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Robot tryout
Dependencies: mbed QEI biquadFilter MODSERIAL FastPWM ttmath Math
Motor_tryout.cpp@32:60a71dcfdb7a, 2019-10-31 (annotated)
- Committer:
- viviien
- Date:
- Thu Oct 31 14:30:59 2019 +0000
- Revision:
- 32:60a71dcfdb7a
- Parent:
- 31:3c13f1c35ee5
- Child:
- 33:88fbf14d8aaf
Het werkt zonder trillingen
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 | 30:390cab7cd6e6 | 16 | AnalogIn potmeter1(A1); |
viviien | 30:390cab7cd6e6 | 17 | |
viviien | 30:390cab7cd6e6 | 18 | |
viviien | 30:390cab7cd6e6 | 19 | |
viviien | 23:18b0be02187f | 20 | QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING); |
viviien | 23:18b0be02187f | 21 | QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING); |
viviien | 23:18b0be02187f | 22 | QEI Encoder3(D2,D3,NC,64,QEI::X4_ENCODING); |
Feike | 7:e119b12e5e7f | 23 | |
viviien | 25:eb3204e45d33 | 24 | float steps1 = 0; |
viviien | 25:eb3204e45d33 | 25 | float steps2 = 0; |
viviien | 25:eb3204e45d33 | 26 | float steps3 = 0; |
Feike | 19:9c8ab7922191 | 27 | int check; |
Feike | 13:18dd7a15603f | 28 | int quit; |
Feike | 19:9c8ab7922191 | 29 | int limit_pos = 8400; |
Feike | 19:9c8ab7922191 | 30 | float steps; |
Feike | 19:9c8ab7922191 | 31 | int g = 0; |
Feike | 19:9c8ab7922191 | 32 | |
Feike | 19:9c8ab7922191 | 33 | bool check1; |
Feike | 19:9c8ab7922191 | 34 | bool check2; |
Feike | 19:9c8ab7922191 | 35 | bool check3; |
Feike | 18:ab0fe311e7f3 | 36 | int counts1 = 0; |
Feike | 18:ab0fe311e7f3 | 37 | int counts2 = 0; |
Feike | 18:ab0fe311e7f3 | 38 | int counts3 = 0; |
viviien | 27:3eb181cbe183 | 39 | |
Feike | 13:18dd7a15603f | 40 | |
Feike | 18:ab0fe311e7f3 | 41 | const float le = 15.0; |
Feike | 18:ab0fe311e7f3 | 42 | const float f = 37.5; |
Feike | 18:ab0fe311e7f3 | 43 | const float re = 174.0; |
Feike | 18:ab0fe311e7f3 | 44 | const float rf = 50.0; |
Feike | 18:ab0fe311e7f3 | 45 | const float pi = 3.14159265358979323846; |
viviien | 22:9f911405e096 | 46 | const float cospi = -0.5; |
viviien | 22:9f911405e096 | 47 | const float sinpi = 0.8660254; |
Feike | 18:ab0fe311e7f3 | 48 | float y2; |
Feike | 18:ab0fe311e7f3 | 49 | float y1; |
Feike | 18:ab0fe311e7f3 | 50 | float z1; |
Feike | 18:ab0fe311e7f3 | 51 | float z2; |
Feike | 18:ab0fe311e7f3 | 52 | float rje2; |
Feike | 18:ab0fe311e7f3 | 53 | float rje; |
Feike | 18:ab0fe311e7f3 | 54 | float r2; |
Feike | 18:ab0fe311e7f3 | 55 | float r; |
Feike | 19:9c8ab7922191 | 56 | |
Feike | 18:ab0fe311e7f3 | 57 | float z0=-172; |
Feike | 18:ab0fe311e7f3 | 58 | float y0=0; |
Feike | 18:ab0fe311e7f3 | 59 | float x0=0; |
Feike | 19:9c8ab7922191 | 60 | |
Feike | 18:ab0fe311e7f3 | 61 | float theta1; |
Feike | 18:ab0fe311e7f3 | 62 | float theta2; |
