Arnoud Meutstege / Mbed 2 deprecated Conceptcontroller_v_1_0

first publish not working

Dependencies:   MODSERIAL mbed ttmath FastPWM Motor_with_encoder biquadFilter

main.cpp@13:b5868fd8ffe9, 2017-11-02 (annotated)

Committer:
Arnoud113
Date:
Thu Nov 02 14:47:48 2017 +0000
Revision:
13:b5868fd8ffe9
Parent:
12:02eba9a294d2
Child:
14:54cbd8f0efe4
publish for the group, works pretty goof

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Arnoud113 0:77ad62c61c78 1 #include "mbed.h"
Arnoud113 0:77ad62c61c78 2 #include "QEI.h"
Arnoud113 0:77ad62c61c78 3 #include "MODSERIAL.h"
Arnoud113 0:77ad62c61c78 4 #include "math.h"
Arnoud113 2:2563d1d8461f 5 #include "FastPWM.h"
Arnoud113 3:b353ee86230a 6 #include "encoder.h"
Arnoud113 13:b5868fd8ffe9 7 #include "BiQuad.h"
Arnoud113 0:77ad62c61c78 8
Arnoud113 0:77ad62c61c78 9
Arnoud113 0:77ad62c61c78 10
Arnoud113 0:77ad62c61c78 11 DigitalOut gpo(D0);
Arnoud113 0:77ad62c61c78 12 DigitalOut ledb(LED_BLUE);
Arnoud113 0:77ad62c61c78 13 DigitalOut ledr(LED_RED);
Arnoud113 0:77ad62c61c78 14 DigitalOut ledg(LED_GREEN);
Arnoud113 12:02eba9a294d2 15
Arnoud113 0:77ad62c61c78 16 DigitalOut motor1DC(D7);
Arnoud113 3:b353ee86230a 17 DigitalOut motor2DC(D4);
Arnoud113 8:b932f8b71d3a 18 FastPWM motor1PWM(D6);
Arnoud113 8:b932f8b71d3a 19 FastPWM motor2PWM(D5);
Arnoud113 0:77ad62c61c78 20
Arnoud113 12:02eba9a294d2 21 AnalogIn potMeter1(A0);
Arnoud113 12:02eba9a294d2 22 AnalogIn potMeter2(A1);
Arnoud113 12:02eba9a294d2 23 AnalogIn emg1(A2);
Arnoud113 12:02eba9a294d2 24 AnalogIn emg2(A3);
Arnoud113 12:02eba9a294d2 25 AnalogIn emg3(A4);
Arnoud113 12:02eba9a294d2 26 AnalogIn emg4(A5);
Arnoud113 12:02eba9a294d2 27
Arnoud113 12:02eba9a294d2 28 DigitalIn button1(D11);
Arnoud113 12:02eba9a294d2 29 DigitalIn button2(D12);
Arnoud113 12:02eba9a294d2 30 DigitalIn button3(SW2);
Arnoud113 12:02eba9a294d2 31 DigitalIn button4(SW3);
Arnoud113 12:02eba9a294d2 32 Encoder Encoder1(D12,D13);
Arnoud113 12:02eba9a294d2 33 Encoder Encoder2(D8,D9);
Arnoud113 0:77ad62c61c78 34
Arnoud113 0:77ad62c61c78 35 MODSERIAL pc(USBTX,USBRX);
Arnoud113 0:77ad62c61c78 36
Arnoud113 0:77ad62c61c78 37 Ticker controller;
Arnoud113 0:77ad62c61c78 38
Arnoud113 12:02eba9a294d2 39 // Constants EMG ----------------------- Start
Arnoud113 12:02eba9a294d2 40 double X;
Arnoud113 13:b5868fd8ffe9 41 double X_maxTreshold = 480;
Arnoud113 12:02eba9a294d2 42 double X_minTreshold = 20;
Arnoud113 12:02eba9a294d2 43 const double X_Callibrate = 300;
Arnoud113 12:02eba9a294d2 44
Arnoud113 12:02eba9a294d2 45 double Y;
Arnoud113 13:b5868fd8ffe9 46 double Y_maxTreshold = 480;
Arnoud113 12:02eba9a294d2 47 double Y_minTreshold = 0;
Arnoud113 12:02eba9a294d2 48 const double Y_Callibrate = 300;
