Gerhard Berman / Mbed 2 deprecated prog_inversekin

First trial for Inverse Kinematics Feedforward implementation. No errors, not yet tested with board

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of prog_pract3_3_PI_controller by Gerhard Berman

main.cpp@7:2f74dfd1d411, 2016-10-19 (annotated)

Committer:
GerhardBerman
Date:
Wed Oct 19 13:28:38 2016 +0000
Revision:
7:2f74dfd1d411
Parent:
6:3c4f3f2ce54f
Child:
8:935abf8ecc27
First trial for Inverse kinematics Feedforward implementation. No errors, not yet tested with board.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GerhardBerman 0:43160ef59f9f 1 #include "mbed.h"
GerhardBerman 0:43160ef59f9f 2 #include <math.h>
GerhardBerman 0:43160ef59f9f 3 #include "MODSERIAL.h"
GerhardBerman 0:43160ef59f9f 4 #include "QEI.h"
GerhardBerman 0:43160ef59f9f 5 #include "HIDScope.h"
GerhardBerman 0:43160ef59f9f 6 #include "BiQuad.h"
GerhardBerman 0:43160ef59f9f 7
GerhardBerman 0:43160ef59f9f 8 //set pins
GerhardBerman 0:43160ef59f9f 9 DigitalIn encoder1A (D13); //Channel A van Encoder 1
GerhardBerman 0:43160ef59f9f 10 DigitalIn encoder1B (D12); //Channel B van Encoder 1
GerhardBerman 0:43160ef59f9f 11 DigitalOut led1 (D11);
GerhardBerman 0:43160ef59f9f 12 DigitalOut led2 (D10);
GerhardBerman 3:8caef4872b0c 13 AnalogIn potMeter1(A2);
GerhardBerman 0:43160ef59f9f 14 AnalogIn potMeter2(A1);
GerhardBerman 0:43160ef59f9f 15 DigitalOut motor1DirectionPin(D7);
GerhardBerman 0:43160ef59f9f 16 PwmOut motor1MagnitudePin(D6);
GerhardBerman 7:2f74dfd1d411 17 DigitalOut motor2DirectionPin(D4);
GerhardBerman 7:2f74dfd1d411 18 PwmOut motor2MagnitudePin(D5);
GerhardBerman 7:2f74dfd1d411 19 DigitalIn button1(D8);
GerhardBerman 7:2f74dfd1d411 20 DigitalIn button2(D9);
GerhardBerman 0:43160ef59f9f 21
GerhardBerman 7:2f74dfd1d411 22 //library settings
GerhardBerman 0:43160ef59f9f 23 Serial pc(USBTX,USBRX);
GerhardBerman 3:8caef4872b0c 24 Ticker MeasureTicker, BiQuadTicker; //, TimeTracker; // sampleT;
GerhardBerman 6:3c4f3f2ce54f 25 HIDScope scope(3);
GerhardBerman 0:43160ef59f9f 26
GerhardBerman 7:2f74dfd1d411 27 //set initial conditions
GerhardBerman 7:2f74dfd1d411 28 float error1_prev = 0;
GerhardBerman 7:2f74dfd1d411 29 float error2_prev = 0;
GerhardBerman 7:2f74dfd1d411 30 float IntError1 = 0;
GerhardBerman 7:2f74dfd1d411 31 float IntError2 = 0;
GerhardBerman 7:2f74dfd1d411 32 float q1 = 0;
GerhardBerman 7:2f74dfd1d411 33 float q2 = 0;
GerhardBerman 7:2f74dfd1d411 34 float q1_dot;
GerhardBerman 7:2f74dfd1d411 35 float q2_dot;
GerhardBerman 4:19e376d31380 36
GerhardBerman 7:2f74dfd1d411 37 //set constant or variable values
GerhardBerman 7:2f74dfd1d411 38 int counts1 = 0;
GerhardBerman 7:2f74dfd1d411 39 int counts2 = 0;
GerhardBerman 7:2f74dfd1d411 40 int counts1Prev = 0;
GerhardBerman 7:2f74dfd1d411 41 int counts2Prev = 0;
GerhardBerman 7:2f74dfd1d411 42 double DerivativeCounts;
GerhardBerman 7:2f74dfd1d411 43 float x0 = 1.0;
GerhardBerman 7:2f74dfd1d411 44 float L0 = 1.0;
GerhardBerman 7:2f74dfd1d411 45 float L1 = 1.0;
GerhardBerman 7:2f74dfd1d411 46 float dx;
GerhardBerman 7:2f74dfd1d411 47 float dy;
