Ingmar Loohuis / Mbed 2 deprecated MotorControl

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Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

main.cpp@17:457dd9a70c7c, 2016-10-26 (annotated)

Committer:
IngmarLoohuis
Date:
Wed Oct 26 13:08:37 2016 +0000
Revision:
17:457dd9a70c7c
Parent:
15:d38d5d4ae86a
Child:
18:e1354199fd48
PIDF, 2 Motors works

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IngmarLoohuis 0:2f40eb89ffce 1 #include "mbed.h"
IngmarLoohuis 2:665df4abd084 2 #include "MODSERIAL.h"
IngmarLoohuis 0:2f40eb89ffce 3 #include "QEI.h"
IngmarLoohuis 0:2f40eb89ffce 4 #include "math.h"
IngmarLoohuis 12:0cf4e70f6b8e 5 #include "BiQuad.h"
IngmarLoohuis 11:eda4fbf91948 6 //#include "HIDScope.h"
IngmarLoohuis 6:6bc6ce1fe94e 7
IngmarLoohuis 6:6bc6ce1fe94e 8 //*****************Defining ports********************
IngmarLoohuis 17:457dd9a70c7c 9
IngmarLoohuis 1:f26a53da33ed 10 PwmOut motor1MagnitudePin(D5);
IngmarLoohuis 17:457dd9a70c7c 11 PwmOut motor2MagnitudePin(D6);
IngmarLoohuis 17:457dd9a70c7c 12 DigitalOut motor1DirectionPin (D4);
IngmarLoohuis 17:457dd9a70c7c 13 DigitalOut motor2DirectionPin (D7);
IngmarLoohuis 17:457dd9a70c7c 14
IngmarLoohuis 15:d38d5d4ae86a 15 QEI encoder_m1(D12,D13,NC,32);
IngmarLoohuis 15:d38d5d4ae86a 16 QEI encoder_m2(D10,D11,NC,32);
IngmarLoohuis 17:457dd9a70c7c 17 //HIDScope scope(1);
IngmarLoohuis 2:665df4abd084 18 DigitalIn button(D2);
IngmarLoohuis 17:457dd9a70c7c 19 MODSERIAL pc(USBTX,USBRX);
IngmarLoohuis 6:6bc6ce1fe94e 20 //*******************Setting tickers and printers*******************
IngmarLoohuis 15:d38d5d4ae86a 21 Ticker angPos1;
IngmarLoohuis 6:6bc6ce1fe94e 22 Ticker t1;
IngmarLoohuis 7:742b1969f6c9 23 Ticker t2;
IngmarLoohuis 7:742b1969f6c9 24 Ticker t3;
IngmarLoohuis 15:d38d5d4ae86a 25 Ticker t4;
IngmarLoohuis 15:d38d5d4ae86a 26 Ticker t5;
IngmarLoohuis 15:d38d5d4ae86a 27 Ticker t6;
IngmarLoohuis 6:6bc6ce1fe94e 28 //**************Go flags********************************************
IngmarLoohuis 6:6bc6ce1fe94e 29 volatile bool fn1_go = false;
IngmarLoohuis 6:6bc6ce1fe94e 30 void fn1_activate(){ fn1_go = true; }; //Activates the go−flag
IngmarLoohuis 7:742b1969f6c9 31 volatile bool fn2_go = false;
IngmarLoohuis 7:742b1969f6c9 32 void fn2_activate(){ fn2_go = true; }; //Activates the go-flag
IngmarLoohuis 7:742b1969f6c9 33 volatile bool fn3_go = false;
IngmarLoohuis 7:742b1969f6c9 34 void fn3_activate(){ fn3_go = true; }; //Activates the go-flag
IngmarLoohuis 15:d38d5d4ae86a 35 volatile bool fn4_go = false;
IngmarLoohuis 15:d38d5d4ae86a 36 void fn4_activate(){ fn4_go = true; }; //Activates the go−flag
IngmarLoohuis 15:d38d5d4ae86a 37 volatile bool fn5_go = false;
IngmarLoohuis 15:d38d5d4ae86a 38 void fn5_activate(){ fn5_go = true; }; //Activates the go-flag