Arnoud113 12:02eba9a294d2 49
Arnoud113 12:02eba9a294d2 50
Arnoud113 3:b353ee86230a 51 // ---- Motor Constants-------
Arnoud113 12:02eba9a294d2 52 const double pi = 3.1415926535897;
Arnoud113 12:02eba9a294d2 53 float Pwmperiod = 0.001f;
Arnoud113 12:02eba9a294d2 54 int potmultiplier = 600; // Multiplier for the pot meter reference which is normally between 0 and 1
Arnoud113 12:02eba9a294d2 55 const float gearM1 = 6.2;
Arnoud113 13:b5868fd8ffe9 56 const double gainM1 = 1/38.17; // encoder pulses per degree theta
Arnoud113 13:b5868fd8ffe9 57 const double gainM2 = 1/107.8; // pulses per mm
Arnoud113 0:77ad62c61c78 58
Arnoud113 12:02eba9a294d2 59 double motor1;
Arnoud113 12:02eba9a294d2 60 double motor2;
Arnoud113 12:02eba9a294d2 61 double pos_M1;
Arnoud113 12:02eba9a294d2 62 double pos_M2;
Arnoud113 3:b353ee86230a 63
Arnoud113 3:b353ee86230a 64 //Start constants PID -------------------------------
Arnoud113 12:02eba9a294d2 65 const double M1_TS = 0.01; // (was 0.0001) 0.001 and 0.01 work without biquad filter. // // Sample time (motor - timestep)
Arnoud113 0:77ad62c61c78 66
Arnoud113 0:77ad62c61c78 67 //verplaatst
Arnoud113 3:b353ee86230a 68 const float RAD_PER_PULSE = (2*pi)/4200;
Arnoud113 8:b932f8b71d3a 69 const float CONTROLLER_TS = 0.01; //TIME INTERVAL/ hZ
Arnoud113 8:b932f8b71d3a 70
Arnoud113 11:66d0be7efd3f 71 const float M1_KP = 10;
Arnoud113 7:88d1ccba9200 72 const float M1_KI = 0.5;
Arnoud113 8:b932f8b71d3a 73 const float M1_KD = 0.5; //was KP=10 KI=0.5 KD=0.5
Arnoud113 7:88d1ccba9200 74 double m1_err_int = 0;
Arnoud113 7:88d1ccba9200 75 double m1_prev_err = 0;
Arnoud113 7:88d1ccba9200 76
Arnoud113 13:b5868fd8ffe9 77 const float M2_KP = 30;
Arnoud113 11:66d0be7efd3f 78 const float M2_KI = 0.5;
Arnoud113 7:88d1ccba9200 79 const float M2_KD = 0.5; //was KP=10 KI=0.5 KD=0.5
Arnoud113 7:88d1ccba9200 80 double m2_err_int = 0;
Arnoud113 7:88d1ccba9200 81 double m2_prev_err = 0;
Arnoud113 7:88d1ccba9200 82
Arnoud113 8:b932f8b71d3a 83 // Constants Biquad
Arnoud113 13:b5868fd8ffe9 84 BiQuad bq1(6.38946e-01,-1.27789e+00,6.38946e-01,-1.14298e+00,4.12802e-01);
Arnoud113 13:b5868fd8ffe9 85 BiQuad bq2(6.38946e-01,-1.27789e+00,6.38946e-01,-1.14298e+00,4.12802e-01);
Arnoud113 13:b5868fd8ffe9 86 BiQuadChain bqc;
Arnoud113 13:b5868fd8ffe9 87
Arnoud113 7:88d1ccba9200 88 const double M1_F_A1 = 1.0;
Arnoud113 8:b932f8b71d3a 89 const double M1_F_A2 = 2.0;
Arnoud113 8:b932f8b71d3a 90 const double M1_F_B0 = 1.0;
Arnoud113 7:88d1ccba9200 91 const double M1_F_B1 = 3.0;
Arnoud113 7:88d1ccba9200 92 const double M1_F_B2 = 4.0;
Arnoud113 7:88d1ccba9200 93 double m1_f_v1 = 0;
Arnoud113 7:88d1ccba9200 94 double m1_f_v2 = 0;
