File content as of revision 13:b5868fd8ffe9:

#include "mbed.h"
#include "QEI.h"
#include "MODSERIAL.h"
#include "math.h"
#include "FastPWM.h"
#include "encoder.h"
#include "BiQuad.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);
AnalogIn    emg1(A2);   
AnalogIn    emg2(A3);
AnalogIn    emg3(A4);
AnalogIn    emg4(A5);

DigitalIn   button1(D11);
DigitalIn   button2(D12);
DigitalIn   button3(SW2);
DigitalIn   button4(SW3);
Encoder     Encoder1(D12,D13);
Encoder     Encoder2(D8,D9);

MODSERIAL pc(USBTX,USBRX);

Ticker controller;

// Constants EMG ----------------------- Start
double X;
double X_maxTreshold = 480;
double X_minTreshold = 20;
const double X_Callibrate  = 300;

double Y;
double Y_maxTreshold = 480;
double Y_minTreshold = 0;
const double Y_Callibrate  = 300;


// ---- Motor Constants-------
const double pi = 3.1415926535897;
float   Pwmperiod = 0.001f;
int     potmultiplier = 600;    // Multiplier for the pot meter reference which is normally between 0 and 1
const float gearM1 = 6.2;
const double   gainM1 = 1/38.17;       // encoder pulses per degree theta
const double   gainM2 = 1/107.8;       // pulses per mm

double motor1;
double motor2;
double pos_M1;
double pos_M2;

//Start constants PID ------------------------------- 
const double M1_TS = 0.01;      // (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

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 = 30; 
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;

// Constants Biquad
BiQuad bq1(6.38946e-01,-1.27789e+00,6.38946e-01,-1.14298e+00,4.12802e-01);
BiQuad bq2(6.38946e-01,-1.27789e+00,6.38946e-01,-1.14298e+00,4.12802e-01);
BiQuadChain bqc;

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;



//---------------------------------End of constants PID

//-----------------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; // Ts = motor1-timestep                 // Derivative
    
    e_der1 = bqc.step(e_der1);
    // biquad part, see slide
    //e_der = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2);
    
    e_prev1 = e1;
    e_int1 += Ts*e1;
    
    if(button3 == 0 || button4 ==0){
        e1 = 0;
        e_prev1 = 0;
        e_int1 = 0;
        e_der1 = 0;
    }
                                                              // Integral   
    return Kp1*e1 + Ki1*e_int1 + Kd1 * e_der1;                                    //PID
}

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; // Ts = motor1-timestep                 // Derivative
    // biquad part, see slide
    //e_der = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2);
    
    e_der2 = bqc.step(e_der2);
    
    e_prev2 = e2;
    e_int2 += Ts*e2;
    
    if(button3 == 0 || button4 ==0){
        e2 = 0;
        e_prev2 = 0;
        e_int2 = 0;
        e_der2 = 0;
    }
                                                              // Integral   
    return Kp2*e2 + Ki2*e_int2 + Kd2 * e_der2;                                    //PID
}

//------------Get reference position-----------------START
float Get_X_Position(){
   // X = potMeter1 * potmultiplier;  //--------- for Potmerter use
    
// -- Potmeter use ----------------------------------- 
    if (potMeter1 < 0.3)              
            {
                X = X-0.5;
            }
        else if (potMeter1> 0.7)
            {
                X = X+0.5;
            }
        else
            {
                X = X;
            }

    
    /*
    double in1 = emg1.read();
    double in2 = emg2.read();
    
    double RA = in1+in2;
    
    
    if (RA < 0.5)
            {
                X = X;
            }
        else if (RA > 1.5)
            {
                X = X-0.1;
            }
        else
            {
                X = X+0.1;
            }
    */
    
    if (X >= X_maxTreshold){
        X = X_maxTreshold;
        }
        else if (X <= X_minTreshold){
            X = X_minTreshold;
            }
        else{
            X = X;
            } 
    
    if(button3 == 0){
        X = X_minTreshold;
        }
        else if (button4 == 0){
            X = X_Callibrate;
            }
        else{
            X = X;
            }
    //pc.baud(115200);
    //pc.printf("\r (in1,in2):(%f,%f), RA = %f, X = %f \n",in1, in2, RA, X);
        
    return X;
}

float Get_Y_Position(){
    //Y = potMeter2 * potmultiplier; //--------- for Potmerter use
 
// ---- Potmeter Use--------------------------   
    if (potMeter2 < 0.3)
            {
                Y = Y-0.5;
            }
        else if (potMeter2 > 0.7)
            {
                Y = Y+0.5;
            }
        else
            {
                Y = Y;
            }

