testcode pid
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of testPID by
main.cpp@31:98a1155f5edb, 2015-10-20 (annotated)
- Committer:
- Vigilance88
- Date:
- Tue Oct 20 13:16:40 2015 +0000
- Revision:
- 31:98a1155f5edb
- Parent:
- 30:ec66691d226d
- Child:
- 32:054900bfb0a5
ki = 0.0125
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:32bb76391d89 | 1 | #include "mbed.h" |
vsluiter | 11:ce72ec658a95 | 2 | #include "HIDScope.h" |
Vigilance88 | 18:44905b008f44 | 3 | #include "MODSERIAL.h" |
Vigilance88 | 18:44905b008f44 | 4 | #include "biquadFilter.h" |
Vigilance88 | 18:44905b008f44 | 5 | #include "QEI.h" |
Vigilance88 | 21:d6a46315d5f5 | 6 | #include "math.h" |
Vigilance88 | 26:fe3a5469dd6b | 7 | #include <string> |
Vigilance88 | 21:d6a46315d5f5 | 8 | |
Vigilance88 | 21:d6a46315d5f5 | 9 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 10 | -------------------------------- BIOROBOTICS GROUP 14 ---------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 11 | --------------------------------------------------------------------------------------------------------------------*/ |
vsluiter | 0:32bb76391d89 | 12 | |
Vigilance88 | 18:44905b008f44 | 13 | //Define important constants in memory |
Vigilance88 | 21:d6a46315d5f5 | 14 | #define PI 3.14159265 |
Vigilance88 | 18:44905b008f44 | 15 | #define SAMPLE_RATE 0.002 //500 Hz EMG sample rate |
Vigilance88 | 18:44905b008f44 | 16 | #define CONTROL_RATE 0.01 //100 Hz Control rate |
Vigilance88 | 21:d6a46315d5f5 | 17 | #define ENCODER1_CPR 4200 //encoders have 64 (X4), 32 (X2) counts per revolution of motor shaft |
Vigilance88 | 21:d6a46315d5f5 | 18 | #define ENCODER2_CPR 4200 //gearbox 1:131.25 -> 4200 counts per revolution of the output shaft (X2), |
Vigilance88 | 26:fe3a5469dd6b | 19 | #define PWM_PERIOD 0.0001 //10k Hz pwm motor frequency. Higher -> too hot, lower -> motor doesnt respond correctly |
Vigilance88 | 21:d6a46315d5f5 | 20 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 21 | ---- OBJECTS --------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 22 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 23 | |
Vigilance88 | 18:44905b008f44 | 24 | MODSERIAL pc(USBTX,USBRX); //serial communication |
Vigilance88 | 18:44905b008f44 | 25 | |
Vigilance88 | 25:49ccdc98639a | 26 | //Debug legs |
Vigilance88 | 25:49ccdc98639a | 27 | DigitalOut red(LED_RED); |
Vigilance88 | 25:49ccdc98639a | 28 | DigitalOut green(LED_GREEN); |
Vigilance88 | 25:49ccdc98639a | 29 | DigitalOut blue(LED_BLUE); |
Vigilance88 | 25:49ccdc98639a | 30 | |
Vigilance88 | 18:44905b008f44 | 31 | |
Vigilance88 | 18:44905b008f44 | 32 | Ticker sample_timer; //Ticker for EMG sampling |
Vigilance88 | 18:44905b008f44 | 33 | Ticker control_timer; //Ticker for control loop |
Vigilance88 | 18:44905b008f44 | 34 | HIDScope scope(4); //Scope 4 channels |
Vigilance88 | 18:44905b008f44 | 35 | |
Vigilance88 | 18:44905b008f44 | 36 | // AnalogIn potmeter(A4); //potmeters |
Vigilance88 | 18:44905b008f44 | 37 | // AnalogIn potmeter2(A5); // |
Vigilance88 | 18:44905b008f44 | 38 | |
Vigilance88 | 21:d6a46315d5f5 | 39 | //Encoders |
Vigilance88 | 18:44905b008f44 | 40 | QEI Encoder1(D13,D12,NC,32); //channel A and B from encoder, counts = Encoder.getPulses(); |
Vigilance88 | 18:44905b008f44 | 41 | QEI Encoder2(D10,D9,NC,32); //channel A and B from encoder, |
Vigilance88 | 21:d6a46315d5f5 | 42 | |
Vigilance88 | 21:d6a46315d5f5 | 43 | //Speed and Direction of motors - D4 (dir) and D5(speed) = motor 2, D7(dir) and D6(speed) = motor 1 |
Vigilance88 | 21:d6a46315d5f5 | 44 | PwmOut pwm_motor1(D6); //PWM motor 1 |
Vigilance88 | 21:d6a46315d5f5 | 45 | PwmOut pwm_motor2(D5); //PWM motor 2 |
Vigilance88 | 26:fe3a5469dd6b | 46 | |
Vigilance88 | 18:44905b008f44 | 47 | DigitalOut dir_motor1(D7); //Direction motor 1 |
Vigilance88 | 18:44905b008f44 | 48 | DigitalOut dir_motor2(D4); //Direction motor 2 |
Vigilance88 | 18:44905b008f44 | 49 | |
Vigilance88 | 24:56db31267f10 | 50 | //Limit Switches |
