Arnoud Meutstege / Mbed 2 deprecated Conceptcontroller_v_1_0

first publish not working

Dependencies:   MODSERIAL mbed ttmath FastPWM Motor_with_encoder biquadFilter

main.cpp@4:5f7d1654108d, 2017-10-31 (annotated)

Committer:
Arnoud113
Date:
Tue Oct 31 22:42:21 2017 +0000
Revision:
4:5f7d1654108d
Parent:
3:b353ee86230a
Child:
5:a1a5b5bebd5c
version before removing biquad;

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 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 0:77ad62c61c78 14 DigitalOut motor1DC(D7);
Arnoud113 3:b353ee86230a 15 DigitalOut motor2DC(D4);
Arnoud113 2:2563d1d8461f 16 FastPWM motor1PWM(D6);
Arnoud113 2:2563d1d8461f 17 FastPWM motor2PWM(D5);
Arnoud113 0:77ad62c61c78 18
Arnoud113 0:77ad62c61c78 19 AnalogIn potMeter1(A0);
Arnoud113 0:77ad62c61c78 20 AnalogIn potMeter2(A1);
Arnoud113 0:77ad62c61c78 21 DigitalIn button1(D11);
Arnoud113 0:77ad62c61c78 22 DigitalIn button2(D12);
Arnoud113 3:b353ee86230a 23 Encoder Encoder1(D12,D13);
Arnoud113 3:b353ee86230a 24 Encoder Encoder2(D8,D9);
Arnoud113 0:77ad62c61c78 25
Arnoud113 0:77ad62c61c78 26 MODSERIAL pc(USBTX,USBRX);
Arnoud113 0:77ad62c61c78 27
Arnoud113 0:77ad62c61c78 28 Ticker controller;
Arnoud113 0:77ad62c61c78 29
Arnoud113 3:b353ee86230a 30 // ---- Motor Constants-------
Arnoud113 3:b353ee86230a 31 float Pwmperiod = 0.0001f;
Arnoud113 3:b353ee86230a 32 int potmultiplier = 800; // Multiplier for the pot meter reference which is normally between 0 and 1
Arnoud113 3:b353ee86230a 33 float gainM1 = 1/35.17; // encoder pulses per degree theta
Arnoud113 3:b353ee86230a 34 float gainM2 = 0.01; // gain for radius r
Arnoud113 0:77ad62c61c78 35
Arnoud113 3:b353ee86230a 36 // new PID constants, will have to be determined trough trial and error.
Arnoud113 2:2563d1d8461f 37
Arnoud113 3:b353ee86230a 38 double kp = 250;
Arnoud113 3:b353ee86230a 39 double ki = 100;
Arnoud113 3:b353ee86230a 40 double kd = 0;
Arnoud113 3:b353ee86230a 41
Arnoud113 3:b353ee86230a 42
Arnoud113 3:b353ee86230a 43 volatile float motor1;
Arnoud113 3:b353ee86230a 44 volatile float motor2;
Arnoud113 3:b353ee86230a 45
Arnoud113 3:b353ee86230a 46 //Start constants PID -------------------------------
Arnoud113 0:77ad62c61c78 47 const double pi = 3.1415926535897;
Arnoud113 4:5f7d1654108d 48 const double M1_TS = 0.001; // (was 0.0001) 0.001 and 0.01 work without biquad filter. // // Sample time (motor - timestep)
Arnoud113 0:77ad62c61c78 49
Arnoud113 0:77ad62c61c78 50 //verplaatst
Arnoud113 3:b353ee86230a 51 const float RAD_PER_PULSE = (2*pi)/4200;
Arnoud113 3:b353ee86230a 52 const float CONTROLLER_TS = 0.01; //TIME INTERVAL/ hZ
Arnoud113 3:b353ee86230a 53
Arnoud113 3:b353ee86230a 54 //----PID constants
Arnoud113 3:b353ee86230a 55 const float M1_KP = 10;
Arnoud113 3:b353ee86230a 56 const float M1_KI = 0.5;
Arnoud113 3:b353ee86230a 57 const float M1_KD = 0.5; //was KP=10 KI=0.5 KD=0.5
Arnoud113 3:b353ee86230a 58 double m1_err_int = 0;