Feike | 18:ab0fe311e7f3 | 63 | float theta3; |
Feike | 18:ab0fe311e7f3 | 64 | float oldtheta1=0; |
Feike | 18:ab0fe311e7f3 | 65 | float oldtheta2=0; |
Feike | 18:ab0fe311e7f3 | 66 | float oldtheta3=0; |
Feike | 19:9c8ab7922191 | 67 | |
viviien | 28:43a1d67ff8ea | 68 | // Constant values for PI |
viviien | 30:390cab7cd6e6 | 69 | float Kp; |
viviien | 30:390cab7cd6e6 | 70 | float Kd; |
viviien | 30:390cab7cd6e6 | 71 | |
viviien | 30:390cab7cd6e6 | 72 | float Ts = 0.0025; |
viviien | 28:43a1d67ff8ea | 73 | float error1 = 0; |
viviien | 30:390cab7cd6e6 | 74 | float error2 = 0; |
viviien | 30:390cab7cd6e6 | 75 | float error3 = 0; |
viviien | 28:43a1d67ff8ea | 76 | |
viviien | 30:390cab7cd6e6 | 77 | float newmotor1 = 1; |
viviien | 30:390cab7cd6e6 | 78 | float newmotor2 = 1; |
viviien | 30:390cab7cd6e6 | 79 | float newmotor3 = 1; |
viviien | 30:390cab7cd6e6 | 80 | |
viviien | 30:390cab7cd6e6 | 81 | float u_k1 = 0; |
viviien | 30:390cab7cd6e6 | 82 | float u_k2 = 0; |
viviien | 30:390cab7cd6e6 | 83 | float u_k3 = 0; |
viviien | 30:390cab7cd6e6 | 84 | |
viviien | 30:390cab7cd6e6 | 85 | float u_d1 = 0; |
viviien | 30:390cab7cd6e6 | 86 | float u_d2 = 0; |
viviien | 30:390cab7cd6e6 | 87 | float u_d3 = 0; |
viviien | 30:390cab7cd6e6 | 88 | |
viviien | 30:390cab7cd6e6 | 89 | float lasterror1 = 0; |
viviien | 30:390cab7cd6e6 | 90 | float lasterror2 = 0; |
viviien | 30:390cab7cd6e6 | 91 | float lasterror3 = 0; |
viviien | 30:390cab7cd6e6 | 92 | |
viviien | 30:390cab7cd6e6 | 93 | float derivative1 = 0; |
viviien | 30:390cab7cd6e6 | 94 | float derivative2 = 0; |
viviien | 30:390cab7cd6e6 | 95 | float derivative3 = 0; |
viviien | 30:390cab7cd6e6 | 96 | |
viviien | 32:60a71dcfdb7a | 97 | float angle1 = 0; |
viviien | 32:60a71dcfdb7a | 98 | float angle2 = 0; |
viviien | 32:60a71dcfdb7a | 99 | float angle3 = 0; |
viviien | 32:60a71dcfdb7a | 100 | |
viviien | 32:60a71dcfdb7a | 101 | bool timer = false; |
viviien | 32:60a71dcfdb7a | 102 | float time_sin = 0; |
viviien | 32:60a71dcfdb7a | 103 | |
viviien | 32:60a71dcfdb7a | 104 | |
viviien | 32:60a71dcfdb7a | 105 | void delta_calctheta1 () { |
viviien | 32:60a71dcfdb7a | 106 | float y2 = y0 + le; |
viviien | 32:60a71dcfdb7a | 107 | float y1 = f; |
viviien | 32:60a71dcfdb7a | 108 | float z1 = 0.0; |
viviien | 32:60a71dcfdb7a | 109 | float z2 = z0; |
viviien | 32:60a71dcfdb7a | 110 | float rje2 = re*re - x0*x0; |
viviien | 32:60a71dcfdb7a | 111 | float rje = sqrt(rje2); |
viviien | 32:60a71dcfdb7a | 112 | float r2 = (y1-y2)*(y1-y2) + (z1-z0)*(z1-z0); |
viviien | 32:60a71dcfdb7a | 113 | float r = sqrt(r2); |
viviien | 32:60a71dcfdb7a | 114 | |
viviien | 32:60a71dcfdb7a | 115 | if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) { |