Vigilance88 | 27:0cefe83f83d3 | 51 | InterruptIn shoulder_limit(D2); //using FRDM buttons |
Vigilance88 | 27:0cefe83f83d3 | 52 | InterruptIn elbow_limit(D3); //using FRDM buttons |
Vigilance88 | 26:fe3a5469dd6b | 53 | |
Vigilance88 | 26:fe3a5469dd6b | 54 | //Other buttons |
Vigilance88 | 26:fe3a5469dd6b | 55 | DigitalIn button1(PTA4); //using FRDM buttons |
Vigilance88 | 26:fe3a5469dd6b | 56 | DigitalIn button2(PTC6); //using FRDM buttons |
Vigilance88 | 26:fe3a5469dd6b | 57 | |
Vigilance88 | 24:56db31267f10 | 58 | |
Vigilance88 | 21:d6a46315d5f5 | 59 | |
Vigilance88 | 21:d6a46315d5f5 | 60 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 61 | ---- DECLARE VARIABLES ----------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 62 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 63 | |
Vigilance88 | 25:49ccdc98639a | 64 | |
Vigilance88 | 24:56db31267f10 | 65 | //PID variables |
Vigilance88 | 24:56db31267f10 | 66 | double u1; double u2; //Output of PID controller (PWM value for motor 1 and 2) |
Vigilance88 | 24:56db31267f10 | 67 | double m1_error=0; double m1_e_int=0; double m1_e_prev=0; //Error, integrated error, previous error |
Vigilance88 | 31:98a1155f5edb | 68 | const double m1_kp=0.01; const double m1_ki=0.00125; const double m1_kd=0.5; //Proportional, integral and derivative gains. |
Vigilance88 | 24:56db31267f10 | 69 | |
Vigilance88 | 26:fe3a5469dd6b | 70 | double m2_error=0; double m2_e_int=0; double m2_e_prev=0; //Error, integrated error, previous error |
Vigilance88 | 31:98a1155f5edb | 71 | const double m2_kp=0.01; const double m2_ki=0.00125; const double m2_kd=0.5; //Proportional, integral and derivative gains. |
Vigilance88 | 24:56db31267f10 | 72 | |
Vigilance88 | 24:56db31267f10 | 73 | |
Vigilance88 | 26:fe3a5469dd6b | 74 | //lowpass filter 7 Hz - envelope |
Vigilance88 | 24:56db31267f10 | 75 | const double low_b0 = 0.000119046743110057; |
Vigilance88 | 24:56db31267f10 | 76 | const double low_b1 = 0.000238093486220118; |
Vigilance88 | 24:56db31267f10 | 77 | const double low_b2 = 0.000119046743110057; |
Vigilance88 | 24:56db31267f10 | 78 | const double low_a1 = -1.968902268531908; |
Vigilance88 | 24:56db31267f10 | 79 | const double low_a2 = 0.9693784555043481; |
Vigilance88 | 21:d6a46315d5f5 | 80 | |
Vigilance88 | 27:0cefe83f83d3 | 81 | //Forward Kinematics |
Vigilance88 | 27:0cefe83f83d3 | 82 | const double l1 = 0.25; const double l2 = 0.25; |
Vigilance88 | 27:0cefe83f83d3 | 83 | double current_x; double current_y; |
Vigilance88 | 27:0cefe83f83d3 | 84 | double theta1; double theta2; |
Vigilance88 | 27:0cefe83f83d3 | 85 | double dtheta1; double dtheta2; |
Vigilance88 | 27:0cefe83f83d3 | 86 | double rpc; |
Vigilance88 | 27:0cefe83f83d3 | 87 | double x=0.5; double y=0; |
Vigilance88 | 27:0cefe83f83d3 | 88 | double x_error; double y_error; |
Vigilance88 | 27:0cefe83f83d3 | 89 | double costheta1; double sintheta1; |
Vigilance88 | 27:0cefe83f83d3 | 90 | double costheta2; double sintheta2; |
Vigilance88 | 21:d6a46315d5f5 | 91 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 24:56db31267f10 | 92 | ---- Filters --------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 93 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 24:56db31267f10 | 94 | |
Vigilance88 | 24:56db31267f10 | 95 | //Using biquadFilter library |
Vigilance88 | 24:56db31267f10 | 96 | //Syntax: biquadFilter filter(a1, a2, b0, b1, b2); coefficients. Call with: filter.step(u), with u signal to be filtered. |
Vigilance88 | 25:49ccdc98639a | 97 | |
Vigilance88 | 26:fe3a5469dd6b | 98 | //PID filter (lowpass ??? Hz) |
Vigilance88 | 27:0cefe83f83d3 | 99 | biquadFilter derfilter( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); // derivative filter |
Vigilance88 | 30:ec66691d226d | 100 | biquadFilter derfilter2( low_a1 , low_a2 , low_b0 , low_b1 , low_b2 ); |
