Boulus Abu Joudom / Mbed 2 deprecated Cube_Mini_Solution

Cube Mini Solution

Dependencies:   mbed QEI MPU6050 BLE_API nRF51822 MCP4725 eMPL_MPU6050

main.cpp@20:b142ae11a12a, 2020-08-20 (annotated)

Committer:
BoulusAJ
Date:
Thu Aug 20 13:50:22 2020 +0000
Revision:
20:b142ae11a12a
Parent:
19:2ffbd2af2b7f
Child:
21:762f8769cba4
anything (vincent, 20.08.2020, 04.06.1991)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BoulusAJ 0:8e87cdf07037 1 /*
BoulusAJ 0:8e87cdf07037 2 Boulus Abu Joudom
BoulusAJ 13:41edfb8e3b3c 3 Cube Mini - Prototype 1 V1
BoulusAJ 13:41edfb8e3b3c 4 Mbed Version: May 28, 2020. 18:00
BoulusAJ 0:8e87cdf07037 5 ZHAW - IMS
BoulusAJ 0:8e87cdf07037 6
BoulusAJ 13:41edfb8e3b3c 7 Cubiod Balancing Experiment - Control Lab
BoulusAJ 15:3395ad948f44 8 Template Version: 1.2
BoulusAJ 13:41edfb8e3b3c 9 Seeed Tiny Microcontroller on Cuboid 1.0
BoulusAJ 13:41edfb8e3b3c 10 */
BoulusAJ 13:41edfb8e3b3c 11
BoulusAJ 13:41edfb8e3b3c 12 /*
BoulusAJ 18:3b1aa67e11ca 13
BoulusAJ 18:3b1aa67e11ca 14 // Physical Model of Cuboid 2.0
BoulusAJ 18:3b1aa67e11ca 15
BoulusAJ 18:3b1aa67e11ca 16 % Mass Parameters
BoulusAJ 18:3b1aa67e11ca 17 Cube Mini - Mass = 0.6 + 0.170 + 0.015 = 0.7850 Kg, Mass of the Full Cuboid with Motor and Flywheel
BoulusAJ 18:3b1aa67e11ca 18 Cube Mini - Flywheel Mass = 0.170 kg
BoulusAJ 18:3b1aa67e11ca 19 Cube Mini - Without Flywheel Mass = 0.6150 kg
BoulusAJ 18:3b1aa67e11ca 20
BoulusAJ 18:3b1aa67e11ca 21 % Dimensions Parameters
BoulusAJ 18:3b1aa67e11ca 22 % Cube Mini Dimensions (10x10x10) cm
BoulusAJ 18:3b1aa67e11ca 23 Cube Mini - Length = 0.90*100e-3 m (The multiplication by 0.9 is to compensate for the rounded edges)
BoulusAJ 18:3b1aa67e11ca 24 Cube Mini - CoM = Cube Mini - Length * 0.5, Center of Mass Location
BoulusAJ 18:3b1aa67e11ca 25 % Inertia Parameters
BoulusAJ 18:3b1aa67e11ca 26 Cube Mini - Inertia (J) of the Body from the edge Edge = 0.003044 Kg.m^2, Inertia about the edge
BoulusAJ 18:3b1aa67e11ca 27 Cube Mini - Inertia (J) of Flyhweel and Rotor from Center = (0.0002104064 + 0.0000181) kg.m^2,
BoulusAJ 18:3b1aa67e11ca 28
BoulusAJ 18:3b1aa67e11ca 29 % Motor Parameters
BoulusAJ 18:3b1aa67e11ca 30 % Motor: Maxon Flat EC45, Part number: 411812, Specs: 24V, Km 36.9e-3
BoulusAJ 18:3b1aa67e11ca 31 Cube Mini - Motor.Km = 36.9e-3 % Torque Constant % Unit: Nm/A
BoulusAJ 18:3b1aa67e11ca 32 Cube Mini - Motor.Resistance = 0.608 % Terminal Resistance % Unit: Ohm
BoulusAJ 18:3b1aa67e11ca 33 Cube Mini - Motor.Inductance = 0.463e-3 % Unit: H, Henry
BoulusAJ 18:3b1aa67e11ca 34
BoulusAJ 18:3b1aa67e11ca 35 % PI Controller Escon
BoulusAJ 18:3b1aa67e11ca 36 Cube Mini - Escon.PI_Tn = 500e-6; %945e-6
BoulusAJ 18:3b1aa67e11ca 37 Cube Mini - Escon.PI_Kp = 100*(10/2^11);%576*(10/2^11)
BoulusAJ 18:3b1aa67e11ca 38
BoulusAJ 18:3b1aa67e11ca 39 % RC Physical Velocity Voltage Filter
BoulusAJ 18:3b1aa67e11ca 40 Filter.Velocity.R = 1e3 Ohm
BoulusAJ 18:3b1aa67e11ca 41 Filter.Velocity.C = 10e-6 F
BoulusAJ 18:3b1aa67e11ca 42
BoulusAJ 13:41edfb8e3b3c 43 Settings for Maxon ESCON controller (upload via ESCON Studio)
BoulusAJ 13:41edfb8e3b3c 44 Escon Studio file Location: ...