GerhardBerman 7:2f74dfd1d411 48 float dy_stampdown = 0.05; //5 cm movement downward to stamp
GerhardBerman 7:2f74dfd1d411 49
GerhardBerman 4:19e376d31380 50 float t_sample = 0.01; //seconds
GerhardBerman 0:43160ef59f9f 51 float referenceVelocity = 0;
GerhardBerman 3:8caef4872b0c 52 float bqcDerivativeCounts = 0;
GerhardBerman 3:8caef4872b0c 53 const float PI = 3.141592653589793;
GerhardBerman 3:8caef4872b0c 54 const int cw = 0; //values for cw and ccw are inverted!! cw=0 and ccw=1
GerhardBerman 3:8caef4872b0c 55 const int ccw = 1;
GerhardBerman 0:43160ef59f9f 56
GerhardBerman 0:43160ef59f9f 57 //set BiQuad
GerhardBerman 0:43160ef59f9f 58 BiQuadChain bqc;
GerhardBerman 0:43160ef59f9f 59 BiQuad bq1(0.0186, 0.0743, 0.1114, 0.0743, 0.0186); //get numbers from butter filter MATLAB
GerhardBerman 0:43160ef59f9f 60 BiQuad bq2(1.0000, -1.5704, 1.2756, -0.4844, 0.0762);
GerhardBerman 0:43160ef59f9f 61
GerhardBerman 0:43160ef59f9f 62 //set go-Ticker settings
GerhardBerman 3:8caef4872b0c 63 volatile bool MeasureTicker_go=false, BiQuadTicker_go=false, FeedbackTicker_go=false, TimeTracker_go=false; // sampleT_go=false;
GerhardBerman 3:8caef4872b0c 64 void MeasureTicker_act(){MeasureTicker_go=true;}; // Activates go-flags
GerhardBerman 3:8caef4872b0c 65 void BiQuadTicker_act(){BiQuadTicker_go=true;};
GerhardBerman 3:8caef4872b0c 66 void FeedbackTicker_act(){FeedbackTicker_go=true;};
GerhardBerman 3:8caef4872b0c 67 void TimeTracker_act(){TimeTracker_go=true;};
GerhardBerman 3:8caef4872b0c 68 //void sampleT_act(){sampleT_go=true;};
GerhardBerman 3:8caef4872b0c 69
GerhardBerman 3:8caef4872b0c 70 //define encoder counts and degrees
GerhardBerman 7:2f74dfd1d411 71 QEI Encoder1(D12, D13, NC, 32); // turns on encoder
GerhardBerman 7:2f74dfd1d411 72 QEI Encoder2(D14, D15, NC, 32); // turns on encoder
GerhardBerman 4:19e376d31380 73 const int counts_per_revolution = 4200; //counts per motor axis revolution
GerhardBerman 4:19e376d31380 74 const int inverse_gear_ratio = 131;
GerhardBerman 4:19e376d31380 75 //const float motor_axial_resolution = counts_per_revolution/(2*PI);
GerhardBerman 4:19e376d31380 76 const float resolution = counts_per_revolution/(2*PI/inverse_gear_ratio); //87567.0496892 counts per radian, encoder axis
GerhardBerman 3:8caef4872b0c 77
GerhardBerman 7:2f74dfd1d411 78 float GetReferenceKinematics1(){
GerhardBerman 7:2f74dfd1d411 79
GerhardBerman 7:2f74dfd1d411 80 //get joint positions q from encoder
GerhardBerman 7:2f74dfd1d411 81 float Encoder1Position = counts1/resolution; //position in radians, encoder axis
GerhardBerman 7:2f74dfd1d411 82 float q1 = Encoder1Position*inverse_gear_ratio; //position in radians, motor axis
GerhardBerman 7:2f74dfd1d411 83
GerhardBerman 7:2f74dfd1d411 84 //float Encoder2Position = counts2/resolution; //position in radians, encoder axis
GerhardBerman 7:2f74dfd1d411 85 //float q2 = Encoder2Position*inverse_gear_ratio; //position in radians, motor axis
GerhardBerman 7:2f74dfd1d411 86
GerhardBerman 7:2f74dfd1d411 87 //NOTNECESSARY calculate end effector position with Brockett
GerhardBerman 7:2f74dfd1d411 88
GerhardBerman 7:2f74dfd1d411 89 //NOTNECESSARY get desired position Pe* from EMG(?)
