Jasper Gerth / controlandadjust

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Dependents:   buttoncontrol includeair includeair Oudverslag

controlandadjust.h@15:a1a29db96f4f, 2015-10-20 (annotated)

Committer:
Gerth
Date:
Tue Oct 20 15:14:14 2015 +0000
Revision:
15:a1a29db96f4f
Parent:
13:a128fd574295
Child:
17:666505754e3f
added an errorband, if the error is within this band, the signal to the motors = 0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gerth 4:e732794d8e7f 1 /**
Gerth 4:e732794d8e7f 2 * @author Jasper Gerth
Gerth 4:e732794d8e7f 3 *
Gerth 4:e732794d8e7f 4 *
Gerth 4:e732794d8e7f 5 * @section DESCRIPTION
Gerth 4:e732794d8e7f 6 *
Gerth 4:e732794d8e7f 7 * This library contains a P-, PI-, and a PID-controller.
Gerth 4:e732794d8e7f 8 * The controller takes controller consta
Gerth 4:e732794d8e7f 9 */
Gerth 4:e732794d8e7f 10
Gerth 5:5794dbc42c3d 11 #ifndef _CONTROLANDADJUST_H_
Gerth 5:5794dbc42c3d 12 #define _CONTROLANDADJUST_H_
Gerth 3:8e6dacabe898 13 /**
Gerth 3:8e6dacabe898 14 * Includes
Gerth 3:8e6dacabe898 15 */
Gerth 0:041a12a5b315 16 #include "mbed.h"
Gerth 0:041a12a5b315 17
Gerth 1:ece12a295ce3 18 /** A library with a P-, PI- and PID-controller, useful for the module biorobotics
Gerth 3:8e6dacabe898 19 * Example
Gerth 3:8e6dacabe898 20 * @code
Gerth 3:8e6dacabe898 21 * #include "mbed.h"
Gerth 3:8e6dacabe898 22 * #include "controlandadjust.h"
Gerth 3:8e6dacabe898 23 * #include "QEI.h" //This is found at https://developer.mbed.org/users/aberk/code/QEI/
Gerth 3:8e6dacabe898 24 *
Gerth 3:8e6dacabe898 25 * QEI encoder1 (D13, D12, NC, 32); //Encoder with X2 encoding and 32 counts per revolution
Gerth 3:8e6dacabe898 26 * QEI encoder2 (D111, D10, NC, 32); //Encoder with X2 encoding and 32 counts per revolution
Gerth 3:8e6dacabe898 27 *
Gerth 3:8e6dacabe898 28 * controlandadjust mycontroller; //NO () AT THE END!!
Gerth 3:8e6dacabe898 29 * const float kp=0.5;
Gerth 3:8e6dacabe898 30 * AnalogIn pot(A0);
Gerth 3:8e6dacabe898 31 *
Gerth 3:8e6dacabe898 32 * int main(){
Gerth 3:8e6dacabe898 33 * while(1){
Gerth 3:8e6dacabe898 34 * float error1=(2*PI*pot.read()-counttorad*encoder1.getPulses()); //calculate error motor 1
Gerth 3:8e6dacabe898 35 * float error2=(2*PI*pot.read()-counttorad*encoder2.getPulses()); //calculate error motor 2
Gerth 3:8e6dacabe898 36 *
Gerth 3:8e6dacabe898 37 * controller.P(error1,error2,kp); //controll with p controller
Gerth 3:8e6dacabe898 38 * };
Gerth 3:8e6dacabe898 39 * return 0;
Gerth 3:8e6dacabe898 40 * }
Gerth 3:8e6dacabe898 41 * @endcode
Gerth 1:ece12a295ce3 42 */
Gerth 3:8e6dacabe898 43
Gerth 3:8e6dacabe898 44 /**
Gerth 3:8e6dacabe898 45 * Controller for biorobotics
Gerth 3:8e6dacabe898 46 */
Gerth 0:041a12a5b315 47 class controlandadjust
Gerth 0:041a12a5b315 48 {
Gerth 4:e732794d8e7f 49
Gerth 0:041a12a5b315 50 public:
Gerth 4:e732794d8e7f 51
Gerth 4:e732794d8e7f 52 /**
Gerth 4:e732794d8e7f 53 * Constructor.
Gerth 4:e732794d8e7f 54 *
Gerth 13:a128fd574295 55 *Constructs a controller no don't put () after your controller
Gerth 15:a1a29db96f4f 56 *@param errorband : float Width of the band at of allowable error
Gerth 4:e732794d8e7f 57 */
Gerth 15:a1a29db96f4f 58 controlandadjust(float errorband);
Gerth 4:e732794d8e7f 59
Gerth 3:8e6dacabe898 60 /** P controller
Gerth 3:8e6dacabe898 61 * @param error1 : float Error from motor 1
Gerth 3:8e6dacabe898 62 * @param error2 : float Error from motor 2
