Arnoud Meutstege / Mbed 2 deprecated Conceptcontroller_v_1_0

first publish not working

Dependencies:   MODSERIAL mbed ttmath FastPWM Motor_with_encoder biquadFilter

main.cpp@6:d4f6d9400f53, 2017-10-31 (annotated)

Committer:
Arnoud113
Date:
Tue Oct 31 23:10:30 2017 +0000
Revision:
6:d4f6d9400f53
Parent:
5:a1a5b5bebd5c
Child:
7:88d1ccba9200
Semi working version found back with ctr - z

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 volatile float motor1;
Arnoud113 3:b353ee86230a 37 volatile float motor2;
Arnoud113 3:b353ee86230a 38
Arnoud113 3:b353ee86230a 39 //Start constants PID -------------------------------
Arnoud113 0:77ad62c61c78 40 const double pi = 3.1415926535897;
Arnoud113 6:d4f6d9400f53 41 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 42
Arnoud113 0:77ad62c61c78 43 //verplaatst
Arnoud113 3:b353ee86230a 44 const float RAD_PER_PULSE = (2*pi)/4200;
Arnoud113 3:b353ee86230a 45 const float CONTROLLER_TS = 0.01; //TIME INTERVAL/ hZ
Arnoud113 6:d4f6d9400f53 46 const float M1_KP = 10, M1_KI = 0.5, M1_KD = 0.5; //was KP=10 KI=0.5 KD=0.5
Arnoud113 6:d4f6d9400f53 47 double m1_err_int = 0, m1_prev_err = 0 ;
Arnoud113 6:d4f6d9400f53 48 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 ;
Arnoud113 6:d4f6d9400f53 49 double m1_f_v1 = 0 , m1_f_v2 = 0 ;
Arnoud113 5:a1a5b5bebd5c 50 //---------------------------------End of constants PID
Arnoud113 0:77ad62c61c78 51
Arnoud113 3:b353ee86230a 52 //-----------------Start PID part----------------------------START
Arnoud113 6:d4f6d9400f53 53 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){
Arnoud113 6:d4f6d9400f53 54
Arnoud113 6:d4f6d9400f53 55 // Derivative
Arnoud113 6:d4f6d9400f53 56 double e_der = (e - e_prev)/Ts; // Ts = motor1-timestep
Arnoud113 6:d4f6d9400f53 57
Arnoud113 6:d4f6d9400f53 58 // biquad part, see slide
Arnoud113 6:d4f6d9400f53 59 //e_der = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2);
Arnoud113 3:b353ee86230a 60
Arnoud113 6:d4f6d9400f53 61 e_prev = e;
Arnoud113 3:b353ee86230a 62
Arnoud113 6:d4f6d9400f53 63 // Integral
Arnoud113 6:d4f6d9400f53 64 e_int += Ts*e;
Arnoud113 6:d4f6d9400f53 65
Arnoud113 6:d4f6d9400f53 66
Arnoud113 6:d4f6d9400f53 67 //PID
Arnoud113 6:d4f6d9400f53 68 return Kp*e + Ki*e_int + Kd * e_der;
Arnoud113 3:b353ee86230a 69
Arnoud113 3:b353ee86230a 70 }
Arnoud113 3:b353ee86230a 71
Arnoud113 3:b353ee86230a 72 //------------Get reference position-----------------START
Arnoud113 0:77ad62c61c78 73 float Get_X_Position(){
Arnoud113 1:13d8940f0fd4 74 double X = potMeter1 * potmultiplier;
Arnoud113 1:13d8940f0fd4 75 return X;
Arnoud113 0:77ad62c61c78 76 }
Arnoud113 0:77ad62c61c78 77
Arnoud113 0:77ad62c61c78 78 float Get_Y_Position(){
Arnoud113 1:13d8940f0fd4 79 double Y = potMeter2 * potmultiplier;
Arnoud113 1:13d8940f0fd4 80 return Y;
Arnoud113 0:77ad62c61c78 81 }
Arnoud113 3:b353ee86230a 82 //----------------------------------------------------END