GerhardBerman 7:2f74dfd1d411 90
GerhardBerman 7:2f74dfd1d411 91 //get velocity vector v = (Pe*- Pe) = [0; dx; dy] from EMG
GerhardBerman 7:2f74dfd1d411 92 float biceps1 = button1.read();
GerhardBerman 7:2f74dfd1d411 93 float biceps2 = button2.read();
GerhardBerman 7:2f74dfd1d411 94 while (biceps1 > 0){
GerhardBerman 7:2f74dfd1d411 95 if (biceps2 > 0){ //both arms activated: stamp moves down
GerhardBerman 7:2f74dfd1d411 96 dx = 0;
GerhardBerman 7:2f74dfd1d411 97 dy = dy_stampdown; //into stamping vertical position?? ~the stamp down action
GerhardBerman 7:2f74dfd1d411 98 wait(1);
GerhardBerman 7:2f74dfd1d411 99 dy = -(dy_stampdown); //reset vertical position
GerhardBerman 7:2f74dfd1d411 100 }
GerhardBerman 7:2f74dfd1d411 101 else{ //left arm activated
GerhardBerman 7:2f74dfd1d411 102 dx = biceps1;
GerhardBerman 7:2f74dfd1d411 103 dy = 0;
GerhardBerman 7:2f74dfd1d411 104 }
GerhardBerman 7:2f74dfd1d411 105 while (biceps2 > 0){
GerhardBerman 7:2f74dfd1d411 106 if (biceps1 <= 0){ //right arm activated
GerhardBerman 7:2f74dfd1d411 107 dx = -biceps2;
GerhardBerman 7:2f74dfd1d411 108 dy = 0;
GerhardBerman 7:2f74dfd1d411 109 }
GerhardBerman 7:2f74dfd1d411 110 }
GerhardBerman 7:2f74dfd1d411 111
GerhardBerman 7:2f74dfd1d411 112 //get joint angles change q_dot = Jpseudo * TwistEndEff (Matlab)
GerhardBerman 7:2f74dfd1d411 113 float q1_dot = dy*(((x0 + L1*cos(q1))*(L0*L0 + L1*sin(q1)*L0 + x0*x0 + L1*cos(q1)*x0 + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1)) - (x0*(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + L0*L0 + x0*x0 + 2*L0*L1*sin(q1) + 2*L1*x0*cos(q1) + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1))) - dx*(((L0 + L1*sin(q1))*(L0*L0 + L1*sin(q1)*L0 + x0*x0 + L1*cos(q1)*x0 + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1)) - (L0*(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + L0*L0 + x0*x0 + 2*L0*L1*sin(q1) + 2*L1*x0*cos(q1) + 1))/(pow(L1*cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*L1*L1*x0*cos(q1)*sin(q1)));
GerhardBerman 7:2f74dfd1d411 114
GerhardBerman 7:2f74dfd1d411 115 //update joint angles
GerhardBerman 7:2f74dfd1d411 116 q1 = q1 + q1_dot;
GerhardBerman 7:2f74dfd1d411 117 }
GerhardBerman 7:2f74dfd1d411 118 return q1_dot;
GerhardBerman 7:2f74dfd1d411 119 }
GerhardBerman 7:2f74dfd1d411 120
GerhardBerman 7:2f74dfd1d411 121 float GetReferenceKinematics2(){
GerhardBerman 7:2f74dfd1d411 122
GerhardBerman 7:2f74dfd1d411 123 //get joint positions q from encoder
GerhardBerman 7:2f74dfd1d411 124 float Encoder1Position = counts1/resolution; //position in radians, encoder axis
GerhardBerman 7:2f74dfd1d411 125 float q1 = Encoder1Position*inverse_gear_ratio; //position in radians, motor axis
GerhardBerman 7:2f74dfd1d411 126
GerhardBerman 7:2f74dfd1d411 127 float Encoder2Position = counts2/resolution; //position in radians, encoder axis
GerhardBerman 7:2f74dfd1d411 128 float q2 = Encoder2Position*inverse_gear_ratio; //position in radians, motor axis
GerhardBerman 7:2f74dfd1d411 129
GerhardBerman 7:2f74dfd1d411 130 //NOTNECESSARY calculate end effector position with Brockett
GerhardBerman 7:2f74dfd1d411 131
GerhardBerman 7:2f74dfd1d411 132 //NOTNECESSARY get desired position Pe* from EMG(?)