Vigilance88 | 24:56db31267f10 | 101 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 24:56db31267f10 | 102 | ---- DECLARE FUNCTION NAMES ------------------------------------------------------------------------------------------ |
Vigilance88 | 24:56db31267f10 | 103 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 26:fe3a5469dd6b | 104 | |
Vigilance88 | 27:0cefe83f83d3 | 105 | |
Vigilance88 | 26:fe3a5469dd6b | 106 | void control(); //Control - reference -> error -> pid -> motor output |
Vigilance88 | 27:0cefe83f83d3 | 107 | |
Vigilance88 | 27:0cefe83f83d3 | 108 | |
Vigilance88 | 26:fe3a5469dd6b | 109 | void calibrate_arm(void); //Calibration of the arm with limit switches |
Vigilance88 | 26:fe3a5469dd6b | 110 | void start_sampling(void); //Attaches the sample_filter function to a 500Hz ticker |
Vigilance88 | 26:fe3a5469dd6b | 111 | void stop_sampling(void); //Stops sample_filter |
Vigilance88 | 26:fe3a5469dd6b | 112 | void start_control(void); //Attaches the control function to a 100Hz ticker |
Vigilance88 | 26:fe3a5469dd6b | 113 | void stop_control(void); //Stops control function |
Vigilance88 | 26:fe3a5469dd6b | 114 | |
Vigilance88 | 26:fe3a5469dd6b | 115 | //Keeps the input between min and max value |
Vigilance88 | 24:56db31267f10 | 116 | void keep_in_range(double * in, double min, double max); |
Vigilance88 | 26:fe3a5469dd6b | 117 | |
Vigilance88 | 26:fe3a5469dd6b | 118 | //Reusable PID controller, previous and integral error need to be passed by reference |
Vigilance88 | 21:d6a46315d5f5 | 119 | double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev); |
Vigilance88 | 30:ec66691d226d | 120 | double pid2(double error, double kp, double ki, double kd,double &e_int, double &e_prev); |
Vigilance88 | 18:44905b008f44 | 121 | |
Vigilance88 | 26:fe3a5469dd6b | 122 | //Menu functions |
Vigilance88 | 21:d6a46315d5f5 | 123 | void mainMenu(); |
Vigilance88 | 21:d6a46315d5f5 | 124 | void caliMenu(); |
Vigilance88 | 26:fe3a5469dd6b | 125 | void clearTerminal(); |
Vigilance88 | 27:0cefe83f83d3 | 126 | void controlMenu(); |
Vigilance88 | 21:d6a46315d5f5 | 127 | |
Vigilance88 | 21:d6a46315d5f5 | 128 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 129 | ---- MAIN LOOP ------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 130 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 131 | |
Vigilance88 | 30:ec66691d226d | 132 | volatile bool looptimerflag; |
Vigilance88 | 30:ec66691d226d | 133 | |
Vigilance88 | 30:ec66691d226d | 134 | void setlooptimerflag(void) |
Vigilance88 | 30:ec66691d226d | 135 | { |
Vigilance88 | 30:ec66691d226d | 136 | looptimerflag = true; |
Vigilance88 | 30:ec66691d226d | 137 | } |
Vigilance88 | 30:ec66691d226d | 138 | |
Vigilance88 | 21:d6a46315d5f5 | 139 | int main() |
Vigilance88 | 21:d6a46315d5f5 | 140 | { |
Vigilance88 | 26:fe3a5469dd6b | 141 | pc.baud(115200); //terminal baudrate |
Vigilance88 | 26:fe3a5469dd6b | 142 | red=1; green=1; blue=1; //Make sure debug LEDS are off |
Vigilance88 | 26:fe3a5469dd6b | 143 | |
Vigilance88 | 27:0cefe83f83d3 | 144 | //Set PwmOut frequency to 10k Hz??? |
Vigilance88 | 30:ec66691d226d | 145 | pwm_motor1.period(0.0001); |
Vigilance88 | 30:ec66691d226d | 146 | pwm_motor2.period(0.0001); |
Vigilance88 | 27:0cefe83f83d3 | 147 | |
Vigilance88 | 26:fe3a5469dd6b | 148 | |
Vigilance88 | 30:ec66691d226d | 149 | //VARIABLES |
Vigilance88 | 30:ec66691d226d | 150 | AnalogIn potmeter(A4); |
Vigilance88 | 30:ec66691d226d | 151 | AnalogIn potmeter2(A5); |
Vigilance88 | 30:ec66691d226d | 152 | //DigitalIn button(D8); |
Vigilance88 | 30:ec66691d226d | 153 | //MODSERIAL pc(USBTX,USBRX); |
Vigilance88 | 26:fe3a5469dd6b | 154 | |
Vigilance88 | 30:ec66691d226d | 155 | //Encoder motor1(D13,D12); // channel A and B from encoder, true - getSpeed works |
Vigilance88 | 30:ec66691d226d | 156 | //PwmOut pwm_motor1(D6); // D4 and D5 = motor 2, D7 and D6 = motor 2 |
Vigilance88 | 30:ec66691d226d | 157 | //DigitalOut dir_motor1(D7); // |
Vigilance88 | 25:49ccdc98639a | 158 | |
Vigilance88 | 30:ec66691d226d | 159 | //Encoder motor2(D10,D9); // channel A and B from encoder, true - getSpeed works |