Arnoud113 0:77ad62c61c78 83
Arnoud113 3:b353ee86230a 84 //-------------Get current Position-------------------START
Arnoud113 3:b353ee86230a 85 double motor1_Position(){ // has as output Theta
Arnoud113 5:a1a5b5bebd5c 86 double pos_m1 = gainM1*Encoder1.getPosition(); // current position for theta
Arnoud113 3:b353ee86230a 87 return pos_m1;
Arnoud113 0:77ad62c61c78 88 }
Arnoud113 3:b353ee86230a 89 double motor2_Position(){ //output R
Arnoud113 3:b353ee86230a 90 double pos_m2 = gainM2 *Encoder2.getPosition(); // current position for the radius;
Arnoud113 3:b353ee86230a 91 return pos_m2;
Arnoud113 3:b353ee86230a 92 }
Arnoud113 3:b353ee86230a 93 //-----------------------------------------------------END
Arnoud113 0:77ad62c61c78 94
Arnoud113 0:77ad62c61c78 95
Arnoud113 3:b353ee86230a 96 //------------Controller-------------------------------START
Arnoud113 0:77ad62c61c78 97 void Controller(){
Arnoud113 3:b353ee86230a 98
Arnoud113 1:13d8940f0fd4 99 double x = Get_X_Position();
Arnoud113 1:13d8940f0fd4 100 double y = Get_Y_Position();
Arnoud113 3:b353ee86230a 101
Arnoud113 3:b353ee86230a 102 double reference_motor1 = (atan(y/x)*180)/pi; // reference for Theta
Arnoud113 3:b353ee86230a 103 double reference_motor2 = sqrt((x*x+y*y)); // reference for radius
Arnoud113 0:77ad62c61c78 104
Arnoud113 3:b353ee86230a 105 float pos_M1 = motor1_Position(); // current position for theta
Arnoud113 3:b353ee86230a 106 float pos_M2 = motor2_Position(); // current position for the radius
Arnoud113 0:77ad62c61c78 107
Arnoud113 6:d4f6d9400f53 108 double delta1 = PID(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 6:d4f6d9400f53 109 double delta2 = PID(reference_motor2 - pos_M2, 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 110
Arnoud113 3:b353ee86230a 111 double dTheta = reference_motor1 - pos_M1;
Arnoud113 3:b353ee86230a 112 double dRadius = reference_motor2 - pos_M2;
Arnoud113 0:77ad62c61c78 113
Arnoud113 0:77ad62c61c78 114 pc.baud(115200);
Arnoud113 5:a1a5b5bebd5c 115 pc.printf("\r DesPosition(X,Y):(%f,%f), pos Error(dTheta, dError):(%f,%f)\n",x,y, delta1 ,delta2);
Arnoud113 0:77ad62c61c78 116
Arnoud113 2:2563d1d8461f 117 //motor1PWM = motor1;
Arnoud113 2:2563d1d8461f 118 //motor2PWM = motor2;
Arnoud113 0:77ad62c61c78 119
Arnoud113 3:b353ee86230a 120 if(delta1 > 10.0){
Arnoud113 3:b353ee86230a 121 motor1DC = 0;
Arnoud113 0:77ad62c61c78 122
Arnoud113 0:77ad62c61c78 123 ledr = 1;
Arnoud113 0:77ad62c61c78 124 ledg = 1; //Blau
Arnoud113 0:77ad62c61c78 125 ledb = 0;
Arnoud113 0:77ad62c61c78 126 }
Arnoud113 3:b353ee86230a 127 else if (delta1< -10.0) {
Arnoud113 3:b353ee86230a 128 motor1DC = 1;
Arnoud113 0:77ad62c61c78 129
Arnoud113 0:77ad62c61c78 130 ledb = 1;
Arnoud113 0:77ad62c61c78 131 ledr = 1;
Arnoud113 0:77ad62c61c78 132 ledg = 0; //Groen
Arnoud113 0:77ad62c61c78 133
Arnoud113 0:77ad62c61c78 134 }
