first publish not working
Dependencies: MODSERIAL mbed ttmath FastPWM Motor_with_encoder biquadFilter
main.cpp@12:02eba9a294d2, 2017-11-02 (annotated)
- Committer:
- Arnoud113
- Date:
- Thu Nov 02 11:59:11 2017 +0000
- Revision:
- 12:02eba9a294d2
- Parent:
- 11:66d0be7efd3f
- Child:
- 13:b5868fd8ffe9
semi working version;
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:77ad62c61c78 | 7 | |
Arnoud113 | 0:77ad62c61c78 | 8 | |
Arnoud113 | 0:77ad62c61c78 | 9 | |
Arnoud113 | 0:77ad62c61c78 | 10 | DigitalOut gpo(D0); |
Arnoud113 | 0:77ad62c61c78 | 11 | DigitalOut ledb(LED_BLUE); |
Arnoud113 | 0:77ad62c61c78 | 12 | DigitalOut ledr(LED_RED); |
Arnoud113 | 0:77ad62c61c78 | 13 | DigitalOut ledg(LED_GREEN); |
Arnoud113 | 12:02eba9a294d2 | 14 | |
Arnoud113 | 0:77ad62c61c78 | 15 | DigitalOut motor1DC(D7); |
Arnoud113 | 3:b353ee86230a | 16 | DigitalOut motor2DC(D4); |
Arnoud113 | 8:b932f8b71d3a | 17 | FastPWM motor1PWM(D6); |
Arnoud113 | 8:b932f8b71d3a | 18 | FastPWM motor2PWM(D5); |
Arnoud113 | 0:77ad62c61c78 | 19 | |
Arnoud113 | 12:02eba9a294d2 | 20 | AnalogIn potMeter1(A0); |
Arnoud113 | 12:02eba9a294d2 | 21 | AnalogIn potMeter2(A1); |
Arnoud113 | 12:02eba9a294d2 | 22 | AnalogIn emg1(A2); |
Arnoud113 | 12:02eba9a294d2 | 23 | AnalogIn emg2(A3); |
Arnoud113 | 12:02eba9a294d2 | 24 | AnalogIn emg3(A4); |
Arnoud113 | 12:02eba9a294d2 | 25 | AnalogIn emg4(A5); |
Arnoud113 | 12:02eba9a294d2 | 26 | |
Arnoud113 | 12:02eba9a294d2 | 27 | DigitalIn button1(D11); |
Arnoud113 | 12:02eba9a294d2 | 28 | DigitalIn button2(D12); |
Arnoud113 | 12:02eba9a294d2 | 29 | DigitalIn button3(SW2); |
Arnoud113 | 12:02eba9a294d2 | 30 | DigitalIn button4(SW3); |
Arnoud113 | 12:02eba9a294d2 | 31 | Encoder Encoder1(D12,D13); |
Arnoud113 | 12:02eba9a294d2 | 32 | Encoder Encoder2(D8,D9); |
Arnoud113 | 0:77ad62c61c78 | 33 | |
Arnoud113 | 0:77ad62c61c78 | 34 | MODSERIAL pc(USBTX,USBRX); |
Arnoud113 | 0:77ad62c61c78 | 35 | |
Arnoud113 | 0:77ad62c61c78 | 36 | Ticker controller; |
Arnoud113 | 0:77ad62c61c78 | 37 | |
Arnoud113 | 12:02eba9a294d2 | 38 | // Constants EMG ----------------------- Start |
Arnoud113 | 12:02eba9a294d2 | 39 | double X; |
Arnoud113 | 12:02eba9a294d2 | 40 | double X_maxTreshold = 560; |
Arnoud113 | 12:02eba9a294d2 | 41 | double X_minTreshold = 20; |
Arnoud113 | 12:02eba9a294d2 | 42 | const double X_Callibrate = 300; |
Arnoud113 | 12:02eba9a294d2 | 43 | |
Arnoud113 | 12:02eba9a294d2 | 44 | double Y; |
Arnoud113 | 12:02eba9a294d2 | 45 | double Y_maxTreshold = 560; |
Arnoud113 | 12:02eba9a294d2 | 46 | double Y_minTreshold = 0; |
Arnoud113 | 12:02eba9a294d2 | 47 | const double Y_Callibrate = 300; |
Arnoud113 | 12:02eba9a294d2 | 48 | |
Arnoud113 | 12:02eba9a294d2 | 49 | |
Arnoud113 | 3:b353ee86230a | 50 | // ---- Motor Constants------- |
Arnoud113 | 12:02eba9a294d2 | 51 | const double pi = 3.1415926535897; |
