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Robot tryout
Dependencies: mbed QEI biquadFilter MODSERIAL FastPWM ttmath Math
Motor_tryout.cpp@23:18b0be02187f, 2019-10-25 (annotated)
- Committer:
- viviien
- Date:
- Fri Oct 25 12:13:44 2019 +0000
- Revision:
- 23:18b0be02187f
- Parent:
- 22:9f911405e096
- Child:
- 24:61d03692f92e
ticker problemen
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Feike | 4:bd21569250c7 | 1 | #include "mbed.h" |
Feike | 8:017b813c72bb | 2 | #include "MODSERIAL.h" |
Feike | 12:2382468d36a4 | 3 | #include "QEI.h" |
Feike | 18:ab0fe311e7f3 | 4 | #include "Math.h" |
Feike | 18:ab0fe311e7f3 | 5 | #include "ttmath.h" |
Feike | 18:ab0fe311e7f3 | 6 | |
Feike | 17:6da57acb7bea | 7 | MODSERIAL pc(USBTX, USBRX); |
Feike | 18:ab0fe311e7f3 | 8 | //Serial term (USBTX, USBRX); |
Feike | 17:6da57acb7bea | 9 | PwmOut motor1_pwm(PTC2); |
Feike | 17:6da57acb7bea | 10 | DigitalOut motor1_dir(PTC3); |
Feike | 18:ab0fe311e7f3 | 11 | PwmOut motor2_pwm(PTA2); |
Feike | 18:ab0fe311e7f3 | 12 | DigitalOut motor2_dir(PTB23); |
Feike | 18:ab0fe311e7f3 | 13 | PwmOut motor3_pwm(PTC4); |
Feike | 18:ab0fe311e7f3 | 14 | DigitalOut motor3_dir(PTC12); |
Feike | 4:bd21569250c7 | 15 | |
viviien | 23:18b0be02187f | 16 | QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING); |
viviien | 23:18b0be02187f | 17 | QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING); |
viviien | 23:18b0be02187f | 18 | QEI Encoder3(D2,D3,NC,64,QEI::X4_ENCODING); |
Feike | 7:e119b12e5e7f | 19 | |
Feike | 19:9c8ab7922191 | 20 | int check; |
Feike | 13:18dd7a15603f | 21 | int quit; |
Feike | 19:9c8ab7922191 | 22 | int limit_pos = 8400; |
Feike | 19:9c8ab7922191 | 23 | float steps; |
Feike | 19:9c8ab7922191 | 24 | int g = 0; |
Feike | 19:9c8ab7922191 | 25 | |
Feike | 19:9c8ab7922191 | 26 | bool check1; |
Feike | 19:9c8ab7922191 | 27 | bool check2; |
Feike | 19:9c8ab7922191 | 28 | bool check3; |
Feike | 18:ab0fe311e7f3 | 29 | int counts1 = 0; |
Feike | 18:ab0fe311e7f3 | 30 | int counts2 = 0; |
Feike | 18:ab0fe311e7f3 | 31 | int counts3 = 0; |
Feike | 13:18dd7a15603f | 32 | |
Feike | 18:ab0fe311e7f3 | 33 | const float le = 15.0; |
Feike | 18:ab0fe311e7f3 | 34 | const float f = 37.5; |
Feike | 18:ab0fe311e7f3 | 35 | const float re = 174.0; |
Feike | 18:ab0fe311e7f3 | 36 | const float rf = 50.0; |
Feike | 18:ab0fe311e7f3 | 37 | const float pi = 3.14159265358979323846; |
viviien | 22:9f911405e096 | 38 | const float cospi = -0.5; |
viviien | 22:9f911405e096 | 39 | const float sinpi = 0.8660254; |
Feike | 18:ab0fe311e7f3 | 40 | float y2; |
Feike | 18:ab0fe311e7f3 | 41 | float y1; |
Feike | 18:ab0fe311e7f3 | 42 | float z1; |
Feike | 18:ab0fe311e7f3 | 43 | float z2; |
Feike | 18:ab0fe311e7f3 | 44 | float rje2; |
Feike | 18:ab0fe311e7f3 | 45 | float rje; |
Feike | 18:ab0fe311e7f3 | 46 | float r2; |
Feike | 18:ab0fe311e7f3 | 47 | float r; |