BoulusAJ 16:ff375f62a95f 45
BoulusAJ 13:41edfb8e3b3c 46 Hardware Connections
BoulusAJ 13:41edfb8e3b3c 47 Serial PC Communication
BoulusAJ 13:41edfb8e3b3c 48 UART_TX p9
BoulusAJ 13:41edfb8e3b3c 49 UART_RX p11
BoulusAJ 13:41edfb8e3b3c 50 IMU SDA and SCL
BoulusAJ 13:41edfb8e3b3c 51 MPU6050_SDA p12
BoulusAJ 13:41edfb8e3b3c 52 MPU6050_SCL p13
BoulusAJ 13:41edfb8e3b3c 53 Velocity Input as Analogue Signal from Escon
BoulusAJ 13:41edfb8e3b3c 54 Pin 5
BoulusAJ 14:fe003a27018d 55 Button Pin
BoulusAJ 14:fe003a27018d 56 Pin 6
BoulusAJ 13:41edfb8e3b3c 57 Current output to Escon occurs through I2C connection to a DAC (Digital to Analogue Converter). DAC outputs Analogue voltage to Escon
BoulusAJ 13:41edfb8e3b3c 58 Pin SDA p3
BoulusAJ 13:41edfb8e3b3c 59 Pin SCL P4
BoulusAJ 16:ff375f62a95f 60
BoulusAJ 16:ff375f62a95f 61 Escon Mapping of voltage to current and rotational velocity to voltage
BoulusAJ 16:ff375f62a95f 62 Escon Linear Mapping of input current from voltage is 0V is -15A and 5V is 15A, hence 2.5V is 0A !!!
BoulusAJ 16:ff375f62a95f 63 Escon Linear Mapping of output rotational velocity (in rpm) to voltage is -4000rpm is 0V and 4000rpm is 3.0V, hence 1.5V is 0 RPM !!!
BoulusAJ 16:ff375f62a95f 64
BoulusAJ 13:41edfb8e3b3c 65 Notes
BoulusAJ 13:41edfb8e3b3c 66 The Maximum output Current allowed is 13A and the Minimum is -13A !!!
BoulusAJ 16:ff375f62a95f 67 Escon Linear Mapping of input current from voltage is 0V is -15A and 5V is 15A, hence 2.5V is 0A !!!
BoulusAJ 13:41edfb8e3b3c 68 All needed Libraries for the IMU (Accelerometer and Gyroscope), DAC are included.
BoulusAJ 13:41edfb8e3b3c 69 The PID is to be written by students. Use PID_Cntrl.cpp and PID_Cntrl.h as templates
BoulusAJ 13:41edfb8e3b3c 70 ...
BoulusAJ 16:ff375f62a95f 71
BoulusAJ 13:41edfb8e3b3c 72
BoulusAJ 0:8e87cdf07037 73 */
BoulusAJ 0:8e87cdf07037 74 // Libraries
BoulusAJ 13:41edfb8e3b3c 75 #include <stdbool.h>
BoulusAJ 0:8e87cdf07037 76 #include "mbed.h"
BoulusAJ 13:41edfb8e3b3c 77 #include "MPU6050.h" // IMU Library
BoulusAJ 13:41edfb8e3b3c 78 #include "mcp4725.h" // DAC Library
BoulusAJ 13:41edfb8e3b3c 79 #include "IIR_filter.h" // Filter Library (Please go to the Filter Library and add in your Code)
BoulusAJ 13:41edfb8e3b3c 80 #include "LinearCharacteristics.h" // Linear Scaling Library
BoulusAJ 13:41edfb8e3b3c 81 #include "PID_Cntrl.h" // PID Library (Please go to PID Library and add in your PID Code)
BoulusAJ 13:41edfb8e3b3c 82
BoulusAJ 0:8e87cdf07037 83
BoulusAJ 0:8e87cdf07037 84 // Serial PC Communication
BoulusAJ 0:8e87cdf07037 85 #define UART_TX p9
BoulusAJ 0:8e87cdf07037 86 #define UART_RX p11
BoulusAJ 0:8e87cdf07037 87
BoulusAJ 0:8e87cdf07037 88 // IMU SDA and SCL
BoulusAJ 0:8e87cdf07037 89 #define MPU6050_SDA p12
BoulusAJ 0:8e87cdf07037 90 #define MPU6050_SCL p13
BoulusAJ 0:8e87cdf07037 91
BoulusAJ 12:ba4ce3fa4f53 92 // PI Values
BoulusAJ 0:8e87cdf07037 93 #define PI 3.1415927f
BoulusAJ 0:8e87cdf07037 94 #define pi 3.1415927f
BoulusAJ 0:8e87cdf07037 95
BoulusAJ 13:41edfb8e3b3c 96 // PC Serial Connection
BoulusAJ 13:41edfb8e3b3c 97 Serial pc(UART_TX, UART_RX); // serial connection via USB - programmer
BoulusAJ 0:8e87cdf07037 98
BoulusAJ 12:ba4ce3fa4f53 99 // -------------------------------
BoulusAJ 12:ba4ce3fa4f53 100 // Analog/Digitsl I/O Definitions
BoulusAJ 12:ba4ce3fa4f53 101 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 102 AnalogIn Velocity_Voltage_Input(p5); // Velocity Input as Analogue Signal from Escon
BoulusAJ 13:41edfb8e3b3c 103 DigitalOut Pin_3V3(p30); // Defining P30 as 3V3 Pin for internal use. Please do not modify.
