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@14:29236a33b5e4, 2018-10-19 (annotated)

Committer:
lweersink
Date:
Fri Oct 19 09:02:56 2018 +0000
Revision:
14:29236a33b5e4
Parent:
13:0b51846cf9e3
Child:
15:c2cfab737a4c
P-controller af. Onnauwkeurigheid in potmeter, waardoor de reference position blijft veranderen, maar motor reageert zoals het hoort.

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;
lweersink 14:29236a33b5e4 16 Ticker print;
lweersink 14:29236a33b5e4 17 /*Ticker MakeMotorRotate;*/ //Waar zal deze ticker voor dienen?
1856413 9:b002572e37fd 18
1856413 9:b002572e37fd 19 //Global variables
1856413 12:1ecd11dc2c00 20 volatile double measuredPosition = 0.0;
1856413 12:1ecd11dc2c00 21 volatile double referencePosition = 0.0;
lweersink 14:29236a33b5e4 22 volatile double motorValue= 0.01;
1856413 12:1ecd11dc2c00 23 volatile double Kp = 0.0;
nicollevanrijswijk 5:a1fb2d2fb2d0 24
1856413 13:0b51846cf9e3 25 //------------------------------------------------------------------------------
1856413 13:0b51846cf9e3 26 // Functions
1856413 12:1ecd11dc2c00 27
1856413 12:1ecd11dc2c00 28 double GetReferencePosition()
1856413 12:1ecd11dc2c00 29 {
1856413 12:1ecd11dc2c00 30 double potMeterIn = potMeter1.read();
lweersink 14:29236a33b5e4 31 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 32 return referencePosition;
1856413 0:2e33035d4e86 33 }
nicollevanrijswijk 11:4e3ef6150a2e 34
1856413 13:0b51846cf9e3 35 double GetMeasuredPosition()
nicollevanrijswijk 11:4e3ef6150a2e 36 {
nicollevanrijswijk 11:4e3ef6150a2e 37 double counts = Encoder.getPulses();
lweersink 14:29236a33b5e4 38 measuredPosition = ( counts / (8400)) * 6.28; // Rotational position in radians
1856413 13:0b51846cf9e3 39 return measuredPosition;
nicollevanrijswijk 11:4e3ef6150a2e 40 }
nicollevanrijswijk 11:4e3ef6150a2e 41
lweersink 14:29236a33b5e4 42 double FeedbackControl(double Error)
lweersink 14:29236a33b5e4 43 {
1856413 13:0b51846cf9e3 44 double Kp = 20.0*potMeter2.read(); // Scale 0 to 20
lweersink 14:29236a33b5e4 45 // Proportional part:
1856413 12:1ecd11dc2c00 46 double u_k = Kp * Error;
lweersink 14:29236a33b5e4 47 // Sum all parts and return it
1856413 13:0b51846cf9e3 48 return u_k; //motorValue
1856413 12:1ecd11dc2c00 49 }
1856413 12:1ecd11dc2c00 50
1856413 12:1ecd11dc2c00 51 void SetMotor1(double motorValue)
1856413 12:1ecd11dc2c00 52 {
1856413 12:1ecd11dc2c00 53 // Given -1<=motorValue<=1, this sets the PWM and direction
1856413 12:1ecd11dc2c00 54 // bits for motor 1. Positive value makes motor rotating
1856413 12:1ecd11dc2c00 55 // clockwise. motorValues outside range are truncated to
1856413 12:1ecd11dc2c00 56 // within range
lweersink 14:29236a33b5e4 57 if (motorValue >=0)
1856413 12:1ecd11dc2c00 58 {
1856413 12:1ecd11dc2c00 59 motor1DirectionPin=1;
1856413 12:1ecd11dc2c00 60 }
1856413 12:1ecd11dc2c00 61 else
1856413 12:1ecd11dc2c00 62 {
1856413 12:1ecd11dc2c00 63 motor1DirectionPin=0;
1856413 12:1ecd11dc2c00 64 }
lweersink 14:29236a33b5e4 65 if (fabs(motorValue)>1)
1856413 12:1ecd11dc2c00 66 {
1856413 12:1ecd11dc2c00 67 motor1MagnitudePin = 1;
1856413 12:1ecd11dc2c00 68 }
1856413 12:1ecd11dc2c00 69 else
1856413 12:1ecd11dc2c00 70 {
1856413 12:1ecd11dc2c00 71 motor1MagnitudePin = fabs(motorValue);
1856413 12:1ecd11dc2c00 72 }
1856413 12:1ecd11dc2c00 73 }
1856413 12:1ecd11dc2c00 74 //-----------------------------------------------------------------------------
lweersink 14:29236a33b5e4 75 // Tickers
1856413 12:1ecd11dc2c00 76 void MeasureAndControl(void)
1856413 12:1ecd11dc2c00 77 {
lweersink 14:29236a33b5e4 78 // This function determines the desired velocity, measures the
1856413 12:1ecd11dc2c00 79 // actual velocity, and controls the motor with
1856413 12:1ecd11dc2c00 80 // a simple Feedback controller. Call this from a Ticker.
lweersink 14:29236a33b5e4 81 referencePosition = GetReferencePosition();
lweersink 14:29236a33b5e4 82 measuredPosition = GetMeasuredPosition();
lweersink 14:29236a33b5e4 83 motorValue = FeedbackControl(referencePosition - measuredPosition);
1856413 12:1ecd11dc2c00 84 SetMotor1(motorValue);
1856413 13:0b51846cf9e3 85 }
1856413 12:1ecd11dc2c00 86
lweersink 14:29236a33b5e4 87 void printen()
lweersink 14:29236a33b5e4 88 {
lweersink 14:29236a33b5e4 89 pc.baud (115200);
lweersink 14:29236a33b5e4 90 pc.printf("Referenceposition %f \r\n", referencePosition);
lweersink 14:29236a33b5e4 91 pc.printf("Measured position %f \r\n", measuredPosition);
lweersink 14:29236a33b5e4 92 pc.printf("Motorvalue %f \r\n", motorValue);
lweersink 14:29236a33b5e4 93 }
1856413 12:1ecd11dc2c00 94 //-----------------------------------------------------------------------------
1856413 0:2e33035d4e86 95 int main()
1856413 0:2e33035d4e86 96 {
1856413 12:1ecd11dc2c00 97 //Initialize once
1856413 6:bd73804c8cec 98 pc.baud(115200);
1856413 13:0b51846cf9e3 99 motor1MagnitudePin.period_us(60.0); // 60 microseconds PWM period: 16.7 kHz.
1856413 12:1ecd11dc2c00 100 MeasureControl.attach(MeasureAndControl, 0.01);
lweersink 14:29236a33b5e4 101 print.attach(printen, 3);
1856413 9:b002572e37fd 102
1856413 12:1ecd11dc2c00 103 //Other initializations
1856413 12:1ecd11dc2c00 104
1856413 13:0b51846cf9e3 105 while(true)
nicollevanrijswijk 11:4e3ef6150a2e 106 {
nicollevanrijswijk 11:4e3ef6150a2e 107 }
nicollevanrijswijk 11:4e3ef6150a2e 108 }