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Dependencies: Encoder FastPWM MODSERIAL Servo mbed
Fork of Angle_control_v3 by
main.cpp@4:d385669b2f50, 2017-10-17 (annotated)
- Committer:
- peterknoben
- Date:
- Tue Oct 17 09:31:20 2017 +0000
- Revision:
- 4:d385669b2f50
- Parent:
- 3:1514725c8cc8
- Child:
- 5:b4ec742aa7d4
Versie voor x en y bepaling;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DBerendsen | 0:bbd4e22aca8a | 1 | #include "mbed.h" |
DBerendsen | 0:bbd4e22aca8a | 2 | #include "encoder.h" |
peterknoben | 2:47ec66bbe8f9 | 3 | #include "Servo.h" |
peterknoben | 3:1514725c8cc8 | 4 | #include "FastPWM.h" |
DBerendsen | 0:bbd4e22aca8a | 5 | |
peterknoben | 2:47ec66bbe8f9 | 6 | Ticker MyControllerTicker1; |
peterknoben | 2:47ec66bbe8f9 | 7 | Ticker MyControllerTicker2; |
DBerendsen | 0:bbd4e22aca8a | 8 | const double PI = 3.141592653589793; |
peterknoben | 3:1514725c8cc8 | 9 | const double RAD_PER_PULSE = 0.000749425; |
peterknoben | 2:47ec66bbe8f9 | 10 | const double CONTROLLER_TS = 0.01; |
DBerendsen | 0:bbd4e22aca8a | 11 | |
DBerendsen | 0:bbd4e22aca8a | 12 | |
DBerendsen | 0:bbd4e22aca8a | 13 | //Motor1 |
DBerendsen | 0:bbd4e22aca8a | 14 | PwmOut motor1(D5); |
DBerendsen | 0:bbd4e22aca8a | 15 | DigitalOut motor1DirectionPin(D4); |
DBerendsen | 0:bbd4e22aca8a | 16 | DigitalIn ENC2A(D12); |
DBerendsen | 0:bbd4e22aca8a | 17 | DigitalIn ENC2B(D13); |
DBerendsen | 0:bbd4e22aca8a | 18 | Encoder encoder1(D13,D12); |
DBerendsen | 0:bbd4e22aca8a | 19 | AnalogIn potmeter1(A3); |
peterknoben | 3:1514725c8cc8 | 20 | const double MOTOR1_KP = 15; |
peterknoben | 3:1514725c8cc8 | 21 | const double MOTOR1_KI = 10; |
DBerendsen | 0:bbd4e22aca8a | 22 | double m1_err_int = 0; |
DBerendsen | 0:bbd4e22aca8a | 23 | const double motor1_gain = 2*PI; |
DBerendsen | 0:bbd4e22aca8a | 24 | |
DBerendsen | 0:bbd4e22aca8a | 25 | |
DBerendsen | 0:bbd4e22aca8a | 26 | //Motor2 |
DBerendsen | 0:bbd4e22aca8a | 27 | PwmOut motor2(D6); |
DBerendsen | 0:bbd4e22aca8a | 28 | DigitalOut motor2DirectionPin(D7); |
DBerendsen | 0:bbd4e22aca8a | 29 | DigitalIn ENC1A(D10); |
DBerendsen | 0:bbd4e22aca8a | 30 | DigitalIn ENC1B(D11); |
DBerendsen | 0:bbd4e22aca8a | 31 | Encoder encoder2(D10,D11); |
DBerendsen | 0:bbd4e22aca8a | 32 | AnalogIn potmeter2(A4); |
peterknoben | 3:1514725c8cc8 | 33 | const double MOTOR2_KP = 15; |
peterknoben | 3:1514725c8cc8 | 34 | const double MOTOR2_KI = 10; |
DBerendsen | 0:bbd4e22aca8a | 35 | double m2_err_int = 0; |
DBerendsen | 0:bbd4e22aca8a | 36 | const double motor2_gain = 2*PI; |
DBerendsen | 0:bbd4e22aca8a | 37 | |
peterknoben | 3:1514725c8cc8 | 38 | |
peterknoben | 2:47ec66bbe8f9 | 39 | //Servo |
peterknoben | 2:47ec66bbe8f9 | 40 | Servo MyServo(D9); |
peterknoben | 2:47ec66bbe8f9 | 41 | InterruptIn But1(D8); |
peterknoben | 2:47ec66bbe8f9 | 42 | int k=0; |
DBerendsen | 0:bbd4e22aca8a | 43 | |
peterknoben | 2:47ec66bbe8f9 | 44 | |
peterknoben | 4:d385669b2f50 | 45 | float getreferenceangle(const double PI, double potmeter){ |
DBerendsen | 0:bbd4e22aca8a | 46 | float max_angle = 2*PI; |
DBerendsen | 0:bbd4e22aca8a | 47 | float reference_angle = max_angle * potmeter; |
DBerendsen | 0:bbd4e22aca8a | 48 | return reference_angle; |
peterknoben | 4:d385669b2f50 | 49 | } |
DBerendsen | 0:bbd4e22aca8a | 50 | |
peterknoben | 2:47ec66bbe8f9 | 51 | double PI_controller(double error, const double Kp, const double Ki, double Ts, double &e_int) { |