Vigilance88 | 30:ec66691d226d | 160 | // PwmOut pwm_motor2(D5); // D4 and D5 = motor 2, D7 and D6 = motor 2 |
Vigilance88 | 30:ec66691d226d | 161 | // DigitalOut dir_motor2(D4); // |
Vigilance88 | 21:d6a46315d5f5 | 162 | |
Vigilance88 | 30:ec66691d226d | 163 | // MOTOR1 |
Vigilance88 | 30:ec66691d226d | 164 | double goal; |
Vigilance88 | 30:ec66691d226d | 165 | double pwm_to_motor; |
Vigilance88 | 30:ec66691d226d | 166 | // MOTOR2 |
Vigilance88 | 30:ec66691d226d | 167 | double goal2; |
Vigilance88 | 30:ec66691d226d | 168 | double pwm_to_motor2; |
Vigilance88 | 30:ec66691d226d | 169 | |
Vigilance88 | 30:ec66691d226d | 170 | //CODE |
Vigilance88 | 30:ec66691d226d | 171 | pc.baud(115200); |
Vigilance88 | 27:0cefe83f83d3 | 172 | |
Vigilance88 | 30:ec66691d226d | 173 | //pwm_motor1.write(0.2f); // Speed |
Vigilance88 | 30:ec66691d226d | 174 | //dir_motor1.write(1); // Direction |
Vigilance88 | 30:ec66691d226d | 175 | |
Vigilance88 | 30:ec66691d226d | 176 | Ticker looptimer; |
Vigilance88 | 30:ec66691d226d | 177 | looptimer.attach(setlooptimerflag,0.01); |
Vigilance88 | 30:ec66691d226d | 178 | |
Vigilance88 | 30:ec66691d226d | 179 | while (1) { |
Vigilance88 | 30:ec66691d226d | 180 | |
Vigilance88 | 30:ec66691d226d | 181 | while(looptimerflag != true); |
Vigilance88 | 30:ec66691d226d | 182 | looptimerflag = false; |
Vigilance88 | 30:ec66691d226d | 183 | |
Vigilance88 | 30:ec66691d226d | 184 | //MOTOR1 |
Vigilance88 | 30:ec66691d226d | 185 | goal = (potmeter.read()-0.5)*4200; |
Vigilance88 | 30:ec66691d226d | 186 | //pc.printf("setpoint: %f, %d, %f \n\r", goal, motor1.getPosition(),motor1.getSpeed()); |
Vigilance88 | 30:ec66691d226d | 187 | double error1 = (goal - Encoder1.getPulses()); |
Vigilance88 | 30:ec66691d226d | 188 | pwm_to_motor = pid(error1,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); |
Vigilance88 | 30:ec66691d226d | 189 | |
Vigilance88 | 30:ec66691d226d | 190 | if(pwm_to_motor > 0) |
Vigilance88 | 30:ec66691d226d | 191 | dir_motor1 = 1; //=clockwise |
Vigilance88 | 30:ec66691d226d | 192 | else |
Vigilance88 | 30:ec66691d226d | 193 | dir_motor1 = 0; //=counterclockwise |
Vigilance88 | 30:ec66691d226d | 194 | |
Vigilance88 | 30:ec66691d226d | 195 | pwm_motor1.write(abs(pwm_to_motor)); |
Vigilance88 | 30:ec66691d226d | 196 | |
Vigilance88 | 30:ec66691d226d | 197 | //MOTOR2 |
Vigilance88 | 30:ec66691d226d | 198 | goal2 = (potmeter2.read()-0.5)*4200; |
Vigilance88 | 30:ec66691d226d | 199 | |
Vigilance88 | 30:ec66691d226d | 200 | double error2=(goal2 - Encoder2.getPulses()); |
Vigilance88 | 30:ec66691d226d | 201 | pwm_to_motor2 = pid2(error2,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); |
Vigilance88 | 30:ec66691d226d | 202 | |
Vigilance88 | 30:ec66691d226d | 203 | if(pwm_to_motor2 > 0) |
Vigilance88 | 30:ec66691d226d | 204 | dir_motor2 = 0; //=counterclockwise |
Vigilance88 | 30:ec66691d226d | 205 | else |
Vigilance88 | 30:ec66691d226d | 206 | dir_motor2 = 1; //=clockwise |
Vigilance88 | 30:ec66691d226d | 207 | |
Vigilance88 | 30:ec66691d226d | 208 | pwm_motor2.write(abs(pwm_to_motor2)); |
Vigilance88 | 30:ec66691d226d | 209 | //pc.printf("setpoint: %f, %d, %f \n\r", goal2, motor2.getPosition()); |
Vigilance88 | 30:ec66691d226d | 210 | |
Vigilance88 | 30:ec66691d226d | 211 | |
Vigilance88 | 30:ec66691d226d | 212 | pc.printf("goal: %f, pulses: %d \n\r", goal, Encoder1.getPulses()); |
Vigilance88 | 30:ec66691d226d | 213 | pc.printf("goal2: %f, pulses2: %d \n\r", goal2, Encoder2.getPulses()); |
Vigilance88 | 30:ec66691d226d | 214 | |
Vigilance88 | 21:d6a46315d5f5 | 215 | } |
Vigilance88 | 21:d6a46315d5f5 | 216 | //end of while loop |
Vigilance88 | 21:d6a46315d5f5 | 217 | } |
Vigilance88 | 21:d6a46315d5f5 | 218 | //end of main |
Vigilance88 | 21:d6a46315d5f5 | 219 | |
Vigilance88 | 21:d6a46315d5f5 | 220 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 221 | ---- FUNCTIONS ------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 222 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 18:44905b008f44 | 223 | |
