File content as of revision 1:f2a984023592:

/*************************************************************************************
Program Name: ES306 Laboratory Experiment  - mbed serial setup and streaming
Description: A basic code to read an analog channel and print the data to the serial port
Author: Rich O'Brien, PhD, USNA
Date: 13 Mar 2018
**************************************************************************************/

// Include necessary libraries
#include "mbed.h"
#include "mbedWSEsbc.h"
#define PI (3.14159)

// Declare necessary objects
DigitalOut myled(LED1);
Ticker ctrlr;

// variables for data handling and storage
float Ts = 0.01; // Sampling period 1/Ts Hz
float TotalTime; // Total run time
float Time; // elapsed time
float ang; // position measured by encoder
float ang_est; // observer states
float speed_est; // observer states
float ang_est_prev; // previous observer states
float speed_est_prev; // previous observer states
float dc_esf; // duty cycle computed by ESF control law
float dc; // duty cycle applied to motor
float dc_min = 0.05; // dead zone limit
float dc_comp; // compensation for dead zone
long enc1; // encoder variable
float des_ang;
float da;
int Ncts; // number of counts = TotalTime/1.0; Ts = 1.0;
int cts; // running counter

// SF gains
float K1;
float K2;
float Kcal;

// Observer matrices
float Ad11;
float Ad12;
float Ad21;
float Ad22;
float bd1;
float bd2;
float Ld1;
float Ld2;


void ctrlr_test ()
{
    // Read encoder
    enc1 = LS7366_read_counter(1); // input is the encoder channel
    // Convert from counts to radians
    ang = 2*PI*enc1/6500.0;
    // duty cycle
    if (Time <0.75)
    {dc = 0.1;}
    else {dc = -0.1;}  
    
    // saturation
    if (dc > 1.0) {
        dc = 1.0;
    }

    if (dc < -1.0) {
        dc = -1.0;
    }
    // observer
    speed_est = Ad11*speed_est_prev + Ad12*ang_est_prev + bd1*ang;
    ang_est = Ad21*speed_est_prev + Ad22*ang_est_prev + bd2*ang;
    //speed_est = 0*speed_est_prev + (-1/Ts)*ang_est_prev + (1/Ts)*ang;
    //ang_est = 0*speed_est_prev + 0*ang_est_prev + 1*ang;

    mot_control(1,dc);
}

void ctrlr_esf ()
{
    // Read encoder
    enc1 = LS7366_read_counter(1); // input is the encoder channel
    // Convert from counts to radians
    ang = 2*PI*enc1/6500.0;
    // duty cycle
    // dead zone (static friction) compensation

    if (dc > 0) {
        dc_comp = dc_min;
    } else if (dc < 0) {
        dc_comp = -dc_min;
    } else {
        dc_comp = 0;
    }
                   
    if (Time <0.1)
        {da = 0;}
    else if (Time >0.1 && Time < 1.1){
    da = 1;
    }else{
    da = 0;    
    }
    dc_esf = -K1*speed_est-K2*ang_est+Kcal*da*des_ang;
    dc = dc_esf + da*dc_comp;
    // dc = dc_esf;
    
    // saturation
    if (dc > 1.0) {
        dc = 1.0;
    }

    if (dc < -1.0) {
        dc = -1.0;
    }
    // observer
    speed_est = Ad11*speed_est_prev + Ad12*ang_est_prev + bd1*dc + Ld1*ang;
    ang_est = Ad21*speed_est_prev + Ad22*ang_est_prev + bd2*dc + Ld2*ang;
    //speed_est = 0*speed_est_prev + (-1/Ts)*ang_est_prev + (1/Ts)*ang;
    //ang_est = 0*speed_est_prev + 0*ang_est_prev + 1*ang;

    mot_control(1,dc);
    speed_est_prev = speed_est;
    ang_est_prev = ang_est;
}

int main ()
{
    mbedWSEsbcInit(115200);
    mot_en1.period(.020);
    while(1) { // repeat collection cycle indefinitely
        pc.scanf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f",&TotalTime,&des_ang,&K1,&K2,&Kcal,&Ad11,&Ad12,&Ad21,&Ad22,&bd1,&bd2,&Ld1,&Ld2);
        Ncts = floor(TotalTime/Ts);
         cts = 0;
        Time = 0.0;
        speed_est_prev = 0.0;
        ang_est_prev = 0.0;
        speed_est = 0.0;
        ang_est = 0.0;
        LS7366_reset_counter(1);
        ctrlr.attach(&ctrlr_esf,Ts); // run ctrlr function every Ts sec
        //{ctrlr.attach(&ctrlr_test,Ts);// run ctrlr function every Ts sec
  
        while(cts <= Ncts) {
            pc.printf("%f,%f,%f,%f,%f\n",Time,ang,ang_est,speed_est,dc);
            cts = cts + 1;
            Time = Time + Ts;
            wait(Ts);

        } // end while (cts <= Ncts)
        ctrlr.detach(); 
        mot_control(1,0);
    }
}