Arnoud113 3:b353ee86230a 59 double m1_prev_err = 0;
Arnoud113 3:b353ee86230a 60
Arnoud113 3:b353ee86230a 61 const float M2_KP = 10;
Arnoud113 3:b353ee86230a 62 const float M2_KI = 0.5;
Arnoud113 3:b353ee86230a 63 const float M2_KD = 0.5; //was KP=10 KI=0.5 KD=0.5
Arnoud113 3:b353ee86230a 64 double m2_err_int = 0;
Arnoud113 3:b353ee86230a 65 double m2_prev_err = 0;
Arnoud113 3:b353ee86230a 66
Arnoud113 3:b353ee86230a 67 //---- Biquad constants---------
Arnoud113 3:b353ee86230a 68 const double M1_F_A1 = 1.0 ;
Arnoud113 3:b353ee86230a 69 const double M1_F_A2 = 2.0;
Arnoud113 3:b353ee86230a 70 const double M1_F_B0 = 1.0;
Arnoud113 3:b353ee86230a 71 const double M1_F_B1 = 3.0;
Arnoud113 3:b353ee86230a 72 const double M1_F_B2 = 4.0;
Arnoud113 3:b353ee86230a 73 double m1_f_v1 = 0;
Arnoud113 3:b353ee86230a 74 double m1_f_v2 = 0;
Arnoud113 3:b353ee86230a 75
Arnoud113 0:77ad62c61c78 76
Arnoud113 3:b353ee86230a 77 //-----------------Start PID part----------------------------START
Arnoud113 3:b353ee86230a 78 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 79
Arnoud113 3:b353ee86230a 80 double e_der1 = (e1 - e_prev1)/Ts; // Derivative, Ts = motor1-timestep
Arnoud113 3:b353ee86230a 81 // biquad part, see slide
Arnoud113 3:b353ee86230a 82 //e_der1 = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2);
Arnoud113 3:b353ee86230a 83 e_prev1 = e1;
Arnoud113 3:b353ee86230a 84 e_int1 += Ts*e1; // Integral
Arnoud113 4:5f7d1654108d 85
Arnoud113 3:b353ee86230a 86 return Kp1*e1 + Ki1*e_int1 + Kd1 * e_der1;
Arnoud113 4:5f7d1654108d 87
Arnoud113 3:b353ee86230a 88 }
Arnoud113 0:77ad62c61c78 89
Arnoud113 3:b353ee86230a 90 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 3:b353ee86230a 91
Arnoud113 3:b353ee86230a 92 double e_der2 = (e2 - e_prev2)/Ts; // Derivative, Ts = motor1-timestep
Arnoud113 3:b353ee86230a 93 // biquad part, see slide
Arnoud113 3:b353ee86230a 94 //e_der2 = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2);
Arnoud113 3:b353ee86230a 95 e_prev2 = e2;
Arnoud113 3:b353ee86230a 96 e_int2 += Ts*e2; // Integral
Arnoud113 3:b353ee86230a 97
Arnoud113 3:b353ee86230a 98 return Kp2*e2 + Ki2*e_int2 + Kd2 * e_der2;
Arnoud113 3:b353ee86230a 99
Arnoud113 3:b353ee86230a 100 }
Arnoud113 3:b353ee86230a 101
Arnoud113 3:b353ee86230a 102 //------------Get reference position-----------------START
Arnoud113 0:77ad62c61c78 103 float Get_X_Position(){
Arnoud113 1:13d8940f0fd4 104 double X = potMeter1 * potmultiplier;
Arnoud113 1:13d8940f0fd4 105 return X;
Arnoud113 4:5f7d1654108d 106
Arnoud113 0:77ad62c61c78 107 }
Arnoud113 0:77ad62c61c78 108
Arnoud113 0:77ad62c61c78 109 float Get_Y_Position(){
Arnoud113 1:13d8940f0fd4 110 double Y = potMeter2 * potmultiplier;
Arnoud113 1:13d8940f0fd4 111 return Y;
Arnoud113 0:77ad62c61c78 112 }
Arnoud113 3:b353ee86230a 113 //----------------------------------------------------END
Arnoud113 0:77ad62c61c78 114
Arnoud113 3:b353ee86230a 115 //-------------Get current Position-------------------START
