Helvijs Kiselis
/
MicromousePES2
main.cpp: Sensoren einlesen und Motoren ansteuern
Controller.cpp@5:47262622a9bf, 2018-04-16 (annotated)
- Committer:
- Helvis
- Date:
- Mon Apr 16 12:44:48 2018 +0000
- Revision:
- 5:47262622a9bf
- Parent:
- 0:9a3e7847a4be
testtestest;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Helvis | 0:9a3e7847a4be | 1 | #include "Controller.h" |
Helvis | 0:9a3e7847a4be | 2 | |
Helvis | 0:9a3e7847a4be | 3 | using namespace std; |
Helvis | 0:9a3e7847a4be | 4 | |
Helvis | 0:9a3e7847a4be | 5 | const float Controller::PERIOD = 0.001f; // Periode von 1 ms |
Helvis | 5:47262622a9bf | 6 | const float Controller::COUNTS_PER_TURN = 1560.0f; // Encoder-Aufloesung |
Helvis | 0:9a3e7847a4be | 7 | const float Controller::LOWPASS_FILTER_FREQUENCY = 300.0f; // in [rad/s] |
Helvis | 5:47262622a9bf | 8 | const float Controller::KN = 15.0f; // Drehzahlkonstante in [rpm/V] |
Helvis | 0:9a3e7847a4be | 9 | const float Controller::KP = 0.25f; // KP Regler-Parameter |
Helvis | 0:9a3e7847a4be | 10 | const float Controller::KI = 4.0f; // KI Regler-Parameter |
Helvis | 0:9a3e7847a4be | 11 | const float Controller::I_MAX = 10000.0f; // KI Regler-Parameter Saettigung |
Helvis | 0:9a3e7847a4be | 12 | const float Controller::MAX_VOLTAGE = 12.0f; // Batteriespannung in [V] |
Helvis | 0:9a3e7847a4be | 13 | const float Controller::MIN_DUTY_CYCLE = 0.02f; // minimale Duty-Cycle |
Helvis | 0:9a3e7847a4be | 14 | const float Controller::MAX_DUTY_CYCLE = 0.98f; // maximale Duty-Cycle |
Helvis | 0:9a3e7847a4be | 15 | |
Helvis | 0:9a3e7847a4be | 16 | int ii =0; |
Helvis | 0:9a3e7847a4be | 17 | |
Helvis | 0:9a3e7847a4be | 18 | Controller::Controller(PwmOut& pwmLeft, PwmOut& pwmRight, |
Helvis | 0:9a3e7847a4be | 19 | EncoderCounter& counterLeft, EncoderCounter& counterRight) : |
Helvis | 0:9a3e7847a4be | 20 | pwmLeft(pwmLeft), pwmRight(pwmRight), |
Helvis | 0:9a3e7847a4be | 21 | counterLeft(counterLeft), counterRight(counterRight) { |
Helvis | 0:9a3e7847a4be | 22 | |
Helvis | 0:9a3e7847a4be | 23 | // Initialisieren der PWM Ausgaenge |
Helvis | 0:9a3e7847a4be | 24 | |
Helvis | 0:9a3e7847a4be | 25 | pwmLeft.period(0.00005f); // PWM Periode von 50 us |
Helvis | 0:9a3e7847a4be | 26 | pwmLeft = 0.5f; // Duty-Cycle von 50% |
Helvis | 0:9a3e7847a4be | 27 | pwmRight.period(0.00005f); // PWM Periode von 50 us |
Helvis | 0:9a3e7847a4be | 28 | pwmRight = 0.5f; // Duty-Cycle von 50% |
Helvis | 0:9a3e7847a4be | 29 | |
Helvis | 0:9a3e7847a4be | 30 | // Initialisieren von lokalen Variabeln |
Helvis | 0:9a3e7847a4be | 31 | |
Helvis | 0:9a3e7847a4be | 32 | previousValueCounterLeft = counterLeft.read(); |
Helvis | 0:9a3e7847a4be | 33 | previousValueCounterRight = counterRight.read(); |
Helvis | 0:9a3e7847a4be | 34 | |
Helvis | 0:9a3e7847a4be | 35 | speedLeftFilter.setPeriod(PERIOD); |
Helvis | 0:9a3e7847a4be | 36 | speedLeftFilter.setFrequency(LOWPASS_FILTER_FREQUENCY); |
Helvis | 0:9a3e7847a4be | 37 | |
Helvis | 0:9a3e7847a4be | 38 | speedRightFilter.setPeriod(PERIOD); |
Helvis | 0:9a3e7847a4be | 39 | speedRightFilter.setFrequency(LOWPASS_FILTER_FREQUENCY); |
Helvis | 0:9a3e7847a4be | 40 | |