Feike | 19:9c8ab7922191 | 48 | |
Feike | 18:ab0fe311e7f3 | 49 | float z0=-172; |
Feike | 18:ab0fe311e7f3 | 50 | float y0=0; |
Feike | 18:ab0fe311e7f3 | 51 | float x0=0; |
viviien | 21:c826abca79c3 | 52 | float x00; |
viviien | 21:c826abca79c3 | 53 | float y00; |
viviien | 21:c826abca79c3 | 54 | float z00; |
Feike | 19:9c8ab7922191 | 55 | |
Feike | 18:ab0fe311e7f3 | 56 | float theta1; |
Feike | 18:ab0fe311e7f3 | 57 | float theta2; |
Feike | 18:ab0fe311e7f3 | 58 | float theta3; |
Feike | 18:ab0fe311e7f3 | 59 | float oldtheta1=0; |
Feike | 18:ab0fe311e7f3 | 60 | float oldtheta2=0; |
Feike | 18:ab0fe311e7f3 | 61 | float oldtheta3=0; |
Feike | 19:9c8ab7922191 | 62 | |
viviien | 23:18b0be02187f | 63 | Ticker pulses; |
viviien | 23:18b0be02187f | 64 | void getpulses() { |
viviien | 23:18b0be02187f | 65 | counts1 = Encoder1.getPulses(); |
viviien | 23:18b0be02187f | 66 | counts2 = Encoder2.getPulses(); |
viviien | 23:18b0be02187f | 67 | counts3 = Encoder3.getPulses(); |
viviien | 23:18b0be02187f | 68 | } |
viviien | 23:18b0be02187f | 69 | |
viviien | 21:c826abca79c3 | 70 | float delta_calcangleyz(float x00, float y00, float z00) { |
viviien | 21:c826abca79c3 | 71 | float y2 = y00 + le; |
Feike | 18:ab0fe311e7f3 | 72 | float y1 = f; |
Feike | 18:ab0fe311e7f3 | 73 | float z1 = 0.0; |
viviien | 21:c826abca79c3 | 74 | float z2 = z00; |
viviien | 21:c826abca79c3 | 75 | float rje2 = re*re - x00*x00; |
Feike | 18:ab0fe311e7f3 | 76 | float rje = sqrt(rje2); |
viviien | 22:9f911405e096 | 77 | float r2 = (y1-y2)*(y1-y2) + (z1-z00)*(z1-z00); |
Feike | 18:ab0fe311e7f3 | 78 | float r = sqrt(r2); |
Feike | 18:ab0fe311e7f3 | 79 | |
Feike | 19:9c8ab7922191 | 80 | if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) { |
Feike | 19:9c8ab7922191 | 81 | int check = 1; |
Feike | 19:9c8ab7922191 | 82 | pc.printf("\n\rPunt bestaat niet"); |
Feike | 19:9c8ab7922191 | 83 | } |
Feike | 19:9c8ab7922191 | 84 | else { |
Feike | 19:9c8ab7922191 | 85 | float alpha = acos((r2 + rf*rf -rje2)/(2*rf*r)); |
Feike | 19:9c8ab7922191 | 86 | float beta = atan((z1-z2)/(y1-y2)); |
Feike | 19:9c8ab7922191 | 87 | if(beta<0) { |
Feike | 18:ab0fe311e7f3 | 88 | beta = beta + pi; |
Feike | 18:ab0fe311e7f3 | 89 | } |
Feike | 19:9c8ab7922191 | 90 | float theta1 = (beta - alpha)*180.0/pi; |
Feike | 19:9c8ab7922191 | 91 | return theta1; |
viviien | 22:9f911405e096 | 92 | } |
Feike | 18:ab0fe311e7f3 | 93 | } |
Feike | 18:ab0fe311e7f3 | 94 | |
viviien | 21:c826abca79c3 | 95 | float delta_calcinverse(float x00, float y00, float z00) { |
viviien | 21:c826abca79c3 | 96 | theta1 = theta2 = theta3 = 0; |
viviien | 22:9f911405e096 | 97 | x00=x0; |
viviien | 22:9f911405e096 | 98 | y00=y0; |
viviien | 22:9f911405e096 | 99 | z00=z0; |
viviien | 21:c826abca79c3 | 100 | theta1 = delta_calcangleyz(x00, y00, z00); |
viviien | 21:c826abca79c3 | 101 | |
viviien | 21:c826abca79c3 | 102 | if (check == 0) { |
