TrekkingPhoenix / Mbed 2 deprecated TrekkingControllerV1-4_WinterChallenge20

Ironcup Mar 2020

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

main.cpp@13:f7a7fe9b5c00, 2016-04-30 (annotated)

Committer:
drelliak
Date:
Sat Apr 30 21:28:27 2016 +0000
Revision:
13:f7a7fe9b5c00
Parent:
12:273752f540be
Child:
14:e8cd237c8639
minor fixes

Who changed what in which revision?

UserRevisionLine numberNew 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 12:273752f540be 6 #include "Motor.h"
drelliak 0:88faaa1afb83 7
drelliak 0:88faaa1afb83 8 #define PI 3.141592653589793238462
drelliak 0:88faaa1afb83 9 #define Ts 0.02 // Seconds
drelliak 12:273752f540be 10 #define PWM_PERIOD 13.5 // ms
drelliak 0:88faaa1afb83 11 #define INITIAL_P 0.452531214933414
drelliak 0:88faaa1afb83 12 #define INITIAL_I 5.45748932024049
drelliak 0:88faaa1afb83 13 #define INITIAL_D 0.000233453623255507
drelliak 0:88faaa1afb83 14 #define INITIAL_N 51.0605584484153
drelliak 5:b0af0cfb678e 15 #define BRAKE_CONSTANT 40
drelliak 5:b0af0cfb678e 16 #define BRAKE_WAIT 0.3
drelliak 0:88faaa1afb83 17 #define END_THRESH 4
drelliak 0:88faaa1afb83 18 #define START_THRESH 10
drelliak 0:88faaa1afb83 19 #define MINIMUM_VELOCITY 15
drelliak 12:273752f540be 20 #define GYRO_PERIOD 1300 //us
drelliak 5:b0af0cfb678e 21
drelliak 0:88faaa1afb83 22 Serial ser(USBTX, USBRX); // Initialize Serial port
drelliak 0:88faaa1afb83 23 PwmOut servo(PTD3); // Servo connected to pin PTD3
drelliak 13:f7a7fe9b5c00 24 Motor motor;
drelliak 0:88faaa1afb83 25 FXOS8700Q_mag mag(PTE25,PTE24,FXOS8700CQ_SLAVE_ADDR1);
drelliak 0:88faaa1afb83 26 FXAS21002 gyro(PTE25,PTE24);
drelliak 0:88faaa1afb83 27
drelliak 0:88faaa1afb83 28
drelliak 0:88faaa1afb83 29
drelliak 0:88faaa1afb83 30 // PID controller parameters and functions
drelliak 0:88faaa1afb83 31 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 32 float P, I, D, N, reference = 0;
drelliak 0:88faaa1afb83 33 void controlAnglePID(float P, float I, float D, float N);
drelliak 0:88faaa1afb83 34 void initializeController();
drelliak 0:88faaa1afb83 35
drelliak 0:88faaa1afb83 36 // Magnetometer variables and functions
drelliak 0:88faaa1afb83 37 float max_x, max_y, min_x, min_y,x,y;
drelliak 0:88faaa1afb83 38 MotionSensorDataUnits mag_data;
drelliak 0:88faaa1afb83 39 float processMagAngle();
drelliak 0:88faaa1afb83 40 void magCal();
drelliak 0:88faaa1afb83 41
drelliak 0:88faaa1afb83 42 int main(){
drelliak 12:273752f540be 43 gyro.gyro_config(MODE_2);
drelliak 12:273752f540be 44 gyro.start_measure(GYRO_PERIOD);
drelliak 12:273752f540be 45 initializeController();
drelliak 12:273752f540be 46 while(1){
drelliak 12:273752f540be 47 controlAnglePID(P,I,D,N);
drelliak 12:273752f540be 48 printf("%f \r\n",gyro.get_angle());
drelliak 12:273752f540be 49 wait(Ts);