Arnoud113 0:77ad62c61c78 135 else{
Arnoud113 0:77ad62c61c78 136 motor1PWM = 0;
Arnoud113 0:77ad62c61c78 137
Arnoud113 0:77ad62c61c78 138 ledb = 1; //Rood
Arnoud113 0:77ad62c61c78 139 ledr = 0;
Arnoud113 0:77ad62c61c78 140 ledg = 1;
Arnoud113 0:77ad62c61c78 141 }
Arnoud113 3:b353ee86230a 142
Arnoud113 3:b353ee86230a 143 motor1 = abs(delta1)/1000.0f;
Arnoud113 3:b353ee86230a 144 if(motor1 >= 0.50f) {
Arnoud113 3:b353ee86230a 145 motor1 = 0.50f;
Arnoud113 3:b353ee86230a 146 }
Arnoud113 0:77ad62c61c78 147
Arnoud113 3:b353ee86230a 148 if(delta2 > 10.0){
Arnoud113 3:b353ee86230a 149 motor2DC = 0;
Arnoud113 0:77ad62c61c78 150
Arnoud113 0:77ad62c61c78 151 ledr = 1;
Arnoud113 0:77ad62c61c78 152 ledg = 1; //Blau
Arnoud113 0:77ad62c61c78 153 ledb = 0;
Arnoud113 0:77ad62c61c78 154 }
Arnoud113 3:b353ee86230a 155 else if (delta2<-10.0) {
Arnoud113 3:b353ee86230a 156 motor2DC = 1;
Arnoud113 0:77ad62c61c78 157
Arnoud113 0:77ad62c61c78 158 ledb = 1;
Arnoud113 0:77ad62c61c78 159 ledr = 1;
Arnoud113 0:77ad62c61c78 160 ledg = 0; //Groen
Arnoud113 0:77ad62c61c78 161
Arnoud113 0:77ad62c61c78 162 }
Arnoud113 0:77ad62c61c78 163 else{
Arnoud113 0:77ad62c61c78 164 motor2PWM = 0;
Arnoud113 0:77ad62c61c78 165
Arnoud113 0:77ad62c61c78 166 ledb = 1; //Rood
Arnoud113 0:77ad62c61c78 167 ledr = 0;
Arnoud113 0:77ad62c61c78 168 ledg = 1;
Arnoud113 0:77ad62c61c78 169 }
Arnoud113 3:b353ee86230a 170
Arnoud113 3:b353ee86230a 171 motor2 = abs(delta2)/1000.0f;
Arnoud113 3:b353ee86230a 172 if(motor1 >= 0.50f) {
Arnoud113 3:b353ee86230a 173 motor1 = 0.50f;
Arnoud113 3:b353ee86230a 174 }
Arnoud113 3:b353ee86230a 175
Arnoud113 3:b353ee86230a 176 motor1PWM = motor1 + 0.50f;
Arnoud113 3:b353ee86230a 177 motor2PWM = motor1 + 0.50f;
Arnoud113 3:b353ee86230a 178
Arnoud113 3:b353ee86230a 179 //pc.printf("\r motorvalues (M1,M2):(%f,%f), error:( \n", , motor1PWM, motor2PWM);
Arnoud113 3:b353ee86230a 180 //pc.printf("\r
Arnoud113 0:77ad62c61c78 181 }
Arnoud113 0:77ad62c61c78 182
Arnoud113 0:77ad62c61c78 183 int main()
Arnoud113 0:77ad62c61c78 184 {
Arnoud113 0:77ad62c61c78 185 controller.attach(&Controller, M1_TS);
Arnoud113 3:b353ee86230a 186 //motor1PWM.period(Pwmperiod);
Arnoud113 3:b353ee86230a 187 //motor2PWM.period(Pwmperiod);
Arnoud113 0:77ad62c61c78 188
Arnoud113 3:b353ee86230a 189 while(1){
Arnoud113 3:b353ee86230a 190 /*
Arnoud113 3:b353ee86230a 191 double x = Get_X_Position();
Arnoud113 3:b353ee86230a 192 double y = Get_Y_Position();
Arnoud113 3:b353ee86230a 193 double reference_motor1 = atan(y/x);
Arnoud113 3:b353ee86230a 194 int position_Motor1 = motor1_Position();
Arnoud113 3:b353ee86230a 195 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 196
Arnoud113 3:b353ee86230a 197 pc.baud(115200);
Arnoud113 3:b353ee86230a 198 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 199 */
Arnoud113 3:b353ee86230a 200 }
Arnoud113 0:77ad62c61c78 201
Arnoud113 0:77ad62c61c78 202 }