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Dependencies: Encoder FastPWM MODSERIAL Servo mbed
Fork of Angle_control_v3 by
main.cpp
- Committer:
- peterknoben
- Date:
- 2017-10-17
- Revision:
- 5:b4ec742aa7d4
- Parent:
- 4:d385669b2f50
- Child:
- 6:6ae6256cf234
File content as of revision 5:b4ec742aa7d4:
#include "mbed.h" #include "encoder.h" #include "Servo.h" #include "FastPWM.h" Ticker MyControllerTicker1; Ticker MyControllerTicker2; const double PI = 3.141592653589793; const double RAD_PER_PULSE = 0.000749425; const double CONTROLLER_TS = 0.01; //Motor1 PwmOut motor1(D5); DigitalOut motor1DirectionPin(D4); DigitalIn ENC2A(D12); DigitalIn ENC2B(D13); Encoder encoder1(D13,D12); AnalogIn potmeter1(A3); const double MOTOR1_KP = 15; const double MOTOR1_KI = 10; double m1_err_int = 0; const double motor1_gain = 2*PI; //Motor2 PwmOut motor2(D6); DigitalOut motor2DirectionPin(D7); DigitalIn ENC1A(D10); DigitalIn ENC1B(D11); Encoder encoder2(D10,D11); AnalogIn potmeter2(A4); const double MOTOR2_KP = 15; const double MOTOR2_KI = 10; double m2_err_int = 0; const double motor2_gain = 2*PI; //________________________________________________________________ //Kinematica //Motor offsets (kinematica implementation) int max_rangex = 800; int max_rangey = 500; int L1 = 450; int L2 = 490; float alphaoffset = 10; float betaoffset = 35; float x_offset = 0.0; float y_offset = 0.0; float getreferencepositionx(double potmeter){ float x_target = potmeter * max_rangex; return x_target; } float getreferencepositiony(double potmeter){ float y_target = potmeter * max_rangey; return y_target; } float getreferenceanglealpha(const double PI){ float x = getreferencepositionx(potmeter1); float y = getreferencepositiony(potmeter2); float theta2 = acos((x*x + y*y - L1*L1 - L2*L2)/(2*L1*L2)); float theta1 = asin(L2*sin(theta2)/sqrt(x*x +y*y) + atan(y/x)); float alpha = (05.*PI) - theta1; return alpha; } float getreferenceanglebeta(const double PI){ float x = getreferencepositionx(potmeter1); float y = getreferencepositiony(potmeter2); float theta2 = acos((x*x + y*y - L1*L1 - L2*L2)/(2*L1*L2)); float theta1 = asin(L2*sin(theta2)/sqrt(x*x +y*y) + atan(y/x)); float alpha = (05.*PI) - theta1; float beta = PI - alpha - theta2; return beta; } //________________________________________________________________ //Servo Servo MyServo(D9); InterruptIn But1(D8); int k=0; double PI_controller(double error, const double Kp, const double Ki, double Ts, double &e_int) { e_int =+ Ts * error; return Kp * error + Ki * e_int ; } void motor1_control(){ double referenceangle1 = getreferenceanglealpha(PI); double position1 = RAD_PER_PULSE * encoder1.getPosition(); double magnitude1 = PI_controller(referenceangle1-position1, MOTOR1_KP, MOTOR1_KI, CONTROLLER_TS, m1_err_int) / motor1_gain; motor1 = fabs(magnitude1); if (magnitude1 < 0){ motor1DirectionPin = 1; } else{ motor1DirectionPin = 0; } } void motor2_control(){ double referenceangle2 = getreferenceanglebeta(PI); double position2 = RAD_PER_PULSE * encoder2.getPosition(); double magnitude2 = PI_controller(referenceangle2-position2, MOTOR2_KP, MOTOR2_KI, CONTROLLER_TS, m2_err_int) / motor2_gain; motor2 = fabs(magnitude2); if (magnitude2 < 0){ motor2DirectionPin = 1; } else{ motor2DirectionPin = 0; } } /*void servo_control (){ motor1.period(0.02f); motor2.period(0.02f); if (k==0){ MyServo = 0; k=1; motor1.period_us(200); } else{ MyServo = 2; k=0; motor1.period_us(200); } }*/ int main(){ //But1.rise(&servo_control); motor1.period(0.0002f); motor2.period(0.0002f); MyControllerTicker1.attach(&motor1_control, CONTROLLER_TS); MyControllerTicker2.attach(&motor2_control, CONTROLLER_TS); while(1) {} }