Arnoud113 | 12:02eba9a294d2 | 52 | float Pwmperiod = 0.001f; |
Arnoud113 | 12:02eba9a294d2 | 53 | int potmultiplier = 600; // Multiplier for the pot meter reference which is normally between 0 and 1 |
Arnoud113 | 12:02eba9a294d2 | 54 | const float gearM1 = 6.2; |
Arnoud113 | 12:02eba9a294d2 | 55 | const double gainM1 = 1/35.17; // encoder pulses per degree theta |
Arnoud113 | 12:02eba9a294d2 | 56 | const double gainM2 = 1/(2*gearM1*pi); // gain for radius r |
Arnoud113 | 0:77ad62c61c78 | 57 | |
Arnoud113 | 12:02eba9a294d2 | 58 | double motor1; |
Arnoud113 | 12:02eba9a294d2 | 59 | double motor2; |
Arnoud113 | 12:02eba9a294d2 | 60 | double pos_M1; |
Arnoud113 | 12:02eba9a294d2 | 61 | double pos_M2; |
Arnoud113 | 3:b353ee86230a | 62 | |
Arnoud113 | 3:b353ee86230a | 63 | //Start constants PID ------------------------------- |
Arnoud113 | 12:02eba9a294d2 | 64 | 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 | 65 | |
Arnoud113 | 0:77ad62c61c78 | 66 | //verplaatst |
Arnoud113 | 3:b353ee86230a | 67 | const float RAD_PER_PULSE = (2*pi)/4200; |
Arnoud113 | 8:b932f8b71d3a | 68 | const float CONTROLLER_TS = 0.01; //TIME INTERVAL/ hZ |
Arnoud113 | 8:b932f8b71d3a | 69 | |
Arnoud113 | 11:66d0be7efd3f | 70 | const float M1_KP = 10; |
Arnoud113 | 7:88d1ccba9200 | 71 | const float M1_KI = 0.5; |
Arnoud113 | 8:b932f8b71d3a | 72 | const float M1_KD = 0.5; //was KP=10 KI=0.5 KD=0.5 |
Arnoud113 | 7:88d1ccba9200 | 73 | double m1_err_int = 0; |
Arnoud113 | 7:88d1ccba9200 | 74 | double m1_prev_err = 0; |
Arnoud113 | 7:88d1ccba9200 | 75 | |
Arnoud113 | 12:02eba9a294d2 | 76 | const float M2_KP = 5; |
Arnoud113 | 11:66d0be7efd3f | 77 | const float M2_KI = 0.5; |
Arnoud113 | 7:88d1ccba9200 | 78 | const float M2_KD = 0.5; //was KP=10 KI=0.5 KD=0.5 |
Arnoud113 | 7:88d1ccba9200 | 79 | double m2_err_int = 0; |
Arnoud113 | 7:88d1ccba9200 | 80 | double m2_prev_err = 0; |
Arnoud113 | 7:88d1ccba9200 | 81 | |
Arnoud113 | 8:b932f8b71d3a | 82 | // Constants Biquad |
Arnoud113 | 7:88d1ccba9200 | 83 | const double M1_F_A1 = 1.0; |
Arnoud113 | 8:b932f8b71d3a | 84 | const double M1_F_A2 = 2.0; |
Arnoud113 | 8:b932f8b71d3a | 85 | const double M1_F_B0 = 1.0; |
Arnoud113 | 7:88d1ccba9200 | 86 | const double M1_F_B1 = 3.0; |
Arnoud113 | 7:88d1ccba9200 | 87 | const double M1_F_B2 = 4.0; |
Arnoud113 | 7:88d1ccba9200 | 88 | double m1_f_v1 = 0; |
Arnoud113 | 7:88d1ccba9200 | 89 | double m1_f_v2 = 0; |
Arnoud113 | 12:02eba9a294d2 | 90 | |
Arnoud113 | 12:02eba9a294d2 | 91 | |
Arnoud113 | 12:02eba9a294d2 | 92 | |
Arnoud113 | 5:a1a5b5bebd5c | 93 | //---------------------------------End of constants PID |
Arnoud113 | 0:77ad62c61c78 | 94 | |
Arnoud113 | 3:b353ee86230a | 95 | //-----------------Start PID part----------------------------START |
Arnoud113 | 7:88d1ccba9200 | 96 | 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 | 97 | |
