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@9:b002572e37fd, 2018-10-15 (annotated)

Committer:
1856413
Date:
Mon Oct 15 13:53:15 2018 +0000
Revision:
9:b002572e37fd
Parent:
8:ceb9abb5a4a8
Child:
11:4e3ef6150a2e
Added GetReferenceVelocity and GetMeasuredVelocity functions

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 2:34c14fb36b5d 5 MODSERIAL pc(USBTX, USBRX);
1856413 0:2e33035d4e86 6 DigitalOut motor1_direction(D7);
1856413 8:ceb9abb5a4a8 7 AnalogIn potMeter1(A4);
1856413 8:ceb9abb5a4a8 8 InterruptIn button2(D3);
1856413 1:c19fc63d555f 9 FastPWM motor1_pwm(D6); //FastPWM input, PES lecture 2
1856413 9:b002572e37fd 10 QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING);
1856413 8:ceb9abb5a4a8 11 Ticker MotorSpeedCounts;
1856413 9:b002572e37fd 12 Ticker measurevelocity;
1856413 9:b002572e37fd 13
1856413 9:b002572e37fd 14 //Global variables
1856413 9:b002572e37fd 15 volatile double RotationalPosition = 0.0;
1856413 9:b002572e37fd 16 volatile double measuredVelocity = 0.0;
1856413 9:b002572e37fd 17 const double tickertime = 0.001;
nicollevanrijswijk 5:a1fb2d2fb2d0 18
1856413 0:2e33035d4e86 19 void Motor()
1856413 0:2e33035d4e86 20 {
1856413 1:c19fc63d555f 21 // Aflezen Potentiometers voor PWM
1856413 9:b002572e37fd 22 motor1_pwm = potMeter1.read(); // Aflezen PotMeter 1
1856413 8:ceb9abb5a4a8 23 // Encoder counts printen
1856413 9:b002572e37fd 24 //pc.printf("%i\r\n", Encoder.getPulses());
1856413 0:2e33035d4e86 25 }
1856413 1:c19fc63d555f 26
1856413 8:ceb9abb5a4a8 27 void changeDirectionButton()
1856413 1:c19fc63d555f 28 {
1856413 9:b002572e37fd 29 motor1_direction = 1 - motor1_direction; //
1856413 9:b002572e37fd 30 pc.printf("Motor direction value %i \r\n", motor1_direction);
1856413 1:c19fc63d555f 31 }
1856413 0:2e33035d4e86 32
1856413 8:ceb9abb5a4a8 33 double GetReferenceVelocity()
1856413 8:ceb9abb5a4a8 34 {
1856413 8:ceb9abb5a4a8 35 // Returns reference velocity in rad/s.
1856413 8:ceb9abb5a4a8 36 // Positive value means clockwise rotation.
1856413 8:ceb9abb5a4a8 37 // 60 rpm = 60*2*pi/60 = 6.28 ~ 6.2 rad/s
1856413 9:b002572e37fd 38 const double maxVelocity=6.2; // in rad/s of course!
1856413 8:ceb9abb5a4a8 39 double referenceVelocity; // in rad/s
1856413 9:b002572e37fd 40 switch (motor1_direction)
1856413 9:b002572e37fd 41 {
1856413 9:b002572e37fd 42 case 0: // check if motor1_direction is 0
1856413 8:ceb9abb5a4a8 43 // Clockwise rotation
1856413 9:b002572e37fd 44 referenceVelocity = potMeter1 * maxVelocity;
1856413 9:b002572e37fd 45 pc.printf("Reference velocity is %f. \r\n", referenceVelocity);
1856413 9:b002572e37fd 46 break;
1856413 9:b002572e37fd 47 case 1: // check if motor1_direction is 1
1856413 8:ceb9abb5a4a8 48 // Counterclockwise rotation
1856413 9:b002572e37fd 49 referenceVelocity = -1*potMeter1 * maxVelocity;
1856413 9:b002572e37fd 50 pc.printf("Reference velocity is %f. \r\n", referenceVelocity);
1856413 9:b002572e37fd 51 break;
1856413 9:b002572e37fd 52 default:
1856413 9:b002572e37fd 53 pc.printf("Something has gone wrong. \r \n");
1856413 8:ceb9abb5a4a8 54 }
1856413 8:ceb9abb5a4a8 55 return referenceVelocity;
1856413 8:ceb9abb5a4a8 56 }
1856413 8:ceb9abb5a4a8 57
1856413 9:b002572e37fd 58 void GetMeasuredVelocity()
1856413 8:ceb9abb5a4a8 59 {
1856413 8:ceb9abb5a4a8 60 // Get actual velocity from the motor plant
1856413 8:ceb9abb5a4a8 61 // Use encoder (counts)
1856413 9:b002572e37fd 62 double OldRotationalPosition = RotationalPosition;
1856413 9:b002572e37fd 63 double counts = Encoder.getPulses();
1856413 9:b002572e37fd 64 RotationalPosition = ( counts / 4 * 64) * 6.28; // Rotational position in radians
1856413 8:ceb9abb5a4a8 65 // hier komt de berekening van measured velocity
1856413 9:b002572e37fd 66 double measuredVelocity = (RotationalPosition - OldRotationalPosition) / tickertime;
1856413 9:b002572e37fd 67 //measuredVelocity defined as global variable, doesn't have to be returned anymore, is stored in memory all the time;
1856413 8:ceb9abb5a4a8 68 }
1856413 8:ceb9abb5a4a8 69
1856413 8:ceb9abb5a4a8 70
1856413 0:2e33035d4e86 71 int main()
1856413 0:2e33035d4e86 72 {
1856413 6:bd73804c8cec 73 pc.baud(115200);
1856413 9:b002572e37fd 74 motor1_direction = 0;
1856413 0:2e33035d4e86 75 motor1_pwm.period_us(60.0); // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to done once), FastPWM variabele
1856413 8:ceb9abb5a4a8 76 MotorSpeedCounts.attach(Motor, 0.5); // Ticker die de functie Motor aanroept elke halve seconde, meer tijd is tragere respons op potmeter
1856413 8:ceb9abb5a4a8 77 button2.rise(changeDirectionButton);
1856413 9:b002572e37fd 78 measurevelocity.attach(GetMeasuredVelocity, tickertime);
1856413 9:b002572e37fd 79
1856413 9:b002572e37fd 80 double referenceSnelheid = GetReferenceVelocity();
1856413 9:b002572e37fd 81 pc.printf("Reference velocity is %f \r\n Measured velocity is %f. \r\n", referenceSnelheid, measuredVelocity);
1856413 9:b002572e37fd 82
1856413 0:2e33035d4e86 83 while(true){} // Endless loop
1856413 0:2e33035d4e86 84 }