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@21:5f88e09d6ab8, 2018-10-29 (annotated)

Committer:
1856413
Date:
Mon Oct 29 12:35:54 2018 +0000
Revision:
21:5f88e09d6ab8
Parent:
20:e00e41e3cda8 
only hidscope, no modserial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
1856413 0:2e33035d4e86 1 #include "mbed.h"
1856413 13:0b51846cf9e3 2 #include "FastPWM.h"
1856413 2:34c14fb36b5d 3 #include "MODSERIAL.h"
lweersink 4:49c5fd62a192 4 #include "QEI.h"
1856413 20:e00e41e3cda8 5 #include "HIDScope.h"
1856413 12:1ecd11dc2c00 6 #include <math.h>
1856413 2:34c14fb36b5d 7 MODSERIAL pc(USBTX, USBRX);
1856413 13:0b51846cf9e3 8 DigitalOut motor1DirectionPin(D7);
1856413 13:0b51846cf9e3 9 FastPWM motor1MagnitudePin(D6);
1856413 8:ceb9abb5a4a8 10 AnalogIn potMeter1(A4);
1856413 12:1ecd11dc2c00 11 AnalogIn potMeter2(A5);
1856413 8:ceb9abb5a4a8 12 InterruptIn button2(D3);
1856413 20:e00e41e3cda8 13 DigitalOut led(LED1);
1856413 9:b002572e37fd 14 QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING);
1856413 20:e00e41e3cda8 15 HIDScope scope(1);
1856413 12:1ecd11dc2c00 16
1856413 12:1ecd11dc2c00 17 //Tickers
1856413 12:1ecd11dc2c00 18 Ticker MeasureControl;
lweersink 14:29236a33b5e4 19 Ticker print;
1856413 20:e00e41e3cda8 20 Ticker SenttoHidscope;
1856413 9:b002572e37fd 21
1856413 9:b002572e37fd 22 //Global variables
1856413 12:1ecd11dc2c00 23 volatile double measuredPosition = 0.0;
1856413 12:1ecd11dc2c00 24 volatile double referencePosition = 0.0;
lweersink 14:29236a33b5e4 25 volatile double motorValue= 0.01;
lweersink 17:4a0912c93771 26 volatile double Kp = 5.0; //dit maken we variabel, dit zorgt voor een grote of kleine overshoot
lweersink 15:c2cfab737a4c 27 volatile double Ki = 1.0; //dit moeten we bepalen met een plot bijvoorbeeld
lweersink 17:4a0912c93771 28 volatile double Kd = 0.0;
lweersink 15:c2cfab737a4c 29 volatile double Ts = 0.01;
1856413 20:e00e41e3cda8 30 volatile double measuredVelocity = 0.0;
1856413 20:e00e41e3cda8 31 volatile double tickertime = 0.001;
nicollevanrijswijk 5:a1fb2d2fb2d0 32
1856413 13:0b51846cf9e3 33 //------------------------------------------------------------------------------
1856413 13:0b51846cf9e3 34 // Functions
1856413 20:e00e41e3cda8 35
1856413 12:1ecd11dc2c00 36 double GetReferencePosition()
1856413 12:1ecd11dc2c00 37 {
1856413 12:1ecd11dc2c00 38 double potMeterIn = potMeter1.read();
lweersink 14:29236a33b5e4 39 referencePosition = 4.0*3.14*potMeterIn - 2.0*3.14 ; // Reference value y, scaled to -2 to 2 revolutions (or 0 to 100 pi) WAAROM?
1856413 12:1ecd11dc2c00 40 return referencePosition;
1856413 0:2e33035d4e86 41 }
nicollevanrijswijk 11:4e3ef6150a2e 42
1856413 13:0b51846cf9e3 43 double GetMeasuredPosition()
nicollevanrijswijk 11:4e3ef6150a2e 44 {
nicollevanrijswijk 11:4e3ef6150a2e 45 double counts = Encoder.getPulses();
lweersink 14:29236a33b5e4 46 measuredPosition = ( counts / (8400)) * 6.28; // Rotational position in radians
1856413 13:0b51846cf9e3 47 return measuredPosition;
nicollevanrijswijk 11:4e3ef6150a2e 48 }
nicollevanrijswijk 11:4e3ef6150a2e 49
lweersink 14:29236a33b5e4 50 double FeedbackControl(double Error)
lweersink 14:29236a33b5e4 51 {
lweersink 17:4a0912c93771 52 static double Error_integral = 0;
lweersink 17:4a0912c93771 53 static double Error_prev = Error;
lweersink 17:4a0912c93771 54 //static BiQuad LowPassFilter(..., ..., ..., ..., ...)
