Using HIDScope for P(I)D controller
Dependencies: FastPWM HIDScope MODSERIAL QEI biquadFilter mbed
Fork of PES_tutorial_5 by
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?
User | Revision | Line number | New 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 | } |