Gerth 3:8e6dacabe898 63 * @param Kp : float Desired value of Kp for your controller
Gerth 3:8e6dacabe898 64 * @return void
Gerth 3:8e6dacabe898 65 */
Gerth 0:041a12a5b315 66 void P(float error1, float error2 ,float Kp );
Gerth 3:8e6dacabe898 67
Gerth 3:8e6dacabe898 68 /** PI controller
Gerth 3:8e6dacabe898 69 * @param error1 : float Error from motor 1
Gerth 3:8e6dacabe898 70 * @param error2 : float Error from motor 2
Gerth 3:8e6dacabe898 71 * @param Kp : float Desired value of Kp for your controller
Gerth 3:8e6dacabe898 72 * @param Ki : float Desired value of Ki for your controller
Gerth 3:8e6dacabe898 73 * @param Ts : float Sampling time of your controller (1/Fs)
Gerth 3:8e6dacabe898 74 * @param &error1_int : float Error for the integral from motor 1
Gerth 3:8e6dacabe898 75 * @param &error2_int : float Error for the integral from motor 2
Gerth 3:8e6dacabe898 76 * @return void
Gerth 3:8e6dacabe898 77 */
Gerth 0:041a12a5b315 78 void PI(float error1, float error2, float Kp, float Ki,float Ts, float &error1_int, float &error2_int);
Gerth 3:8e6dacabe898 79
Gerth 3:8e6dacabe898 80 /** PID controller
Gerth 3:8e6dacabe898 81 * @param error1 : float Error from motor 1
Gerth 3:8e6dacabe898 82 * @param error2 : float Error from motor 2
Gerth 3:8e6dacabe898 83 * @param Kp : float Desired value of Kp for your controller
Gerth 3:8e6dacabe898 84 * @param Ki : float Desired value of Ki for your controller
Gerth 3:8e6dacabe898 85 * @param Kd : float Desired value of Kd for your controller
Gerth 3:8e6dacabe898 86 * @param Ts : float Sampling time of your controller (1/Fs)
Gerth 3:8e6dacabe898 87 * @param &error1_int : float Error for the integral from motor 1
Gerth 3:8e6dacabe898 88 * @param &error2_int : float Error for the integral from motor 2
Gerth 3:8e6dacabe898 89 * @param &error1_prev : float Previous error from motor 1 for the derivative
Gerth 3:8e6dacabe898 90 * @param &error2_prev : float Previous error from motor 2 for the derivative
Gerth 3:8e6dacabe898 91 * @return void
Gerth 3:8e6dacabe898 92 */
Gerth 0:041a12a5b315 93 void PID(float error1, float error2, float Kp, float Ki,float Kd,float Ts,
Gerth 1:ece12a295ce3 94 float &error1_int, float &error2_int, float &error1_prev, float &error2_prev);
Gerth 3:8e6dacabe898 95
Gerth 3:8e6dacabe898 96 /** Read the PWM signal to motor 1
Gerth 3:8e6dacabe898 97 * @return PWM signal to motor 1
Gerth 3:8e6dacabe898 98 */
Gerth 1:ece12a295ce3 99 float motor1pwm();
Gerth 3:8e6dacabe898 100
Gerth 3:8e6dacabe898 101 /** Read the PWM signal to motor 2
Gerth 3:8e6dacabe898 102 * @return PWM signal to motor 2
Gerth 3:8e6dacabe898 103 */
Gerth 1:ece12a295ce3 104 float motor2pwm();
Gerth 8:3b077fc3d1ec 105
Gerth 8:3b077fc3d1ec 106 /** STOPS both motors
Gerth 8:3b077fc3d1ec 107 * @return void
Gerth 8:3b077fc3d1ec 108 */
Gerth 8:3b077fc3d1ec 109 void STOP();
Gerth 11:ef8d28e010a2 110
Gerth 11:ef8d28e010a2 111 /** set safety cutoff value for the pwm signal to the motors
Gerth 11:ef8d28e010a2 112 * @return void
Gerth 11:ef8d28e010a2 113 */
Gerth 11:ef8d28e010a2 114 void cutoff(float maxvalue);
Gerth 0:041a12a5b315 115
Gerth 0:041a12a5b315 116 private:
Gerth 4:e732794d8e7f 117 /**
Gerth 4:e732794d8e7f 118 *Checks the signal and updates the PWM and direction for motor 1 and 2
Gerth 4:e732794d8e7f 119 */
Gerth 1:ece12a295ce3 120 void verwerksignaal(float , float );
Gerth 1:ece12a295ce3 121
Gerth 0:041a12a5b315 122 };
Gerth 0:041a12a5b315 123
Gerth 4:e732794d8e7f 124 #endif /* CONTROLANDADJUST_H */