BoulusAJ 14:fe003a27018d 104 InterruptIn Button(p6); // User Button Interrput
BoulusAJ 19:2ffbd2af2b7f 105 DigitalOut GLED(p21);
BoulusAJ 12:ba4ce3fa4f53 106
BoulusAJ 13:41edfb8e3b3c 107 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 108 // Initialization of Values and Variables
BoulusAJ 13:41edfb8e3b3c 109 // -------------------------------
BoulusAJ 0:8e87cdf07037 110
BoulusAJ 0:8e87cdf07037 111 // Sample time of main loops
BoulusAJ 16:ff375f62a95f 112 float Ts = 0.007; // Around 143 Hz. Do not change. This is the lowest value possible if printing to a serial connection is needed.
BoulusAJ 0:8e87cdf07037 113
BoulusAJ 0:8e87cdf07037 114 // MPU 6050 Variables - Acceleration and Gyroscope Raw and Converted Data Variables
BoulusAJ 0:8e87cdf07037 115 int16_t AccX_Raw, AccY_Raw, AccZ_Raw;
BoulusAJ 0:8e87cdf07037 116 int16_t GyroX_Raw, GyroY_Raw, GyroZ_Raw;
BoulusAJ 0:8e87cdf07037 117 double AccX_g, AccY_g, AccZ_g;
BoulusAJ 0:8e87cdf07037 118 double GyroX_Degrees, GyroY_Degrees, GyroZ_Degrees, GyroZ_RadiansPerSecond;
BoulusAJ 0:8e87cdf07037 119
BoulusAJ 0:8e87cdf07037 120 // printf Variable
BoulusAJ 0:8e87cdf07037 121 int k = 0;
BoulusAJ 13:41edfb8e3b3c 122
BoulusAJ 13:41edfb8e3b3c 123
BoulusAJ 13:41edfb8e3b3c 124 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 125 // Variables: Here define variables such as gains etc.
BoulusAJ 13:41edfb8e3b3c 126 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 127
BoulusAJ 13:41edfb8e3b3c 128 // Accelerometer and Gyroscope
BoulusAJ 13:41edfb8e3b3c 129
BoulusAJ 13:41edfb8e3b3c 130
BoulusAJ 13:41edfb8e3b3c 131 // Cube Angle and Speed Variables
BoulusAJ 16:ff375f62a95f 132 double Cuboid_Angle_Radians, Cuboid_Angle_Degrees;
BoulusAJ 16:ff375f62a95f 133 double Cuboid_Angle_Speed_Degrees = 0.0;
BoulusAJ 13:41edfb8e3b3c 134
BoulusAJ 13:41edfb8e3b3c 135 // Low pass filter variables
BoulusAJ 20:b142ae11a12a 136 float t = 0.45f; //Old 0.5f;
BoulusAJ 0:8e87cdf07037 137
BoulusAJ 0:8e87cdf07037 138 // Flywheel Position and Velocity variables
BoulusAJ 16:ff375f62a95f 139 double Velocity_Input_Voltage = 0.0f;
BoulusAJ 16:ff375f62a95f 140 double Velocity, Velocity_Voltage, Velocity_rpm, Velocity_Voltage_Read;
BoulusAJ 13:41edfb8e3b3c 141
BoulusAJ 16:ff375f62a95f 142 // User Button
BoulusAJ 16:ff375f62a95f 143 int Button_Status = 0; // User Button Status
BoulusAJ 16:ff375f62a95f 144 Timer T_Button; // define timer for button
BoulusAJ 0:8e87cdf07037 145
BoulusAJ 13:41edfb8e3b3c 146 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 147 // Controller Variables: Such as SS Controller Values and Saturation Limits
BoulusAJ 13:41edfb8e3b3c 148 // -------------------------------
BoulusAJ 16:ff375f62a95f 149 // Variables concerning the Controller Design is in reference to the Matlab and Simulink Files ..............