Arnoud113 | 8:b932f8b71d3a | 98 | double e_der1 = (e1 - e_prev1)/Ts; // Ts = motor1-timestep // Derivative |
Arnoud113 | 7:88d1ccba9200 | 99 | // biquad part, see slide |
Arnoud113 | 7:88d1ccba9200 | 100 | //e_der = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2); |
Arnoud113 | 8:b932f8b71d3a | 101 | |
Arnoud113 | 7:88d1ccba9200 | 102 | e_prev1 = e1; |
Arnoud113 | 12:02eba9a294d2 | 103 | e_int1 += Ts*e1; |
Arnoud113 | 12:02eba9a294d2 | 104 | |
Arnoud113 | 12:02eba9a294d2 | 105 | if(button3 == 0 || button4 ==0){ |
Arnoud113 | 12:02eba9a294d2 | 106 | e1 = 0; |
Arnoud113 | 12:02eba9a294d2 | 107 | e_prev1 = 0; |
Arnoud113 | 12:02eba9a294d2 | 108 | e_int1 = 0; |
Arnoud113 | 12:02eba9a294d2 | 109 | e_der1 = 0; |
Arnoud113 | 12:02eba9a294d2 | 110 | } |
Arnoud113 | 12:02eba9a294d2 | 111 | // Integral |
Arnoud113 | 8:b932f8b71d3a | 112 | return Kp1*e1 + Ki1*e_int1 + Kd1 * e_der1; //PID |
Arnoud113 | 7:88d1ccba9200 | 113 | } |
Arnoud113 | 3:b353ee86230a | 114 | |
Arnoud113 | 7:88d1ccba9200 | 115 | 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 | 116 | |
Arnoud113 | 8:b932f8b71d3a | 117 | double e_der2 = (e2 - e_prev2)/Ts; // Ts = motor1-timestep // Derivative |
Arnoud113 | 7:88d1ccba9200 | 118 | // biquad part, see slide |
Arnoud113 | 7:88d1ccba9200 | 119 | //e_der = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2); |
Arnoud113 | 8:b932f8b71d3a | 120 | |
Arnoud113 | 7:88d1ccba9200 | 121 | e_prev2 = e2; |
Arnoud113 | 12:02eba9a294d2 | 122 | e_int2 += Ts*e2; |
Arnoud113 | 12:02eba9a294d2 | 123 | |
Arnoud113 | 12:02eba9a294d2 | 124 | if(button3 == 0 || button4 ==0){ |
Arnoud113 | 12:02eba9a294d2 | 125 | e2 = 0; |
Arnoud113 | 12:02eba9a294d2 | 126 | e_prev2 = 0; |
Arnoud113 | 12:02eba9a294d2 | 127 | e_int2 = 0; |
Arnoud113 | 12:02eba9a294d2 | 128 | e_der2 = 0; |
Arnoud113 | 12:02eba9a294d2 | 129 | } |
Arnoud113 | 12:02eba9a294d2 | 130 | // Integral |
Arnoud113 | 8:b932f8b71d3a | 131 | return Kp2*e2 + Ki2*e_int2 + Kd2 * e_der2; //PID |
Arnoud113 | 3:b353ee86230a | 132 | } |
Arnoud113 | 3:b353ee86230a | 133 | |
Arnoud113 | 3:b353ee86230a | 134 | //------------Get reference position-----------------START |
Arnoud113 | 0:77ad62c61c78 | 135 | float Get_X_Position(){ |
Arnoud113 | 12:02eba9a294d2 | 136 | // X = potMeter1 * potmultiplier; //--------- for Potmerter use |
Arnoud113 | 12:02eba9a294d2 | 137 | |
Arnoud113 | 12:02eba9a294d2 | 138 | // -- Potmeter use ----------------------------------- |
Arnoud113 | 12:02eba9a294d2 | 139 | if (potMeter1 < 0.3) |
Arnoud113 | 12:02eba9a294d2 | 140 | { |
Arnoud113 | 12:02eba9a294d2 | 141 | X = X-0.5; |
Arnoud113 | 12:02eba9a294d2 | 142 | } |
Arnoud113 | 12:02eba9a294d2 | 143 | else if (potMeter1> 0.7) |
Arnoud113 | 12:02eba9a294d2 | 144 | { |
Arnoud113 | 12:02eba9a294d2 | 145 | X = X+0.5; |
Arnoud113 | 12:02eba9a294d2 | 146 | } |