Arnoud113 12:02eba9a294d2 95
Arnoud113 12:02eba9a294d2 96
Arnoud113 12:02eba9a294d2 97
Arnoud113 5:a1a5b5bebd5c 98 //---------------------------------End of constants PID
Arnoud113 0:77ad62c61c78 99
Arnoud113 3:b353ee86230a 100 //-----------------Start PID part----------------------------START
Arnoud113 7:88d1ccba9200 101 double PID1(double e1, const double Kp1, const double Ki1, const double Kd1, double Ts, double &e_int1, double &e_prev1, double &f_v1, double &f_v2, const double f_a1, const double f_a2, const double f_b0, const double f_b1, const double f_b2){
Arnoud113 3:b353ee86230a 102
Arnoud113 8:b932f8b71d3a 103 double e_der1 = (e1 - e_prev1)/Ts; // Ts = motor1-timestep // Derivative
Arnoud113 13:b5868fd8ffe9 104
Arnoud113 13:b5868fd8ffe9 105 e_der1 = bqc.step(e_der1);
Arnoud113 7:88d1ccba9200 106 // biquad part, see slide
Arnoud113 7:88d1ccba9200 107 //e_der = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2);
Arnoud113 8:b932f8b71d3a 108
Arnoud113 7:88d1ccba9200 109 e_prev1 = e1;
Arnoud113 12:02eba9a294d2 110 e_int1 += Ts*e1;
Arnoud113 12:02eba9a294d2 111
Arnoud113 12:02eba9a294d2 112 if(button3 == 0 || button4 ==0){
Arnoud113 12:02eba9a294d2 113 e1 = 0;
Arnoud113 12:02eba9a294d2 114 e_prev1 = 0;
Arnoud113 12:02eba9a294d2 115 e_int1 = 0;
Arnoud113 12:02eba9a294d2 116 e_der1 = 0;
Arnoud113 12:02eba9a294d2 117 }
Arnoud113 12:02eba9a294d2 118 // Integral
Arnoud113 8:b932f8b71d3a 119 return Kp1*e1 + Ki1*e_int1 + Kd1 * e_der1; //PID
Arnoud113 7:88d1ccba9200 120 }
Arnoud113 3:b353ee86230a 121
Arnoud113 7:88d1ccba9200 122 double PID2(double e2, const double Kp2, const double Ki2, const double Kd2, double Ts, double &e_int2, double &e_prev2, double &f_v1, double &f_v2, const double f_a1, const double f_a2, const double f_b0, const double f_b1, const double f_b2){
Arnoud113 7:88d1ccba9200 123
Arnoud113 8:b932f8b71d3a 124 double e_der2 = (e2 - e_prev2)/Ts; // Ts = motor1-timestep // Derivative
Arnoud113 7:88d1ccba9200 125 // biquad part, see slide
Arnoud113 7:88d1ccba9200 126 //e_der = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2);
Arnoud113 8:b932f8b71d3a 127
Arnoud113 13:b5868fd8ffe9 128 e_der2 = bqc.step(e_der2);
Arnoud113 13:b5868fd8ffe9 129
Arnoud113 7:88d1ccba9200 130 e_prev2 = e2;
Arnoud113 12:02eba9a294d2 131 e_int2 += Ts*e2;
Arnoud113 12:02eba9a294d2 132
Arnoud113 12:02eba9a294d2 133 if(button3 == 0 || button4 ==0){
Arnoud113 12:02eba9a294d2 134 e2 = 0;
Arnoud113 12:02eba9a294d2 135 e_prev2 = 0;
Arnoud113 12:02eba9a294d2 136 e_int2 = 0;
Arnoud113 12:02eba9a294d2 137 e_der2 = 0;
Arnoud113 12:02eba9a294d2 138 }
Arnoud113 12:02eba9a294d2 139 // Integral
Arnoud113 8:b932f8b71d3a 140 return Kp2*e2 + Ki2*e_int2 + Kd2 * e_der2; //PID