Arnoud113 3:b353ee86230a 116 double motor1_Position(){ // has as output Theta
Arnoud113 4:5f7d1654108d 117 double pos_m1 = gainM1*Encoder1.getPosition(); // current position for theta
Arnoud113 3:b353ee86230a 118 return pos_m1;
Arnoud113 0:77ad62c61c78 119 }
Arnoud113 3:b353ee86230a 120 double motor2_Position(){ //output R
Arnoud113 3:b353ee86230a 121 double pos_m2 = gainM2 *Encoder2.getPosition(); // current position for the radius;
Arnoud113 4:5f7d1654108d 122 pc.baud(115200);
Arnoud113 4:5f7d1654108d 123 pc.printf("\r x = %f",pos_m2);
Arnoud113 4:5f7d1654108d 124
Arnoud113 3:b353ee86230a 125 return pos_m2;
Arnoud113 3:b353ee86230a 126 }
Arnoud113 3:b353ee86230a 127 //-----------------------------------------------------END
Arnoud113 0:77ad62c61c78 128
Arnoud113 0:77ad62c61c78 129
Arnoud113 3:b353ee86230a 130 //------------Controller-------------------------------START
Arnoud113 0:77ad62c61c78 131 void Controller(){
Arnoud113 3:b353ee86230a 132
Arnoud113 1:13d8940f0fd4 133 double x = Get_X_Position();
Arnoud113 1:13d8940f0fd4 134 double y = Get_Y_Position();
Arnoud113 3:b353ee86230a 135
Arnoud113 3:b353ee86230a 136 double reference_motor1 = (atan(y/x)*180)/pi; // reference for Theta
Arnoud113 3:b353ee86230a 137 double reference_motor2 = sqrt((x*x+y*y)); // reference for radius
Arnoud113 0:77ad62c61c78 138
Arnoud113 3:b353ee86230a 139 float pos_M1 = motor1_Position(); // current position for theta
Arnoud113 3:b353ee86230a 140 float pos_M2 = motor2_Position(); // current position for the radius
Arnoud113 0:77ad62c61c78 141
Arnoud113 3:b353ee86230a 142 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 4:5f7d1654108d 143 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 144
Arnoud113 3:b353ee86230a 145 double dTheta = reference_motor1 - pos_M1;
Arnoud113 3:b353ee86230a 146 double dRadius = reference_motor2 - pos_M2;
Arnoud113 0:77ad62c61c78 147
Arnoud113 3:b353ee86230a 148
Arnoud113 0:77ad62c61c78 149
Arnoud113 0:77ad62c61c78 150 pc.baud(115200);
Arnoud113 4:5f7d1654108d 151 //pc.printf("\r DesPosition(X,Y):(%f,%f), pos Error(dTheta, dError):(%f,%f)\n",x,y, dTheta ,dRadius);
Arnoud113 4:5f7d1654108d 152 //pc.printf("\r PID1 result: %f\n", delta1);
Arnoud113 0:77ad62c61c78 153
Arnoud113 2:2563d1d8461f 154 //motor1PWM = motor1;
Arnoud113 2:2563d1d8461f 155 //motor2PWM = motor2;
Arnoud113 0:77ad62c61c78 156
Arnoud113 3:b353ee86230a 157 if(delta1 > 10.0){
Arnoud113 3:b353ee86230a 158 motor1DC = 0;
Arnoud113 0:77ad62c61c78 159
Arnoud113 0:77ad62c61c78 160 ledr = 1;
Arnoud113 0:77ad62c61c78 161 ledg = 1; //Blau
Arnoud113 0:77ad62c61c78 162 ledb = 0;
Arnoud113 0:77ad62c61c78 163 }
Arnoud113 3:b353ee86230a 164 else if (delta1< -10.0) {
Arnoud113 3:b353ee86230a 165 motor1DC = 1;
Arnoud113 0:77ad62c61c78 166
Arnoud113 0:77ad62c61c78 167 ledb = 1;
Arnoud113 0:77ad62c61c78 168 ledr = 1;
Arnoud113 0:77ad62c61c78 169 ledg = 0; //Groen
Arnoud113 0:77ad62c61c78 170
