first publish not working
Dependencies: MODSERIAL mbed ttmath FastPWM Motor_with_encoder biquadFilter
main.cpp
- Committer:
- Arnoud113
- Date:
- 2017-10-27
- Revision:
- 2:2563d1d8461f
- Parent:
- 1:13d8940f0fd4
- Child:
- 3:b353ee86230a
File content as of revision 2:2563d1d8461f:
#include "mbed.h" #include "QEI.h" #include "MODSERIAL.h" #include "math.h" #include "FastPWM.h" DigitalOut gpo(D0); DigitalOut ledb(LED_BLUE); DigitalOut ledr(LED_RED); DigitalOut ledg(LED_GREEN); DigitalOut motor1DC(D7); FastPWM motor1PWM(D6); DigitalOut motor2DC(D4); FastPWM motor2PWM(D5); AnalogIn potMeter1(A0); AnalogIn potMeter2(A1); DigitalIn button1(D11); DigitalIn button2(D12); QEI Encoder1(D12,D13,NC,4200); QEI Encoder2(D9,D8,NC,4200); MODSERIAL pc(USBTX,USBRX); Ticker controller; int potmultiplier = 8000; // Multiplier for the pot meter reference which is normally between 0 and 1 int frequency_pwm = 1000; //Start constants for the PID ------------------------------- const double pi = 3.1415926535897; const double M1_TS = 1/100; // (was 0.0001) 0.001 and 0.01 work without biquad filter. // // Sample time (motor - timestep) //verplaatst const float RAD_PER_PULSE = (2*pi)/4200; const float M1_KP = 10, M1_KI = 0.5, M1_KD = 0.5; //was KP=10 KI=0.5 KD=0.5 double m1_err_int = 0, m1_prev_err = 0 ; const double M1_F_A1 = 1.0 , M1_F_A2 = 2.0 , M1_F_B0 = 1.0 , M1_F_B1 = 3.0 , M1_F_B2 = 4.0 ; double m1_f_v1 = 0 , m1_f_v2 = 0 ; //End of constant for the PID //Get reference position in different way-----------------START float Get_X_Position(){ double X = potMeter1 * potmultiplier; return X; } float Get_Y_Position(){ double Y = potMeter2 * potmultiplier; return Y; } //-----------------------------------------------------------END //Start PID part ------------------------------------------START double PID(double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev, 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){ // Derivative double e_der = (e - e_prev)/Ts; // Ts = motor1-timestep // biquad part, see slide //e_der = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2); e_prev = e; // Integral e_int += Ts*e; //PID return Kp*e + Ki*e_int + Kd * e_der; } void Controller(){ //double x = potMeter1 * potmultiplier; double x = Get_X_Position(); double y = Get_Y_Position(); //double y = potMeter2 * potmultiplier; double reference_motor1 = atan(y/x); // reference for Theta double reference_motor2 = sqrt((x*x+y*y)); // reference for radius int position_motor1 = Encoder1.getPulses(); // current position for theta int position_motor2 = Encoder2.getPulses(); // current position for the radius 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); double motor2 = PID(reference_motor2 - position_motor2, 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); pc.baud(115200); pc.printf("\r Position(X,Y)=(%f,%f), Ref(Theta,R): (%f,%f), Pos(Theta,R):(%i,%i), Motor Value(M1,M2):(%f,%f).\n",x, y, reference_motor1, reference_motor2, position_motor1, position_motor2, motor1, motor2); //motor1PWM = motor1; //motor2PWM = motor2; if(motor1 > 0.3){ motor1DC = 1; ledr = 1; ledg = 1; //Blau ledb = 0; } else if (motor1<-0.3) { motor1DC = 0; ledb = 1; ledr = 1; ledg = 0; //Groen } else{ motor1PWM = 0; ledb = 1; //Rood ledr = 0; ledg = 1; } if(motor2 > 0.3){ motor1DC = 1; ledr = 1; ledg = 1; //Blau ledb = 0; } else if (motor2<-0.3) { motor1DC = 0; ledb = 1; ledr = 1; ledg = 0; //Groen } else{ motor2PWM = 0; ledb = 1; //Rood ledr = 0; ledg = 1; } } int main() { controller.attach(&Controller, M1_TS); while(1){} }