Juliette Slob / Mbed 2 deprecated PES_tutorial_5_copy

Using HIDScope for P(I)D controller

Dependencies:   FastPWM HIDScope MODSERIAL QEI biquadFilter mbed

Fork of PES_tutorial_5 by BMT Module 9 Group 4

main.cpp@12:1ecd11dc2c00, 2018-10-15 (annotated)

Committer:
1856413
Date:
Mon Oct 15 19:08:42 2018 +0000
Revision:
12:1ecd11dc2c00
Parent:
11:4e3ef6150a2e
Child:
13:0b51846cf9e3
Poging P-controller met functies. Nog niet af!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
1856413 0:2e33035d4e86 1 #include "mbed.h"
1856413 0:2e33035d4e86 2 #include "FastPWM.h" // FastPWM library
1856413 2:34c14fb36b5d 3 #include "MODSERIAL.h"
lweersink 4:49c5fd62a192 4 #include "QEI.h"
1856413 12:1ecd11dc2c00 5 #include <math.h>
1856413 2:34c14fb36b5d 6 MODSERIAL pc(USBTX, USBRX);
1856413 12:1ecd11dc2c00 7 DigitalOut Motor1DirectionPin(D7);
1856413 12:1ecd11dc2c00 8 FastPWM Motor1MagnitudePin(D6); //FastPWM input
1856413 8:ceb9abb5a4a8 9 AnalogIn potMeter1(A4);
1856413 12:1ecd11dc2c00 10 AnalogIn potMeter2(A5);
1856413 8:ceb9abb5a4a8 11 InterruptIn button2(D3);
1856413 9:b002572e37fd 12 QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING);
1856413 12:1ecd11dc2c00 13
1856413 12:1ecd11dc2c00 14 //Tickers
1856413 12:1ecd11dc2c00 15 Ticker MeasureControl;
1856413 12:1ecd11dc2c00 16 Ticker MakeMotorRotate;
1856413 9:b002572e37fd 17
1856413 9:b002572e37fd 18 //Global variables
1856413 12:1ecd11dc2c00 19 volatile double measuredPosition = 0.0;
1856413 12:1ecd11dc2c00 20 volatile double referencePosition = 0.0;
1856413 12:1ecd11dc2c00 21 volatile double motorValue = 0.0;
1856413 12:1ecd11dc2c00 22 volatile double Kp = 0.0;
1856413 12:1ecd11dc2c00 23 volatile double
nicollevanrijswijk 5:a1fb2d2fb2d0 24
nicollevanrijswijk 11:4e3ef6150a2e 25 /*void Motor()
1856413 0:2e33035d4e86 26 {
1856413 1:c19fc63d555f 27 // Aflezen Potentiometers voor PWM
1856413 9:b002572e37fd 28 motor1_pwm = potMeter1.read(); // Aflezen PotMeter 1
1856413 12:1ecd11dc2c00 29 } */
nicollevanrijswijk 11:4e3ef6150a2e 30
1856413 12:1ecd11dc2c00 31 /*void changeDirectionButton()
nicollevanrijswijk 11:4e3ef6150a2e 32 {
1856413 12:1ecd11dc2c00 33 Motor1DirectionPin = 1 - Motor1DirectionPin; //
1856413 12:1ecd11dc2c00 34 pc.printf("Motor direction value %i \r\n", Motor1DirectionPin);
1856413 12:1ecd11dc2c00 35 } */
1856413 12:1ecd11dc2c00 36
1856413 12:1ecd11dc2c00 37 double GetReferencePosition()
1856413 12:1ecd11dc2c00 38 {
1856413 12:1ecd11dc2c00 39 double potMeterIn = potMeter1.read();
1856413 12:1ecd11dc2c00 40 double referencePosition = 4*3.14*potMeterIn - 2*3.14 ; // Reference value y, scaled to -2 to 2 revolutions (or 0 to 100 pi)
1856413 12:1ecd11dc2c00 41 return referencePosition;
1856413 0:2e33035d4e86 42 }
nicollevanrijswijk 11:4e3ef6150a2e 43
1856413 12:1ecd11dc2c00 44 void GetMeasuredPosition()
nicollevanrijswijk 11:4e3ef6150a2e 45 {
nicollevanrijswijk 11:4e3ef6150a2e 46 double counts = Encoder.getPulses();
1856413 12:1ecd11dc2c00 47 measuredPosition = ( counts / 4.0 * 64.0) * 6.28; // Rotational position in radians
nicollevanrijswijk 11:4e3ef6150a2e 48 }
nicollevanrijswijk 11:4e3ef6150a2e 49
nicollevanrijswijk 11:4e3ef6150a2e 50 void PositionGain()
nicollevanrijswijk 11:4e3ef6150a2e 51 {
nicollevanrijswijk 11:4e3ef6150a2e 52 double Kp = 10.0*potMeter2.read(); // Scale 0 to 10
nicollevanrijswijk 11:4e3ef6150a2e 53 }
nicollevanrijswijk 11:4e3ef6150a2e 54