GerhardBerman 7:2f74dfd1d411 133
GerhardBerman 7:2f74dfd1d411 134 //get velocity vector v = (Pe*- Pe) = [0; dx; dy] from EMG
GerhardBerman 7:2f74dfd1d411 135 float biceps1 = button1.read();
GerhardBerman 7:2f74dfd1d411 136 float biceps2 = button2.read();
GerhardBerman 7:2f74dfd1d411 137 while (biceps1 > 0){
GerhardBerman 7:2f74dfd1d411 138 if (biceps2 > 0){ //both arms activated: stamp moves down
GerhardBerman 7:2f74dfd1d411 139 dx = 0;
GerhardBerman 7:2f74dfd1d411 140 dy = dy_stampdown; //into stamping vertical position?? ~the stamp down action
GerhardBerman 7:2f74dfd1d411 141 wait(1);
GerhardBerman 7:2f74dfd1d411 142 dy = -(dy_stampdown); //reset vertical position
GerhardBerman 7:2f74dfd1d411 143 }
GerhardBerman 7:2f74dfd1d411 144 else{ //left arm activated
GerhardBerman 7:2f74dfd1d411 145 dx = biceps1;
GerhardBerman 7:2f74dfd1d411 146 dy = 0;
GerhardBerman 7:2f74dfd1d411 147 }
GerhardBerman 7:2f74dfd1d411 148 while (biceps2 > 0){
GerhardBerman 7:2f74dfd1d411 149 if (biceps1 <= 0){ //right arm activated
GerhardBerman 7:2f74dfd1d411 150 dx = -biceps2;
GerhardBerman 7:2f74dfd1d411 151 dy = 0;
GerhardBerman 7:2f74dfd1d411 152 }
GerhardBerman 7:2f74dfd1d411 153 }
GerhardBerman 7:2f74dfd1d411 154
GerhardBerman 7:2f74dfd1d411 155 //get joint angles change q_dot = Jpseudo * TwistEndEff; (Matlab)
GerhardBerman 7:2f74dfd1d411 156 float q2_dot = dy*((x0*(L0*L0 + L1*sin(q1)*L0 + x0*x0 + L1*cos(q1)*x0 + 1))/(L1*L1*pow(cos(q1),2) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*pow(L1,2)*x0*cos(q1)*sin(q1)) - ((x0 + L1*cos(q1))*(pow(L0,2) + pow(x0,2) + 1))/(pow(L1*cos(q1),2)) + pow(L1*sin(q1),2) + pow(L1*x0*sin(q1),2) + pow(L0*L1*cos(q1),2) - 2*L0*pow(L1,2)*x0*cos(q1)*sin(q1)) - dx*((L0*(L0*L0+L1*sin(q1)*L0+x0*x0+L1*cos(q1)*x0+1))/(pow(L1*cos(q1),2)+pow(L1*sin(q1),2)+pow(L1*x0*sin(q1),2)+pow(L0*L1*cos(q1),2)-2*L0*L1*L1*x0*cos(q1)*sin(q1))-((L0 + L1*sin(q1))*(L0*L0 + x0*x0 + 1))/(pow(L1*cos(q1),2)+pow(L1*sin(q1),2)+pow(L1*x0*sin(q1),2)+pow(L0*L1*cos(q1),2)-2*L0*L1*L1*x0*cos(q1)*sin(q1)));
GerhardBerman 7:2f74dfd1d411 157
GerhardBerman 7:2f74dfd1d411 158 //update joint angles
GerhardBerman 7:2f74dfd1d411 159 q2 = q2 + q2_dot;
GerhardBerman 7:2f74dfd1d411 160 }
GerhardBerman 7:2f74dfd1d411 161 return q2_dot;
GerhardBerman 7:2f74dfd1d411 162 }
GerhardBerman 7:2f74dfd1d411 163
GerhardBerman 7:2f74dfd1d411 164 /*
GerhardBerman 7:2f74dfd1d411 165 float GetReferencePosition(){
GerhardBerman 3:8caef4872b0c 166 // Returns reference position in rad.