IngmarLoohuis 15:d38d5d4ae86a 39 volatile bool fn6_go = false;
IngmarLoohuis 15:d38d5d4ae86a 40 void fn6_activate(){ fn6_go = true; }; //Activates the go-flag
IngmarLoohuis 6:6bc6ce1fe94e 41 //***************Global Variables***********************************
IngmarLoohuis 6:6bc6ce1fe94e 42 const double pi = 3.14159265359;
IngmarLoohuis 15:d38d5d4ae86a 43 //const double transmissionShoulder =94.4/40.2;
IngmarLoohuis 15:d38d5d4ae86a 44 //const double transmissionElbow = 1.0;
IngmarLoohuis 12:0cf4e70f6b8e 45 // controller constants
IngmarLoohuis 17:457dd9a70c7c 46 const double m1_Kp = 120.0, m1_Ki = 1.44876354368902, m1_Kd = -1.55261758822823, m1_N = 1.70578345077793;
IngmarLoohuis 17:457dd9a70c7c 47 const double m2_Kp = 120.0, m2_Ki = 1.44876354368902, m2_Kd = -1.55261758822823, m2_N = 1.70578345077793;
IngmarLoohuis 15:d38d5d4ae86a 48 const double m1_Ts = 0.001; // Controller sample time motor 1
IngmarLoohuis 15:d38d5d4ae86a 49 const double m2_Ts = 0.001; // Controller sample time motor 2
IngmarLoohuis 15:d38d5d4ae86a 50 double m1_v1 = 0;
IngmarLoohuis 15:d38d5d4ae86a 51 double m1_v2 = 0;
IngmarLoohuis 15:d38d5d4ae86a 52 double m2_v1 = 0;
IngmarLoohuis 15:d38d5d4ae86a 53 double m2_v2 = 0;
IngmarLoohuis 12:0cf4e70f6b8e 54 // position variable
IngmarLoohuis 15:d38d5d4ae86a 55 volatile double radians_m1;
IngmarLoohuis 15:d38d5d4ae86a 56 volatile double radians_m2;
IngmarLoohuis 12:0cf4e70f6b8e 57 //plant variable
IngmarLoohuis 9:6a065971d0ae 58 volatile double motor1;
IngmarLoohuis 15:d38d5d4ae86a 59 volatile double motor2;
IngmarLoohuis 15:d38d5d4ae86a 60
IngmarLoohuis 12:0cf4e70f6b8e 61
IngmarLoohuis 12:0cf4e70f6b8e 62
IngmarLoohuis 6:6bc6ce1fe94e 63 //*****************Angles Arms***********************
IngmarLoohuis 1:f26a53da33ed 64
IngmarLoohuis 6:6bc6ce1fe94e 65 double O1=1.7633;
IngmarLoohuis 6:6bc6ce1fe94e 66 double O2=2.0915;
IngmarLoohuis 6:6bc6ce1fe94e 67 double O3=1.8685;
IngmarLoohuis 6:6bc6ce1fe94e 68 double O4=1.1363;
IngmarLoohuis 6:6bc6ce1fe94e 69 double O5=2.3960;
IngmarLoohuis 6:6bc6ce1fe94e 70 double O6=2.0827;
IngmarLoohuis 6:6bc6ce1fe94e 71 double B1=1.3551;
IngmarLoohuis 6:6bc6ce1fe94e 72 double B2=0.5964;
IngmarLoohuis 6:6bc6ce1fe94e 73 double B3=0.06652;
IngmarLoohuis 6:6bc6ce1fe94e 74 double B4=0.0669;
IngmarLoohuis 6:6bc6ce1fe94e 75 double B5=1.7462;
IngmarLoohuis 6:6bc6ce1fe94e 76 double B6=-0.8994;
IngmarLoohuis 5:931594a366b7 77
IngmarLoohuis 6:6bc6ce1fe94e 78 //**********functions******************************
IngmarLoohuis 17:457dd9a70c7c 79 double PID1( double err, const double Kp, const double Ki, const double Kd,
IngmarLoohuis 12:0cf4e70f6b8e 80 const double Ts, const double N, double &v1, double &v2 ) {
IngmarLoohuis 12:0cf4e70f6b8e 81 // These variables are only calculated once!