nicollevanrijswijk 11:4e3ef6150a2e 55 double Error()
nicollevanrijswijk 11:4e3ef6150a2e 56 {
1856413 12:1ecd11dc2c00 57 double error = referencePosition - measuredPosition;
1856413 12:1ecd11dc2c00 58 return error;
1856413 8:ceb9abb5a4a8 59 }
1856413 8:ceb9abb5a4a8 60
1856413 12:1ecd11dc2c00 61 double FeedbackControl(double Error)
1856413 12:1ecd11dc2c00 62 { // Proportional part:
1856413 12:1ecd11dc2c00 63 double u_k = Kp * Error;
1856413 12:1ecd11dc2c00 64 // Sum all parts and return it
1856413 12:1ecd11dc2c00 65 return u_k;
1856413 12:1ecd11dc2c00 66 }
1856413 12:1ecd11dc2c00 67
1856413 12:1ecd11dc2c00 68 void SetMotor1(double motorValue)
1856413 12:1ecd11dc2c00 69 {
1856413 12:1ecd11dc2c00 70 // Given -1<=motorValue<=1, this sets the PWM and direction
1856413 12:1ecd11dc2c00 71 // bits for motor 1. Positive value makes motor rotating
1856413 12:1ecd11dc2c00 72 // clockwise. motorValues outside range are truncated to
1856413 12:1ecd11dc2c00 73 // within range
1856413 12:1ecd11dc2c00 74 if (motorValue >=0)
1856413 12:1ecd11dc2c00 75 {
1856413 12:1ecd11dc2c00 76 motor1DirectionPin=1;
1856413 12:1ecd11dc2c00 77 }
1856413 12:1ecd11dc2c00 78 else
1856413 12:1ecd11dc2c00 79 {
1856413 12:1ecd11dc2c00 80 motor1DirectionPin=0;
1856413 12:1ecd11dc2c00 81 }
1856413 12:1ecd11dc2c00 82 if (fabs(motorValue)>1)
1856413 12:1ecd11dc2c00 83 {
1856413 12:1ecd11dc2c00 84 motor1MagnitudePin = 1;
1856413 12:1ecd11dc2c00 85 }
1856413 12:1ecd11dc2c00 86 else
1856413 12:1ecd11dc2c00 87 {
1856413 12:1ecd11dc2c00 88 motor1MagnitudePin = fabs(motorValue);
1856413 12:1ecd11dc2c00 89 }
1856413 12:1ecd11dc2c00 90 }
1856413 12:1ecd11dc2c00 91 //-----------------------------------------------------------------------------
1856413 12:1ecd11dc2c00 92 // Ticker
1856413 12:1ecd11dc2c00 93 void MeasureAndControl(void)
1856413 12:1ecd11dc2c00 94 {
1856413 12:1ecd11dc2c00 95 // This function determines the desired velocity, measures the
1856413 12:1ecd11dc2c00 96 // actual velocity, and controls the motor with
1856413 12:1ecd11dc2c00 97 // a simple Feedback controller. Call this from a Ticker.
1856413 12:1ecd11dc2c00 98 float referencePosition = GetReferencePosition();
1856413 12:1ecd11dc2c00 99 float measuredPosition = GetMeasuredPosition();
1856413 12:1ecd11dc2c00 100 float error = Error();
1856413 12:1ecd11dc2c00 101 float motorValue = FeedbackControl(error);
1856413 12:1ecd11dc2c00 102 SetMotor1(motorValue);
1856413 12:1ecd11dc2c00 103
1856413 12:1ecd11dc2c00 104 //-----------------------------------------------------------------------------
1856413 0:2e33035d4e86 105 int main()
1856413 0:2e33035d4e86 106 {
1856413 12:1ecd11dc2c00 107 //Initialize once
1856413 6:bd73804c8cec 108 pc.baud(115200);
1856413 12:1ecd11dc2c00 109 motor1MagnitudePin.period_us(60.0); // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to done once), FastPWM variabele
1856413 12:1ecd11dc2c00 110 MeasureControl.attach(MeasureAndControl, 0.01);
1856413 9:b002572e37fd 111
1856413 12:1ecd11dc2c00 112 //Other initializations
1856413 12:1ecd11dc2c00 113 button2.rise(changeDirectionButton);
1856413 12:1ecd11dc2c00 114
1856413 12:1ecd11dc2c00 115 while(Error != 0) // when reference postion is reached, stop with the while loop
nicollevanrijswijk 11:4e3ef6150a2e 116 {
1856413 12:1ecd11dc2c00 117 MakeMotorRotate.attach(SetMotor,0.5);
nicollevanrijswijk 11:4e3ef6150a2e 118 }
nicollevanrijswijk 11:4e3ef6150a2e 119 }