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@13:0b51846cf9e3, 2018-10-16 (annotated)

Committer:
1856413
Date:
Tue Oct 16 09:06:44 2018 +0000
Revision:
13:0b51846cf9e3
Parent:
12:1ecd11dc2c00
Child:
14:29236a33b5e4
Functies werken, main moet nog aangepast worden. Nog geen printen van variabelen.

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 12:1ecd11dc2c00 5 #include <math.h>
1856413 2:34c14fb36b5d 6 MODSERIAL pc(USBTX, USBRX);
1856413 13:0b51846cf9e3 7 DigitalOut motor1DirectionPin(D7);
1856413 13:0b51846cf9e3 8 FastPWM motor1MagnitudePin(D6);
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 13:0b51846cf9e3 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;
nicollevanrijswijk 5:a1fb2d2fb2d0 23
1856413 13:0b51846cf9e3 24 //------------------------------------------------------------------------------
1856413 13:0b51846cf9e3 25 // Functions
1856413 12:1ecd11dc2c00 26
1856413 12:1ecd11dc2c00 27 double GetReferencePosition()
1856413 12:1ecd11dc2c00 28 {
1856413 12:1ecd11dc2c00 29 double potMeterIn = potMeter1.read();
1856413 13:0b51846cf9e3 30 referencePosition = 4.0*3.14*potMeterIn - 2.0*3.14 ; // Reference value y, scaled to -2 to 2 revolutions (or 0 to 100 pi)
1856413 12:1ecd11dc2c00 31 return referencePosition;
1856413 0:2e33035d4e86 32 }
nicollevanrijswijk 11:4e3ef6150a2e 33
1856413 13:0b51846cf9e3 34 double GetMeasuredPosition()
nicollevanrijswijk 11:4e3ef6150a2e 35 {
nicollevanrijswijk 11:4e3ef6150a2e 36 double counts = Encoder.getPulses();
1856413 13:0b51846cf9e3 37 measuredPosition = ( counts / 4.0 * 64.0) * 6.28; // Rotational position in radians
1856413 13:0b51846cf9e3 38 return measuredPosition;
nicollevanrijswijk 11:4e3ef6150a2e 39 }
nicollevanrijswijk 11:4e3ef6150a2e 40
1856413 12:1ecd11dc2c00 41 double FeedbackControl(double Error)
1856413 13:0b51846cf9e3 42 {
1856413 13:0b51846cf9e3 43 double Kp = 20.0*potMeter2.read(); // Scale 0 to 20
1856413 13:0b51846cf9e3 44 // Proportional part:
1856413 12:1ecd11dc2c00 45 double u_k = Kp * Error;
1856413 12:1ecd11dc2c00 46 // Sum all parts and return it
1856413 13:0b51846cf9e3 47 return u_k; //motorValue
1856413 12:1ecd11dc2c00 48 }
1856413 12:1ecd11dc2c00 49
1856413 12:1ecd11dc2c00 50 void SetMotor1(double motorValue)
1856413 12:1ecd11dc2c00 51 {
1856413 12:1ecd11dc2c00 52 // Given -1<=motorValue<=1, this sets the PWM and direction
1856413 12:1ecd11dc2c00 53 // bits for motor 1. Positive value makes motor rotating
1856413 12:1ecd11dc2c00 54 // clockwise. motorValues outside range are truncated to
1856413 12:1ecd11dc2c00 55 // within range
1856413 12:1ecd11dc2c00 56 if (motorValue >=0)
1856413 12:1ecd11dc2c00 57 {
1856413 12:1ecd11dc2c00 58 motor1DirectionPin=1;
1856413 12:1ecd11dc2c00 59 }
1856413 12:1ecd11dc2c00 60 else
1856413 12:1ecd11dc2c00 61 {
1856413 12:1ecd11dc2c00 62 motor1DirectionPin=0;
1856413 12:1ecd11dc2c00 63 }
1856413 12:1ecd11dc2c00 64 if (fabs(motorValue)>1)
1856413 12:1ecd11dc2c00 65 {
1856413 12:1ecd11dc2c00 66 motor1MagnitudePin = 1;
1856413 12:1ecd11dc2c00 67 }
1856413 12:1ecd11dc2c00 68 else
1856413 12:1ecd11dc2c00 69 {
1856413 12:1ecd11dc2c00 70 motor1MagnitudePin = fabs(motorValue);
1856413 12:1ecd11dc2c00 71 }
1856413 12:1ecd11dc2c00 72 }
1856413 12:1ecd11dc2c00 73 //-----------------------------------------------------------------------------
1856413 12:1ecd11dc2c00 74 // Ticker
1856413 12:1ecd11dc2c00 75 void MeasureAndControl(void)
1856413 12:1ecd11dc2c00 76 {
1856413 12:1ecd11dc2c00 77 // This function determines the desired velocity, measures the
1856413 12:1ecd11dc2c00 78 // actual velocity, and controls the motor with
1856413 12:1ecd11dc2c00 79 // a simple Feedback controller. Call this from a Ticker.
1856413 13:0b51846cf9e3 80 double referencePosition = GetReferencePosition();
1856413 13:0b51846cf9e3 81 double measuredPosition = GetMeasuredPosition();
1856413 13:0b51846cf9e3 82 double motorValue = FeedbackControl(referencePosition - measuredPosition);
1856413 12:1ecd11dc2c00 83 SetMotor1(motorValue);
1856413 13:0b51846cf9e3 84 }
1856413 12:1ecd11dc2c00 85
1856413 12:1ecd11dc2c00 86 //-----------------------------------------------------------------------------
1856413 0:2e33035d4e86 87 int main()
1856413 0:2e33035d4e86 88 {
1856413 12:1ecd11dc2c00 89 //Initialize once
1856413 6:bd73804c8cec 90 pc.baud(115200);
1856413 13:0b51846cf9e3 91 motor1MagnitudePin.period_us(60.0); // 60 microseconds PWM period: 16.7 kHz.
1856413 12:1ecd11dc2c00 92 MeasureControl.attach(MeasureAndControl, 0.01);
1856413 13:0b51846cf9e3 93 /*MakeMotorRotate.attach(SetMotor1, 0.01);*/
1856413 9:b002572e37fd 94
1856413 12:1ecd11dc2c00 95 //Other initializations
1856413 12:1ecd11dc2c00 96
1856413 13:0b51846cf9e3 97 while(true)
nicollevanrijswijk 11:4e3ef6150a2e 98 {
nicollevanrijswijk 11:4e3ef6150a2e 99 }
nicollevanrijswijk 11:4e3ef6150a2e 100 }