:88faaa1afb83 | 79 | } |
drelliak | 0:88faaa1afb83 | 80 | |
drelliak | 0:88faaa1afb83 | 81 | void readProtocol(){ |
drelliak | 0:88faaa1afb83 | 82 | char msg = ser.getc(); |
drelliak | 0:88faaa1afb83 | 83 | switch(msg) |
drelliak | 0:88faaa1afb83 | 84 | { |
drelliak | 0:88faaa1afb83 | 85 | case NONE: |
drelliak | 0:88faaa1afb83 | 86 | //ser.printf("sending red signal to led\r\n"); |
drelliak | 0:88faaa1afb83 | 87 | return; |
drelliak | 0:88faaa1afb83 | 88 | break; |
drelliak | 0:88faaa1afb83 | 89 | case BRAKE: |
drelliak | 0:88faaa1afb83 | 90 | //ser.printf("sending green signal to led\r\n"); |
drelliak | 0:88faaa1afb83 | 91 | brakeMotor(); |
drelliak | 0:88faaa1afb83 | 92 | break; |
drelliak | 0:88faaa1afb83 | 93 | case ANG_RST: |
drelliak | 0:88faaa1afb83 | 94 | //ser.printf("sending blue signal to led\r\n"); |
drelliak | 0:88faaa1afb83 | 95 | stopGyro(); |
drelliak | 0:88faaa1afb83 | 96 | gyro_angle = 0; |
drelliak | 0:88faaa1afb83 | 97 | startGyro(); |
drelliak | 0:88faaa1afb83 | 98 | return; |
drelliak | 0:88faaa1afb83 | 99 | break; |
drelliak | 0:88faaa1afb83 | 100 | case ANG_REF: |
drelliak | 0:88faaa1afb83 | 101 | reference = get_ang_ref(ser); |
drelliak | 0:88faaa1afb83 | 102 | break; |
drelliak | 0:88faaa1afb83 | 103 | case GND_SPEED: |
drelliak | 0:88faaa1afb83 | 104 | velocity = get_gnd_speed(ser); |
drelliak | 0:88faaa1afb83 | 105 | setMotorPWM(velocity,motor); |
drelliak | 0:88faaa1afb83 | 106 | break; |
drelliak | 0:88faaa1afb83 | 107 | case PID_PARAMS: |
drelliak | 0:88faaa1afb83 | 108 | ser.putc('p'); |
drelliak | 0:88faaa1afb83 | 109 | get_pid_params(ser, &P, &I, &D, &N); |
drelliak | 0:88faaa1afb83 | 110 | break; |
drelliak | 0:88faaa1afb83 | 111 | default: |
drelliak | 0:88faaa1afb83 | 112 | // ser.flush(); |
drelliak | 0:88faaa1afb83 | 113 | |
drelliak | 0:88faaa1afb83 | 114 | } |
drelliak | 0:88faaa1afb83 | 115 | } |
drelliak | 0:88faaa1afb83 | 116 | /* Initialize the controller parameter P, I, D and N with the initial values and set the error and input to 0. */ |
drelliak | 0:88faaa1afb83 | 117 | void initializeController(){ |
drelliak | 0:88faaa1afb83 | 118 | for(int i =0; i<2; i++){ |
drelliak | 0:88faaa1afb83 | 119 | e[i] = 0; |
drelliak | 0:88faaa1afb83 | 120 | ui[i] = 0; |
drelliak | 0:88faaa1afb83 | 121 | ud[i] = 0; |
drelliak | 0:88faaa1afb83 | 122 | } |
drelliak | 0:88faaa1afb83 | 123 | P= INITIAL_P; |
drelliak | 0:88faaa1afb83 | 124 | I= INITIAL_I; |
drelliak | 0:88faaa1afb83 | 125 | D= INITIAL_D; |
drelliak | 0:88faaa1afb83 | 126 | N= INITIAL_N; |
drelliak | 0:88faaa1afb83 | 127 | } |
drelliak | 0:88faaa1afb83 | 128 | |
drelliak | 0:88faaa1afb83 | 129 | /* Start the Gyroscope timer and set the initial configuration */ |
drelliak | 0:88faaa1afb83 | 130 | void startGyro(){ |
drelliak | 0:88faaa1afb83 | 131 | gyro.gyro_config(); |
drelliak | 0:88faaa1afb83 | 132 | t.start(); |
drelliak | 0:88faaa1afb83 | 133 | } |
drelliak | 0:88faaa1afb83 | 134 | |
drelliak | 0:88faaa1afb83 | 135 | /* Stop and reset the Gyroscope */ |
drelliak | 0:88faaa1afb83 | 136 | void stopGyro(){ |
drelliak | 0:88faaa1afb83 | 137 | t.stop(); |