GerhardBerman 3:8caef4872b0c 167 // Positive value means clockwise rotation.
GerhardBerman 3:8caef4872b0c 168 const float maxPosition = 2*PI; //6.283185307179586; // in radians
GerhardBerman 3:8caef4872b0c 169 float Potmeter1 = potMeter1.read();
GerhardBerman 7:2f74dfd1d411 170 float referencePosition1 = Potmeter1 * maxPosition; //Potmeter1 * maxPosition; //refpos in radians
GerhardBerman 3:8caef4872b0c 171 pc.printf("Max Position: %f rad \r\n", maxPosition);
GerhardBerman 4:19e376d31380 172 pc.printf("Potmeter1, refpos: %f \r\n", Potmeter1);
GerhardBerman 7:2f74dfd1d411 173 pc.printf("Motor Axis Ref Position1: %f rad \r\n", referencePosition1);
GerhardBerman 7:2f74dfd1d411 174 return referencePosition1;
GerhardBerman 7:2f74dfd1d411 175 }
GerhardBerman 7:2f74dfd1d411 176 */
GerhardBerman 7:2f74dfd1d411 177
GerhardBerman 7:2f74dfd1d411 178 float FeedForwardControl1(float q1_dot){
GerhardBerman 7:2f74dfd1d411 179 //float Encoder1Position = counts1/resolution; //position in radians, encoder axis
GerhardBerman 7:2f74dfd1d411 180 //float Position1 = Encoder1Position*inverse_gear_ratio; //position in radians, motor axis
GerhardBerman 7:2f74dfd1d411 181
GerhardBerman 7:2f74dfd1d411 182 // linear feedback control
GerhardBerman 7:2f74dfd1d411 183 float error1 = q1_dot; //referencePosition1 - Position1; // proportional error in radians
GerhardBerman 7:2f74dfd1d411 184 float Kp = 1; //potMeter2.read();
GerhardBerman 7:2f74dfd1d411 185
GerhardBerman 7:2f74dfd1d411 186 float IntError1 = IntError1 + error1*t_sample; // integrated error in radians
GerhardBerman 7:2f74dfd1d411 187 //float maxKi = 0.2;
GerhardBerman 7:2f74dfd1d411 188 float Ki = 0.1; //potMeter2.read();
GerhardBerman 7:2f74dfd1d411 189
GerhardBerman 7:2f74dfd1d411 190 float DerivativeError1 = (error1_prev + error1)/t_sample; // derivative of error in radians
GerhardBerman 7:2f74dfd1d411 191 //float maxKd = 0.2;
GerhardBerman 7:2f74dfd1d411 192 float Kd = 0.0; //potMeter2.read();
GerhardBerman 7:2f74dfd1d411 193
GerhardBerman 7:2f74dfd1d411 194 //scope.set(0,referencePosition1);
GerhardBerman 7:2f74dfd1d411 195 //scope.set(1,Position1);
GerhardBerman 7:2f74dfd1d411 196 //scope.set(2,Ki);
GerhardBerman 7:2f74dfd1d411 197 //scope.send();
GerhardBerman 7:2f74dfd1d411 198
GerhardBerman 7:2f74dfd1d411 199 float motorValue1 = error1 * Kp + IntError1 * Ki + DerivativeError1 * Kd; //total controller output = motor input
GerhardBerman 7:2f74dfd1d411 200 //pc.printf("Motor Axis Position: %f rad \r\n", Position1);
