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@20:e00e41e3cda8, 2018-10-27 (annotated)

Committer:
1856413
Date:
Sat Oct 27 15:55:00 2018 +0000
Revision:
20:e00e41e3cda8
Parent:
19:1353ba4d94db
Child:
21:5f88e09d6ab8
Show velocity (through measured position with encoder) in Hidscope. Led works, but Hidscope doesn't show anything. NOTE: PWM still needs to be set maximum

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 /*double EMGFilters()
lweersink 19:1353ba4d94db 36 {
lweersink 19:1353ba4d94db 37 static BiQuad Notchfilter(1.0000, -1.6180, 1.0000, 1.0000, -1.5687, 0.9391);
lweersink 19:1353ba4d94db 38 static BiQuad HighPassFilter (1.0000, -2.0000, 1.0000, 1.0000, -1.8268, 0.8407);
lweersink 19:1353ba4d94db 39 static BiQuad LowPassFilter (1.0000, 2.0000, 1.0000, 1.0000, 0.3172, 0.1894);
1856413 20:e00e41e3cda8 40 }*/
1856413 20:e00e41e3cda8 41
1856413 12:1ecd11dc2c00 42 double GetReferencePosition()
1856413 12:1ecd11dc2c00 43 {
1856413 12:1ecd11dc2c00 44 double potMeterIn = potMeter1.read();
lweersink 14:29236a33b5e4 45 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 46 return referencePosition;
1856413 0:2e33035d4e86 47 }
nicollevanrijswijk 11:4e3ef6150a2e 48
1856413 13:0b51846cf9e3 49 double GetMeasuredPosition()
nicollevanrijswijk 11:4e3ef6150a2e 50 {
nicollevanrijswijk 11:4e3ef6150a2e 51 double counts = Encoder.getPulses();
lweersink 14:29236a33b5e4 52 measuredPosition = ( counts / (8400)) * 6.28; // Rotational position in radians
1856413 13:0b51846cf9e3 53 return measuredPosition;
nicollevanrijswijk 11:4e3ef6150a2e 54 }
nicollevanrijswijk 11:4e3ef6150a2e 55
lweersink 14:29236a33b5e4 56 double FeedbackControl(double Error)
lweersink 14:29236a33b5e4 57 {
lweersink 17:4a0912c93771 58 static double Error_integral = 0;
lweersink 17:4a0912c93771 59 static double Error_prev = Error;
lweersink 17:4a0912c93771 60 //static BiQuad LowPassFilter(..., ..., ..., ..., ...)
lweersink 14:29236a33b5e4 61 // Proportional part:
lweersink 17:4a0912c93771 62 //van 0 tot 20, waardes rond de 5 zijn het beste (minder overshoot + minder trilling motor beste combinatie hiervan)
1856413 12:1ecd11dc2c00 63 double u_k = Kp * Error;
lweersink 15:c2cfab737a4c 64 // Integral part:
lweersink 15:c2cfab737a4c 65 Error_integral = Error_integral + Error * Ts;
lweersink 15:c2cfab737a4c 66 double u_i = Ki * Error_integral;
lweersink 17:4a0912c93771 67 // Derivative part
lweersink 17:4a0912c93771 68 double Error_derivative = (Error - Error_prev)/Ts;
lweersink 17:4a0912c93771 69 Kd = 20*potMeter2.read();
lweersink 17:4a0912c93771 70 double u_d = Kd * Error_derivative;
lweersink 17:4a0912c93771 71 Error_prev = Error;
lweersink 14:29236a33b5e4 72 // Sum all parts and return it
lweersink 17:4a0912c93771 73 return u_k + u_i + u_d; //motorValue
1856413 12:1ecd11dc2c00 74 }
1856413 12:1ecd11dc2c00 75
1856413 12:1ecd11dc2c00 76 void SetMotor1(double motorValue)
1856413 12:1ecd11dc2c00 77 {
1856413 12:1ecd11dc2c00 78 // Given -1<=motorValue<=1, this sets the PWM and direction
1856413 12:1ecd11dc2c00 79 // bits for motor 1. Positive value makes motor rotating
1856413 12:1ecd11dc2c00 80 // clockwise. motorValues outside range are truncated to
1856413 12:1ecd11dc2c00 81 // within range
lweersink 14:29236a33b5e4 82 if (motorValue >=0)
1856413 12:1ecd11dc2c00 83 {
1856413 12:1ecd11dc2c00 84 motor1DirectionPin=1;
1856413 12:1ecd11dc2c00 85 }
1856413 12:1ecd11dc2c00 86 else
1856413 12:1ecd11dc2c00 87 {
1856413 12:1ecd11dc2c00 88 motor1DirectionPin=0;
1856413 12:1ecd11dc2c00 89 }
lweersink 14:29236a33b5e4 90 if (fabs(motorValue)>1)
1856413 12:1ecd11dc2c00 91 {
1856413 12:1ecd11dc2c00 92 motor1MagnitudePin = 1;
1856413 12:1ecd11dc2c00 93 }
1856413 12:1ecd11dc2c00 94 else
1856413 12:1ecd11dc2c00 95 {
1856413 12:1ecd11dc2c00 96 motor1MagnitudePin = fabs(motorValue);
1856413 12:1ecd11dc2c00 97 }
1856413 12:1ecd11dc2c00 98 }
1856413 12:1ecd11dc2c00 99 //-----------------------------------------------------------------------------
lweersink 14:29236a33b5e4 100 // Tickers
1856413 12:1ecd11dc2c00 101 void MeasureAndControl(void)
1856413 12:1ecd11dc2c00 102 {
lweersink 14:29236a33b5e4 103 // This function determines the desired velocity, measures the
1856413 12:1ecd11dc2c00 104 // actual velocity, and controls the motor with
1856413 12:1ecd11dc2c00 105 // a simple Feedback controller. Call this from a Ticker.