Arnoud113 | 12:02eba9a294d2 | 147 | else |
Arnoud113 | 12:02eba9a294d2 | 148 | { |
Arnoud113 | 12:02eba9a294d2 | 149 | X = X; |
Arnoud113 | 12:02eba9a294d2 | 150 | } |
Arnoud113 | 12:02eba9a294d2 | 151 | |
Arnoud113 | 12:02eba9a294d2 | 152 | |
Arnoud113 | 12:02eba9a294d2 | 153 | /* |
Arnoud113 | 12:02eba9a294d2 | 154 | double in1 = emg1.read(); |
Arnoud113 | 12:02eba9a294d2 | 155 | double in2 = emg2.read(); |
Arnoud113 | 12:02eba9a294d2 | 156 | |
Arnoud113 | 12:02eba9a294d2 | 157 | double RA = in1+in2; |
Arnoud113 | 12:02eba9a294d2 | 158 | |
Arnoud113 | 12:02eba9a294d2 | 159 | |
Arnoud113 | 12:02eba9a294d2 | 160 | if (RA < 0.5) |
Arnoud113 | 12:02eba9a294d2 | 161 | { |
Arnoud113 | 12:02eba9a294d2 | 162 | X = X; |
Arnoud113 | 12:02eba9a294d2 | 163 | } |
Arnoud113 | 12:02eba9a294d2 | 164 | else if (RA > 1.5) |
Arnoud113 | 12:02eba9a294d2 | 165 | { |
Arnoud113 | 12:02eba9a294d2 | 166 | X = X-0.1; |
Arnoud113 | 12:02eba9a294d2 | 167 | } |
Arnoud113 | 12:02eba9a294d2 | 168 | else |
Arnoud113 | 12:02eba9a294d2 | 169 | { |
Arnoud113 | 12:02eba9a294d2 | 170 | X = X+0.1; |
Arnoud113 | 12:02eba9a294d2 | 171 | } |
Arnoud113 | 12:02eba9a294d2 | 172 | */ |
Arnoud113 | 12:02eba9a294d2 | 173 | |
Arnoud113 | 12:02eba9a294d2 | 174 | if (X > X_maxTreshold){ |
Arnoud113 | 12:02eba9a294d2 | 175 | X = X_maxTreshold; |
Arnoud113 | 12:02eba9a294d2 | 176 | } |
Arnoud113 | 12:02eba9a294d2 | 177 | else if (X < X_minTreshold){ |
Arnoud113 | 12:02eba9a294d2 | 178 | X = X_minTreshold; |
Arnoud113 | 12:02eba9a294d2 | 179 | } |
Arnoud113 | 12:02eba9a294d2 | 180 | else{ |
Arnoud113 | 12:02eba9a294d2 | 181 | X = X; |
Arnoud113 | 12:02eba9a294d2 | 182 | } |
Arnoud113 | 12:02eba9a294d2 | 183 | |
Arnoud113 | 12:02eba9a294d2 | 184 | if(button3 == 0){ |
Arnoud113 | 12:02eba9a294d2 | 185 | X = X_minTreshold; |
Arnoud113 | 12:02eba9a294d2 | 186 | } |
Arnoud113 | 12:02eba9a294d2 | 187 | else if (button4 == 0){ |
Arnoud113 | 12:02eba9a294d2 | 188 | X = X_Callibrate; |
Arnoud113 | 12:02eba9a294d2 | 189 | } |
Arnoud113 | 12:02eba9a294d2 | 190 | else{ |
Arnoud113 | 12:02eba9a294d2 | 191 | X = X; |
Arnoud113 | 12:02eba9a294d2 | 192 | } |
Arnoud113 | 12:02eba9a294d2 | 193 | //pc.baud(115200); |
Arnoud113 | 12:02eba9a294d2 | 194 | //pc.printf("\r (in1,in2):(%f,%f), RA = %f, X = %f \n",in1, in2, RA, X); |
Arnoud113 | 12:02eba9a294d2 | 195 | |
Arnoud113 | 1:13d8940f0fd4 | 196 | return X; |
Arnoud113 | 0:77ad62c61c78 | 197 | } |
Arnoud113 | 0:77ad62c61c78 | 198 | |
Arnoud113 | 0:77ad62c61c78 | 199 | float Get_Y_Position(){ |
Arnoud113 | 12:02eba9a294d2 | 200 | //Y = potMeter2 * potmultiplier; //--------- for Potmerter use |
Arnoud113 | 12:02eba9a294d2 | 201 | |
Arnoud113 | 12:02eba9a294d2 | 202 | // ---- Potmeter Use-------------------------- |
Arnoud113 | 12:02eba9a294d2 | 203 | if (potMeter2 < 0.3) |
Arnoud113 | 12:02eba9a294d2 | 204 | { |