drelliak 5:b0af0cfb678e 50 }
drelliak 0:88faaa1afb83 51 }
drelliak 0:88faaa1afb83 52 void readProtocol(){
drelliak 0:88faaa1afb83 53 char msg = ser.getc();
drelliak 0:88faaa1afb83 54 switch(msg)
drelliak 0:88faaa1afb83 55 {
drelliak 0:88faaa1afb83 56 case NONE:
drelliak 0:88faaa1afb83 57 //ser.printf("sending red signal to led\r\n");
drelliak 0:88faaa1afb83 58 return;
drelliak 0:88faaa1afb83 59 break;
drelliak 0:88faaa1afb83 60 case BRAKE:
drelliak 0:88faaa1afb83 61 //ser.printf("sending green signal to led\r\n");
drelliak 13:f7a7fe9b5c00 62 motor.brakeMotor();
drelliak 0:88faaa1afb83 63 break;
drelliak 0:88faaa1afb83 64 case ANG_RST:
drelliak 0:88faaa1afb83 65 //ser.printf("sending blue signal to led\r\n");
drelliak 12:273752f540be 66 gyro.stop_measure();
drelliak 12:273752f540be 67 gyro.start_measure(GYRO_PERIOD);
drelliak 0:88faaa1afb83 68 return;
drelliak 0:88faaa1afb83 69 break;
drelliak 0:88faaa1afb83 70 case ANG_REF:
drelliak 0:88faaa1afb83 71 reference = get_ang_ref(ser);
drelliak 0:88faaa1afb83 72 break;
drelliak 0:88faaa1afb83 73 case GND_SPEED:
drelliak 13:f7a7fe9b5c00 74 motor.setVelocity(get_gnd_speed(ser));
drelliak 0:88faaa1afb83 75 break;
drelliak 0:88faaa1afb83 76 case PID_PARAMS:
drelliak 0:88faaa1afb83 77 ser.putc('p');
drelliak 0:88faaa1afb83 78 get_pid_params(ser, &P, &I, &D, &N);
drelliak 0:88faaa1afb83 79 break;
drelliak 0:88faaa1afb83 80 default:
drelliak 0:88faaa1afb83 81 // ser.flush();
drelliak 0:88faaa1afb83 82
drelliak 0:88faaa1afb83 83 }
drelliak 0:88faaa1afb83 84 }
drelliak 0:88faaa1afb83 85 /* Initialize the controller parameter P, I, D and N with the initial values and set the error and input to 0. */
drelliak 0:88faaa1afb83 86 void initializeController(){
drelliak 0:88faaa1afb83 87 for(int i =0; i<2; i++){
drelliak 0:88faaa1afb83 88 e[i] = 0;
drelliak 0:88faaa1afb83 89 ui[i] = 0;
drelliak 0:88faaa1afb83 90 ud[i] = 0;
drelliak 0:88faaa1afb83 91 }
drelliak 0:88faaa1afb83 92 P= INITIAL_P;
drelliak 0:88faaa1afb83 93 I= INITIAL_I;
drelliak 0:88faaa1afb83 94 D= INITIAL_D;
drelliak 0:88faaa1afb83 95 N= INITIAL_N;
drelliak 0:88faaa1afb83 96 }
drelliak 0:88faaa1afb83 97
drelliak 0:88faaa1afb83 98 /* PID controller for angular position */
drelliak 0:88faaa1afb83 99 void controlAnglePID(float P, float I, float D, float N){
drelliak 0:88faaa1afb83 100 /* Getting error */
drelliak 12:273752f540be 101 float feedback = gyro.get_angle();
drelliak 0:88faaa1afb83 102 e[1] = e[0];
drelliak 5:b0af0cfb678e 103 e[0] = reference - (feedback*PI/180);
drelliak 0:88faaa1afb83 104 if(e[0] > PI)
drelliak 0:88faaa1afb83 105 e[0]= e[0] - 2*PI;
drelliak 0:88faaa1afb83 106 if(e[0] < -PI)
drelliak 0:88faaa1afb83 107 e[0] = e[0] + 2*PI;
drelliak 0:88faaa1afb83 108 /* Proportinal Part */
drelliak 0:88faaa1afb83 109 up[0] = e[0]*P;