Arnoud113 3:b353ee86230a 141 }
Arnoud113 3:b353ee86230a 142
Arnoud113 3:b353ee86230a 143 //------------Get reference position-----------------START
Arnoud113 0:77ad62c61c78 144 float Get_X_Position(){
Arnoud113 12:02eba9a294d2 145 // X = potMeter1 * potmultiplier; //--------- for Potmerter use
Arnoud113 12:02eba9a294d2 146
Arnoud113 12:02eba9a294d2 147 // -- Potmeter use -----------------------------------
Arnoud113 12:02eba9a294d2 148 if (potMeter1 < 0.3)
Arnoud113 12:02eba9a294d2 149 {
Arnoud113 12:02eba9a294d2 150 X = X-0.5;
Arnoud113 12:02eba9a294d2 151 }
Arnoud113 12:02eba9a294d2 152 else if (potMeter1> 0.7)
Arnoud113 12:02eba9a294d2 153 {
Arnoud113 12:02eba9a294d2 154 X = X+0.5;
Arnoud113 12:02eba9a294d2 155 }
Arnoud113 12:02eba9a294d2 156 else
Arnoud113 12:02eba9a294d2 157 {
Arnoud113 12:02eba9a294d2 158 X = X;
Arnoud113 12:02eba9a294d2 159 }
Arnoud113 12:02eba9a294d2 160
Arnoud113 12:02eba9a294d2 161
Arnoud113 12:02eba9a294d2 162 /*
Arnoud113 12:02eba9a294d2 163 double in1 = emg1.read();
Arnoud113 12:02eba9a294d2 164 double in2 = emg2.read();
Arnoud113 12:02eba9a294d2 165
Arnoud113 12:02eba9a294d2 166 double RA = in1+in2;
Arnoud113 12:02eba9a294d2 167
Arnoud113 12:02eba9a294d2 168
Arnoud113 12:02eba9a294d2 169 if (RA < 0.5)
Arnoud113 12:02eba9a294d2 170 {
Arnoud113 12:02eba9a294d2 171 X = X;
Arnoud113 12:02eba9a294d2 172 }
Arnoud113 12:02eba9a294d2 173 else if (RA > 1.5)
Arnoud113 12:02eba9a294d2 174 {
Arnoud113 12:02eba9a294d2 175 X = X-0.1;
Arnoud113 12:02eba9a294d2 176 }
Arnoud113 12:02eba9a294d2 177 else
Arnoud113 12:02eba9a294d2 178 {
Arnoud113 12:02eba9a294d2 179 X = X+0.1;
Arnoud113 12:02eba9a294d2 180 }
Arnoud113 12:02eba9a294d2 181 */
Arnoud113 12:02eba9a294d2 182
Arnoud113 13:b5868fd8ffe9 183 if (X >= X_maxTreshold){
Arnoud113 12:02eba9a294d2 184 X = X_maxTreshold;
Arnoud113 12:02eba9a294d2 185 }
Arnoud113 13:b5868fd8ffe9 186 else if (X <= X_minTreshold){
Arnoud113 12:02eba9a294d2 187 X = X_minTreshold;
Arnoud113 12:02eba9a294d2 188 }
Arnoud113 12:02eba9a294d2 189 else{
Arnoud113 12:02eba9a294d2 190 X = X;
Arnoud113 12:02eba9a294d2 191 }
Arnoud113 12:02eba9a294d2 192
Arnoud113 12:02eba9a294d2 193 if(button3 == 0){
Arnoud113 12:02eba9a294d2 194 X = X_minTreshold;
Arnoud113 12:02eba9a294d2 195 }
Arnoud113 12:02eba9a294d2 196 else if (button4 == 0){
Arnoud113 12:02eba9a294d2 197 X = X_Callibrate;
Arnoud113 12:02eba9a294d2 198 }
Arnoud113 12:02eba9a294d2 199 else{
Arnoud113 12:02eba9a294d2 200 X = X;
Arnoud113 12:02eba9a294d2 201 }
Arnoud113 12:02eba9a294d2 202 //pc.baud(115200);
Arnoud113 12:02eba9a294d2 203 //pc.printf("\r (in1,in2):(%f,%f), RA = %f, X = %f \n",in1, in2, RA, X);