Arnoud113 | 12:02eba9a294d2 | 205 | Y = Y-0.5; |
Arnoud113 | 12:02eba9a294d2 | 206 | } |
Arnoud113 | 12:02eba9a294d2 | 207 | else if (potMeter2 > 0.7) |
Arnoud113 | 12:02eba9a294d2 | 208 | { |
Arnoud113 | 12:02eba9a294d2 | 209 | Y = Y+0.5; |
Arnoud113 | 12:02eba9a294d2 | 210 | } |
Arnoud113 | 12:02eba9a294d2 | 211 | else |
Arnoud113 | 12:02eba9a294d2 | 212 | { |
Arnoud113 | 12:02eba9a294d2 | 213 | Y = Y; |
Arnoud113 | 12:02eba9a294d2 | 214 | } |
Arnoud113 | 12:02eba9a294d2 | 215 | |
Arnoud113 | 12:02eba9a294d2 | 216 | |
Arnoud113 | 12:02eba9a294d2 | 217 | /* |
Arnoud113 | 12:02eba9a294d2 | 218 | double in3 = emg3.read(); |
Arnoud113 | 12:02eba9a294d2 | 219 | double in4 = emg4.read(); |
Arnoud113 | 12:02eba9a294d2 | 220 | |
Arnoud113 | 12:02eba9a294d2 | 221 | |
Arnoud113 | 12:02eba9a294d2 | 222 | double LA = in3+in4; |
Arnoud113 | 12:02eba9a294d2 | 223 | |
Arnoud113 | 12:02eba9a294d2 | 224 | if (LA < 0.5) |
Arnoud113 | 12:02eba9a294d2 | 225 | { |
Arnoud113 | 12:02eba9a294d2 | 226 | Y = Y; |
Arnoud113 | 12:02eba9a294d2 | 227 | } |
Arnoud113 | 12:02eba9a294d2 | 228 | else if (LA > 1.5) |
Arnoud113 | 12:02eba9a294d2 | 229 | { |
Arnoud113 | 12:02eba9a294d2 | 230 | Y = Y-0.1; |
Arnoud113 | 12:02eba9a294d2 | 231 | } |
Arnoud113 | 12:02eba9a294d2 | 232 | else |
Arnoud113 | 12:02eba9a294d2 | 233 | { |
Arnoud113 | 12:02eba9a294d2 | 234 | Y = Y+0.1; |
Arnoud113 | 12:02eba9a294d2 | 235 | } |
Arnoud113 | 12:02eba9a294d2 | 236 | */ |
Arnoud113 | 12:02eba9a294d2 | 237 | if (Y > Y_maxTreshold){ |
Arnoud113 | 12:02eba9a294d2 | 238 | Y = Y_maxTreshold; |
Arnoud113 | 12:02eba9a294d2 | 239 | } |
Arnoud113 | 12:02eba9a294d2 | 240 | else if (Y < Y_minTreshold){ |
Arnoud113 | 12:02eba9a294d2 | 241 | Y = Y_minTreshold; |
Arnoud113 | 12:02eba9a294d2 | 242 | } |
Arnoud113 | 12:02eba9a294d2 | 243 | else{ |
Arnoud113 | 12:02eba9a294d2 | 244 | Y = Y; |
Arnoud113 | 12:02eba9a294d2 | 245 | } |
Arnoud113 | 12:02eba9a294d2 | 246 | |
Arnoud113 | 12:02eba9a294d2 | 247 | if(button3 == 0){ |
Arnoud113 | 12:02eba9a294d2 | 248 | Y = Y_minTreshold; |
Arnoud113 | 12:02eba9a294d2 | 249 | } |
Arnoud113 | 12:02eba9a294d2 | 250 | else if (button4 == 0){ |
Arnoud113 | 12:02eba9a294d2 | 251 | Y = Y_Callibrate; |
Arnoud113 | 12:02eba9a294d2 | 252 | } |
Arnoud113 | 12:02eba9a294d2 | 253 | else{ |
Arnoud113 | 12:02eba9a294d2 | 254 | Y = Y; |
Arnoud113 | 12:02eba9a294d2 | 255 | } |
Arnoud113 | 12:02eba9a294d2 | 256 | |
Arnoud113 | 12:02eba9a294d2 | 257 | //pc.printf("\r (in3,in4):(%f,%f), LA = %f, Y = %f \n",in3, in4, LA, Y); |
Arnoud113 | 12:02eba9a294d2 | 258 | |
Arnoud113 | 1:13d8940f0fd4 | 259 | return Y; |
Arnoud113 | 0:77ad62c61c78 | 260 | } |
Arnoud113 | 3:b353ee86230a | 261 | //----------------------------------------------------END |
Arnoud113 | 0:77ad62c61c78 | 262 | |