viviien | 21:c826abca79c3 | 103 | x00=x0*cospi+y0*sinpi; |
viviien | 21:c826abca79c3 | 104 | y00=y0*cospi-x0*sinpi; |
viviien | 21:c826abca79c3 | 105 | z00=z0; |
viviien | 22:9f911405e096 | 106 | theta2 = delta_calcangleyz(x00, y00, z00); |
viviien | 21:c826abca79c3 | 107 | x00=x0*cospi-y0*sinpi; |
viviien | 21:c826abca79c3 | 108 | y00=y0*cospi+y0*sinpi; |
viviien | 21:c826abca79c3 | 109 | z00=z0; |
viviien | 22:9f911405e096 | 110 | theta3 = delta_calcangleyz(x00, y00, z00); |
viviien | 21:c826abca79c3 | 111 | } |
viviien | 21:c826abca79c3 | 112 | |
viviien | 21:c826abca79c3 | 113 | return theta1, theta2, theta3; |
Feike | 18:ab0fe311e7f3 | 114 | } |
Feike | 18:ab0fe311e7f3 | 115 | |
viviien | 23:18b0be02187f | 116 | |
Feike | 12:2382468d36a4 | 117 | |
Feike | 19:9c8ab7922191 | 118 | float anglestep(float angle) { |
Feike | 18:ab0fe311e7f3 | 119 | float steps; |
Feike | 18:ab0fe311e7f3 | 120 | steps = angle / 360 * 8400; |
Feike | 18:ab0fe311e7f3 | 121 | return steps; |
Feike | 17:6da57acb7bea | 122 | } |
Feike | 17:6da57acb7bea | 123 | |
viviien | 21:c826abca79c3 | 124 | |
viviien | 22:9f911405e096 | 125 | float movefunction() { |
viviien | 21:c826abca79c3 | 126 | |
viviien | 22:9f911405e096 | 127 | theta1 = delta_calcinverse(x00,y00,z00); |
viviien | 21:c826abca79c3 | 128 | pc.printf("\n\r de hoeken zijn(%f, %f, %f)", theta1, theta2, theta3); |
viviien | 21:c826abca79c3 | 129 | pc.printf("\n\r coordinaten(%f, %f, %f)", x0, y0, z0); |
viviien | 21:c826abca79c3 | 130 | |
viviien | 21:c826abca79c3 | 131 | theta1 = theta1 - oldtheta1; |
viviien | 21:c826abca79c3 | 132 | theta2 = theta2 - oldtheta2; |
viviien | 21:c826abca79c3 | 133 | theta3 = theta3 - oldtheta3; |
viviien | 21:c826abca79c3 | 134 | |
viviien | 21:c826abca79c3 | 135 | float steps1 = anglestep(theta1); |
viviien | 21:c826abca79c3 | 136 | float steps2 = anglestep(theta2); |
viviien | 21:c826abca79c3 | 137 | float steps3 = anglestep(theta3); |
viviien | 21:c826abca79c3 | 138 | |
viviien | 21:c826abca79c3 | 139 | // Set the direction of the motors. |
viviien | 21:c826abca79c3 | 140 | if (theta1 < 0) { |
viviien | 21:c826abca79c3 | 141 | motor1_dir.write(1); |
viviien | 21:c826abca79c3 | 142 | } |
viviien | 21:c826abca79c3 | 143 | else { |
viviien | 21:c826abca79c3 | 144 | motor1_dir.write(0); |
viviien | 21:c826abca79c3 | 145 | } |
viviien | 21:c826abca79c3 | 146 | |
viviien | 21:c826abca79c3 | 147 | if (theta2 < 0) { |
viviien | 21:c826abca79c3 | 148 | motor2_dir.write(0); |
viviien | 21:c826abca79c3 | 149 | } |
viviien | 21:c826abca79c3 | 150 | else { |
viviien | 21:c826abca79c3 | 151 | motor2_dir.write(1); |
viviien | 21:c826abca79c3 | 152 | } |
viviien | 21:c826abca79c3 | 153 | |
viviien | 21:c826abca79c3 | 154 | if (theta3 < 0) { |
viviien | 21:c826abca79c3 | 155 | motor3_dir.write(0); |
viviien | 21:c826abca79c3 | 156 | } |
viviien | 21:c826abca79c3 | 157 | else { |