BoulusAJ 16:ff375f62a95f 150
BoulusAJ 16:ff375f62a95f 151 // User Input
BoulusAJ 16:ff375f62a95f 152 float Desired_input = 0.0f;
BoulusAJ 16:ff375f62a95f 153 // Initial System input in Amperes
BoulusAJ 16:ff375f62a95f 154 float Sys_input_Amps = 0.0f;
BoulusAJ 0:8e87cdf07037 155
BoulusAJ 0:8e87cdf07037 156 // Sate Space Controller Values
BoulusAJ 20:b142ae11a12a 157 float K_SS_Controller [2] = {-57.1176*0.3, -2.6398*1.35}; // From Matlab
BoulusAJ 0:8e87cdf07037 158
BoulusAJ 0:8e87cdf07037 159 // Controller Variables
BoulusAJ 16:ff375f62a95f 160 float Loop1_output; // Loop 1 controller output
BoulusAJ 16:ff375f62a95f 161 float Loop2_output; // Loop 2 controller output
BoulusAJ 16:ff375f62a95f 162 float PID_Input, PID_Output, PID_Input2, PID_Output2;
BoulusAJ 13:41edfb8e3b3c 163
BoulusAJ 13:41edfb8e3b3c 164 // PID (PI Parameters)
BoulusAJ 13:41edfb8e3b3c 165
BoulusAJ 16:ff375f62a95f 166 // PID 1 - Velocity control after lift-up
BoulusAJ 16:ff375f62a95f 167 float Kp_1 = -0.09;
BoulusAJ 16:ff375f62a95f 168 float Ki_1 = -0.09*0.5*0.5;
BoulusAJ 16:ff375f62a95f 169 float Kd_1 = 0; // No D-Part
BoulusAJ 16:ff375f62a95f 170 float Tf_1 = 1; // No D-Part
BoulusAJ 16:ff375f62a95f 171 // Controller Loop (PI-Part) in Case 2 (breaking case)
BoulusAJ 17:04eebb7c29b5 172 float Kp_2 = 0.25/4.0;
BoulusAJ 17:04eebb7c29b5 173 float Ki_2 = 0.25/4.0;
BoulusAJ 16:ff375f62a95f 174 float Kd_2 = 0; // No D-Part
BoulusAJ 16:ff375f62a95f 175 float Tf_2 = 1; // No D-Part
BoulusAJ 0:8e87cdf07037 176
BoulusAJ 0:8e87cdf07037 177 // Saturation Parameters
BoulusAJ 16:ff375f62a95f 178 // PI Controller Limits
BoulusAJ 16:ff375f62a95f 179 const float uMin1 = -13.0f;
BoulusAJ 16:ff375f62a95f 180 const float uMax1= 13.0f;
BoulusAJ 0:8e87cdf07037 181
BoulusAJ 13:41edfb8e3b3c 182 // Cuboid Escon Input Limits in Amps
BoulusAJ 13:41edfb8e3b3c 183 const float uMin = -13.0f; // Minimum Current Allowed
BoulusAJ 13:41edfb8e3b3c 184 const float uMax = 13.0f; // Maximum Current Allowe
BoulusAJ 0:8e87cdf07037 185
BoulusAJ 0:8e87cdf07037 186
BoulusAJ 13:41edfb8e3b3c 187 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 188 // User-Defined Functions
BoulusAJ 13:41edfb8e3b3c 189 // -------------------------------
BoulusAJ 0:8e87cdf07037 190
BoulusAJ 16:ff375f62a95f 191 // USer Button
BoulusAJ 16:ff375f62a95f 192 void pressed(void); // user Button pressed
BoulusAJ 16:ff375f62a95f 193 void released(void); // user Button released
BoulusAJ 16:ff375f62a95f 194
BoulusAJ 16:ff375f62a95f 195 // Controller loop (via interrupt)
BoulusAJ 16:ff375f62a95f 196 void updateControllers(void); // controller loop (via interrupt)
BoulusAJ 16:ff375f62a95f 197
BoulusAJ 16:ff375f62a95f 198 // Linear Scaler - Follow the mapping mentioned in the Notes above
BoulusAJ 16:ff375f62a95f 199 // Linear Scaler
BoulusAJ 16:ff375f62a95f 200 LinearCharacteristics CurrentToVoltage(-15.0f, 15.0f, 0.0f, 5.0f);
BoulusAJ 16:ff375f62a95f 201 LinearCharacteristics VoltageToVelocity(0.0f, 3.0f, -4000.0f, 4000.0f);
BoulusAJ 16:ff375f62a95f 202
BoulusAJ 16:ff375f62a95f 203 // PID (PI) Controller (My PID Controller is fine but needs clarity updates)
BoulusAJ 16:ff375f62a95f 204 PID_Cntrl C1(Kp_1,Ki_1,Kd_1,Tf_1,Ts,uMin1,uMax1); // Defining the 1st Loop Controller (PI-Part)
BoulusAJ 16:ff375f62a95f 205 PID_Cntrl C2(Kp_2,Ki_2,Kd_2,Tf_2,Ts,uMin1,uMax1); // Defining the PI Controller for Chase (State 2) to keep motor velocity at zero