drelliak | 0:88faaa1afb83 | 138 | t.reset(); |
drelliak | 0:88faaa1afb83 | 139 | gyro_angle = 0; |
drelliak | 0:88faaa1afb83 | 140 | } |
drelliak | 0:88faaa1afb83 | 141 | |
drelliak | 0:88faaa1afb83 | 142 | /* Integrate the Gyroscope to get the angular position (Deegre/seconds) */ |
drelliak | 0:88faaa1afb83 | 143 | void processGyroAngle(){ |
drelliak | 0:88faaa1afb83 | 144 | gyro.acquire_gyro_data_dps(gyro_data); |
drelliak | 0:88faaa1afb83 | 145 | t.stop(); |
drelliak | 0:88faaa1afb83 | 146 | gyro_angle = gyro_angle + (gyro_data[2] + GYRO_OFFSET)*(double)(t.read_us())/1000000; |
drelliak | 0:88faaa1afb83 | 147 | t.reset(); |
drelliak | 0:88faaa1afb83 | 148 | t.start(); |
drelliak | 4:8ead8ada8a8b | 149 | feedback = gyro_angle; |
drelliak | 4:8ead8ada8a8b | 150 | if(feedback > 180) |
drelliak | 4:8ead8ada8a8b | 151 | feedback = feedback - 360; |
drelliak | 4:8ead8ada8a8b | 152 | if(feedback < -180) |
drelliak | 4:8ead8ada8a8b | 153 | feedback = feedback + 360; |
drelliak | 0:88faaa1afb83 | 154 | } |
drelliak | 0:88faaa1afb83 | 155 | |
drelliak | 0:88faaa1afb83 | 156 | /* PID controller for angular position */ |
drelliak | 0:88faaa1afb83 | 157 | void controlAnglePID(float P, float I, float D, float N){ |
drelliak | 0:88faaa1afb83 | 158 | /* Getting error */ |
drelliak | 0:88faaa1afb83 | 159 | e[1] = e[0]; |
drelliak | 4:8ead8ada8a8b | 160 | e[0] = reference - (feedback*PI/180); |
drelliak | 0:88faaa1afb83 | 161 | if(e[0] > PI) |
drelliak | 0:88faaa1afb83 | 162 | e[0]= e[0] - 2*PI; |
drelliak | 0:88faaa1afb83 | 163 | if(e[0] < -PI) |
drelliak | 0:88faaa1afb83 | 164 | e[0] = e[0] + 2*PI; |
drelliak | 0:88faaa1afb83 | 165 | /* Proportinal Part */ |
drelliak | 0:88faaa1afb83 | 166 | up[0] = e[0]*P; |
drelliak | 0:88faaa1afb83 | 167 | /* Integral Part */ |
drelliak | 0:88faaa1afb83 | 168 | ui[1] = ui[0]; |
drelliak | 0:88faaa1afb83 | 169 | if(abs(u) < PI/8){ |
drelliak | 0:88faaa1afb83 | 170 | ui[0] = (P*I*Ts)*e[1] + ui[1]; |
drelliak | 0:88faaa1afb83 | 171 | } |
drelliak | 0:88faaa1afb83 | 172 | else if(u > 0) |
drelliak | 0:88faaa1afb83 | 173 | ui[0] = PI/8 - up[0]; |
drelliak | 0:88faaa1afb83 | 174 | else if(u < 0) |
drelliak | 0:88faaa1afb83 | 175 | ui[0] = -PI/8 - up[0]; |
drelliak | 0:88faaa1afb83 | 176 | /* Derivative Part */ |
drelliak | 0:88faaa1afb83 | 177 | ud[1] = ud[0]; |
drelliak | 0:88faaa1afb83 | 178 | ud[0] = P*D*N*(e[0] - e[1]) - ud[1]*(N*Ts -1); |
drelliak | 0:88faaa1afb83 | 179 | /** Controller **/ |
drelliak | 0:88faaa1afb83 | 180 | u = up[0] + ud[0] + ui[0]; |
drelliak | 0:88faaa1afb83 | 181 | setServoPWM(u*100/(PI/8), servo); |
drelliak | 0:88faaa1afb83 | 182 | } |
drelliak | 0:88faaa1afb83 | 183 | /* Brake function, braking while the gyroscope is still integrating will cause considerably error in the measurement. */ |
drelliak | 0:88faaa1afb83 | 184 | void brakeMotor(){ |
drelliak | 0:88faaa1afb83 | 185 | if(velocity > 0) |
drelliak | 3:e213c44a9f6c | 186 | setMotorPWM(-BRAKE_CONSTANT, motor); |
drelliak | 0:88faaa1afb83 | 187 | else if(velocity < 0) |
drelliak | 3:e213c44a9f6c | 188 | setMotorPWM(BRAKE_CONSTANT, motor); |
drelliak | 0:88faaa1afb83 | 189 | wait(0.5); |