Arnoud113 12:02eba9a294d2 204
Arnoud113 1:13d8940f0fd4 205 return X;
Arnoud113 0:77ad62c61c78 206 }
Arnoud113 0:77ad62c61c78 207
Arnoud113 0:77ad62c61c78 208 float Get_Y_Position(){
Arnoud113 12:02eba9a294d2 209 //Y = potMeter2 * potmultiplier; //--------- for Potmerter use
Arnoud113 12:02eba9a294d2 210
Arnoud113 12:02eba9a294d2 211 // ---- Potmeter Use--------------------------
Arnoud113 12:02eba9a294d2 212 if (potMeter2 < 0.3)
Arnoud113 12:02eba9a294d2 213 {
Arnoud113 12:02eba9a294d2 214 Y = Y-0.5;
Arnoud113 12:02eba9a294d2 215 }
Arnoud113 12:02eba9a294d2 216 else if (potMeter2 > 0.7)
Arnoud113 12:02eba9a294d2 217 {
Arnoud113 12:02eba9a294d2 218 Y = Y+0.5;
Arnoud113 12:02eba9a294d2 219 }
Arnoud113 12:02eba9a294d2 220 else
Arnoud113 12:02eba9a294d2 221 {
Arnoud113 12:02eba9a294d2 222 Y = Y;
Arnoud113 12:02eba9a294d2 223 }
Arnoud113 12:02eba9a294d2 224
Arnoud113 12:02eba9a294d2 225
Arnoud113 12:02eba9a294d2 226 /*
Arnoud113 12:02eba9a294d2 227 double in3 = emg3.read();
Arnoud113 12:02eba9a294d2 228 double in4 = emg4.read();
Arnoud113 12:02eba9a294d2 229
Arnoud113 12:02eba9a294d2 230
Arnoud113 12:02eba9a294d2 231 double LA = in3+in4;
Arnoud113 12:02eba9a294d2 232
Arnoud113 12:02eba9a294d2 233 if (LA < 0.5)
Arnoud113 12:02eba9a294d2 234 {
Arnoud113 12:02eba9a294d2 235 Y = Y;
Arnoud113 12:02eba9a294d2 236 }
Arnoud113 12:02eba9a294d2 237 else if (LA > 1.5)
Arnoud113 12:02eba9a294d2 238 {
Arnoud113 12:02eba9a294d2 239 Y = Y-0.1;
Arnoud113 12:02eba9a294d2 240 }
Arnoud113 12:02eba9a294d2 241 else
Arnoud113 12:02eba9a294d2 242 {
Arnoud113 12:02eba9a294d2 243 Y = Y+0.1;
Arnoud113 12:02eba9a294d2 244 }
Arnoud113 12:02eba9a294d2 245 */
Arnoud113 13:b5868fd8ffe9 246 if (Y >= Y_maxTreshold){
Arnoud113 12:02eba9a294d2 247 Y = Y_maxTreshold;
Arnoud113 12:02eba9a294d2 248 }
Arnoud113 13:b5868fd8ffe9 249 else if (Y <= Y_minTreshold){
Arnoud113 12:02eba9a294d2 250 Y = Y_minTreshold;
Arnoud113 12:02eba9a294d2 251 }
Arnoud113 12:02eba9a294d2 252 else{
Arnoud113 12:02eba9a294d2 253 Y = Y;
Arnoud113 12:02eba9a294d2 254 }
Arnoud113 12:02eba9a294d2 255
Arnoud113 12:02eba9a294d2 256 if(button3 == 0){
Arnoud113 12:02eba9a294d2 257 Y = Y_minTreshold;
Arnoud113 12:02eba9a294d2 258 }
Arnoud113 12:02eba9a294d2 259 else if (button4 == 0){
Arnoud113 12:02eba9a294d2 260 Y = Y_Callibrate;
Arnoud113 12:02eba9a294d2 261 }
Arnoud113 12:02eba9a294d2 262 else{
Arnoud113 12:02eba9a294d2 263 Y = Y;
Arnoud113 12:02eba9a294d2 264 }
Arnoud113 12:02eba9a294d2 265
Arnoud113 12:02eba9a294d2 266 //pc.printf("\r (in3,in4):(%f,%f), LA = %f, Y = %f \n",in3, in4, LA, Y);
Arnoud113 12:02eba9a294d2 267
Arnoud113 1:13d8940f0fd4 268 return Y;
Arnoud113 0:77ad62c61c78 269 }