BoulusAJ 20:b142ae11a12a 206 PID_Cntrl C3(Kp_1*3,Ki_1*2.0,Kd_2,Tf_2,Ts,uMin1,uMax1); // Safety Implementation in Case 4 PID
BoulusAJ 16:ff375f62a95f 207
BoulusAJ 16:ff375f62a95f 208 // Accelerometer and Gyroscope Filters
BoulusAJ 16:ff375f62a95f 209 IIR_filter FilterAccX(t, Ts, 1.0f);
BoulusAJ 16:ff375f62a95f 210 IIR_filter FilterAccY(t, Ts, 1.0f);
BoulusAJ 16:ff375f62a95f 211 IIR_filter FilterGyro(t, Ts, t);
BoulusAJ 16:ff375f62a95f 212
BoulusAJ 0:8e87cdf07037 213 // Interrupts
BoulusAJ 0:8e87cdf07037 214 Ticker ControllerLoopTimer; // Interrupt for control loop
BoulusAJ 0:8e87cdf07037 215
BoulusAJ 13:41edfb8e3b3c 216
BoulusAJ 13:41edfb8e3b3c 217 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 218 // Functions
BoulusAJ 13:41edfb8e3b3c 219 // -------------------------------
BoulusAJ 13:41edfb8e3b3c 220
BoulusAJ 13:41edfb8e3b3c 221 // DAC - For Current output
BoulusAJ 0:8e87cdf07037 222 MCP4725 VoltageOut(p3, p4, MCP4725::Fast400kHz, 0);
BoulusAJ 0:8e87cdf07037 223
BoulusAJ 0:8e87cdf07037 224 // IMU - MPU6050 Functions and I2C Functions
BoulusAJ 0:8e87cdf07037 225 I2C i2c(MPU6050_SDA, MPU6050_SCL);
BoulusAJ 0:8e87cdf07037 226 MPU6050 mpu(i2c);
BoulusAJ 0:8e87cdf07037 227
BoulusAJ 0:8e87cdf07037 228 // Timers
BoulusAJ 0:8e87cdf07037 229 Timer Loop;
BoulusAJ 0:8e87cdf07037 230
BoulusAJ 12:ba4ce3fa4f53 231 //******************************************************************************
BoulusAJ 14:fe003a27018d 232 //----------------------------- Main Loop --------------------------------------
BoulusAJ 12:ba4ce3fa4f53 233 //******************************************************************************
BoulusAJ 0:8e87cdf07037 234 int main()
BoulusAJ 0:8e87cdf07037 235 {
BoulusAJ 19:2ffbd2af2b7f 236
BoulusAJ 17:04eebb7c29b5 237 VoltageOut.write(2.5); // Output Zero Current to the Motor
BoulusAJ 19:2ffbd2af2b7f 238 GLED = 1;
BoulusAJ 17:04eebb7c29b5 239
BoulusAJ 12:ba4ce3fa4f53 240 // Microcontroller initialization
BoulusAJ 2:e088fa08e244 241 Pin_3V3.write(1);
BoulusAJ 12:ba4ce3fa4f53 242 *((unsigned int *)0x40007504) = 0x400A; // Configure the ADC to the internel reference of 1.2V.
BoulusAJ 13:41edfb8e3b3c 243 // IMU - MPU6050 initialization - Do NOT Modify
BoulusAJ 12:ba4ce3fa4f53 244 mpu.initialize();
BoulusAJ 17:04eebb7c29b5 245 bool mpu6050TestResult = mpu.testConnection();
BoulusAJ 17:04eebb7c29b5 246 if(mpu6050TestResult) {
BoulusAJ 17:04eebb7c29b5 247 pc.printf("MPU6050 test passed \n\r");
BoulusAJ 17:04eebb7c29b5 248 } else {
BoulusAJ 17:04eebb7c29b5 249 pc.printf("MPU6050 test failed \n\r");
BoulusAJ 17:04eebb7c29b5 250 }
BoulusAJ 13:41edfb8e3b3c 251 mpu.setDLPFMode(MPU6050_DLPF_BW_42); // Set Low Pass Filter Bandwidth to 44Hz (4.9ms) for the Acc and 42Hz (4.8ms) for the Gyroscope
BoulusAJ 12:ba4ce3fa4f53 252 mpu.setFullScaleGyroRange(2u); // Change the scale of the Gyroscope to +/- 1000 degrees/sec
BoulusAJ 12:ba4ce3fa4f53 253 mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_4); // Change the scale of the Accelerometer to +/- 4g - Sensitivity: 4096 LSB/mg
BoulusAJ 16:ff375f62a95f 254
BoulusAJ 13:41edfb8e3b3c 255 // Serial Communication
BoulusAJ 13:41edfb8e3b3c 256 pc.baud(115200);
BoulusAJ 16:ff375f62a95f 257
BoulusAJ 17:04eebb7c29b5 258
BoulusAJ 0:8e87cdf07037 259
BoulusAJ 13:41edfb8e3b3c 260 // Reset Filters and PID Controller
BoulusAJ 16:ff375f62a95f 261 FilterAccX.reset(0.0f);
BoulusAJ 16:ff375f62a95f 262 FilterAccY.reset(0.0f);
BoulusAJ 16:ff375f62a95f 263 FilterGyro.reset(0.0f);
BoulusAJ 16:ff375f62a95f 264 C1.reset(0.0f);