Vigilance88 | 27:0cefe83f83d3 | 224 | |
Vigilance88 | 18:44905b008f44 | 225 | |
Vigilance88 | 18:44905b008f44 | 226 | //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position. |
Vigilance88 | 19:0a3ee31dcdb4 | 227 | void calibrate_arm(void) |
Vigilance88 | 19:0a3ee31dcdb4 | 228 | { |
Vigilance88 | 27:0cefe83f83d3 | 229 | pc.printf("Calibrate_arm() entered\r\n"); |
Vigilance88 | 26:fe3a5469dd6b | 230 | bool calibrating = true; |
Vigilance88 | 26:fe3a5469dd6b | 231 | bool done1 = false; |
Vigilance88 | 26:fe3a5469dd6b | 232 | bool done2 = false; |
Vigilance88 | 27:0cefe83f83d3 | 233 | pc.printf("To start arm calibration, press any key =>"); |
Vigilance88 | 27:0cefe83f83d3 | 234 | pc.getc(); |
Vigilance88 | 27:0cefe83f83d3 | 235 | pc.printf("\r\n Calibrating... \r\n"); |
Vigilance88 | 26:fe3a5469dd6b | 236 | dir_motor1=1; //cw |
Vigilance88 | 27:0cefe83f83d3 | 237 | dir_motor2=0; //cw |
Vigilance88 | 27:0cefe83f83d3 | 238 | pwm_motor1.write(0.2); //move upper arm slowly cw |
Vigilance88 | 27:0cefe83f83d3 | 239 | |
Vigilance88 | 27:0cefe83f83d3 | 240 | |
Vigilance88 | 26:fe3a5469dd6b | 241 | |
Vigilance88 | 26:fe3a5469dd6b | 242 | while(calibrating){ |
Vigilance88 | 27:0cefe83f83d3 | 243 | red=0; blue=0; //Debug light is purple during arm calibration |
Vigilance88 | 27:0cefe83f83d3 | 244 | |
Vigilance88 | 27:0cefe83f83d3 | 245 | if(done1==true){ |
Vigilance88 | 27:0cefe83f83d3 | 246 | pwm_motor2.write(0.2); //move forearm slowly cw |
Vigilance88 | 27:0cefe83f83d3 | 247 | } |
Vigilance88 | 27:0cefe83f83d3 | 248 | |
Vigilance88 | 26:fe3a5469dd6b | 249 | //when limit switches are hit, stop motor and reset encoder |
Vigilance88 | 26:fe3a5469dd6b | 250 | if(shoulder_limit.read() < 0.5){ //polling |
Vigilance88 | 26:fe3a5469dd6b | 251 | pwm_motor1.write(0); |
Vigilance88 | 26:fe3a5469dd6b | 252 | Encoder1.reset(); |
Vigilance88 | 26:fe3a5469dd6b | 253 | done1 = true; |
Vigilance88 | 27:0cefe83f83d3 | 254 | pc.printf("Shoulder Limit hit - shutting down motor 1\r\n"); |
Vigilance88 | 26:fe3a5469dd6b | 255 | } |
Vigilance88 | 26:fe3a5469dd6b | 256 | if(elbow_limit.read() < 0.5){ //polling |
Vigilance88 | 26:fe3a5469dd6b | 257 | pwm_motor2.write(0); |
Vigilance88 | 26:fe3a5469dd6b | 258 | Encoder2.reset(); |
Vigilance88 | 26:fe3a5469dd6b | 259 | done2 = true; |
Vigilance88 | 27:0cefe83f83d3 | 260 | pc.printf("Elbow Limit hit - shutting down motor 2. \r\n"); |
Vigilance88 | 26:fe3a5469dd6b | 261 | } |
Vigilance88 | 26:fe3a5469dd6b | 262 | if(done1 && done2){ |
Vigilance88 | 26:fe3a5469dd6b | 263 | calibrating=false; //Leave while loop when both limits are reached |
Vigilance88 | 26:fe3a5469dd6b | 264 | red=1; blue=1; //Turn debug light off when calibration complete |
Vigilance88 | 26:fe3a5469dd6b | 265 | } |
Vigilance88 | 27:0cefe83f83d3 | 266 | |
Vigilance88 | 26:fe3a5469dd6b | 267 | }//end while |
Vigilance88 | 25:49ccdc98639a | 268 | |
Vigilance88 | 27:0cefe83f83d3 | 269 | //TO DO: |
Vigilance88 | 27:0cefe83f83d3 | 270 | //mechanical angle limits -> pulses. If 40 degrees -> counts = floor( 40 / (2*pi/4200) ) |
Vigilance88 | 27:0cefe83f83d3 | 271 | //Encoder1.setPulses(100); //edited QEI library: added setPulses() |
Vigilance88 | 27:0cefe83f83d3 | 272 | //Encoder2.setPulses(100); //edited QEI library: added setPulses() |
Vigilance88 | 27:0cefe83f83d3 | 273 | //pc.printf("Elbow Limit hit - shutting down motor 2. Current pulsecount: %i \r\n",Encoder1.getPulses()); |
Vigilance88 | 27:0cefe83f83d3 | 274 | wait(1); |
Vigilance88 | 27:0cefe83f83d3 | 275 | pc.printf("Arm Calibration Complete\r\n"); |
Vigilance88 | 18:44905b008f44 | 276 | } |
Vigilance88 | 18:44905b008f44 | 277 | |
Vigilance88 | 18:44905b008f44 | 278 | |
Vigilance88 | 18:44905b008f44 | 279 | //Input error and Kp, Kd, Ki, output control signal |
Vigilance88 | 20:0ede3818e08e | 280 | double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev) |