IngmarLoohuis 12:0cf4e70f6b8e 82 const double a1 = (-4.0/(N*Ts+2));
IngmarLoohuis 12:0cf4e70f6b8e 83 const double a2 = -(N*Ts-2)/(N*Ts+2);
IngmarLoohuis 12:0cf4e70f6b8e 84 const double b0 = (4.0*Kp + 4*Kd*N + 2*Ki*Ts + 2*Kp*N*Ts + Ki*N*pow(Ts,2))/(2*N*Ts + 4);
IngmarLoohuis 12:0cf4e70f6b8e 85 const double b1 = (Ki*N*pow(Ts,2) - 4.0*Kp - 4.0*Kd*N)/(N*Ts + 2.0);
IngmarLoohuis 12:0cf4e70f6b8e 86 const double b2 = (4*Kp + 4*Kd*N - 2*Ki*Ts - 2*Kp*N*Ts + Ki*N*pow(Ts,2))/(2*N*Ts + 4);
IngmarLoohuis 12:0cf4e70f6b8e 87
IngmarLoohuis 12:0cf4e70f6b8e 88 double v = err - a1*v1 - a2*v2;
IngmarLoohuis 14:6ecf2b986a4b 89 double u = b0*v + b1*v1 + b2*v2;
IngmarLoohuis 12:0cf4e70f6b8e 90 v2 = v1; v1 = v;
IngmarLoohuis 12:0cf4e70f6b8e 91 return u;
IngmarLoohuis 12:0cf4e70f6b8e 92 }
IngmarLoohuis 12:0cf4e70f6b8e 93
IngmarLoohuis 17:457dd9a70c7c 94 double PID2( double err, const double Kp, const double Ki, const double Kd,
IngmarLoohuis 17:457dd9a70c7c 95 const double Ts, const double N, double &v1_2, double &v2_2 ) {
IngmarLoohuis 17:457dd9a70c7c 96 // These variables are only calculated once!
IngmarLoohuis 17:457dd9a70c7c 97 const double a1 = (-4.0/(N*Ts+2));
IngmarLoohuis 17:457dd9a70c7c 98 const double a2 = -(N*Ts-2)/(N*Ts+2);
IngmarLoohuis 17:457dd9a70c7c 99 const double b0 = (4.0*Kp + 4*Kd*N + 2*Ki*Ts + 2*Kp*N*Ts + Ki*N*pow(Ts,2))/(2*N*Ts + 4);
IngmarLoohuis 17:457dd9a70c7c 100 const double b1 = (Ki*N*pow(Ts,2) - 4.0*Kp - 4.0*Kd*N)/(N*Ts + 2.0);
IngmarLoohuis 17:457dd9a70c7c 101 const double b2 = (4*Kp + 4*Kd*N - 2*Ki*Ts - 2*Kp*N*Ts + Ki*N*pow(Ts,2))/(2*N*Ts + 4);
IngmarLoohuis 17:457dd9a70c7c 102
IngmarLoohuis 17:457dd9a70c7c 103 double v = err - a1*v1_2 - a2*v2_2;
IngmarLoohuis 17:457dd9a70c7c 104 double u = b0*v + b1*v1_2 + b2*v2_2;
IngmarLoohuis 17:457dd9a70c7c 105 v2_2 = v1_2; v1_2 = v;
IngmarLoohuis 17:457dd9a70c7c 106 return u;
IngmarLoohuis 17:457dd9a70c7c 107 }
IngmarLoohuis 9:6a065971d0ae 108
IngmarLoohuis 15:d38d5d4ae86a 109 void getAngPosition_m1() //Get angular position motor 1
IngmarLoohuis 6:6bc6ce1fe94e 110 {
IngmarLoohuis 15:d38d5d4ae86a 111 volatile int pulses_m1 = encoder_m1.getPulses();
IngmarLoohuis 17:457dd9a70c7c 112 radians_m1 = (pulses_m1*0.002991*0.5); //2 = encoding type, 3591.84 = counts per revoluton for the two big motors
IngmarLoohuis 15:d38d5d4ae86a 113 }
IngmarLoohuis 13:f92e918af729 114
IngmarLoohuis 15:d38d5d4ae86a 115 void getAngPosition_m2() //Get angular position motor 2
