TOUTEKI
Dependencies: mbed QEI2 UnderBody Filter
main.cpp
- Committer:
- e5118069
- Date:
- 2019-01-07
- Revision:
- 0:d46cb1df87f1
- Child:
- 1:94e15665b69f
File content as of revision 0:d46cb1df87f1:
#include "mbed.h" #include "QEI.h" #define SB_ADRS_A 129 #define SB_ADRS_B 132 #define INT_TIME 0.02 #define RESOLUTION 48 #define ON 1 #define OFF 0 #define HIGH 0 #define FALL 1 #define RISE 2 #define LOW 3 #define GEAR_RATE 1.0 #define PULL_RATE 1.0 #define MULTIPLU 4.0 Ticker timer; Timer T; QEI Enc1(p12,p11,NC,RESOLUTION,&T,QEI::X4_ENCODING); QEI Enc2(p7,p8,NC,RESOLUTION,&T,QEI::X4_ENCODING);//B QEI Enc3(p5,p6,NC,RESOLUTION,&T,QEI::X4_ENCODING);//B Filter velfilter(INT_TIME);//B DigitalIn sw1(p26);//こっち DigitalIn limit1(p15);//shagai把持 DigitalIn limit2(p16);//初期位置合わせ DigitalIn sensor1(p18);//光電センサ DigitalIn sensor2(p17); DigitalOut fet1(p21);//shagai把持の電磁弁 DigitalOut fet2(p22);//shagai押し出し用 Serial Saber(p13,p14); Serial pc(USBTX,USBRX); int mode = 8;//スイッチを押したときのモード int cmd2 = 0; int cmd3 = 0; float spd2=0; float spd3=0; float spd_err2=0; float spd_err3=0; int tmp2;//加速度の上限指定 int tmp3; double filtered_ref_spd;//B int cmd,A;//Aはairの表示のためA int SA1,B_SA1,LIM1,LIM2;//SA1はsA1の仮スイッチを入れる関数 B_SA1はbefore sA1の略 int S1,S2;//光電センサ float angle,pre_angle,SOKUDO,e_D,pre_e_D,ed_D,ei_D,e_V,ed_V,pre_e_V,bcmd; float goal_D=0,Kp=5,Ki=0.01,Kd=0.1; float encount,b_encount;//初期位置合わせの際に用いる初期位置合わせるための角度 int Button() { int button_in = sw1.read(); static int pre_button = 1; static int sw_state = LOW; if(button_in && pre_button)sw_state = HIGH; if(!button_in && !pre_button)sw_state = LOW; if(button_in && !pre_button)sw_state = FALL; if(!button_in && pre_button)sw_state = RISE; pre_button = button_in; return sw_state; } void timer_warikomi() { LIM1=!limit1.read();//pullupなので逆 LIM2=!limit2.read();//pullupなので逆 S1=SENS1.read();//光電センサ S2=SENS2.read(); encount=Enc.getPulses()-b_encount;//初期位置を合わせるために進んだ距離を引いている angle=(float)(encount)*G_rate*(360.0/48.0)/4.0; SOKUDO=(angle-pre_angle)/INT_TIME;//角度を一回微分で角速度に e_D=(goal_D-angle);//距離のPID制御の差 ed_D=(e_D-pre_e_D)/INT_TIME;//距離のPID制御 ei_D+=(e_D+pre_e_D)*INT_TIME/2.0; cmd=(int)((e_D*Kp)+(ed_D*Kd)+(ei_D*Ki)); if(cmd>20) cmd=20;//速度の最大値をcmd=20とする if(cmd<-15)cmd=-15; int F=1,FF=0;//向き float Ksp2 = 7.0, Ksd2 = 0.4; //モータ2用の速度パラメータ float Ksp3 = 7.0, Ksd3 = 0.4; //モータ3用の速度パラメータ float ppr = 1.0;//射出の速度測定に使っているが要検討 static float pre_spd2 = 0.0; static float pre_spd3 = 0.0; static float pre_err2 = 0.0; static float pre_err3 = 0.0; static float ref_spd = 0.0;//目標速度 static int lim_cmd2 = 80;//cmdの上限 static int lim_cmd3 = 92;//cmdの上限 int sw_point = Button();//スイッチの関数からリターン int sw_point = Button(); int encount2 = Enc2.getPulses(); int encount3 = Enc3.getPulses(); encount_ang = Enc1.getPulses()- pre_encount; if (encount2 > encount3) encount_rot = encount2; else encount_rot = encount3; float angle = encount_ang * GEAR_RATE * (360.0/48.0) / 4.0; float ang_spd =(angle - pre_angle)/INT_TIME; float rot_sp = (float)encount_rot/MULTIPLU/ppr*PULL_RATE; float spd = (rot_sp - pre_spd)/INT_TIME(RESOLUTION*MULTIPLU); float angle_P = (ref_angle - angle); float angle_D=(angle_P - pre_angleE)/INT_TIME; angle_I += (angle_P + pre_angleE)*INT_TIME/2.0; cmd_ang = (int)(angle_P * Kp + angle_D * Kd + angle_I * Ki); float spd_e = ref_spd - spd; float spd_D = (spd_e - pre_spdE)/INT_TIME; cmd_spd += (int)(spd_e * Ksp + spd_D * Ksd); if (cmd_ang > lim_cmdA) cmd_ang = lim_cmdA; if (-cmd_ang < -lim_cmdA) cmd_ang = -lim_cmdA; if (cmd_spd > lim_cmdS) cmd_spd = lim_cmdS; if (-cmd_spd < -lim_cmdS) cmd_spd = -lim_cmdS; if (sw_point != HIGH) switch (mode) {//スイッチを押したモード case 0: goal_D=0; if(sw_point == 2)mode=1; break; case 1: cmd=-15;//向きが逆だからマイナス //goal_D=30; //リミットスイッチを押さずに止まるように使う if(sw_point == 2)mode=2; if(LIM2==1){ cmd=0; //これって目標値固定のままcmd=0しちゃっていいのか ゴールを現在のangleにする? b_encount=Enc.getPulses(); } break; case 2: goal_D=120; if(sw_point == 2)mode=3; break; case 3: if(sw_point == 2)mode=4; if(S1==0&&S2==0){ air=1; A=1; } break; case 4: goal_D=0; if(sw_point == 2){ cmd=0; b_encount=Enc.getPulses(); mode=5; } break; case 5: air=0; A=0; if(sw_point == 2)mode=6; break; case(6)://速度を上げる ref_spd = 26.0; if (sw_point == 2) mode = 7; break; case(7)://airでshagaiを発射位置まで押し上げる fet2 = ON; if (sw_point == 2) mode = 8; break; case(8)://モータ停止と押し上げ機構の降下 ref_spd = 0.0; fet2 = OFF; if (sw_point == 2) mode = 0; break; } if(filtered_ref_spd>=25.5&&mode==0){//投てきの目標値上昇 filtered_ref_spd=26; }else if(filtered_ref_spd>=25.5&&mode==1){ filtered_ref_spd=26; }else if(filtered_ref_spd<=0.5&&mode==2){ filtered_ref_spd=0; }else{ filtered_ref_spd = velfilter.SecondOrderLag((double)ref_spd); } float encount2 = Enc2.getPulses();//[pulse] float encount3 = Enc3.getPulses(); float rot_sp2 = encount2/MULTIPLU/ppr*PULL_RATE; //[rev] // encount2/(resolution*4) //[rev] spd2 = (rot_sp2 - pre_spd2)/INT_TIME/(48*4); // (crr-prev)/INT_TIME //[rps] float rot_sp3 = encount3/MULTIPLU/ppr*PULL_RATE; spd3 = (rot_sp3 - pre_spd3)/INT_TIME/(48*4); spd_err2 = filtered_ref_spd - spd2;//徐々に速度が上がるようにした float spd_d2 = (spd_err2 - pre_err2)/INT_TIME; tmp2 = (int)((spd_err2 * Ksp2) + (spd_d2 * Ksd2)); if(tmp2>=127)tmp2=127;//加速度の制限 if(tmp2<=-127)tmp2=-127; cmd2 += tmp2; spd_err3 = filtered_ref_spd - spd3; float spd_d3 = (spd_err3 - pre_err3)/INT_TIME; tmp3 = (int)((spd_err3 * Ksp3) + (spd_d3 * Ksd3)); if(tmp3>=127)tmp3=127;//加速度の制限 if(tmp3<=-127)tmp3=-127; cmd3 += tmp3; if (cmd2 > lim_cmd2) cmd2 = lim_cmd2;//上限指定 if (cmd2 < -lim_cmd2) cmd2 = -lim_cmd2; if (cmd3 > lim_cmd3) cmd3 = lim_cmd3;//上限指定 if (cmd3 < -lim_cmd3) cmd3 = -lim_cmd3; if (cmd2 > 0) { Saber.putc(SB_ADRS); Saber.putc(4); Saber.putc(cmd2); Saber.putc((SB_ADRS + 4 + cmd2) & 0b01111111); } else { Saber.putc(SB_ADRS); Saber.putc(5); Saber.putc(abs(cmd2)); Saber.putc((SB_ADRS + 5 + abs(cmd2)) & 0b01111111); } if (cmd3 > 0) { Saber.putc(SB_ADRS); Saber.putc(0); Saber.putc(cmd3); Saber.putc((SB_ADRS + 0 + cmd3) & 0b01111111); } else { Saber.putc(SB_ADRS); Saber.putc(1); Saber.putc(abs(cmd3)); Saber.putc((SB_ADRS + 1 + abs(cmd3)) & 0b01111111); } pre_spd2 = rot_sp2; pre_err2 = spd_err2; pre_spd3 = rot_sp3; pre_err3 = spd_err3; } if (!sw2.read()) { cmd_spd = 0; cmd_ang = 0; } if (cmd_ang >= 0) { Saber.putc(SB_ADRS_A); Saber.putc(1); Saber.putc(cmd_ang); Saber.putc((SB_ADRS_A + 1 + cmd_ang) & 0b01111111); } else { Saber.putc(SB_ADRS_A); Saber.putc(0); Saber.putc(abs(cmd_ang)); Saber.putc((SB_ADRS_A + 0 + abs(cmd_ang)) & 0b01111111); } if (cmd_spd >= 0) { Saber.putc(SB_ADRS_B); Saber.putc(1); Saber.putc(cmd_spd); Saber.putc((SB_ADRS_B + 1 + cmd_spd) & 0b01111111); } else { Saber.putc(SB_ADRS_B); Saber.putc(0); Saber.putc(abs(cmd_spd)); Saber.putc((SB_ADRS_B + 0 + abs(cmd_spd)) & 0b01111111); } pre_spd = spd; pre_spdE = spd_e; pre_angle = angle; pre_angleE = angle_P; } int main() { Saber.baud(115200); pc.baud(9600); timer.attach(timer_warikomi,INT_TIME); while(1) { } }