vsluiter | 2:e314bb3b2d99 | 281 | { |
Vigilance88 | 20:0ede3818e08e | 282 | // Derivative |
Vigilance88 | 24:56db31267f10 | 283 | double e_der = (error-e_prev)/ CONTROL_RATE; |
Vigilance88 | 28:0460786f9573 | 284 | e_der = derfilter.step(e_der); |
Vigilance88 | 21:d6a46315d5f5 | 285 | e_prev = error; |
Vigilance88 | 20:0ede3818e08e | 286 | // Integral |
Vigilance88 | 24:56db31267f10 | 287 | e_int = e_int + CONTROL_RATE * error; |
Vigilance88 | 20:0ede3818e08e | 288 | // PID |
Vigilance88 | 30:ec66691d226d | 289 | return kp*error + ki*e_int; //+ kd * e_der; |
Vigilance88 | 30:ec66691d226d | 290 | |
Vigilance88 | 30:ec66691d226d | 291 | } |
Vigilance88 | 30:ec66691d226d | 292 | |
Vigilance88 | 30:ec66691d226d | 293 | double pid2(double error, double kp, double ki, double kd,double &e_int, double &e_prev) |
Vigilance88 | 30:ec66691d226d | 294 | { |
Vigilance88 | 30:ec66691d226d | 295 | // Derivative |
Vigilance88 | 30:ec66691d226d | 296 | double e_der = (error-e_prev)/ CONTROL_RATE; |
Vigilance88 | 30:ec66691d226d | 297 | e_der = derfilter2.step(e_der); |
Vigilance88 | 30:ec66691d226d | 298 | e_prev = error; |
Vigilance88 | 30:ec66691d226d | 299 | // Integral |
Vigilance88 | 30:ec66691d226d | 300 | e_int = e_int + CONTROL_RATE * error; |
Vigilance88 | 30:ec66691d226d | 301 | // PID |
Vigilance88 | 30:ec66691d226d | 302 | return kp*error + ki*e_int; //+ kd * e_der; |
Vigilance88 | 27:0cefe83f83d3 | 303 | |
Vigilance88 | 18:44905b008f44 | 304 | } |
Vigilance88 | 18:44905b008f44 | 305 | |
Vigilance88 | 27:0cefe83f83d3 | 306 | void controlMenu() |
Vigilance88 | 27:0cefe83f83d3 | 307 | { |
Vigilance88 | 27:0cefe83f83d3 | 308 | pc.printf("1) Move Arm Left\r\n"); |
Vigilance88 | 27:0cefe83f83d3 | 309 | pc.printf("2) Move Arm Right\r\n"); |
Vigilance88 | 27:0cefe83f83d3 | 310 | pc.printf("3) Move Arm Up\r\n"); |
Vigilance88 | 27:0cefe83f83d3 | 311 | pc.printf("4) Move Arm Down\r\n"); |
Vigilance88 | 27:0cefe83f83d3 | 312 | pc.printf("q) Exit \r\n"); |
Vigilance88 | 27:0cefe83f83d3 | 313 | pc.printf("Please make a choice => \r\n"); |
Vigilance88 | 27:0cefe83f83d3 | 314 | } |
Vigilance88 | 27:0cefe83f83d3 | 315 | |
Vigilance88 | 27:0cefe83f83d3 | 316 | |
Vigilance88 | 27:0cefe83f83d3 | 317 | |
Vigilance88 | 20:0ede3818e08e | 318 | //Analyze filtered EMG, calculate reference position from EMG, compare reference position with current position,convert to angles, send error through pid(), send PWM and DIR to motors |
Vigilance88 | 18:44905b008f44 | 319 | void control() |
Vigilance88 | 18:44905b008f44 | 320 | { |
Vigilance88 | 27:0cefe83f83d3 | 321 | |
Vigilance88 | 27:0cefe83f83d3 | 322 | //Current position - Encoder counts -> current angle -> Forward Kinematics |
Vigilance88 | 27:0cefe83f83d3 | 323 | rpc=(2*PI)/ENCODER1_CPR; //radians per count (resolution) - 2pi divided by 4200 |
Vigilance88 | 27:0cefe83f83d3 | 324 | theta1 = Encoder1.getPulses() * rpc; //multiply resolution with number of counts |
Vigilance88 | 27:0cefe83f83d3 | 325 | theta2 = Encoder2.getPulses() * rpc; |
Vigilance88 | 27:0cefe83f83d3 | 326 | current_x = l1 * cos(theta1) + l2 * cos(theta1 + theta2); |
Vigilance88 | 27:0cefe83f83d3 | 327 | current_y = l1 * sin(theta1) + l2 * sin(theta1 + theta2); |
Vigilance88 | 27:0cefe83f83d3 | 328 | |
Vigilance88 | 27:0cefe83f83d3 | 329 | //pc.printf("Calculated current position: x = %f and y = %f \r\n",current_x,current_y); |
Vigilance88 | 18:44905b008f44 | 330 | |
Vigilance88 | 27:0cefe83f83d3 | 331 | |
Vigilance88 | 27:0cefe83f83d3 | 332 | //pc.printf("X is %f and Y is %f \r\n",x,y); |
Vigilance88 | 27:0cefe83f83d3 | 333 | |
Vigilance88 | 27:0cefe83f83d3 | 334 | //calculate error (refpos-currentpos) currentpos = forward kinematics |
Vigilance88 | 27:0cefe83f83d3 | 335 | x_error = x - current_x; |
Vigilance88 | 27:0cefe83f83d3 | 336 | y_error = y - current_y; |
Vigilance88 | 27:0cefe83f83d3 | 337 | |
Vigilance88 | 27:0cefe83f83d3 | 338 | //pc.printf("X error is %f and Y error is %f \r\n",x_error,y_error); |