Helvis | 0:9a3e7847a4be | 41 | desiredSpeedLeft = 0.0f; |
Helvis | 0:9a3e7847a4be | 42 | desiredSpeedRight = 0.0f; |
Helvis | 0:9a3e7847a4be | 43 | |
Helvis | 0:9a3e7847a4be | 44 | actualSpeedLeft = 0.0f; |
Helvis | 0:9a3e7847a4be | 45 | actualSpeedRight = 0.0f; |
Helvis | 0:9a3e7847a4be | 46 | |
Helvis | 0:9a3e7847a4be | 47 | // Starten des periodischen Tasks |
Helvis | 0:9a3e7847a4be | 48 | ticker.attach(callback(this, &Controller::run), PERIOD); |
Helvis | 0:9a3e7847a4be | 49 | } |
Helvis | 0:9a3e7847a4be | 50 | |
Helvis | 0:9a3e7847a4be | 51 | Controller::~Controller() |
Helvis | 0:9a3e7847a4be | 52 | { |
Helvis | 0:9a3e7847a4be | 53 | ticker.detach(); // Stoppt den periodischen Task |
Helvis | 0:9a3e7847a4be | 54 | } |
Helvis | 0:9a3e7847a4be | 55 | |
Helvis | 0:9a3e7847a4be | 56 | |
Helvis | 0:9a3e7847a4be | 57 | void Controller::setDesiredSpeedLeft(float desiredSpeedLeft) |
Helvis | 0:9a3e7847a4be | 58 | { |
Helvis | 0:9a3e7847a4be | 59 | this->desiredSpeedLeft = desiredSpeedLeft; |
Helvis | 0:9a3e7847a4be | 60 | } |
Helvis | 0:9a3e7847a4be | 61 | |
Helvis | 0:9a3e7847a4be | 62 | void Controller::setDesiredSpeedRight(float desiredSpeedRight) |
Helvis | 0:9a3e7847a4be | 63 | { |
Helvis | 0:9a3e7847a4be | 64 | this->desiredSpeedRight = desiredSpeedRight; |
Helvis | 0:9a3e7847a4be | 65 | } |
Helvis | 0:9a3e7847a4be | 66 | |
Helvis | 0:9a3e7847a4be | 67 | float Controller::getSpeedLeft() |
Helvis | 0:9a3e7847a4be | 68 | { |
Helvis | 0:9a3e7847a4be | 69 | return actualSpeedLeft; |
Helvis | 0:9a3e7847a4be | 70 | } |
Helvis | 0:9a3e7847a4be | 71 | |
Helvis | 0:9a3e7847a4be | 72 | float Controller::getSpeedRight() |
Helvis | 0:9a3e7847a4be | 73 | { |
Helvis | 0:9a3e7847a4be | 74 | return actualSpeedRight; |
Helvis | 0:9a3e7847a4be | 75 | } |
Helvis | 0:9a3e7847a4be | 76 | |
Helvis | 0:9a3e7847a4be | 77 | float Controller::getIntegralLeft() |
Helvis | 0:9a3e7847a4be | 78 | { |
Helvis | 0:9a3e7847a4be | 79 | return iSumLeft; |
Helvis | 0:9a3e7847a4be | 80 | } |
Helvis | 0:9a3e7847a4be | 81 | |
Helvis | 0:9a3e7847a4be | 82 | float Controller::getIntegralRight() |
Helvis | 0:9a3e7847a4be | 83 | { |
Helvis | 0:9a3e7847a4be | 84 | return iSumRight; |
Helvis | 0:9a3e7847a4be | 85 | } |
Helvis | 0:9a3e7847a4be | 86 | |
Helvis | 0:9a3e7847a4be | 87 | float Controller::getProportionalLeft() |
Helvis | 0:9a3e7847a4be | 88 | { |
Helvis | 0:9a3e7847a4be | 89 | return (desiredSpeedLeft-actualSpeedLeft); |
Helvis | 0:9a3e7847a4be | 90 | } |
Helvis | 0:9a3e7847a4be | 91 | |
Helvis | 0:9a3e7847a4be | 92 | float Controller::getProportionalRight() |
Helvis | 0:9a3e7847a4be | 93 | { |
Helvis | 0:9a3e7847a4be | 94 | return (desiredSpeedRight-actualSpeedRight); |
Helvis | 0:9a3e7847a4be | 95 | } |
Helvis | 0:9a3e7847a4be | 96 | |
Helvis | 0:9a3e7847a4be | 97 | void Controller::run() { |
Helvis | 0:9a3e7847a4be | 98 | |
Helvis | 0:9a3e7847a4be | 99 | // Berechnen die effektiven Drehzahlen der Motoren in [rpm] |
Helvis | 0:9a3e7847a4be | 100 | |
Helvis | 0:9a3e7847a4be | 101 | short valueCounterLeft = counterLeft.read(); |
Helvis | 0:9a3e7847a4be | 102 | short valueCounterRight = counterRight.read(); |
