first publish not working
Dependencies: MODSERIAL mbed ttmath FastPWM Motor_with_encoder biquadFilter
main.cpp
- Committer:
- Arnoud113
- Date:
- 2017-10-31
- Revision:
- 3:b353ee86230a
- Parent:
- 2:2563d1d8461f
- Child:
- 4:5f7d1654108d
File content as of revision 3:b353ee86230a:
#include "mbed.h" #include "QEI.h" #include "MODSERIAL.h" #include "math.h" #include "FastPWM.h" #include "encoder.h" DigitalOut gpo(D0); DigitalOut ledb(LED_BLUE); DigitalOut ledr(LED_RED); DigitalOut ledg(LED_GREEN); DigitalOut motor1DC(D7); DigitalOut motor2DC(D4); FastPWM motor1PWM(D6); FastPWM motor2PWM(D5); AnalogIn potMeter1(A0); AnalogIn potMeter2(A1); DigitalIn button1(D11); DigitalIn button2(D12); Encoder Encoder1(D12,D13); Encoder Encoder2(D8,D9); MODSERIAL pc(USBTX,USBRX); Ticker controller; // ---- Motor Constants------- float Pwmperiod = 0.0001f; int potmultiplier = 800; // Multiplier for the pot meter reference which is normally between 0 and 1 float gainM1 = 1/35.17; // encoder pulses per degree theta float gainM2 = 0.01; // gain for radius r // new PID constants, will have to be determined trough trial and error. double kp = 250; double ki = 100; double kd = 0; volatile float motor1; volatile float motor2; //Start constants PID ------------------------------- const double pi = 3.1415926535897; const double M1_TS = 0.001f; // (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 CONTROLLER_TS = 0.01; //TIME INTERVAL/ hZ //----PID constants const float M1_KP = 10; const float M1_KI = 0.5; const float M1_KD = 0.5; //was KP=10 KI=0.5 KD=0.5 double m1_err_int = 0; double m1_prev_err = 0; const float M2_KP = 10; const float M2_KI = 0.5; const float M2_KD = 0.5; //was KP=10 KI=0.5 KD=0.5 double m2_err_int = 0; double m2_prev_err = 0; //---- Biquad constants--------- const double M1_F_A1 = 1.0 ; const double M1_F_A2 = 2.0; const double M1_F_B0 = 1.0; const double M1_F_B1 = 3.0; const double M1_F_B2 = 4.0; double m1_f_v1 = 0; double m1_f_v2 = 0; //-----------------Start PID part----------------------------START 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){ double e_der1 = (e1 - e_prev1)/Ts; // Derivative, Ts = motor1-timestep // biquad part, see slide //e_der1 = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2); e_prev1 = e1; e_int1 += Ts*e1; // Integral return Kp1*e1 + Ki1*e_int1 + Kd1 * e_der1; } 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){ double e_der2 = (e2 - e_prev2)/Ts; // Derivative, Ts = motor1-timestep // biquad part, see slide //e_der2 = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2); e_prev2 = e2; e_int2 += Ts*e2; // Integral return Kp2*e2 + Ki2*e_int2 + Kd2 * e_der2; } //------------Get reference position-----------------START float Get_X_Position(){ double X = potMeter1 * potmultiplier; return X; } float Get_Y_Position(){ double Y = potMeter2 * potmultiplier; return Y; } //----------------------------------------------------END //-------------Get current Position-------------------START double motor1_Position(){ // has as output Theta double pos_m1 = gainM1*Encoder1.getPosition(); // current position for theta return pos_m1; } double motor2_Position(){ //output R double pos_m2 = gainM2 *Encoder2.getPosition(); // current position for the radius; return pos_m2; } //-----------------------------------------------------END //------------Controller-------------------------------START void Controller(){ double x = Get_X_Position(); double y = Get_Y_Position(); double reference_motor1 = (atan(y/x)*180)/pi; // reference for Theta double reference_motor2 = sqrt((x*x+y*y)); // reference for radius float pos_M1 = motor1_Position(); // current position for theta float pos_M2 = motor2_Position(); // current position for the radius 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); double delta2 = PID2(reference_motor2 - pos_M2, M2_KP, M2_KI, M2_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 dTheta = reference_motor1 - pos_M1; double dRadius = reference_motor2 - pos_M2; pc.baud(115200); pc.printf("\r DesPosition(X,Y):(%f,%f), pos Error(dTheta, dError):(%f,%f)\n",x,y, delta1 ,delta2); //motor1PWM = motor1; //motor2PWM = motor2; if(delta1 > 10.0){ motor1DC = 0; ledr = 1; ledg = 1; //Blau ledb = 0; } else if (delta1< -10.0) { motor1DC = 1; ledb = 1; ledr = 1; ledg = 0; //Groen } else{ motor1PWM = 0; ledb = 1; //Rood ledr = 0; ledg = 1; } motor1 = abs(delta1)/1000.0f; if(motor1 >= 0.50f) { motor1 = 0.50f; } if(delta2 > 10.0){ motor2DC = 0; ledr = 1; ledg = 1; //Blau ledb = 0; } else if (delta2<-10.0) { motor2DC = 1; ledb = 1; ledr = 1; ledg = 0; //Groen } else{ motor2PWM = 0; ledb = 1; //Rood ledr = 0; ledg = 1; } motor2 = abs(delta2)/1000.0f; if(motor1 >= 0.50f) { motor1 = 0.50f; } motor1PWM = motor1 + 0.50f; motor2PWM = motor1 + 0.50f; //pc.printf("\r motorvalues (M1,M2):(%f,%f), error:( \n", , motor1PWM, motor2PWM); //pc.printf("\r } int main() { controller.attach(&Controller, M1_TS); //motor1PWM.period(Pwmperiod); //motor2PWM.period(Pwmperiod); while(1){ /* double x = Get_X_Position(); double y = Get_Y_Position(); double reference_motor1 = atan(y/x); int position_Motor1 = motor1_Position(); 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); pc.baud(115200); 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); */ } }