Vigilance88 | 27:0cefe83f83d3 | 339 | |
Vigilance88 | 27:0cefe83f83d3 | 340 | //inverse kinematics (refpos to refangle) |
Vigilance88 | 18:44905b008f44 | 341 | |
Vigilance88 | 27:0cefe83f83d3 | 342 | costheta2 = (pow(x,2) + pow(y,2) - pow(l1,2) - pow(l2,2)) / (2*l1*l2) ; |
Vigilance88 | 27:0cefe83f83d3 | 343 | sintheta2 = sqrt( 1 - pow(costheta2,2) ); |
Vigilance88 | 27:0cefe83f83d3 | 344 | |
Vigilance88 | 27:0cefe83f83d3 | 345 | //pc.printf("costheta2 = %f and sostheta2 = %f \r\n",costheta2,sostheta2); |
Vigilance88 | 27:0cefe83f83d3 | 346 | |
Vigilance88 | 27:0cefe83f83d3 | 347 | dtheta2 = atan2(sintheta2,costheta2); |
Vigilance88 | 27:0cefe83f83d3 | 348 | |
Vigilance88 | 28:0460786f9573 | 349 | costheta1 = ( x * (l1 + l2 * costheta2) + y * l2 * sintheta2 ) / ( pow(x,2) + pow(y,2) ); |
Vigilance88 | 27:0cefe83f83d3 | 350 | sintheta1 = sqrt( 1 - pow(costheta1,2) ); |
Vigilance88 | 18:44905b008f44 | 351 | |
Vigilance88 | 27:0cefe83f83d3 | 352 | //pc.printf("costheta1 = %f and sostheta1 = %f \r\n",costheta1,sostheta1); |
Vigilance88 | 27:0cefe83f83d3 | 353 | |
Vigilance88 | 27:0cefe83f83d3 | 354 | dtheta1 = atan2(sintheta1,costheta1); |
Vigilance88 | 27:0cefe83f83d3 | 355 | |
Vigilance88 | 27:0cefe83f83d3 | 356 | |
Vigilance88 | 27:0cefe83f83d3 | 357 | //Angle error |
Vigilance88 | 27:0cefe83f83d3 | 358 | |
Vigilance88 | 27:0cefe83f83d3 | 359 | m1_error = dtheta1-theta1; |
Vigilance88 | 27:0cefe83f83d3 | 360 | m2_error = dtheta2-theta2; |
Vigilance88 | 27:0cefe83f83d3 | 361 | |
Vigilance88 | 27:0cefe83f83d3 | 362 | //pc.printf("m1 error is %f and m2 error is %f \r\n",m1_error,m2_error); |
Vigilance88 | 18:44905b008f44 | 363 | |
Vigilance88 | 18:44905b008f44 | 364 | //PID controller |
Vigilance88 | 24:56db31267f10 | 365 | |
Vigilance88 | 24:56db31267f10 | 366 | u1=pid(m1_error,m1_kp,m1_ki,m1_kd,m1_e_int,m1_e_prev); //motor 1 |
Vigilance88 | 24:56db31267f10 | 367 | u2=pid(m2_error,m2_kp,m2_ki,m2_kd,m2_e_int,m2_e_prev); //motor 2 |
Vigilance88 | 21:d6a46315d5f5 | 368 | |
Vigilance88 | 28:0460786f9573 | 369 | keep_in_range(&u1,-0.6,0.6); //keep u between -1 and 1, sign = direction, PWM = 0-1 |
Vigilance88 | 28:0460786f9573 | 370 | keep_in_range(&u2,-0.6,0.6); |
Vigilance88 | 21:d6a46315d5f5 | 371 | |
Vigilance88 | 21:d6a46315d5f5 | 372 | //send PWM and DIR to motor 1 |
Vigilance88 | 28:0460786f9573 | 373 | dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below. |
Vigilance88 | 21:d6a46315d5f5 | 374 | pwm_motor1.write(abs(u1)); |
Vigilance88 | 21:d6a46315d5f5 | 375 | |
Vigilance88 | 21:d6a46315d5f5 | 376 | //send PWM and DIR to motor 2 |
Vigilance88 | 28:0460786f9573 | 377 | dir_motor2 = u2>0 ? 0 : 1; //conditional statement, same as if else below |
Vigilance88 | 25:49ccdc98639a | 378 | pwm_motor2.write(abs(u2)); |
Vigilance88 | 21:d6a46315d5f5 | 379 | |
Vigilance88 | 27:0cefe83f83d3 | 380 | |
Vigilance88 | 27:0cefe83f83d3 | 381 | // } //if |
Vigilance88 | 27:0cefe83f83d3 | 382 | //} //while |
Vigilance88 | 27:0cefe83f83d3 | 383 | |
Vigilance88 | 27:0cefe83f83d3 | 384 | |
Vigilance88 | 21:d6a46315d5f5 | 385 | /*if(u1 > 0) |
Vigilance88 | 21:d6a46315d5f5 | 386 | { |
Vigilance88 | 21:d6a46315d5f5 | 387 | dir_motor1 = 0; |
Vigilance88 | 21:d6a46315d5f5 | 388 | else{ |
Vigilance88 | 21:d6a46315d5f5 | 389 | dir_motor1 = 1; |
Vigilance88 | 21:d6a46315d5f5 | 390 | } |
Vigilance88 | 21:d6a46315d5f5 | 391 | } |
Vigilance88 | 21:d6a46315d5f5 | 392 | pwm_motor1.write(abs(u1)); |
Vigilance88 | 21:d6a46315d5f5 | 393 | |
Vigilance88 | 21:d6a46315d5f5 | 394 | |
Vigilance88 | 21:d6a46315d5f5 | 395 | if(u2 > 0) |
Vigilance88 | 21:d6a46315d5f5 | 396 | { |
Vigilance88 | 21:d6a46315d5f5 | 397 | dir_motor1 = 1; |
Vigilance88 | 21:d6a46315d5f5 | 398 | else{ |
Vigilance88 | 21:d6a46315d5f5 | 399 | dir_motor1 = 0; |
Vigilance88 | 21:d6a46315d5f5 | 400 | } |
Vigilance88 | 21:d6a46315d5f5 | 401 | } |
Vigilance88 | 21:d6a46315d5f5 | 402 | pwm_motor1.write(abs(u2));*/ |