Helvis | 0:9a3e7847a4be | 103 | |
Helvis | 0:9a3e7847a4be | 104 | short countsInPastPeriodLeft = valueCounterLeft-previousValueCounterLeft; |
Helvis | 0:9a3e7847a4be | 105 | short countsInPastPeriodRight = valueCounterRight-previousValueCounterRight; |
Helvis | 0:9a3e7847a4be | 106 | |
Helvis | 0:9a3e7847a4be | 107 | previousValueCounterLeft = valueCounterLeft; |
Helvis | 0:9a3e7847a4be | 108 | previousValueCounterRight = valueCounterRight; |
Helvis | 0:9a3e7847a4be | 109 | |
Helvis | 0:9a3e7847a4be | 110 | actualSpeedLeft = speedLeftFilter.filter((float)countsInPastPeriodLeft |
Helvis | 0:9a3e7847a4be | 111 | /COUNTS_PER_TURN/PERIOD*60.0f); |
Helvis | 0:9a3e7847a4be | 112 | actualSpeedRight = speedRightFilter.filter((float)countsInPastPeriodRight |
Helvis | 0:9a3e7847a4be | 113 | /COUNTS_PER_TURN/PERIOD*60.0f); |
Helvis | 0:9a3e7847a4be | 114 | |
Helvis | 0:9a3e7847a4be | 115 | |
Helvis | 0:9a3e7847a4be | 116 | //Berechnung I - Anteil |
Helvis | 0:9a3e7847a4be | 117 | |
Helvis | 0:9a3e7847a4be | 118 | |
Helvis | 0:9a3e7847a4be | 119 | iSumLeft += (desiredSpeedLeft-actualSpeedLeft); |
Helvis | 0:9a3e7847a4be | 120 | if (iSumLeft > I_MAX) iSumLeft = I_MAX; //Max Saettigung I - Anteil |
Helvis | 0:9a3e7847a4be | 121 | if (iSumLeft < -I_MAX) iSumLeft = -I_MAX; //Min Saettigung I - Anteil |
Helvis | 0:9a3e7847a4be | 122 | |
Helvis | 0:9a3e7847a4be | 123 | iSumRight += (desiredSpeedRight-actualSpeedRight); |
Helvis | 0:9a3e7847a4be | 124 | if (iSumRight > I_MAX) iSumRight = I_MAX; //Max Saettigung I - Anteil |
Helvis | 0:9a3e7847a4be | 125 | if (iSumRight < -I_MAX) iSumRight = -I_MAX; //Min Saettigung I - Anteil |
Helvis | 0:9a3e7847a4be | 126 | |
Helvis | 0:9a3e7847a4be | 127 | // Berechnen der Motorspannungen Uout |
Helvis | 0:9a3e7847a4be | 128 | |
Helvis | 0:9a3e7847a4be | 129 | float voltageLeft = KP*(desiredSpeedLeft-actualSpeedLeft)+KI*iSumLeft*PERIOD |
Helvis | 0:9a3e7847a4be | 130 | +desiredSpeedLeft/KN; |
Helvis | 0:9a3e7847a4be | 131 | float voltageRight = KP*(desiredSpeedRight-actualSpeedRight)+KI*iSumRight*PERIOD |
Helvis | 0:9a3e7847a4be | 132 | +desiredSpeedRight/KN; |
Helvis | 0:9a3e7847a4be | 133 | |
Helvis | 0:9a3e7847a4be | 134 | // Berechnen, Limitieren und Setzen der Duty-Cycle |
Helvis | 0:9a3e7847a4be | 135 | |
Helvis | 0:9a3e7847a4be | 136 | float dutyCycleLeft = 0.5f+0.5f*voltageLeft/MAX_VOLTAGE; |
Helvis | 0:9a3e7847a4be | 137 | if (dutyCycleLeft < MIN_DUTY_CYCLE) dutyCycleLeft = MIN_DUTY_CYCLE; |
Helvis | 0:9a3e7847a4be | 138 | else if (dutyCycleLeft > MAX_DUTY_CYCLE) dutyCycleLeft = MAX_DUTY_CYCLE; |
Helvis | 0:9a3e7847a4be | 139 | pwmLeft = dutyCycleLeft; |
Helvis | 0:9a3e7847a4be | 140 | |
Helvis | 0:9a3e7847a4be | 141 | float dutyCycleRight = 0.5f+0.5f*voltageRight/MAX_VOLTAGE; |
Helvis | 0:9a3e7847a4be | 142 | if (dutyCycleRight < MIN_DUTY_CYCLE) dutyCycleRight = MIN_DUTY_CYCLE; |
Helvis | 0:9a3e7847a4be | 143 | else if (dutyCycleRight > MAX_DUTY_CYCLE) dutyCycleRight = MAX_DUTY_CYCLE; |
Helvis | 0:9a3e7847a4be | 144 | pwmRight = dutyCycleRight; |
Helvis | 0:9a3e7847a4be | 145 | |
Helvis | 0:9a3e7847a4be | 146 | } |