Arnoud113 3:b353ee86230a 270 //----------------------------------------------------END
Arnoud113 0:77ad62c61c78 271
Arnoud113 3:b353ee86230a 272 //-------------Get current Position-------------------START
Arnoud113 3:b353ee86230a 273 double motor1_Position(){ // has as output Theta
Arnoud113 12:02eba9a294d2 274
Arnoud113 12:02eba9a294d2 275 if (button3 == 0){
Arnoud113 12:02eba9a294d2 276 int T1 = ((atan(Y_minTreshold/X_minTreshold)*180)/pi)/gainM1;
Arnoud113 12:02eba9a294d2 277 Encoder1.setPosition(T1);
Arnoud113 12:02eba9a294d2 278 }
Arnoud113 12:02eba9a294d2 279 else if (button4 ==0){
Arnoud113 12:02eba9a294d2 280 int T1 = ((atan(Y_Callibrate/X_Callibrate)*180)/pi)/gainM1;
Arnoud113 12:02eba9a294d2 281 Encoder1.setPosition(T1);
Arnoud113 12:02eba9a294d2 282 }
Arnoud113 12:02eba9a294d2 283 else{
Arnoud113 12:02eba9a294d2 284 }
Arnoud113 12:02eba9a294d2 285 double pos_M1 = gainM1*Encoder1.getPosition(); // current position for theta
Arnoud113 12:02eba9a294d2 286 return pos_M1;
Arnoud113 0:77ad62c61c78 287 }
Arnoud113 3:b353ee86230a 288 double motor2_Position(){ //output R
Arnoud113 12:02eba9a294d2 289 int R1;
Arnoud113 12:02eba9a294d2 290
Arnoud113 12:02eba9a294d2 291 if (button3 == 0){
Arnoud113 12:02eba9a294d2 292 R1 = (sqrt(X_minTreshold*X_minTreshold+Y_minTreshold*Y_minTreshold))/gainM2;
Arnoud113 12:02eba9a294d2 293 Encoder2.setPosition(R1);
Arnoud113 12:02eba9a294d2 294 }
Arnoud113 12:02eba9a294d2 295 else if (button4 ==0){
Arnoud113 12:02eba9a294d2 296 R1 = (sqrt(X_Callibrate*X_Callibrate+Y_Callibrate*Y_Callibrate))/gainM2;
Arnoud113 12:02eba9a294d2 297 Encoder2.setPosition(R1);
Arnoud113 12:02eba9a294d2 298 }
Arnoud113 12:02eba9a294d2 299 else{
Arnoud113 12:02eba9a294d2 300 }
Arnoud113 12:02eba9a294d2 301
Arnoud113 12:02eba9a294d2 302 double pos_M2 = gainM2 *Encoder2.getPosition(); // current position for the radius;
Arnoud113 12:02eba9a294d2 303 pc.baud(115200);
Arnoud113 12:02eba9a294d2 304 // pc.printf("\r R1 = %f, pos_m2 = %f\n", R1,pos_m2);
Arnoud113 12:02eba9a294d2 305 return pos_M2;
Arnoud113 3:b353ee86230a 306 }
Arnoud113 3:b353ee86230a 307 //-----------------------------------------------------END
Arnoud113 0:77ad62c61c78 308
Arnoud113 0:77ad62c61c78 309
Arnoud113 3:b353ee86230a 310 //------------Controller-------------------------------START
Arnoud113 0:77ad62c61c78 311 void Controller(){
Arnoud113 3:b353ee86230a 312
Arnoud113 1:13d8940f0fd4 313 double x = Get_X_Position();
Arnoud113 1:13d8940f0fd4 314 double y = Get_Y_Position();
Arnoud113 3:b353ee86230a 315
Arnoud113 3:b353ee86230a 316 double reference_motor1 = (atan(y/x)*180)/pi; // reference for Theta
Arnoud113 3:b353ee86230a 317 double reference_motor2 = sqrt((x*x+y*y)); // reference for radius