Arnoud113 0:77ad62c61c78 171 }
Arnoud113 0:77ad62c61c78 172 else{
Arnoud113 0:77ad62c61c78 173 motor1PWM = 0;
Arnoud113 0:77ad62c61c78 174
Arnoud113 0:77ad62c61c78 175 ledb = 1; //Rood
Arnoud113 0:77ad62c61c78 176 ledr = 0;
Arnoud113 0:77ad62c61c78 177 ledg = 1;
Arnoud113 0:77ad62c61c78 178 }
Arnoud113 3:b353ee86230a 179
Arnoud113 3:b353ee86230a 180 motor1 = abs(delta1)/1000.0f;
Arnoud113 3:b353ee86230a 181 if(motor1 >= 0.50f) {
Arnoud113 3:b353ee86230a 182 motor1 = 0.50f;
Arnoud113 3:b353ee86230a 183 }
Arnoud113 0:77ad62c61c78 184
Arnoud113 3:b353ee86230a 185 if(delta2 > 10.0){
Arnoud113 3:b353ee86230a 186 motor2DC = 0;
Arnoud113 0:77ad62c61c78 187
Arnoud113 0:77ad62c61c78 188 ledr = 1;
Arnoud113 0:77ad62c61c78 189 ledg = 1; //Blau
Arnoud113 0:77ad62c61c78 190 ledb = 0;
Arnoud113 0:77ad62c61c78 191 }
Arnoud113 3:b353ee86230a 192 else if (delta2<-10.0) {
Arnoud113 3:b353ee86230a 193 motor2DC = 1;
Arnoud113 0:77ad62c61c78 194
Arnoud113 0:77ad62c61c78 195 ledb = 1;
Arnoud113 0:77ad62c61c78 196 ledr = 1;
Arnoud113 0:77ad62c61c78 197 ledg = 0; //Groen
Arnoud113 0:77ad62c61c78 198
Arnoud113 0:77ad62c61c78 199 }
Arnoud113 0:77ad62c61c78 200 else{
Arnoud113 0:77ad62c61c78 201 motor2PWM = 0;
Arnoud113 0:77ad62c61c78 202
Arnoud113 0:77ad62c61c78 203 ledb = 1; //Rood
Arnoud113 0:77ad62c61c78 204 ledr = 0;
Arnoud113 0:77ad62c61c78 205 ledg = 1;
Arnoud113 0:77ad62c61c78 206 }
Arnoud113 3:b353ee86230a 207
Arnoud113 3:b353ee86230a 208 motor2 = abs(delta2)/1000.0f;
Arnoud113 3:b353ee86230a 209 if(motor1 >= 0.50f) {
Arnoud113 3:b353ee86230a 210 motor1 = 0.50f;
Arnoud113 3:b353ee86230a 211 }
Arnoud113 3:b353ee86230a 212
Arnoud113 3:b353ee86230a 213 motor1PWM = motor1 + 0.50f;
Arnoud113 3:b353ee86230a 214 motor2PWM = motor1 + 0.50f;
Arnoud113 3:b353ee86230a 215
Arnoud113 3:b353ee86230a 216 //pc.printf("\r motorvalues (M1,M2):(%f,%f), error:( \n", , motor1PWM, motor2PWM);
Arnoud113 3:b353ee86230a 217 //pc.printf("\r
Arnoud113 0:77ad62c61c78 218 }
Arnoud113 0:77ad62c61c78 219
Arnoud113 0:77ad62c61c78 220 int main()
Arnoud113 0:77ad62c61c78 221 {
Arnoud113 0:77ad62c61c78 222 controller.attach(&Controller, M1_TS);
Arnoud113 3:b353ee86230a 223 //motor1PWM.period(Pwmperiod);
Arnoud113 3:b353ee86230a 224 //motor2PWM.period(Pwmperiod);
Arnoud113 0:77ad62c61c78 225
Arnoud113 3:b353ee86230a 226 while(1){
Arnoud113 3:b353ee86230a 227 /*
Arnoud113 3:b353ee86230a 228 double x = Get_X_Position();
Arnoud113 3:b353ee86230a 229 double y = Get_Y_Position();
Arnoud113 3:b353ee86230a 230 double reference_motor1 = atan(y/x);
Arnoud113 3:b353ee86230a 231 int position_Motor1 = motor1_Position();
Arnoud113 3:b353ee86230a 232 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 233
Arnoud113 3:b353ee86230a 234 pc.baud(115200);
Arnoud113 3:b353ee86230a 235 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 236 */
Arnoud113 3:b353ee86230a 237 }
Arnoud113 0:77ad62c61c78 238
Arnoud113 0:77ad62c61c78 239 }