GerhardBerman 7:2f74dfd1d411 201 //pc.printf("Counts encoder1: %i rad \r\n", counts1);
GerhardBerman 7:2f74dfd1d411 202 //pc.printf("Kp: %f \r\n", Kp);
GerhardBerman 7:2f74dfd1d411 203 //pc.printf("MotorValue: %f \r\n", motorValue1);
GerhardBerman 7:2f74dfd1d411 204
GerhardBerman 7:2f74dfd1d411 205 error1_prev = error1;
GerhardBerman 7:2f74dfd1d411 206 return motorValue1;
GerhardBerman 3:8caef4872b0c 207 }
GerhardBerman 3:8caef4872b0c 208
GerhardBerman 7:2f74dfd1d411 209 float FeedForwardControl2(float q2_dot){
GerhardBerman 7:2f74dfd1d411 210 //float Encoder2Position = counts2/resolution; //position in radians, encoder axis
GerhardBerman 7:2f74dfd1d411 211 //float Position2 = Encoder2Position*inverse_gear_ratio; //position in radians, motor axis
GerhardBerman 6:3c4f3f2ce54f 212
GerhardBerman 7:2f74dfd1d411 213 // linear feedback control
GerhardBerman 7:2f74dfd1d411 214 float error2 = q2_dot; //referencePosition2 - Position2; // proportional error in radians
GerhardBerman 4:19e376d31380 215 float Kp = 1; //potMeter2.read();
GerhardBerman 7:2f74dfd1d411 216
GerhardBerman 7:2f74dfd1d411 217 float IntError2 = IntError2 + error2*t_sample; // integrated error in radians
GerhardBerman 7:2f74dfd1d411 218 //float maxKi = 0.2;
GerhardBerman 7:2f74dfd1d411 219 float Ki = 0.1; //potMeter2.read();
GerhardBerman 4:19e376d31380 220
GerhardBerman 7:2f74dfd1d411 221 float DerivativeError2 = (error2_prev + error2)/t_sample; // derivative of error in radians
GerhardBerman 7:2f74dfd1d411 222 //float maxKd = 0.2;
GerhardBerman 7:2f74dfd1d411 223 float Kd = 0.0; //potMeter2.read()*maxKd;
GerhardBerman 7:2f74dfd1d411 224
GerhardBerman 7:2f74dfd1d411 225 //scope.set(0,referencePosition1);
GerhardBerman 7:2f74dfd1d411 226 //scope.set(1,Position1);
GerhardBerman 7:2f74dfd1d411 227 //scope.set(2,Ki);
GerhardBerman 7:2f74dfd1d411 228 //scope.send();
GerhardBerman 4:19e376d31380 229
GerhardBerman 7:2f74dfd1d411 230 float motorValue2 = error2 * Kp + IntError2 * Ki + DerivativeError2 * Kd; //total controller output = motor input
GerhardBerman 7:2f74dfd1d411 231 //pc.printf("Motor Axis Position: %f rad \r\n", Position1);
GerhardBerman 7:2f74dfd1d411 232 //pc.printf("Counts encoder1: %i rad \r\n", counts1);
GerhardBerman 7:2f74dfd1d411 233 //pc.printf("Kp: %f \r\n", Kp);
GerhardBerman 7:2f74dfd1d411 234 //pc.printf("MotorValue: %f \r\n", motorValue1);
GerhardBerman 6:3c4f3f2ce54f 235
GerhardBerman 7:2f74dfd1d411 236 error2_prev = error2;
GerhardBerman 7:2f74dfd1d411 237 return motorValue2;
GerhardBerman 3:8caef4872b0c 238 }