viviien | 32:60a71dcfdb7a | 116 | int check = 1; |
viviien | 32:60a71dcfdb7a | 117 | pc.printf("\n\rPunt bestaat niet"); |
viviien | 32:60a71dcfdb7a | 118 | } |
viviien | 32:60a71dcfdb7a | 119 | else { |
viviien | 32:60a71dcfdb7a | 120 | float alpha = acos((r2 + rf*rf -rje2)/(2*rf*r)); |
viviien | 32:60a71dcfdb7a | 121 | float beta = atan((z1-z2)/(y1-y2)); |
viviien | 32:60a71dcfdb7a | 122 | if(beta<0) { |
viviien | 32:60a71dcfdb7a | 123 | beta = beta + pi; |
viviien | 32:60a71dcfdb7a | 124 | } |
viviien | 32:60a71dcfdb7a | 125 | theta1 = (beta - alpha); |
viviien | 32:60a71dcfdb7a | 126 | } |
viviien | 32:60a71dcfdb7a | 127 | } |
viviien | 32:60a71dcfdb7a | 128 | |
viviien | 32:60a71dcfdb7a | 129 | void delta_calctheta2 () { |
viviien | 32:60a71dcfdb7a | 130 | float xref = x0*cospi+y0*sinpi; |
viviien | 32:60a71dcfdb7a | 131 | float yref = y0*cospi-x0*sinpi; |
viviien | 32:60a71dcfdb7a | 132 | float zref = z0; |
viviien | 32:60a71dcfdb7a | 133 | float y2 = yref + le; |
viviien | 32:60a71dcfdb7a | 134 | float y1 = f; |
viviien | 32:60a71dcfdb7a | 135 | float z1 = 0.0; |
viviien | 32:60a71dcfdb7a | 136 | float z2 = zref; |
viviien | 32:60a71dcfdb7a | 137 | float rje2 = re*re - xref*xref; |
viviien | 32:60a71dcfdb7a | 138 | float rje = sqrt(rje2); |
viviien | 32:60a71dcfdb7a | 139 | float r2 = (y1-y2)*(y1-y2) + (z1-zref)*(z1-zref); |
viviien | 32:60a71dcfdb7a | 140 | float r = sqrt(r2); |
viviien | 32:60a71dcfdb7a | 141 | |
viviien | 32:60a71dcfdb7a | 142 | if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) { |
viviien | 32:60a71dcfdb7a | 143 | int check = 1; |
viviien | 32:60a71dcfdb7a | 144 | pc.printf("\n\rPunt bestaat niet"); |
viviien | 32:60a71dcfdb7a | 145 | } |
viviien | 32:60a71dcfdb7a | 146 | else { |
viviien | 32:60a71dcfdb7a | 147 | float alpha = acos((r2 + rf*rf -rje2)/(2*rf*r)); |
viviien | 32:60a71dcfdb7a | 148 | float beta = atan((z1-z2)/(y1-y2)); |
viviien | 32:60a71dcfdb7a | 149 | if(beta<0) { |
viviien | 32:60a71dcfdb7a | 150 | beta = beta + pi; |
viviien | 32:60a71dcfdb7a | 151 | } |
viviien | 32:60a71dcfdb7a | 152 | theta2 = (beta - alpha); |
viviien | 32:60a71dcfdb7a | 153 | } |
viviien | 32:60a71dcfdb7a | 154 | } |
viviien | 32:60a71dcfdb7a | 155 | |
viviien | 32:60a71dcfdb7a | 156 | void delta_calctheta3 () { |
viviien | 32:60a71dcfdb7a | 157 | float xreff = x0*cospi-y0*sinpi; |
viviien | 32:60a71dcfdb7a | 158 | float yreff = y0*cospi+y0*sinpi; |
viviien | 32:60a71dcfdb7a | 159 | float zreff = z0; |
viviien | 32:60a71dcfdb7a | 160 | float y2 = yreff + le; |
viviien | 32:60a71dcfdb7a | 161 | float y1 = f; |
viviien | 32:60a71dcfdb7a | 162 | float z1 = 0.0; |
viviien | 32:60a71dcfdb7a | 163 | float z2 = zreff; |