lweersink 14:29236a33b5e4 55 // Proportional part:
lweersink 17:4a0912c93771 56 //van 0 tot 20, waardes rond de 5 zijn het beste (minder overshoot + minder trilling motor beste combinatie hiervan)
1856413 12:1ecd11dc2c00 57 double u_k = Kp * Error;
lweersink 15:c2cfab737a4c 58 // Integral part:
lweersink 15:c2cfab737a4c 59 Error_integral = Error_integral + Error * Ts;
lweersink 15:c2cfab737a4c 60 double u_i = Ki * Error_integral;
lweersink 17:4a0912c93771 61 // Derivative part
lweersink 17:4a0912c93771 62 double Error_derivative = (Error - Error_prev)/Ts;
lweersink 17:4a0912c93771 63 Kd = 20*potMeter2.read();
lweersink 17:4a0912c93771 64 double u_d = Kd * Error_derivative;
lweersink 17:4a0912c93771 65 Error_prev = Error;
lweersink 14:29236a33b5e4 66 // Sum all parts and return it
lweersink 17:4a0912c93771 67 return u_k + u_i + u_d; //motorValue
1856413 12:1ecd11dc2c00 68 }
1856413 12:1ecd11dc2c00 69
1856413 12:1ecd11dc2c00 70 void SetMotor1(double motorValue)
1856413 12:1ecd11dc2c00 71 {
1856413 12:1ecd11dc2c00 72 // Given -1<=motorValue<=1, this sets the PWM and direction
1856413 12:1ecd11dc2c00 73 // bits for motor 1. Positive value makes motor rotating
1856413 12:1ecd11dc2c00 74 // clockwise. motorValues outside range are truncated to
1856413 12:1ecd11dc2c00 75 // within range
lweersink 14:29236a33b5e4 76 if (motorValue >=0)
1856413 12:1ecd11dc2c00 77 {
1856413 12:1ecd11dc2c00 78 motor1DirectionPin=1;
1856413 12:1ecd11dc2c00 79 }
1856413 12:1ecd11dc2c00 80 else
1856413 12:1ecd11dc2c00 81 {
1856413 12:1ecd11dc2c00 82 motor1DirectionPin=0;
1856413 12:1ecd11dc2c00 83 }
lweersink 14:29236a33b5e4 84 if (fabs(motorValue)>1)
1856413 12:1ecd11dc2c00 85 {
1856413 12:1ecd11dc2c00 86 motor1MagnitudePin = 1;
1856413 12:1ecd11dc2c00 87 }
1856413 12:1ecd11dc2c00 88 else
1856413 12:1ecd11dc2c00 89 {
1856413 12:1ecd11dc2c00 90 motor1MagnitudePin = fabs(motorValue);
1856413 12:1ecd11dc2c00 91 }
1856413 12:1ecd11dc2c00 92 }
1856413 12:1ecd11dc2c00 93 //-----------------------------------------------------------------------------
lweersink 14:29236a33b5e4 94 // Tickers
1856413 12:1ecd11dc2c00 95 void MeasureAndControl(void)
1856413 12:1ecd11dc2c00 96 {
lweersink 14:29236a33b5e4 97 // This function determines the desired velocity, measures the
1856413 12:1ecd11dc2c00 98 // actual velocity, and controls the motor with
1856413 12:1ecd11dc2c00 99 // a simple Feedback controller. Call this from a Ticker.
lweersink 14:29236a33b5e4 100 referencePosition = GetReferencePosition();
lweersink 14:29236a33b5e4 101 measuredPosition = GetMeasuredPosition();
lweersink 14:29236a33b5e4 102 motorValue = FeedbackControl(referencePosition - measuredPosition);
1856413 12:1ecd11dc2c00 103 SetMotor1(motorValue);
1856413 13:0b51846cf9e3 104 }
1856413 12:1ecd11dc2c00 105
1856413 20:e00e41e3cda8 106 void hidscope()
1856413 20:e00e41e3cda8 107 {
1856413 20:e00e41e3cda8 108 double OldmeasuredPosition = measuredPosition;
1856413 20:e00e41e3cda8 109 double measuredVelocity = (measuredPosition - OldmeasuredPosition) / tickertime;
1856413 20:e00e41e3cda8 110 scope.set(0, measuredVelocity); // set the encoder pulses in channel 0
1856413 20:e00e41e3cda8 111 scope.send();
1856413 20:e00e41e3cda8 112 led = !led;
1856413 20:e00e41e3cda8 113 }
1856413 20:e00e41e3cda8 114
1856413 12:1ecd11dc2c00 115 //-----------------------------------------------------------------------------
1856413 0:2e33035d4e86 116 int main()
1856413 0:2e33035d4e86 117 {
1856413 12:1ecd11dc2c00 118 //Initialize once
1856413 6:bd73804c8cec 119 pc.baud(115200);
1856413 13:0b51846cf9e3 120 motor1MagnitudePin.period_us(60.0); // 60 microseconds PWM period: 16.7 kHz.
1856413 12:1ecd11dc2c00 121 MeasureControl.attach(MeasureAndControl, 0.01);
1856413 20:e00e41e3cda8 122 SenttoHidscope.attach(hidscope, 0.02);
1856413 9:b002572e37fd 123
1856413 12:1ecd11dc2c00 124 //Other initializations
1856413 12:1ecd11dc2c00 125
1856413 13:0b51846cf9e3 126 while(true)
nicollevanrijswijk 11:4e3ef6150a2e 127 {
nicollevanrijswijk 11:4e3ef6150a2e 128 }
nicollevanrijswijk 11:4e3ef6150a2e 129 }