Arnoud113 | 3:b353ee86230a | 263 | //-------------Get current Position-------------------START |
Arnoud113 | 3:b353ee86230a | 264 | double motor1_Position(){ // has as output Theta |
Arnoud113 | 12:02eba9a294d2 | 265 | |
Arnoud113 | 12:02eba9a294d2 | 266 | if (button3 == 0){ |
Arnoud113 | 12:02eba9a294d2 | 267 | int T1 = ((atan(Y_minTreshold/X_minTreshold)*180)/pi)/gainM1; |
Arnoud113 | 12:02eba9a294d2 | 268 | Encoder1.setPosition(T1); |
Arnoud113 | 12:02eba9a294d2 | 269 | } |
Arnoud113 | 12:02eba9a294d2 | 270 | else if (button4 ==0){ |
Arnoud113 | 12:02eba9a294d2 | 271 | int T1 = ((atan(Y_Callibrate/X_Callibrate)*180)/pi)/gainM1; |
Arnoud113 | 12:02eba9a294d2 | 272 | Encoder1.setPosition(T1); |
Arnoud113 | 12:02eba9a294d2 | 273 | } |
Arnoud113 | 12:02eba9a294d2 | 274 | else{ |
Arnoud113 | 12:02eba9a294d2 | 275 | } |
Arnoud113 | 12:02eba9a294d2 | 276 | double pos_M1 = gainM1*Encoder1.getPosition(); // current position for theta |
Arnoud113 | 12:02eba9a294d2 | 277 | return pos_M1; |
Arnoud113 | 0:77ad62c61c78 | 278 | } |
Arnoud113 | 3:b353ee86230a | 279 | double motor2_Position(){ //output R |
Arnoud113 | 12:02eba9a294d2 | 280 | int R1; |
Arnoud113 | 12:02eba9a294d2 | 281 | |
Arnoud113 | 12:02eba9a294d2 | 282 | if (button3 == 0){ |
Arnoud113 | 12:02eba9a294d2 | 283 | R1 = (sqrt(X_minTreshold*X_minTreshold+Y_minTreshold*Y_minTreshold))/gainM2; |
Arnoud113 | 12:02eba9a294d2 | 284 | Encoder2.setPosition(R1); |
Arnoud113 | 12:02eba9a294d2 | 285 | } |
Arnoud113 | 12:02eba9a294d2 | 286 | else if (button4 ==0){ |
Arnoud113 | 12:02eba9a294d2 | 287 | R1 = (sqrt(X_Callibrate*X_Callibrate+Y_Callibrate*Y_Callibrate))/gainM2; |
Arnoud113 | 12:02eba9a294d2 | 288 | Encoder2.setPosition(R1); |
Arnoud113 | 12:02eba9a294d2 | 289 | } |
Arnoud113 | 12:02eba9a294d2 | 290 | else{ |
Arnoud113 | 12:02eba9a294d2 | 291 | } |
Arnoud113 | 12:02eba9a294d2 | 292 | |
Arnoud113 | 12:02eba9a294d2 | 293 | double pos_M2 = gainM2 *Encoder2.getPosition(); // current position for the radius; |
Arnoud113 | 12:02eba9a294d2 | 294 | pc.baud(115200); |
Arnoud113 | 12:02eba9a294d2 | 295 | // pc.printf("\r R1 = %f, pos_m2 = %f\n", R1,pos_m2); |
Arnoud113 | 12:02eba9a294d2 | 296 | return pos_M2; |
Arnoud113 | 3:b353ee86230a | 297 | } |
Arnoud113 | 3:b353ee86230a | 298 | //-----------------------------------------------------END |
Arnoud113 | 0:77ad62c61c78 | 299 | |
Arnoud113 | 0:77ad62c61c78 | 300 | |
Arnoud113 | 3:b353ee86230a | 301 | //------------Controller-------------------------------START |
Arnoud113 | 0:77ad62c61c78 | 302 | void Controller(){ |
Arnoud113 | 3:b353ee86230a | 303 | |
Arnoud113 | 1:13d8940f0fd4 | 304 | double x = Get_X_Position(); |
Arnoud113 | 1:13d8940f0fd4 | 305 | double y = Get_Y_Position(); |
Arnoud113 | 3:b353ee86230a | 306 | |
Arnoud113 | 3:b353ee86230a | 307 | double reference_motor1 = (atan(y/x)*180)/pi; // reference for Theta |