    
    /*
    double in3 = emg3.read();
    double in4 = emg4.read();
    
    
    double LA = in3+in4;
    
    if (LA < 0.5)
            {
                Y = Y;
            }
        else if (LA > 1.5)
            {
                Y = Y-0.1;
            }
        else
            {
                Y = Y+0.1;
            }
    */        
    if (Y >= Y_maxTreshold){
        Y = Y_maxTreshold;
        }
        else if (Y <= Y_minTreshold){
            Y = Y_minTreshold;
            }
        else{
            Y = Y;
            } 
            
    if(button3 == 0){
        Y = Y_minTreshold;
        }
        else if (button4 == 0){
            Y = Y_Callibrate;
            }
        else{
            Y = Y;
            }        
    
        //pc.printf("\r (in3,in4):(%f,%f), LA = %f, Y = %f \n",in3, in4, LA, Y);
    
    return Y;
}
//----------------------------------------------------END

//-------------Get current Position-------------------START
double motor1_Position(){ // has as output Theta
        
    if (button3 == 0){
           int T1 = ((atan(Y_minTreshold/X_minTreshold)*180)/pi)/gainM1;
           Encoder1.setPosition(T1);
        }
        else if (button4 ==0){
           int T1 = ((atan(Y_Callibrate/X_Callibrate)*180)/pi)/gainM1;
            Encoder1.setPosition(T1);
        }
        else{          
        }
    double pos_M1 = gainM1*Encoder1.getPosition(); // current position for theta
    return pos_M1;       
}
double motor2_Position(){ //output R
    int R1;
        
    if (button3 == 0){
           R1 = (sqrt(X_minTreshold*X_minTreshold+Y_minTreshold*Y_minTreshold))/gainM2;
           Encoder2.setPosition(R1);
        }
        else if (button4 ==0){
            R1 = (sqrt(X_Callibrate*X_Callibrate+Y_Callibrate*Y_Callibrate))/gainM2;
            Encoder2.setPosition(R1);
        }
        else{          
        }
        
    double pos_M2 = gainM2 *Encoder2.getPosition(); // current position for the radius;
    pc.baud(115200);
   // pc.printf("\r R1 = %f, pos_m2 = %f\n", R1,pos_m2);
    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
    
    double pos_M1 = motor1_Position(); // current position for theta   
    double 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, 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);

    double dTheta   = reference_motor1 - pos_M1;
    double dRadius  = reference_motor2 - pos_M2;

    pc.baud(115200);
    //pc.printf("\r DesPosition(X,Y):(%f,%f), posError(dTheta, dError):(%f,%f), (delta1,delta2):(%f,%f)\n",x,y, dTheta ,dRadius,delta1, delta2);
    pc.printf("\r pos(M1,M2):(%f,%f)\n", pos_M1, pos_M2);
    
    //motor1PWM = motor1;
    //motor2PWM = motor2;

    if(delta1 > 0.5){
        motor1DC = 0;
        
        ledr = 1;
        ledg = 1;       //Blau
        ledb = 0;
    }
    else if (delta1< -0.5) {
        motor1DC = 1; 
        
        ledb = 1;
        ledr = 1;
        ledg = 0;       //Groen
        
    }
    else{ 
    motor1PWM = 0;
        
        ledb = 1;       //Rood
        ledr = 0;
        ledg = 1;
    }
    
    motor1 = abs(delta1)/1000.0;
        if(motor1 >= 0.20) {
        motor1 = 0.20;
      //pc.baud(115200);
      //pc.printf("\r val motor1: %f\n", motor1);
    }

if(delta2 > 2.0){
        motor2DC = 0;
        
        ledr = 1;
        ledg = 1;       //Blau
        ledb = 0;
    }
    else if (delta2<-2.0) {
        motor2DC = 1; 
        
        ledb = 1;
        ledr = 1;
        ledg = 0;       //Groen
        
    }
    else{ 
    motor2PWM = 0;
        
        ledb = 1;       //Rood
        ledr = 0;
        ledg = 1;
    }
    
    motor2 = abs(delta2)/1000.0;
    if(motor2 >= 0.50) {
        motor2 = 0.50;
    }
    
    motor1PWM = motor1 + 0.80;
    motor2PWM = motor2 + 0.50;
    
    //pc.printf("\r delta(1,2):(%f,%f)\n", delta1,delta2);
    //pc.printf("\r motorvalues (M1,M2):(%f,%f),\n",  motor1 + 0.65, motor2 + 0.20);
    //pc.printf("\r 
}

int main()
{
    controller.attach(&Controller, M1_TS);
    motor1PWM.period(Pwmperiod);
    motor2PWM.period(Pwmperiod);
    
    bqc.add(&bq1).add(&bq2);
    
    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);    
    */   
    }    
    
}