lweersink 14:29236a33b5e4 106 referencePosition = GetReferencePosition();
lweersink 14:29236a33b5e4 107 measuredPosition = GetMeasuredPosition();
lweersink 14:29236a33b5e4 108 motorValue = FeedbackControl(referencePosition - measuredPosition);
1856413 12:1ecd11dc2c00 109 SetMotor1(motorValue);
1856413 13:0b51846cf9e3 110 }
1856413 12:1ecd11dc2c00 111
1856413 20:e00e41e3cda8 112 void hidscope()
1856413 20:e00e41e3cda8 113 {
1856413 20:e00e41e3cda8 114 double OldmeasuredPosition = measuredPosition;
1856413 20:e00e41e3cda8 115 double measuredVelocity = (measuredPosition - OldmeasuredPosition) / tickertime;
1856413 20:e00e41e3cda8 116 scope.set(0, measuredVelocity); // set the encoder pulses in channel 0
1856413 20:e00e41e3cda8 117 scope.send();
1856413 20:e00e41e3cda8 118 led = !led;
1856413 20:e00e41e3cda8 119 }
1856413 20:e00e41e3cda8 120
1856413 20:e00e41e3cda8 121 /*void printen()
lweersink 14:29236a33b5e4 122 {
lweersink 14:29236a33b5e4 123 pc.baud (115200);
lweersink 14:29236a33b5e4 124 pc.printf("Referenceposition %f \r\n", referencePosition);
lweersink 14:29236a33b5e4 125 pc.printf("Measured position %f \r\n", measuredPosition);
lweersink 15:c2cfab737a4c 126 pc.printf("Motorvalue/Error %f \r\n", motorValue);
lweersink 15:c2cfab737a4c 127 pc.printf("Proportional gain %f \r\n", Kp);
lweersink 15:c2cfab737a4c 128 pc.printf("Integral gain %f \r\n", Ki);
lweersink 17:4a0912c93771 129 pc.printf("Derivative gain %f \r\n", Kd);
1856413 20:e00e41e3cda8 130 }*/
1856413 12:1ecd11dc2c00 131 //-----------------------------------------------------------------------------
1856413 0:2e33035d4e86 132 int main()
1856413 0:2e33035d4e86 133 {
1856413 12:1ecd11dc2c00 134 //Initialize once
1856413 6:bd73804c8cec 135 pc.baud(115200);
1856413 13:0b51846cf9e3 136 motor1MagnitudePin.period_us(60.0); // 60 microseconds PWM period: 16.7 kHz.
1856413 12:1ecd11dc2c00 137 MeasureControl.attach(MeasureAndControl, 0.01);
1856413 20:e00e41e3cda8 138 SenttoHidscope.attach(hidscope, 0.02);
1856413 20:e00e41e3cda8 139 /*print.attach(printen, 3);*/
1856413 9:b002572e37fd 140
1856413 12:1ecd11dc2c00 141 //Other initializations
1856413 12:1ecd11dc2c00 142
1856413 13:0b51846cf9e3 143 while(true)
nicollevanrijswijk 11:4e3ef6150a2e 144 {
nicollevanrijswijk 11:4e3ef6150a2e 145 }
nicollevanrijswijk 11:4e3ef6150a2e 146 }