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
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?
User | Revision | Line number | New 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 | } |