viviien | 21:c826abca79c3 | 158 | motor3_dir.write(1); |
viviien | 21:c826abca79c3 | 159 | } |
viviien | 21:c826abca79c3 | 160 | |
viviien | 21:c826abca79c3 | 161 | int frequency_pwm = 10000; //10 kHz PWM |
viviien | 21:c826abca79c3 | 162 | motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 21:c826abca79c3 | 163 | motor1_pwm.write(0.7); // write Duty Cycle |
viviien | 21:c826abca79c3 | 164 | |
viviien | 21:c826abca79c3 | 165 | motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 21:c826abca79c3 | 166 | motor2_pwm.write(0.7); // write Duty Cycle |
viviien | 21:c826abca79c3 | 167 | |
viviien | 21:c826abca79c3 | 168 | motor3_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 22:9f911405e096 | 169 | motor3_pwm.write(0.7); // write Duty Cycle |
viviien | 22:9f911405e096 | 170 | |
viviien | 22:9f911405e096 | 171 | check1 = true; |
viviien | 22:9f911405e096 | 172 | check2 = true; |
viviien | 22:9f911405e096 | 173 | check3 = true; |
viviien | 21:c826abca79c3 | 174 | |
viviien | 21:c826abca79c3 | 175 | while (check1 || check2 || check3) { |
viviien | 23:18b0be02187f | 176 | pulses.attach(&getpulses, 1.0/1000); |
viviien | 23:18b0be02187f | 177 | pc.printf("\n\r counts1 %i", counts1); |
viviien | 23:18b0be02187f | 178 | wait(1/500); |
viviien | 21:c826abca79c3 | 179 | if(abs(counts1)>=abs(steps1)) { |
viviien | 23:18b0be02187f | 180 | pc.printf("\n\r counts1 %i and steps1 %f", counts1, steps1); |
viviien | 21:c826abca79c3 | 181 | motor1_pwm.write(0); |
viviien | 21:c826abca79c3 | 182 | check1=false; |
viviien | 21:c826abca79c3 | 183 | counts1=0; |
viviien | 21:c826abca79c3 | 184 | } |
viviien | 21:c826abca79c3 | 185 | if (abs(counts2)>=abs(steps2)) { |
viviien | 21:c826abca79c3 | 186 | motor2_pwm.write(0); |
viviien | 21:c826abca79c3 | 187 | check2=false; |
viviien | 21:c826abca79c3 | 188 | counts2=0; |
viviien | 21:c826abca79c3 | 189 | } |
viviien | 21:c826abca79c3 | 190 | if (abs(counts3)>=abs(steps3)) { |
viviien | 21:c826abca79c3 | 191 | motor3_pwm.write(0); |
viviien | 21:c826abca79c3 | 192 | check3=false; |
viviien | 21:c826abca79c3 | 193 | //pc.printf("\n\rsteps %f, counts %f", steps3, counts3); |
viviien | 21:c826abca79c3 | 194 | counts3=0; |
viviien | 21:c826abca79c3 | 195 | } |
viviien | 21:c826abca79c3 | 196 | } |
viviien | 22:9f911405e096 | 197 | } |
viviien | 22:9f911405e096 | 198 | |
viviien | 22:9f911405e096 | 199 | int main(void) { |
Feike | 18:ab0fe311e7f3 | 200 | pc.baud(115200); |
Feike | 18:ab0fe311e7f3 | 201 | |
Feike | 17:6da57acb7bea | 202 | char cc = pc.getc(); |
Feike | 19:9c8ab7922191 | 203 | |
Feike | 19:9c8ab7922191 | 204 | while(true) { |
Feike | 18:ab0fe311e7f3 | 205 | |
Feike | 19:9c8ab7922191 | 206 | delta_calcinverse(x0,y0,z0); |
Feike | 19:9c8ab7922191 | 207 | |
Feike | 19:9c8ab7922191 | 208 | oldtheta1 = theta1; |
Feike | 19:9c8ab7922191 | 209 | oldtheta2 = theta2; |