drelliak 0:88faaa1afb83 110 /* Integral Part */
drelliak 0:88faaa1afb83 111 ui[1] = ui[0];
drelliak 0:88faaa1afb83 112 if(abs(u) < PI/8){
drelliak 0:88faaa1afb83 113 ui[0] = (P*I*Ts)*e[1] + ui[1];
drelliak 0:88faaa1afb83 114 }
drelliak 0:88faaa1afb83 115 else if(u > 0)
drelliak 0:88faaa1afb83 116 ui[0] = PI/8 - up[0];
drelliak 0:88faaa1afb83 117 else if(u < 0)
drelliak 0:88faaa1afb83 118 ui[0] = -PI/8 - up[0];
drelliak 0:88faaa1afb83 119 /* Derivative Part */
drelliak 0:88faaa1afb83 120 ud[1] = ud[0];
drelliak 0:88faaa1afb83 121 ud[0] = P*D*N*(e[0] - e[1]) - ud[1]*(N*Ts -1);
drelliak 0:88faaa1afb83 122 /** Controller **/
drelliak 0:88faaa1afb83 123 u = up[0] + ud[0] + ui[0];
drelliak 0:88faaa1afb83 124 setServoPWM(u*100/(PI/8), servo);
drelliak 0:88faaa1afb83 125 }
drelliak 0:88faaa1afb83 126 /* Brake function, braking while the gyroscope is still integrating will cause considerably error in the measurement. */
drelliak 0:88faaa1afb83 127 /* Function to normalize the magnetometer reading */
drelliak 0:88faaa1afb83 128 void magCal(){
drelliak 0:88faaa1afb83 129 printf("Starting Calibration");
drelliak 0:88faaa1afb83 130 mag.enable();
drelliak 0:88faaa1afb83 131 wait(0.01);
drelliak 0:88faaa1afb83 132 mag.getAxis(mag_data);
drelliak 0:88faaa1afb83 133 float x0 = max_x = min_y = mag_data.x;
drelliak 0:88faaa1afb83 134 float y0 = max_y = min_y = mag_data.y;
drelliak 0:88faaa1afb83 135 bool began = false;
drelliak 0:88faaa1afb83 136 while(!(began && abs(mag_data.x - x0) < END_THRESH && abs(mag_data.y - y0) < END_THRESH)){
drelliak 0:88faaa1afb83 137 mag.getAxis(mag_data);
drelliak 0:88faaa1afb83 138 if(mag_data.x > max_x)
drelliak 0:88faaa1afb83 139 max_x = mag_data.x;
drelliak 0:88faaa1afb83 140 if(mag_data.y > max_y)
drelliak 0:88faaa1afb83 141 max_y = mag_data.y;
drelliak 0:88faaa1afb83 142 if(mag_data.y < min_y)
drelliak 0:88faaa1afb83 143 min_y = mag_data.y;
drelliak 0:88faaa1afb83 144 if(mag_data.x < min_x)
drelliak 0:88faaa1afb83 145 min_x = mag_data.x;
drelliak 0:88faaa1afb83 146 if(abs(mag_data.x-x0)>START_THRESH && abs(mag_data.y-y0) > START_THRESH)
drelliak 0:88faaa1afb83 147 began = true;
drelliak 0:88faaa1afb83 148 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 149 }
drelliak 0:88faaa1afb83 150 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 151 }
drelliak 0:88faaa1afb83 152
drelliak 0:88faaa1afb83 153 /* Function to transform the magnetometer reading in angle(rad/s).*/
drelliak 0:88faaa1afb83 154 float processMagAngle(){
drelliak 0:88faaa1afb83 155 mag.getAxis(mag_data);
drelliak 0:88faaa1afb83 156 x = 2*(mag_data.x-min_x)/float(max_x-min_x) - 1;
drelliak 0:88faaa1afb83 157 y = 2*(mag_data.y-min_y)/float(max_y-min_y) - 1;
drelliak 0:88faaa1afb83 158 return atan2(y,x);
drelliak 0:88faaa1afb83 159 }