viviien | 32:60a71dcfdb7a | 164 | float rje2 = re*re - xreff*xreff; |
viviien | 32:60a71dcfdb7a | 165 | float rje = sqrt(rje2); |
viviien | 32:60a71dcfdb7a | 166 | float r2 = (y1-y2)*(y1-y2) + (z1-zreff)*(z1-zreff); |
viviien | 32:60a71dcfdb7a | 167 | float r = sqrt(r2); |
viviien | 32:60a71dcfdb7a | 168 | |
viviien | 32:60a71dcfdb7a | 169 | if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) { |
viviien | 32:60a71dcfdb7a | 170 | int check = 1; |
viviien | 32:60a71dcfdb7a | 171 | pc.printf("\n\rPunt bestaat niet"); |
viviien | 32:60a71dcfdb7a | 172 | } |
viviien | 32:60a71dcfdb7a | 173 | else { |
viviien | 32:60a71dcfdb7a | 174 | float alpha = acos((r2 + rf*rf -rje2)/(2*rf*r)); |
viviien | 32:60a71dcfdb7a | 175 | float beta = atan((z1-z2)/(y1-y2)); |
viviien | 32:60a71dcfdb7a | 176 | if(beta<0) { |
viviien | 32:60a71dcfdb7a | 177 | beta = beta + pi; |
viviien | 32:60a71dcfdb7a | 178 | } |
viviien | 32:60a71dcfdb7a | 179 | theta3 = (beta - alpha); |
viviien | 32:60a71dcfdb7a | 180 | } |
viviien | 32:60a71dcfdb7a | 181 | } |
viviien | 32:60a71dcfdb7a | 182 | |
viviien | 32:60a71dcfdb7a | 183 | |
viviien | 32:60a71dcfdb7a | 184 | |
viviien | 30:390cab7cd6e6 | 185 | |
viviien | 30:390cab7cd6e6 | 186 | Ticker motor_timer; |
viviien | 32:60a71dcfdb7a | 187 | void motor(){ |
viviien | 32:60a71dcfdb7a | 188 | |
viviien | 30:390cab7cd6e6 | 189 | counts1 = Encoder1.getPulses(); |
viviien | 30:390cab7cd6e6 | 190 | counts2 = Encoder2.getPulses(); |
viviien | 30:390cab7cd6e6 | 191 | counts3 = Encoder3.getPulses(); |
viviien | 32:60a71dcfdb7a | 192 | |
viviien | 32:60a71dcfdb7a | 193 | z0 = -172.0 + 10* sin(time_sin); |
viviien | 29:7eb028b359a1 | 194 | |
viviien | 32:60a71dcfdb7a | 195 | delta_calctheta1 (); |
viviien | 32:60a71dcfdb7a | 196 | delta_calctheta2 (); |
viviien | 32:60a71dcfdb7a | 197 | delta_calctheta3 (); |
viviien | 30:390cab7cd6e6 | 198 | |
viviien | 32:60a71dcfdb7a | 199 | angle1 = counts1/(8400.0)*2.0*pi; |
viviien | 32:60a71dcfdb7a | 200 | angle2 = counts2/(8400.0)*2.0*pi; |
viviien | 32:60a71dcfdb7a | 201 | angle3 = counts3/(8400.0)*2.0*pi; |
viviien | 30:390cab7cd6e6 | 202 | |
viviien | 32:60a71dcfdb7a | 203 | error1 = theta1 - angle1; |
viviien | 32:60a71dcfdb7a | 204 | error2 = theta2 - angle2; |
viviien | 32:60a71dcfdb7a | 205 | error3 = theta3 - angle3; |
viviien | 30:390cab7cd6e6 | 206 | |
viviien | 32:60a71dcfdb7a | 207 | Kp = 10; |
viviien | 31:3c13f1c35ee5 | 208 | Kd = potmeter1 * 1000; |
viviien | 30:390cab7cd6e6 | 209 | |
viviien | 32:60a71dcfdb7a | 210 | u_k1 = Kp * error1; |
viviien | 30:390cab7cd6e6 | 211 | u_k2 = Kp * error2; |
viviien | 30:390cab7cd6e6 | 212 | u_k3 = Kp * error3; |
viviien | 30:390cab7cd6e6 | 213 | |