BoulusAJ 16:ff375f62a95f 265 C2.reset(0.0f);
BoulusAJ 16:ff375f62a95f 266 C3.reset(0.0f);
BoulusAJ 11:af811e6f9a04 267
BoulusAJ 16:ff375f62a95f 268 pc.printf("Hello World!\n\r");
BoulusAJ 16:ff375f62a95f 269 wait(5);
BoulusAJ 12:ba4ce3fa4f53 270 // Control Loop Interrupt at Ts, 200Hz Rate
BoulusAJ 7:07c5b6709d87 271 ControllerLoopTimer.attach(&updateControllers, Ts);
BoulusAJ 16:ff375f62a95f 272 Button.fall(&pressed); // attach key pressed function
BoulusAJ 16:ff375f62a95f 273 Button.rise(&released); // attach key pressed function
BoulusAJ 16:ff375f62a95f 274
BoulusAJ 7:07c5b6709d87 275
BoulusAJ 7:07c5b6709d87 276 }
BoulusAJ 12:ba4ce3fa4f53 277 //******************************************************************************
BoulusAJ 14:fe003a27018d 278 //------------------ Control Loop (called via interrupt) -----------------------
BoulusAJ 12:ba4ce3fa4f53 279 //******************************************************************************
BoulusAJ 7:07c5b6709d87 280 void updateControllers(void)
BoulusAJ 7:07c5b6709d87 281 {
BoulusAJ 16:ff375f62a95f 282
BoulusAJ 13:41edfb8e3b3c 283 // Acquire Velocity
BoulusAJ 13:41edfb8e3b3c 284 Velocity_Voltage = 3.0*1.1978917*(Velocity_Voltage_Input.read()); // *1.2V because the Vref is 1.2V // *3 because the prescaling is 1/3 // *1.1978917 is for Calibration purposes instead of 1.2
BoulusAJ 13:41edfb8e3b3c 285 // Velocity = .... Refer to mapping
BoulusAJ 16:ff375f62a95f 286 Velocity_rpm = VoltageToVelocity(Velocity_Voltage);
BoulusAJ 16:ff375f62a95f 287 Velocity = Velocity_rpm*2.0*pi/60.0;
BoulusAJ 13:41edfb8e3b3c 288
BoulusAJ 8:71babe904b92 289
BoulusAJ 12:ba4ce3fa4f53 290 // Aquire Raw Acceleration and Gyro Data form the IMU
BoulusAJ 12:ba4ce3fa4f53 291 mpu.getMotion6(&AccX_Raw, &AccY_Raw, &AccZ_Raw, &GyroX_Raw, &GyroY_Raw, &GyroZ_Raw);
BoulusAJ 0:8e87cdf07037 292
BoulusAJ 7:07c5b6709d87 293 // -------------- Convert Raw data to SI Units --------------------
BoulusAJ 7:07c5b6709d87 294
BoulusAJ 17:04eebb7c29b5 295 //Convert Acceleration Raw Data to (ms^-2) - (Settings of +/- 4g)
BoulusAJ 16:ff375f62a95f 296 AccX_g = AccX_Raw / 8192.0f;
BoulusAJ 16:ff375f62a95f 297 AccY_g = AccY_Raw / 8192.0f;
BoulusAJ 16:ff375f62a95f 298 AccZ_g = AccZ_Raw / 8192.0f;
BoulusAJ 0:8e87cdf07037 299
BoulusAJ 17:04eebb7c29b5 300 //Convert Gyroscope Raw Data to Degrees per second
BoulusAJ 17:04eebb7c29b5 301 GyroX_Degrees = GyroX_Raw / 32.768f; // (2^15/1000 = 32.768)
BoulusAJ 17:04eebb7c29b5 302 GyroY_Degrees = GyroY_Raw / 32.768f; // (2^15/1000 = 32.768)
BoulusAJ 17:04eebb7c29b5 303 GyroZ_Degrees = GyroZ_Raw / 32.768f; // (2^15/1000 = 32.768)
BoulusAJ 0:8e87cdf07037 304
BoulusAJ 7:07c5b6709d87 305 //Convert Gyroscope Raw Data to Degrees per second
BoulusAJ 7:07c5b6709d87 306 GyroZ_RadiansPerSecond = (GyroZ_Raw / 32.768f)* pi/180.0f;
BoulusAJ 0:8e87cdf07037 307
BoulusAJ 7:07c5b6709d87 308 // ----- Combine Accelerometer Data and Gyro Data to Get Angle ------
BoulusAJ 17:04eebb7c29b5 309
BoulusAJ 16:ff375f62a95f 310 Cuboid_Angle_Radians = -1*atan2(-FilterAccX(AccX_g), FilterAccY(AccY_g)) + 0.7854f + FilterGyro(GyroZ_RadiansPerSecond);
BoulusAJ 16:ff375f62a95f 311 Cuboid_Angle_Degrees = Cuboid_Angle_Radians*180.0f/pi;
BoulusAJ 0:8e87cdf07037 312
BoulusAJ 0:8e87cdf07037 313
BoulusAJ 7:07c5b6709d87 314 // ------------------------- Controller -----------------------------
BoulusAJ 10:4e9899cef12c 315
BoulusAJ 14:fe003a27018d 316 // Switch Statement Maybe?......