Arnoud113 | 3:b353ee86230a | 308 | double reference_motor2 = sqrt((x*x+y*y)); // reference for radius |
Arnoud113 | 0:77ad62c61c78 | 309 | |
Arnoud113 | 12:02eba9a294d2 | 310 | double pos_M1 = motor1_Position(); // current position for theta |
Arnoud113 | 12:02eba9a294d2 | 311 | double pos_M2 = motor2_Position(); // current position for the radius |
Arnoud113 | 12:02eba9a294d2 | 312 | |
Arnoud113 | 7:88d1ccba9200 | 313 | 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 | 314 | 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 | 315 | |
Arnoud113 | 3:b353ee86230a | 316 | double dTheta = reference_motor1 - pos_M1; |
Arnoud113 | 3:b353ee86230a | 317 | double dRadius = reference_motor2 - pos_M2; |
Arnoud113 | 0:77ad62c61c78 | 318 | |
Arnoud113 | 0:77ad62c61c78 | 319 | pc.baud(115200); |
Arnoud113 | 12:02eba9a294d2 | 320 | //pc.printf("\r DesPosition(X,Y):(%f,%f), posError(dTheta, dError):(%f,%f), (delta1,delta2):(%f,%f), posM(M1,M2):(%f,%f) \n",x,y, dTheta ,dRadius,delta1, delta2, pos_M1,pos_M2); |
Arnoud113 | 12:02eba9a294d2 | 321 | pc.printf("\r pos(M1,M2):(%f,%f)\n", pos_M1, pos_M2); |
Arnoud113 | 0:77ad62c61c78 | 322 | |
Arnoud113 | 2:2563d1d8461f | 323 | //motor1PWM = motor1; |
Arnoud113 | 2:2563d1d8461f | 324 | //motor2PWM = motor2; |
Arnoud113 | 0:77ad62c61c78 | 325 | |
Arnoud113 | 11:66d0be7efd3f | 326 | if(delta1 > 0.5){ |
Arnoud113 | 3:b353ee86230a | 327 | motor1DC = 0; |
Arnoud113 | 0:77ad62c61c78 | 328 | |
Arnoud113 | 0:77ad62c61c78 | 329 | ledr = 1; |
Arnoud113 | 0:77ad62c61c78 | 330 | ledg = 1; //Blau |
Arnoud113 | 0:77ad62c61c78 | 331 | ledb = 0; |
Arnoud113 | 0:77ad62c61c78 | 332 | } |
Arnoud113 | 11:66d0be7efd3f | 333 | else if (delta1< -0.5) { |
Arnoud113 | 3:b353ee86230a | 334 | motor1DC = 1; |
Arnoud113 | 0:77ad62c61c78 | 335 | |
Arnoud113 | 0:77ad62c61c78 | 336 | ledb = 1; |
Arnoud113 | 0:77ad62c61c78 | 337 | ledr = 1; |
Arnoud113 | 0:77ad62c61c78 | 338 | ledg = 0; //Groen |
Arnoud113 | 0:77ad62c61c78 | 339 | |
Arnoud113 | 0:77ad62c61c78 | 340 | } |
Arnoud113 | 0:77ad62c61c78 | 341 | else{ |
Arnoud113 | 0:77ad62c61c78 | 342 | motor1PWM = 0; |
Arnoud113 | 0:77ad62c61c78 | 343 | |
Arnoud113 | 0:77ad62c61c78 | 344 | ledb = 1; //Rood |
Arnoud113 | 0:77ad62c61c78 | 345 | ledr = 0; |
Arnoud113 | 0:77ad62c61c78 | 346 | ledg = 1; |
Arnoud113 | 0:77ad62c61c78 | 347 | } |
Arnoud113 | 3:b353ee86230a | 348 | |
Arnoud113 | 9:edf01d06935e | 349 | motor1 = abs(delta1)/1000.0; |
Arnoud113 | 12:02eba9a294d2 | 350 | if(motor1 >= 0.35) { |
Arnoud113 | 12:02eba9a294d2 | 351 | motor1 = 0.35; |
Arnoud113 | 9:edf01d06935e | 352 | //pc.baud(115200); |
Arnoud113 | 9:edf01d06935e | 353 | //pc.printf("\r val motor1: %f\n", motor1); |
Arnoud113 | 11:66d0be7efd3f | 354 | } |
Arnoud113 | 0:77ad62c61c78 | 355 | |
Arnoud113 | 11:66d0be7efd3f | 356 | if(delta2 > 2.0){ |