viviien | 32:60a71dcfdb7a | 214 | newmotor1 = u_k1; |
viviien | 32:60a71dcfdb7a | 215 | newmotor2 = u_k2; |
viviien | 32:60a71dcfdb7a | 216 | newmotor3 = u_k3; |
viviien | 30:390cab7cd6e6 | 217 | |
viviien | 30:390cab7cd6e6 | 218 | if (newmotor1>1.0f){ |
viviien | 30:390cab7cd6e6 | 219 | newmotor1 =1.0f; |
viviien | 23:18b0be02187f | 220 | } |
viviien | 30:390cab7cd6e6 | 221 | if (newmotor1<-1.0f){ |
viviien | 30:390cab7cd6e6 | 222 | newmotor1 = -1.0f; |
viviien | 30:390cab7cd6e6 | 223 | } |
viviien | 30:390cab7cd6e6 | 224 | |
viviien | 30:390cab7cd6e6 | 225 | if (newmotor2>1.0f){ |
viviien | 30:390cab7cd6e6 | 226 | newmotor2 =1.0f; |
viviien | 30:390cab7cd6e6 | 227 | } |
viviien | 30:390cab7cd6e6 | 228 | if (newmotor2<-1.0f){ |
viviien | 30:390cab7cd6e6 | 229 | newmotor2 = -1.0f; |
viviien | 30:390cab7cd6e6 | 230 | } |
viviien | 30:390cab7cd6e6 | 231 | |
viviien | 30:390cab7cd6e6 | 232 | if (newmotor3>1.0f){ |
viviien | 30:390cab7cd6e6 | 233 | newmotor3 =1.0f; |
viviien | 30:390cab7cd6e6 | 234 | } |
viviien | 30:390cab7cd6e6 | 235 | if (newmotor3<-1.0f){ |
viviien | 30:390cab7cd6e6 | 236 | newmotor3 = -1.0f; |
viviien | 30:390cab7cd6e6 | 237 | } |
viviien | 30:390cab7cd6e6 | 238 | |
viviien | 30:390cab7cd6e6 | 239 | motor1_pwm.write(fabs(newmotor1)); |
viviien | 32:60a71dcfdb7a | 240 | motor1_dir.write(newmotor1<0); |
viviien | 30:390cab7cd6e6 | 241 | |
viviien | 30:390cab7cd6e6 | 242 | motor2_pwm.write(fabs(newmotor2)); |
viviien | 32:60a71dcfdb7a | 243 | motor2_dir.write(newmotor2>0); |
viviien | 30:390cab7cd6e6 | 244 | |
viviien | 30:390cab7cd6e6 | 245 | motor3_pwm.write(fabs(newmotor3)); |
viviien | 32:60a71dcfdb7a | 246 | motor3_dir.write(newmotor3<0); |
viviien | 30:390cab7cd6e6 | 247 | |
viviien | 32:60a71dcfdb7a | 248 | time_sin += 0.002; |
viviien | 30:390cab7cd6e6 | 249 | } |
viviien | 25:eb3204e45d33 | 250 | |
viviien | 32:60a71dcfdb7a | 251 | |
viviien | 28:43a1d67ff8ea | 252 | |
viviien | 28:43a1d67ff8ea | 253 | /////////////////// |
viviien | 28:43a1d67ff8ea | 254 | // MAIN FUNCTION // |
viviien | 28:43a1d67ff8ea | 255 | /////////////////// |
viviien | 28:43a1d67ff8ea | 256 | |
viviien | 22:9f911405e096 | 257 | int main(void) { |
viviien | 30:390cab7cd6e6 | 258 | motor_timer.attach(&motor, 0.002); |
viviien | 26:432d3519ba86 | 259 | |
viviien | 28:43a1d67ff8ea | 260 | pc.baud(115200); |
Feike | 17:6da57acb7bea | 261 | char cc = pc.getc(); |
viviien | 30:390cab7cd6e6 | 262 | |
viviien | 30:390cab7cd6e6 | 263 | int frequency_pwm = 10000; //10 kHz PWM |
Feike | 19:9c8ab7922191 | 264 | |
viviien | 28:43a1d67ff8ea | 265 | while(true){ |
viviien | 22:9f911405e096 | 266 | } |
viviien | 32:60a71dcfdb7a | 267 | //END MAIN |
viviien | 22:9f911405e096 | 268 | } |