IngmarLoohuis 15:d38d5d4ae86a 116 {
IngmarLoohuis 15:d38d5d4ae86a 117 volatile int pulses_m2 = encoder_m2.getPulses();
IngmarLoohuis 17:457dd9a70c7c 118 radians_m2 = (pulses_m2*0.002991*0.5); //2 = encoding type, 3591.84 = counts per revoluton for the two big motors
IngmarLoohuis 6:6bc6ce1fe94e 119 }
IngmarLoohuis 6:6bc6ce1fe94e 120
IngmarLoohuis 7:742b1969f6c9 121 // Next task, measure the error and apply the output to the plant
IngmarLoohuis 15:d38d5d4ae86a 122 void motor1_Controller(double radians_m1)
IngmarLoohuis 7:742b1969f6c9 123 {
IngmarLoohuis 17:457dd9a70c7c 124 double reference_m1 = -1.0*pi;
IngmarLoohuis 15:d38d5d4ae86a 125 volatile double error_m1 = reference_m1 - radians_m1;
IngmarLoohuis 17:457dd9a70c7c 126 motor1 = PID1( error_m1,m1_Kp,m1_Ki,m1_Kd,m1_Ts, m1_N, m1_v1, m1_v2 );
IngmarLoohuis 15:d38d5d4ae86a 127 }
IngmarLoohuis 15:d38d5d4ae86a 128
IngmarLoohuis 15:d38d5d4ae86a 129 // Next task, measure the error and apply the output to the plant
IngmarLoohuis 15:d38d5d4ae86a 130 void motor2_Controller(double radians_m2)
IngmarLoohuis 15:d38d5d4ae86a 131 {
IngmarLoohuis 17:457dd9a70c7c 132 double reference_m2 = -0.5*pi;
IngmarLoohuis 15:d38d5d4ae86a 133 volatile double error_m2 = reference_m2 - radians_m2;
IngmarLoohuis 17:457dd9a70c7c 134 motor2 = PID1( error_m2,m2_Kp,m2_Ki,m2_Kd,m2_Ts, m2_N, m2_v1, m2_v2 );
IngmarLoohuis 17:457dd9a70c7c 135
IngmarLoohuis 17:457dd9a70c7c 136 pc.printf("motor2 = %d",reference_m2);
IngmarLoohuis 7:742b1969f6c9 137 }
IngmarLoohuis 7:742b1969f6c9 138
IngmarLoohuis 7:742b1969f6c9 139
IngmarLoohuis 15:d38d5d4ae86a 140
IngmarLoohuis 15:d38d5d4ae86a 141 void control_m1(double motor1)
IngmarLoohuis 4:30d8610b63a6 142 {
IngmarLoohuis 17:457dd9a70c7c 143 if(abs(motor1)>1.0)
IngmarLoohuis 2:665df4abd084 144 {
IngmarLoohuis 9:6a065971d0ae 145 motor1MagnitudePin=0.5;//MOET NOG TUSSENWAAREN KRIJGEN
IngmarLoohuis 2:665df4abd084 146 }
IngmarLoohuis 9:6a065971d0ae 147 else
IngmarLoohuis 2:665df4abd084 148 {
IngmarLoohuis 6:6bc6ce1fe94e 149 motor1MagnitudePin=0.0;
IngmarLoohuis 2:665df4abd084 150 }
IngmarLoohuis 9:6a065971d0ae 151 if(motor1<=0)
IngmarLoohuis 9:6a065971d0ae 152 {
IngmarLoohuis 9:6a065971d0ae 153 motor1DirectionPin=0.0;
IngmarLoohuis 9:6a065971d0ae 154 }
IngmarLoohuis 9:6a065971d0ae 155 else {
IngmarLoohuis 9:6a065971d0ae 156 motor1DirectionPin=1.0;
IngmarLoohuis 9:6a065971d0ae 157 }
IngmarLoohuis 0:2f40eb89ffce 158 }