Arnoud113 0:77ad62c61c78 318
Arnoud113 12:02eba9a294d2 319 double pos_M1 = motor1_Position(); // current position for theta
Arnoud113 12:02eba9a294d2 320 double pos_M2 = motor2_Position(); // current position for the radius
Arnoud113 12:02eba9a294d2 321
Arnoud113 7:88d1ccba9200 322 double delta1 = PID1(reference_motor1 - pos_M1, M1_KP, M1_KI, M1_KD, M1_TS, m1_err_int, m1_prev_err, m1_f_v1, m1_f_v2, M1_F_A1, M1_F_A2, M1_F_B0, M1_F_B1, M1_F_B2);
Arnoud113 7:88d1ccba9200 323 double delta2 = PID2(reference_motor2 - pos_M2, M2_KP, M2_KI, M2_KD, M1_TS, m2_err_int, m2_prev_err, m1_f_v1, m1_f_v2, M1_F_A1, M1_F_A2, M1_F_B0, M1_F_B1, M1_F_B2);
Arnoud113 3:b353ee86230a 324
Arnoud113 3:b353ee86230a 325 double dTheta = reference_motor1 - pos_M1;
Arnoud113 3:b353ee86230a 326 double dRadius = reference_motor2 - pos_M2;
Arnoud113 0:77ad62c61c78 327
Arnoud113 0:77ad62c61c78 328 pc.baud(115200);
Arnoud113 13:b5868fd8ffe9 329 //pc.printf("\r DesPosition(X,Y):(%f,%f), posError(dTheta, dError):(%f,%f), (delta1,delta2):(%f,%f)\n",x,y, dTheta ,dRadius,delta1, delta2);
Arnoud113 12:02eba9a294d2 330 pc.printf("\r pos(M1,M2):(%f,%f)\n", pos_M1, pos_M2);
Arnoud113 0:77ad62c61c78 331
Arnoud113 2:2563d1d8461f 332 //motor1PWM = motor1;
Arnoud113 2:2563d1d8461f 333 //motor2PWM = motor2;
Arnoud113 0:77ad62c61c78 334
Arnoud113 11:66d0be7efd3f 335 if(delta1 > 0.5){
Arnoud113 3:b353ee86230a 336 motor1DC = 0;
Arnoud113 0:77ad62c61c78 337
Arnoud113 0:77ad62c61c78 338 ledr = 1;
Arnoud113 0:77ad62c61c78 339 ledg = 1; //Blau
Arnoud113 0:77ad62c61c78 340 ledb = 0;
Arnoud113 0:77ad62c61c78 341 }
Arnoud113 11:66d0be7efd3f 342 else if (delta1< -0.5) {
Arnoud113 3:b353ee86230a 343 motor1DC = 1;
Arnoud113 0:77ad62c61c78 344
Arnoud113 0:77ad62c61c78 345 ledb = 1;
Arnoud113 0:77ad62c61c78 346 ledr = 1;
Arnoud113 0:77ad62c61c78 347 ledg = 0; //Groen
Arnoud113 0:77ad62c61c78 348
Arnoud113 0:77ad62c61c78 349 }
Arnoud113 0:77ad62c61c78 350 else{
Arnoud113 0:77ad62c61c78 351 motor1PWM = 0;
Arnoud113 0:77ad62c61c78 352
Arnoud113 0:77ad62c61c78 353 ledb = 1; //Rood
Arnoud113 0:77ad62c61c78 354 ledr = 0;
Arnoud113 0:77ad62c61c78 355 ledg = 1;
Arnoud113 0:77ad62c61c78 356 }
Arnoud113 3:b353ee86230a 357
Arnoud113 9:edf01d06935e 358 motor1 = abs(delta1)/1000.0;
Arnoud113 13:b5868fd8ffe9 359 if(motor1 >= 0.20) {
Arnoud113 13:b5868fd8ffe9 360 motor1 = 0.20;
Arnoud113 9:edf01d06935e 361 //pc.baud(115200);
Arnoud113 9:edf01d06935e 362 //pc.printf("\r val motor1: %f\n", motor1);
Arnoud113 11:66d0be7efd3f 363 }
Arnoud113 0:77ad62c61c78 364
Arnoud113 11:66d0be7efd3f 365 if(delta2 > 2.0){
Arnoud113 3:b353ee86230a 366 motor2DC = 0;
Arnoud113 0:77ad62c61c78 367