BoulusAJ 16:ff375f62a95f 317 switch(Button_Status) {
BoulusAJ 16:ff375f62a95f 318
BoulusAJ 16:ff375f62a95f 319 case 0: // Output of 0 Amps
BoulusAJ 17:04eebb7c29b5 320 Sys_input_Amps = 0.0;
BoulusAJ 20:b142ae11a12a 321
BoulusAJ 20:b142ae11a12a 322 C1.reset(0.0f);
BoulusAJ 16:ff375f62a95f 323 break;
BoulusAJ 16:ff375f62a95f 324
BoulusAJ 16:ff375f62a95f 325 case 1: // Breaking
BoulusAJ 16:ff375f62a95f 326
BoulusAJ 16:ff375f62a95f 327 // PI Controller
BoulusAJ 16:ff375f62a95f 328 PID_Input = 0.0f - Velocity;
BoulusAJ 20:b142ae11a12a 329 //PID_Output = C2.update(PID_Input);
BoulusAJ 20:b142ae11a12a 330 PID_Output = 0;
BoulusAJ 20:b142ae11a12a 331 C1.reset(0.0f);
BoulusAJ 20:b142ae11a12a 332 float Test1 = C1.reset(0.0f);
BoulusAJ 20:b142ae11a12a 333 pc.printf("PI Outpu: %0.6f\n\r", Test1);
BoulusAJ 16:ff375f62a95f 334 // System input
BoulusAJ 20:b142ae11a12a 335 //Sys_input_Amps = PID_Output;
BoulusAJ 20:b142ae11a12a 336 Sys_input_Amps = 0;
BoulusAJ 20:b142ae11a12a 337
BoulusAJ 16:ff375f62a95f 338 break;
BoulusAJ 16:ff375f62a95f 339
BoulusAJ 16:ff375f62a95f 340 case 2: // Balancing and lift-up
BoulusAJ 16:ff375f62a95f 341
BoulusAJ 17:04eebb7c29b5 342 // Current Input Updater - Amperes
BoulusAJ 16:ff375f62a95f 343 // Loop 1
BoulusAJ 16:ff375f62a95f 344 Loop1_output = Cuboid_Angle_Radians*K_SS_Controller[0];
BoulusAJ 16:ff375f62a95f 345 // Loop 2
BoulusAJ 16:ff375f62a95f 346 Loop2_output = GyroZ_RadiansPerSecond*K_SS_Controller[1];
BoulusAJ 16:ff375f62a95f 347 // PI Controller
BoulusAJ 16:ff375f62a95f 348 PID_Input = Desired_input - Velocity;
BoulusAJ 16:ff375f62a95f 349 PID_Output = C1.update(PID_Input);
BoulusAJ 16:ff375f62a95f 350
BoulusAJ 16:ff375f62a95f 351 // System input
BoulusAJ 16:ff375f62a95f 352 Sys_input_Amps = PID_Output - Loop1_output - Loop2_output;
BoulusAJ 20:b142ae11a12a 353 //Sys_input_Amps = 0.0f - Loop1_output - Loop2_output;
BoulusAJ 16:ff375f62a95f 354
BoulusAJ 16:ff375f62a95f 355
BoulusAJ 16:ff375f62a95f 356 // Do Not Modify - This is implemented to prevent the Cube from continuously speeding up while being still for after falling due to the user interrupting its movement
BoulusAJ 16:ff375f62a95f 357 if ( abs(Velocity) > 250.0f && (abs(Cuboid_Angle_Degrees)<50.0f && abs(Cuboid_Angle_Degrees)>40.0f) ) {
BoulusAJ 16:ff375f62a95f 358 Button_Status = 4;
BoulusAJ 16:ff375f62a95f 359 break;
BoulusAJ 16:ff375f62a95f 360 }
BoulusAJ 16:ff375f62a95f 361 break;
BoulusAJ 16:ff375f62a95f 362
BoulusAJ 16:ff375f62a95f 363 case 3: // Fall
BoulusAJ 17:04eebb7c29b5 364
BoulusAJ 17:04eebb7c29b5 365 Sys_input_Amps = 0.0;
BoulusAJ 16:ff375f62a95f 366 // Not implemented Yet :)
BoulusAJ 16:ff375f62a95f 367 break;
BoulusAJ 17:04eebb7c29b5 368
BoulusAJ 16:ff375f62a95f 369 case 4: // Lift up when stuck
BoulusAJ 17:04eebb7c29b5 370 // Do Not Modify - This is implemented to prevent the Cube from continuously speeding up while being still for after falling due to the user interrupting its movement
BoulusAJ 16:ff375f62a95f 371
BoulusAJ 20:b142ae11a12a 372 C1.reset(0.0f);
BoulusAJ 20:b142ae11a12a 373
BoulusAJ 16:ff375f62a95f 374 PID_Input2 = 0.0f - Velocity;
BoulusAJ 16:ff375f62a95f 375 PID_Output2 = C3.update(-1*PID_Input2);
BoulusAJ 16:ff375f62a95f 376
BoulusAJ 16:ff375f62a95f 377 // System input
BoulusAJ 16:ff375f62a95f 378 Sys_input_Amps = PID_Output2;
BoulusAJ 16:ff375f62a95f 379 if (Sys_input_Amps > 1.0f) {
BoulusAJ 16:ff375f62a95f 380 Sys_input_Amps = 1.0f;
BoulusAJ 16:ff375f62a95f 381 }
BoulusAJ 16:ff375f62a95f 382 if (Sys_input_Amps < -1.0f) {