drelliak | 0:88faaa1afb83 | 190 | setMotorPWM(0,motor); |
drelliak | 0:88faaa1afb83 | 191 | } |
drelliak | 0:88faaa1afb83 | 192 | /* Debug functions that prints the sensor and control inputs values. Since it's time consuming it should not be used */ |
drelliak | 0:88faaa1afb83 | 193 | /* in the main loop or the controller performance may be affected. */ |
drelliak | 0:88faaa1afb83 | 194 | void debug(){ |
drelliak | 0:88faaa1afb83 | 195 | //printf("ERROR: %f Up: %f Ui: %f Ud: %f U: %f \r\n", e[0]*180/3.1415, up[0]*100/(3.1415/8), ui[0]*100/(3.1415/8), ud[0]*100/(3.1415/8),u*100/(3.1415/8)); |
drelliak | 0:88faaa1afb83 | 196 | //printf("Erro: %f Sensor: %f Magnetometer: %f \r\n",e[0]*180/PI,sensor,processMagAngle(0)*180/PI); |
drelliak | 4:8ead8ada8a8b | 197 | printf(" %f \r\n",feedback); |
drelliak | 0:88faaa1afb83 | 198 | } |
drelliak | 0:88faaa1afb83 | 199 | |
drelliak | 0:88faaa1afb83 | 200 | /* Function to normalize the magnetometer reading */ |
drelliak | 0:88faaa1afb83 | 201 | void magCal(){ |
drelliak | 0:88faaa1afb83 | 202 | printf("Starting Calibration"); |
drelliak | 0:88faaa1afb83 | 203 | mag.enable(); |
drelliak | 0:88faaa1afb83 | 204 | wait(0.01); |
drelliak | 0:88faaa1afb83 | 205 | mag.getAxis(mag_data); |
drelliak | 0:88faaa1afb83 | 206 | float x0 = max_x = min_y = mag_data.x; |
drelliak | 0:88faaa1afb83 | 207 | float y0 = max_y = min_y = mag_data.y; |
drelliak | 0:88faaa1afb83 | 208 | bool began = false; |
drelliak | 0:88faaa1afb83 | 209 | while(!(began && abs(mag_data.x - x0) < END_THRESH && abs(mag_data.y - y0) < END_THRESH)){ |
drelliak | 0:88faaa1afb83 | 210 | mag.getAxis(mag_data); |
drelliak | 0:88faaa1afb83 | 211 | if(mag_data.x > max_x) |
drelliak | 0:88faaa1afb83 | 212 | max_x = mag_data.x; |
drelliak | 0:88faaa1afb83 | 213 | if(mag_data.y > max_y) |
drelliak | 0:88faaa1afb83 | 214 | max_y = mag_data.y; |
drelliak | 0:88faaa1afb83 | 215 | if(mag_data.y < min_y) |
drelliak | 0:88faaa1afb83 | 216 | min_y = mag_data.y; |
drelliak | 0:88faaa1afb83 | 217 | if(mag_data.x < min_x) |
drelliak | 0:88faaa1afb83 | 218 | min_x = mag_data.x; |
drelliak | 0:88faaa1afb83 | 219 | if(abs(mag_data.x-x0)>START_THRESH && abs(mag_data.y-y0) > START_THRESH) |
drelliak | 0:88faaa1afb83 | 220 | began = true; |
drelliak | 0:88faaa1afb83 | 221 | printf("began: %d X-X0: %f , Y-Y0: %f \n\r", began, abs(mag_data.x-x0),abs(mag_data.y-y0)); |
drelliak | 0:88faaa1afb83 | 222 | } |
drelliak | 0:88faaa1afb83 | 223 | printf("Calibration Completed: X_MAX = %f , Y_MAX = %f , X_MIN = %f and Y_MIN = %f \n\r",max_x,max_y,min_x,min_y); |
drelliak | 0:88faaa1afb83 | 224 | } |
drelliak | 0:88faaa1afb83 | 225 | |
drelliak | 0:88faaa1afb83 | 226 | /* Function to transform the magnetometer reading in angle(rad/s).*/ |
drelliak | 0:88faaa1afb83 | 227 | float processMagAngle(){ |
drelliak | 0:88faaa1afb83 | 228 | mag.getAxis(mag_data); |
drelliak | 0:88faaa1afb83 | 229 | x = 2*(mag_data.x-min_x)/float(max_x-min_x) - 1; |
drelliak | 0:88faaa1afb83 | 230 | y = 2*(mag_data.y-min_y)/float(max_y-min_y) - 1; |
drelliak | 0:88faaa1afb83 | 231 | return atan2(y,x); |
drelliak | 0:88faaa1afb83 | 232 | } |