Arnoud113 8:b932f8b71d3a 368 ledr = 1;
Arnoud113 8:b932f8b71d3a 369 ledg = 1; //Blau
Arnoud113 8:b932f8b71d3a 370 ledb = 0;
Arnoud113 0:77ad62c61c78 371 }
Arnoud113 11:66d0be7efd3f 372 else if (delta2<-2.0) {
Arnoud113 3:b353ee86230a 373 motor2DC = 1;
Arnoud113 0:77ad62c61c78 374
Arnoud113 8:b932f8b71d3a 375 ledb = 1;
Arnoud113 8:b932f8b71d3a 376 ledr = 1;
Arnoud113 8:b932f8b71d3a 377 ledg = 0; //Groen
Arnoud113 0:77ad62c61c78 378
Arnoud113 0:77ad62c61c78 379 }
Arnoud113 0:77ad62c61c78 380 else{
Arnoud113 0:77ad62c61c78 381 motor2PWM = 0;
Arnoud113 0:77ad62c61c78 382
Arnoud113 8:b932f8b71d3a 383 ledb = 1; //Rood
Arnoud113 8:b932f8b71d3a 384 ledr = 0;
Arnoud113 8:b932f8b71d3a 385 ledg = 1;
Arnoud113 0:77ad62c61c78 386 }
Arnoud113 3:b353ee86230a 387
Arnoud113 9:edf01d06935e 388 motor2 = abs(delta2)/1000.0;
Arnoud113 11:66d0be7efd3f 389 if(motor2 >= 0.50) {
Arnoud113 11:66d0be7efd3f 390 motor2 = 0.50;
Arnoud113 11:66d0be7efd3f 391 }
Arnoud113 3:b353ee86230a 392
Arnoud113 13:b5868fd8ffe9 393 motor1PWM = motor1 + 0.80;
Arnoud113 12:02eba9a294d2 394 motor2PWM = motor2 + 0.50;
Arnoud113 3:b353ee86230a 395
Arnoud113 11:66d0be7efd3f 396 //pc.printf("\r delta(1,2):(%f,%f)\n", delta1,delta2);
Arnoud113 12:02eba9a294d2 397 //pc.printf("\r motorvalues (M1,M2):(%f,%f),\n", motor1 + 0.65, motor2 + 0.20);
Arnoud113 3:b353ee86230a 398 //pc.printf("\r
Arnoud113 0:77ad62c61c78 399 }
Arnoud113 0:77ad62c61c78 400
Arnoud113 0:77ad62c61c78 401 int main()
Arnoud113 0:77ad62c61c78 402 {
Arnoud113 0:77ad62c61c78 403 controller.attach(&Controller, M1_TS);
Arnoud113 10:4b0b4f2abacf 404 motor1PWM.period(Pwmperiod);
Arnoud113 10:4b0b4f2abacf 405 motor2PWM.period(Pwmperiod);
Arnoud113 0:77ad62c61c78 406
Arnoud113 13:b5868fd8ffe9 407 bqc.add(&bq1).add(&bq2);
Arnoud113 13:b5868fd8ffe9 408
Arnoud113 3:b353ee86230a 409 while(1){
Arnoud113 3:b353ee86230a 410 /*
Arnoud113 3:b353ee86230a 411 double x = Get_X_Position();
Arnoud113 3:b353ee86230a 412 double y = Get_Y_Position();
Arnoud113 3:b353ee86230a 413 double reference_motor1 = atan(y/x);
Arnoud113 3:b353ee86230a 414 int position_Motor1 = motor1_Position();
Arnoud113 3:b353ee86230a 415 double motor1 = PID(reference_motor1 - position_Motor1, M1_KP, M1_KI, M1_KD, M1_TS, m1_err_int, m1_prev_err, m1_f_v1, m1_f_v2, M1_F_A1, M1_F_A2, M1_F_B0, M1_F_B1, M1_F_B2);
Arnoud113 3:b353ee86230a 416
Arnoud113 3:b353ee86230a 417 pc.baud(115200);
Arnoud113 3:b353ee86230a 418 pc.printf("\r Position(X)=(%f), Ref(Theta,R): (%f,), Pos(Theta,R):(%i,), Motor Value(M1,M2):(%f,).\n",x, reference_motor1, position_Motor1, motor1);
Arnoud113 3:b353ee86230a 419 */
Arnoud113 3:b353ee86230a 420 }
Arnoud113 0:77ad62c61c78 421
Arnoud113 0:77ad62c61c78 422 }