BoulusAJ 16:ff375f62a95f 383 Sys_input_Amps = -1.0f;
BoulusAJ 16:ff375f62a95f 384 }
BoulusAJ 16:ff375f62a95f 385 VoltageOut.write(CurrentToVoltage(Sys_input_Amps));
BoulusAJ 16:ff375f62a95f 386 //pc.printf("%0.7f, %0.7f, \n\r", abs(Cuboid_Angle_Degrees), abs(Velocity));
BoulusAJ 16:ff375f62a95f 387
BoulusAJ 20:b142ae11a12a 388 if (abs(Velocity) < 1.0f) {
BoulusAJ 17:04eebb7c29b5 389 Sys_input_Amps = 0.0;
BoulusAJ 16:ff375f62a95f 390 Button_Status = 2;
BoulusAJ 16:ff375f62a95f 391 break;
BoulusAJ 16:ff375f62a95f 392 }
BoulusAJ 16:ff375f62a95f 393 break;
BoulusAJ 16:ff375f62a95f 394 }
BoulusAJ 16:ff375f62a95f 395 // End of Switch Statement
BoulusAJ 17:04eebb7c29b5 396
BoulusAJ 16:ff375f62a95f 397 if (Sys_input_Amps > uMax) {
BoulusAJ 16:ff375f62a95f 398 Sys_input_Amps = uMax;
BoulusAJ 16:ff375f62a95f 399 }
BoulusAJ 16:ff375f62a95f 400 if (Sys_input_Amps < uMin) {
BoulusAJ 16:ff375f62a95f 401 Sys_input_Amps = uMin;
BoulusAJ 16:ff375f62a95f 402 }
BoulusAJ 18:3b1aa67e11ca 403 if (Cuboid_Angle_Degrees > -50.0f && Cuboid_Angle_Degrees < 50.0f) {
BoulusAJ 17:04eebb7c29b5 404 // Scaling the controller output from -15 A --> 15 A to 0 V --> 5 V
BoulusAJ 17:04eebb7c29b5 405 VoltageOut.write(CurrentToVoltage(Sys_input_Amps));
BoulusAJ 18:3b1aa67e11ca 406 }
BoulusAJ 18:3b1aa67e11ca 407 else {
BoulusAJ 18:3b1aa67e11ca 408 Sys_input_Amps = 0.0f;
BoulusAJ 18:3b1aa67e11ca 409 VoltageOut.write(CurrentToVoltage(Sys_input_Amps));
BoulusAJ 18:3b1aa67e11ca 410 }
BoulusAJ 16:ff375f62a95f 411
BoulusAJ 14:fe003a27018d 412 // ----------------
BoulusAJ 12:ba4ce3fa4f53 413
BoulusAJ 16:ff375f62a95f 414 // Print Data // Printing Rate (in this case) is every Ts*100 = 0.007*100 = every 0.7 seconds
BoulusAJ 13:41edfb8e3b3c 415 if(++k >= 100) {
BoulusAJ 12:ba4ce3fa4f53 416 k = 0;
BoulusAJ 20:b142ae11a12a 417 pc.printf("Some Outputs: %0.6f, %0.6f, %0.6f, %i\n\r", Sys_input_Amps, Cuboid_Angle_Degrees, PID_Output, Button_Status);
BoulusAJ 12:ba4ce3fa4f53 418 }
BoulusAJ 12:ba4ce3fa4f53 419
BoulusAJ 13:41edfb8e3b3c 420
BoulusAJ 1:d3406369c297 421 }
BoulusAJ 14:fe003a27018d 422 //******************************************************************************
BoulusAJ 14:fe003a27018d 423 //------------------ User functions like buttens handle etc. -------------------
BoulusAJ 14:fe003a27018d 424 //******************************************************************************
BoulusAJ 0:8e87cdf07037 425
BoulusAJ 14:fe003a27018d 426 //...
BoulusAJ 16:ff375f62a95f 427 // start timer as soon as Button is pressed
BoulusAJ 16:ff375f62a95f 428 void pressed()
BoulusAJ 16:ff375f62a95f 429 {
BoulusAJ 16:ff375f62a95f 430 T_Button.start();
BoulusAJ 16:ff375f62a95f 431 }
BoulusAJ 16:ff375f62a95f 432 // Falling edge of button: enable/disable controller
BoulusAJ 16:ff375f62a95f 433 void released()
BoulusAJ 16:ff375f62a95f 434 {
BoulusAJ 16:ff375f62a95f 435 // readout, stop and reset timer
BoulusAJ 16:ff375f62a95f 436 float ButtonTime = T_Button.read();
BoulusAJ 16:ff375f62a95f 437 T_Button.stop();
BoulusAJ 16:ff375f62a95f 438 T_Button.reset();
BoulusAJ 16:ff375f62a95f 439 if(ButtonTime > 0.05f) {
BoulusAJ 16:ff375f62a95f 440 Button_Status = Button_Status + 1;
BoulusAJ 20:b142ae11a12a 441 C1.reset(0.0f);
BoulusAJ 16:ff375f62a95f 442 if (Button_Status > 3.0f) {
BoulusAJ 16:ff375f62a95f 443 Button_Status = 1.0;
BoulusAJ 16:ff375f62a95f 444 }
BoulusAJ 17:04eebb7c29b5 445 //pc.printf("Button Status: %i\r\n", Button_Status);
BoulusAJ 16:ff375f62a95f 446 }
BoulusAJ 16:ff375f62a95f 447 }