viviien | 21:c826abca79c3 | 210 | oldtheta3 = theta3; |
Feike | 18:ab0fe311e7f3 | 211 | char cc = pc.getc(); |
Feike | 18:ab0fe311e7f3 | 212 | |
viviien | 21:c826abca79c3 | 213 | if (cc=='d') { |
viviien | 22:9f911405e096 | 214 | x0=x0+2.0f; |
viviien | 22:9f911405e096 | 215 | if (x0>=-75 && x0<=75) { |
viviien | 22:9f911405e096 | 216 | movefunction (); |
viviien | 22:9f911405e096 | 217 | } |
viviien | 22:9f911405e096 | 218 | else { |
viviien | 22:9f911405e096 | 219 | x0=x0-2.0f; |
viviien | 22:9f911405e096 | 220 | } |
viviien | 21:c826abca79c3 | 221 | } |
Feike | 19:9c8ab7922191 | 222 | |
viviien | 21:c826abca79c3 | 223 | if (cc=='a') { |
viviien | 21:c826abca79c3 | 224 | x0=x0-2.0f; |
viviien | 21:c826abca79c3 | 225 | if (x0>=-75 && x0<=75) { |
viviien | 21:c826abca79c3 | 226 | movefunction (); |
viviien | 21:c826abca79c3 | 227 | } |
viviien | 21:c826abca79c3 | 228 | else { |
viviien | 21:c826abca79c3 | 229 | x0=x0+2.0f; |
viviien | 21:c826abca79c3 | 230 | } |
viviien | 21:c826abca79c3 | 231 | } |
viviien | 21:c826abca79c3 | 232 | |
viviien | 21:c826abca79c3 | 233 | if (cc=='w') { |
viviien | 21:c826abca79c3 | 234 | y0=y0+2.0f; |
viviien | 21:c826abca79c3 | 235 | if (y0>=-75 && y0<=75) { |
viviien | 21:c826abca79c3 | 236 | movefunction (); |
viviien | 21:c826abca79c3 | 237 | } |
viviien | 21:c826abca79c3 | 238 | else { |
viviien | 21:c826abca79c3 | 239 | y0=y0-2.0f; |
viviien | 21:c826abca79c3 | 240 | } |
Feike | 19:9c8ab7922191 | 241 | } |
Feike | 19:9c8ab7922191 | 242 | |
viviien | 21:c826abca79c3 | 243 | if (cc=='s') { |
viviien | 21:c826abca79c3 | 244 | y0=y0-2.0f; |
viviien | 21:c826abca79c3 | 245 | if (y0>=-75 && y0<=75) { |
viviien | 21:c826abca79c3 | 246 | movefunction (); |
viviien | 21:c826abca79c3 | 247 | } |
viviien | 21:c826abca79c3 | 248 | else { |
viviien | 21:c826abca79c3 | 249 | y0=y0+2.0f; |
Feike | 19:9c8ab7922191 | 250 | } |
viviien | 21:c826abca79c3 | 251 | } |
viviien | 21:c826abca79c3 | 252 | |
viviien | 21:c826abca79c3 | 253 | if (cc=='u') { |
viviien | 21:c826abca79c3 | 254 | z0=z0+2.0f; |
viviien | 21:c826abca79c3 | 255 | if (z0>=-210 && z0<=-130) { |
viviien | 21:c826abca79c3 | 256 | movefunction (); |
viviien | 21:c826abca79c3 | 257 | } |
viviien | 21:c826abca79c3 | 258 | else { |
viviien | 21:c826abca79c3 | 259 | z0=z0-2.0f; |
viviien | 21:c826abca79c3 | 260 | } |
viviien | 21:c826abca79c3 | 261 | } |
Feike | 18:ab0fe311e7f3 | 262 | |
viviien | 21:c826abca79c3 | 263 | if (cc=='j') { |
viviien | 21:c826abca79c3 | 264 | z0=z0-2.0f; |
viviien | 21:c826abca79c3 | 265 | if (z0>=-210 && z0<=-130) { |
viviien | 21:c826abca79c3 | 266 | movefunction (); |
viviien | 21:c826abca79c3 | 267 | } |
viviien | 21:c826abca79c3 | 268 | else { |
viviien | 21:c826abca79c3 | 269 | z0=z0+2.0f; |
Feike | 18:ab0fe311e7f3 | 270 | } |
viviien | 21:c826abca79c3 | 271 | } |
viviien | 22:9f911405e096 | 272 | } |
viviien | 22:9f911405e096 | 273 | } |