Vigilance88 | 21:d6a46315d5f5 | 403 | |
Vigilance88 | 18:44905b008f44 | 404 | } |
Vigilance88 | 18:44905b008f44 | 405 | |
Vigilance88 | 26:fe3a5469dd6b | 406 | void mainMenu() |
Vigilance88 | 26:fe3a5469dd6b | 407 | { |
Vigilance88 | 26:fe3a5469dd6b | 408 | //Title Box |
Vigilance88 | 26:fe3a5469dd6b | 409 | pc.putc(201); |
Vigilance88 | 26:fe3a5469dd6b | 410 | for(int j=0;j<33;j++){ |
Vigilance88 | 26:fe3a5469dd6b | 411 | pc.putc(205); |
Vigilance88 | 26:fe3a5469dd6b | 412 | } |
Vigilance88 | 26:fe3a5469dd6b | 413 | pc.putc(187); |
Vigilance88 | 26:fe3a5469dd6b | 414 | pc.printf("\n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 415 | pc.putc(186); pc.printf(" BioRobotics M9 - Group 14 "); pc.putc(186); |
Vigilance88 | 26:fe3a5469dd6b | 416 | pc.printf("\n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 417 | pc.putc(186); pc.printf(" Robot powered ON "); pc.putc(186); |
Vigilance88 | 26:fe3a5469dd6b | 418 | pc.printf("\n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 419 | pc.putc(200); |
Vigilance88 | 26:fe3a5469dd6b | 420 | for(int k=0;k<33;k++){ |
Vigilance88 | 26:fe3a5469dd6b | 421 | pc.putc(205); |
Vigilance88 | 26:fe3a5469dd6b | 422 | } |
Vigilance88 | 26:fe3a5469dd6b | 423 | pc.putc(188); |
Vigilance88 | 26:fe3a5469dd6b | 424 | |
Vigilance88 | 26:fe3a5469dd6b | 425 | pc.printf("\n\r"); |
Vigilance88 | 26:fe3a5469dd6b | 426 | //endbox |
Vigilance88 | 26:fe3a5469dd6b | 427 | } |
Vigilance88 | 24:56db31267f10 | 428 | void caliMenu(){}; |
Vigilance88 | 24:56db31267f10 | 429 | |
Vigilance88 | 24:56db31267f10 | 430 | |
Vigilance88 | 24:56db31267f10 | 431 | |
Vigilance88 | 18:44905b008f44 | 432 | //Start control |
Vigilance88 | 18:44905b008f44 | 433 | void start_control(void) |
Vigilance88 | 18:44905b008f44 | 434 | { |
Vigilance88 | 27:0cefe83f83d3 | 435 | control_timer.attach(&control,0.01); //100 Hz control |
Vigilance88 | 26:fe3a5469dd6b | 436 | |
Vigilance88 | 26:fe3a5469dd6b | 437 | //Debug LED will be blue when control is on. If sampling and control are on -> blue + green = cyan. |
Vigilance88 | 26:fe3a5469dd6b | 438 | blue=0; |
Vigilance88 | 26:fe3a5469dd6b | 439 | pc.printf("||- started control -|| \r\n"); |
Vigilance88 | 18:44905b008f44 | 440 | } |
Vigilance88 | 18:44905b008f44 | 441 | |
Vigilance88 | 18:44905b008f44 | 442 | //stop control |
Vigilance88 | 18:44905b008f44 | 443 | void stop_control(void) |
Vigilance88 | 18:44905b008f44 | 444 | { |
Vigilance88 | 18:44905b008f44 | 445 | control_timer.detach(); |
Vigilance88 | 26:fe3a5469dd6b | 446 | |
Vigilance88 | 26:fe3a5469dd6b | 447 | //Debug LED will be off when control is off |
Vigilance88 | 26:fe3a5469dd6b | 448 | blue=1; |
Vigilance88 | 26:fe3a5469dd6b | 449 | pc.printf("||- stopped control -|| \r\n"); |
vsluiter | 2:e314bb3b2d99 | 450 | } |
vsluiter | 0:32bb76391d89 | 451 | |
Vigilance88 | 21:d6a46315d5f5 | 452 | |
Vigilance88 | 21:d6a46315d5f5 | 453 | void calibrate() |
vsluiter | 0:32bb76391d89 | 454 | { |
Vigilance88 | 21:d6a46315d5f5 | 455 | |
Vigilance88 | 21:d6a46315d5f5 | 456 | } |
tomlankhorst | 15:0da764eea774 | 457 | |
Vigilance88 | 26:fe3a5469dd6b | 458 | //Clears the putty (or other terminal) window |
Vigilance88 | 26:fe3a5469dd6b | 459 | void clearTerminal() |
Vigilance88 | 26:fe3a5469dd6b | 460 | { |
Vigilance88 | 26:fe3a5469dd6b | 461 | pc.putc(27); |
Vigilance88 | 26:fe3a5469dd6b | 462 | pc.printf("[2J"); // clear screen |
Vigilance88 | 26:fe3a5469dd6b | 463 | pc.putc(27); // ESC |
Vigilance88 | 26:fe3a5469dd6b | 464 | pc.printf("[H"); // cursor to home |
Vigilance88 | 26:fe3a5469dd6b | 465 | } |
Vigilance88 | 21:d6a46315d5f5 | 466 | |
Vigilance88 | 21:d6a46315d5f5 | 467 | //keeps input limited between min max |
Vigilance88 | 24:56db31267f10 | 468 | void keep_in_range(double * in, double min, double max) |
Vigilance88 | 18:44905b008f44 | 469 | { |
Vigilance88 | 18:44905b008f44 | 470 | *in > min ? *in < max? : *in = max: *in = min; |
vsluiter | 0:32bb76391d89 | 471 | } |