DBerendsen | 0:bbd4e22aca8a | 52 | e_int =+ Ts * error; |
DBerendsen | 0:bbd4e22aca8a | 53 | return Kp * error + Ki * e_int ; |
DBerendsen | 0:bbd4e22aca8a | 54 | } |
DBerendsen | 0:bbd4e22aca8a | 55 | |
peterknoben | 2:47ec66bbe8f9 | 56 | void motor1_control(){ |
DBerendsen | 0:bbd4e22aca8a | 57 | double referenceangle1 = getreferenceangle(PI, potmeter1); |
DBerendsen | 0:bbd4e22aca8a | 58 | double position1 = RAD_PER_PULSE * encoder1.getPosition(); |
DBerendsen | 0:bbd4e22aca8a | 59 | double magnitude1 = PI_controller(referenceangle1-position1, MOTOR1_KP, MOTOR1_KI, CONTROLLER_TS, m1_err_int) / motor1_gain; |
DBerendsen | 0:bbd4e22aca8a | 60 | motor1 = fabs(magnitude1); |
DBerendsen | 0:bbd4e22aca8a | 61 | |
peterknoben | 2:47ec66bbe8f9 | 62 | if (magnitude1 < 0){ |
DBerendsen | 0:bbd4e22aca8a | 63 | motor1DirectionPin = 1; |
DBerendsen | 0:bbd4e22aca8a | 64 | } |
peterknoben | 2:47ec66bbe8f9 | 65 | else{ |
DBerendsen | 0:bbd4e22aca8a | 66 | motor1DirectionPin = 0; |
DBerendsen | 0:bbd4e22aca8a | 67 | } |
DBerendsen | 0:bbd4e22aca8a | 68 | } |
DBerendsen | 0:bbd4e22aca8a | 69 | |
peterknoben | 2:47ec66bbe8f9 | 70 | |
peterknoben | 2:47ec66bbe8f9 | 71 | void motor2_control(){ |
DBerendsen | 0:bbd4e22aca8a | 72 | double referenceangle2 = getreferenceangle(PI, potmeter2); |
DBerendsen | 0:bbd4e22aca8a | 73 | double position2 = RAD_PER_PULSE * encoder2.getPosition(); |
DBerendsen | 0:bbd4e22aca8a | 74 | double magnitude2 = PI_controller(referenceangle2-position2, MOTOR2_KP, MOTOR2_KI, CONTROLLER_TS, m2_err_int) / motor2_gain; |
DBerendsen | 1:5681fcdc22fe | 75 | motor2 = fabs(magnitude2); |
DBerendsen | 0:bbd4e22aca8a | 76 | |
peterknoben | 2:47ec66bbe8f9 | 77 | if (magnitude2 < 0){ |
DBerendsen | 1:5681fcdc22fe | 78 | motor2DirectionPin = 1; |
DBerendsen | 0:bbd4e22aca8a | 79 | } |
peterknoben | 2:47ec66bbe8f9 | 80 | else{ |
DBerendsen | 1:5681fcdc22fe | 81 | motor2DirectionPin = 0; |
DBerendsen | 0:bbd4e22aca8a | 82 | } |
DBerendsen | 0:bbd4e22aca8a | 83 | } |
DBerendsen | 0:bbd4e22aca8a | 84 | |
peterknoben | 4:d385669b2f50 | 85 | void servo_control (){ |
peterknoben | 3:1514725c8cc8 | 86 | motor1.period(0.02f); |
peterknoben | 3:1514725c8cc8 | 87 | motor2.period(0.02f); |
peterknoben | 2:47ec66bbe8f9 | 88 | if (k==0){ |
peterknoben | 2:47ec66bbe8f9 | 89 | MyServo = 0; |
peterknoben | 2:47ec66bbe8f9 | 90 | k=1; |
peterknoben | 3:1514725c8cc8 | 91 | motor1.period_us(200); |
peterknoben | 2:47ec66bbe8f9 | 92 | } |
peterknoben | 2:47ec66bbe8f9 | 93 | else{ |
peterknoben | 2:47ec66bbe8f9 | 94 | MyServo = 2; |
peterknoben | 2:47ec66bbe8f9 | 95 | k=0; |
peterknoben | 3:1514725c8cc8 | 96 | motor1.period_us(200); |
peterknoben | 3:1514725c8cc8 | 97 | } |
peterknoben | 4:d385669b2f50 | 98 | } |
DBerendsen | 0:bbd4e22aca8a | 99 | |
peterknoben | 2:47ec66bbe8f9 | 100 | |
peterknoben | 2:47ec66bbe8f9 | 101 | int main(){ |
peterknoben | 3:1514725c8cc8 | 102 | But1.rise(&servo_control); |
peterknoben | 3:1514725c8cc8 | 103 | motor1.period(0.0002f); |
peterknoben | 3:1514725c8cc8 | 104 | motor2.period(0.0002f); |
peterknoben | 2:47ec66bbe8f9 | 105 | MyControllerTicker1.attach(&motor1_control, CONTROLLER_TS); |
peterknoben | 2:47ec66bbe8f9 | 106 | MyControllerTicker2.attach(&motor2_control, CONTROLLER_TS); |
peterknoben | 3:1514725c8cc8 | 107 | |
peterknoben | 2:47ec66bbe8f9 | 108 | |
peterknoben | 2:47ec66bbe8f9 | 109 | while(1) {} |
peterknoben | 3:1514725c8cc8 | 110 | } |