GerhardBerman 0:43160ef59f9f 239
GerhardBerman 7:2f74dfd1d411 240 void SetMotor1(float motorValue1)
GerhardBerman 3:8caef4872b0c 241 {
GerhardBerman 3:8caef4872b0c 242 // Given -1<=motorValue<=1, this sets the PWM and direction
GerhardBerman 3:8caef4872b0c 243 // bits for motor 1. Positive value makes motor rotating
GerhardBerman 3:8caef4872b0c 244 // clockwise. motorValues outside range are truncated to
GerhardBerman 3:8caef4872b0c 245 // within range
GerhardBerman 7:2f74dfd1d411 246 if (motorValue1 >=0)
GerhardBerman 3:8caef4872b0c 247 {motor1DirectionPin=cw;
GerhardBerman 3:8caef4872b0c 248 led1=1;
GerhardBerman 3:8caef4872b0c 249 led2=0;
GerhardBerman 3:8caef4872b0c 250 }
GerhardBerman 3:8caef4872b0c 251 else {motor1DirectionPin=ccw;
GerhardBerman 3:8caef4872b0c 252 led1=0;
GerhardBerman 3:8caef4872b0c 253 led2=1;
GerhardBerman 3:8caef4872b0c 254 }
GerhardBerman 7:2f74dfd1d411 255 if (fabs(motorValue1)>1) motor1MagnitudePin = 1;
GerhardBerman 7:2f74dfd1d411 256 else motor1MagnitudePin = fabs(motorValue1);
GerhardBerman 7:2f74dfd1d411 257 }
GerhardBerman 7:2f74dfd1d411 258
GerhardBerman 7:2f74dfd1d411 259 void SetMotor2(float motorValue2)
GerhardBerman 7:2f74dfd1d411 260 {
GerhardBerman 7:2f74dfd1d411 261 // Given -1<=motorValue<=1, this sets the PWM and direction
GerhardBerman 7:2f74dfd1d411 262 // bits for motor 1. Positive value makes motor rotating
GerhardBerman 7:2f74dfd1d411 263 // clockwise. motorValues outside range are truncated to
GerhardBerman 7:2f74dfd1d411 264 // within range
GerhardBerman 7:2f74dfd1d411 265 if (motorValue2 >=0)
GerhardBerman 7:2f74dfd1d411 266 {motor2DirectionPin=cw;
GerhardBerman 7:2f74dfd1d411 267 led1=1;
GerhardBerman 7:2f74dfd1d411 268 led2=0;
GerhardBerman 7:2f74dfd1d411 269 }
GerhardBerman 7:2f74dfd1d411 270 else {motor2DirectionPin=ccw;
GerhardBerman 7:2f74dfd1d411 271 led1=0;
GerhardBerman 7:2f74dfd1d411 272 led2=1;
GerhardBerman 7:2f74dfd1d411 273 }
GerhardBerman 7:2f74dfd1d411 274 if (fabs(motorValue2)>1) motor2MagnitudePin = 1;
GerhardBerman 7:2f74dfd1d411 275 else motor2MagnitudePin = fabs(motorValue2);
GerhardBerman 3:8caef4872b0c 276 }
GerhardBerman 3:8caef4872b0c 277
GerhardBerman 3:8caef4872b0c 278 void MeasureAndControl()
GerhardBerman 3:8caef4872b0c 279 {
GerhardBerman 3:8caef4872b0c 280 // This function measures the potmeter position, extracts a
GerhardBerman 3:8caef4872b0c 281 // reference position from it, and controls the motor with
GerhardBerman 3:8caef4872b0c 282 // a Feedback controller. Call this from a Ticker.