Arnoud113 | 3:b353ee86230a | 357 | motor2DC = 0; |
Arnoud113 | 0:77ad62c61c78 | 358 | |
Arnoud113 | 8:b932f8b71d3a | 359 | ledr = 1; |
Arnoud113 | 8:b932f8b71d3a | 360 | ledg = 1; //Blau |
Arnoud113 | 8:b932f8b71d3a | 361 | ledb = 0; |
Arnoud113 | 0:77ad62c61c78 | 362 | } |
Arnoud113 | 11:66d0be7efd3f | 363 | else if (delta2<-2.0) { |
Arnoud113 | 3:b353ee86230a | 364 | motor2DC = 1; |
Arnoud113 | 0:77ad62c61c78 | 365 | |
Arnoud113 | 8:b932f8b71d3a | 366 | ledb = 1; |
Arnoud113 | 8:b932f8b71d3a | 367 | ledr = 1; |
Arnoud113 | 8:b932f8b71d3a | 368 | ledg = 0; //Groen |
Arnoud113 | 0:77ad62c61c78 | 369 | |
Arnoud113 | 0:77ad62c61c78 | 370 | } |
Arnoud113 | 0:77ad62c61c78 | 371 | else{ |
Arnoud113 | 0:77ad62c61c78 | 372 | motor2PWM = 0; |
Arnoud113 | 0:77ad62c61c78 | 373 | |
Arnoud113 | 8:b932f8b71d3a | 374 | ledb = 1; //Rood |
Arnoud113 | 8:b932f8b71d3a | 375 | ledr = 0; |
Arnoud113 | 8:b932f8b71d3a | 376 | ledg = 1; |
Arnoud113 | 0:77ad62c61c78 | 377 | } |
Arnoud113 | 3:b353ee86230a | 378 | |
Arnoud113 | 9:edf01d06935e | 379 | motor2 = abs(delta2)/1000.0; |
Arnoud113 | 11:66d0be7efd3f | 380 | if(motor2 >= 0.50) { |
Arnoud113 | 11:66d0be7efd3f | 381 | motor2 = 0.50; |
Arnoud113 | 11:66d0be7efd3f | 382 | } |
Arnoud113 | 3:b353ee86230a | 383 | |
Arnoud113 | 12:02eba9a294d2 | 384 | motor1PWM = motor1 + 0.65; |
Arnoud113 | 12:02eba9a294d2 | 385 | motor2PWM = motor2 + 0.50; |
Arnoud113 | 3:b353ee86230a | 386 | |
Arnoud113 | 11:66d0be7efd3f | 387 | //pc.printf("\r delta(1,2):(%f,%f)\n", delta1,delta2); |
Arnoud113 | 12:02eba9a294d2 | 388 | //pc.printf("\r motorvalues (M1,M2):(%f,%f),\n", motor1 + 0.65, motor2 + 0.20); |
Arnoud113 | 3:b353ee86230a | 389 | //pc.printf("\r |
Arnoud113 | 0:77ad62c61c78 | 390 | } |
Arnoud113 | 0:77ad62c61c78 | 391 | |
Arnoud113 | 0:77ad62c61c78 | 392 | int main() |
Arnoud113 | 0:77ad62c61c78 | 393 | { |
Arnoud113 | 0:77ad62c61c78 | 394 | controller.attach(&Controller, M1_TS); |
Arnoud113 | 10:4b0b4f2abacf | 395 | motor1PWM.period(Pwmperiod); |
Arnoud113 | 10:4b0b4f2abacf | 396 | motor2PWM.period(Pwmperiod); |
Arnoud113 | 0:77ad62c61c78 | 397 | |
Arnoud113 | 3:b353ee86230a | 398 | while(1){ |
Arnoud113 | 3:b353ee86230a | 399 | /* |
Arnoud113 | 3:b353ee86230a | 400 | double x = Get_X_Position(); |
Arnoud113 | 3:b353ee86230a | 401 | double y = Get_Y_Position(); |
Arnoud113 | 3:b353ee86230a | 402 | double reference_motor1 = atan(y/x); |
Arnoud113 | 3:b353ee86230a | 403 | int position_Motor1 = motor1_Position(); |
Arnoud113 | 3:b353ee86230a | 404 | 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 | 405 | |
Arnoud113 | 3:b353ee86230a | 406 | pc.baud(115200); |
Arnoud113 | 3:b353ee86230a | 407 | 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 | 408 | */ |
Arnoud113 | 3:b353ee86230a | 409 | } |
Arnoud113 | 0:77ad62c61c78 | 410 | |
Arnoud113 | 0:77ad62c61c78 | 411 | } |