GerhardBerman 7:2f74dfd1d411 283 float referencePosition1 = GetReferenceKinematics1();
GerhardBerman 7:2f74dfd1d411 284 float referencePosition2 = GetReferenceKinematics2();
GerhardBerman 7:2f74dfd1d411 285 //float referencePosition1 = GetReferencePosition1();
GerhardBerman 7:2f74dfd1d411 286 //float referencePosition2 = GetReferencePosition2();
GerhardBerman 7:2f74dfd1d411 287 float motorValue1 = FeedForwardControl1(referencePosition1);
GerhardBerman 7:2f74dfd1d411 288 float motorValue2 = FeedForwardControl2(referencePosition2);
GerhardBerman 7:2f74dfd1d411 289 SetMotor1(motorValue1);
GerhardBerman 7:2f74dfd1d411 290 SetMotor2(motorValue2);
GerhardBerman 3:8caef4872b0c 291 }
GerhardBerman 3:8caef4872b0c 292
GerhardBerman 3:8caef4872b0c 293 void TimeTrackerF(){
GerhardBerman 3:8caef4872b0c 294 //wait(1);
GerhardBerman 3:8caef4872b0c 295 //float Potmeter1 = potMeter1.read();
GerhardBerman 7:2f74dfd1d411 296 //float referencePosition1 = GetReferencePosition();
GerhardBerman 7:2f74dfd1d411 297 //pc.printf("TTReference Position: %d rad \r\n", referencePosition1);
GerhardBerman 3:8caef4872b0c 298 //pc.printf("TTPotmeter1, for refpos: %f \r\n", Potmeter1);
GerhardBerman 3:8caef4872b0c 299 //pc.printf("TTPotmeter2, Kp: %f \r\n", Potmeter2);
GerhardBerman 7:2f74dfd1d411 300 //pc.printf("TTCounts: %i \r\n", counts1);
GerhardBerman 3:8caef4872b0c 301 }
GerhardBerman 7:2f74dfd1d411 302
GerhardBerman 3:8caef4872b0c 303 /*
GerhardBerman 3:8caef4872b0c 304 void BiQuadFilter(){ //this function creates a BiQuad filter for the DerivativeCounts
GerhardBerman 3:8caef4872b0c 305 //double in=DerivativeCounts();
GerhardBerman 3:8caef4872b0c 306 bqcDerivativeCounts=bqc.step(DerivativeCounts);
GerhardBerman 3:8caef4872b0c 307 //return(bqcDerivativeCounts);
GerhardBerman 3:8caef4872b0c 308 }
GerhardBerman 6:3c4f3f2ce54f 309 */
GerhardBerman 6:3c4f3f2ce54f 310
GerhardBerman 0:43160ef59f9f 311 int main()
GerhardBerman 0:43160ef59f9f 312 {
GerhardBerman 0:43160ef59f9f 313 //Initialize
GerhardBerman 3:8caef4872b0c 314 led1=1;
GerhardBerman 3:8caef4872b0c 315 led2=1;
GerhardBerman 3:8caef4872b0c 316 pc.baud(115200);
GerhardBerman 3:8caef4872b0c 317 pc.printf("Test putty");
GerhardBerman 4:19e376d31380 318 MeasureTicker.attach(&MeasureTicker_act, 0.01f);
GerhardBerman 3:8caef4872b0c 319 bqc.add(&bq1).add(&bq2);
GerhardBerman 0:43160ef59f9f 320 QEI Encoder(D12, D13, NC, 32); // turns on encoder
GerhardBerman 0:43160ef59f9f 321
GerhardBerman 0:43160ef59f9f 322 while(1)
GerhardBerman 0:43160ef59f9f 323 {
GerhardBerman 3:8caef4872b0c 324 if (MeasureTicker_go){
GerhardBerman 3:8caef4872b0c 325 MeasureTicker_go=false;
GerhardBerman 3:8caef4872b0c 326 MeasureAndControl();
GerhardBerman 7:2f74dfd1d411 327 counts1 = Encoder1.getPulses(); // gives position of encoder
GerhardBerman 7:2f74dfd1d411 328 counts2 = Encoder2.getPulses(); // gives position of encoder
GerhardBerman 3:8caef4872b0c 329 pc.printf("Resolution: %f pulses/rad \r\n",resolution);
GerhardBerman 3:8caef4872b0c 330 }
GerhardBerman 6:3c4f3f2ce54f 331 /*
GerhardBerman 3:8caef4872b0c 332 if (BiQuadTicker_go){
GerhardBerman 3:8caef4872b0c 333 BiQuadTicker_go=false;
GerhardBerman 3:8caef4872b0c 334 BiQuadFilter();
GerhardBerman 3:8caef4872b0c 335 }
GerhardBerman 6:3c4f3f2ce54f 336 */
GerhardBerman 0:43160ef59f9f 337 }
GerhardBerman 0:43160ef59f9f 338 }