IngmarLoohuis 7:742b1969f6c9 159
IngmarLoohuis 15:d38d5d4ae86a 160 void control_m2(double motor2)
IngmarLoohuis 15:d38d5d4ae86a 161 {
IngmarLoohuis 17:457dd9a70c7c 162 if(abs(motor2)>1)
IngmarLoohuis 15:d38d5d4ae86a 163 {
IngmarLoohuis 17:457dd9a70c7c 164 motor2MagnitudePin=0.2;///MOET NOG TUSSENWAAREN KRIJGEN
IngmarLoohuis 15:d38d5d4ae86a 165 }
IngmarLoohuis 15:d38d5d4ae86a 166 else
IngmarLoohuis 15:d38d5d4ae86a 167 {
IngmarLoohuis 15:d38d5d4ae86a 168 motor2MagnitudePin=0.0;
IngmarLoohuis 15:d38d5d4ae86a 169 }
IngmarLoohuis 17:457dd9a70c7c 170 if(motor2<=0)
IngmarLoohuis 15:d38d5d4ae86a 171 {
IngmarLoohuis 15:d38d5d4ae86a 172 motor2DirectionPin=1.0;
IngmarLoohuis 15:d38d5d4ae86a 173 }
IngmarLoohuis 15:d38d5d4ae86a 174 else {
IngmarLoohuis 15:d38d5d4ae86a 175 motor2DirectionPin=0.0;
IngmarLoohuis 15:d38d5d4ae86a 176 }
IngmarLoohuis 15:d38d5d4ae86a 177 }
IngmarLoohuis 15:d38d5d4ae86a 178
IngmarLoohuis 17:457dd9a70c7c 179
IngmarLoohuis 17:457dd9a70c7c 180
IngmarLoohuis 6:6bc6ce1fe94e 181 //****************MAIN FUNCTION*********************************
IngmarLoohuis 0:2f40eb89ffce 182 int main()
IngmarLoohuis 15:d38d5d4ae86a 183 {
IngmarLoohuis 15:d38d5d4ae86a 184 motor1MagnitudePin.period(1.0/1000.0);
IngmarLoohuis 15:d38d5d4ae86a 185 motor2MagnitudePin.period(1.0/1000.0);
IngmarLoohuis 13:f92e918af729 186 t1.attach(&fn1_activate, 0.0001f);
IngmarLoohuis 7:742b1969f6c9 187 t2.attach(&fn2_activate, 0.0001f);
IngmarLoohuis 7:742b1969f6c9 188 t3.attach(&fn3_activate, 0.0001f);
IngmarLoohuis 15:d38d5d4ae86a 189 t4.attach(&fn4_activate, 0.0001f);
IngmarLoohuis 15:d38d5d4ae86a 190 t5.attach(&fn5_activate, 0.0001f);
IngmarLoohuis 15:d38d5d4ae86a 191 t6.attach(&fn6_activate, 0.0001f);
IngmarLoohuis 11:eda4fbf91948 192 pc.baud(115200);
IngmarLoohuis 10:54b66bd1db20 193 while(true)
IngmarLoohuis 10:54b66bd1db20 194 {
IngmarLoohuis 6:6bc6ce1fe94e 195 if(fn1_go)
IngmarLoohuis 6:6bc6ce1fe94e 196 {
IngmarLoohuis 6:6bc6ce1fe94e 197 fn1_go = false;
IngmarLoohuis 17:457dd9a70c7c 198 getAngPosition_m1();
IngmarLoohuis 6:6bc6ce1fe94e 199 }
IngmarLoohuis 7:742b1969f6c9 200 if(fn2_go)
IngmarLoohuis 7:742b1969f6c9 201 {
IngmarLoohuis 7:742b1969f6c9 202 fn2_go = false;
IngmarLoohuis 15:d38d5d4ae86a 203 motor1_Controller(radians_m1);
IngmarLoohuis 7:742b1969f6c9 204 }
IngmarLoohuis 7:742b1969f6c9 205 if(fn3_go)
IngmarLoohuis 7:742b1969f6c9 206 {
IngmarLoohuis 7:742b1969f6c9 207 fn3_go = false;
IngmarLoohuis 17:457dd9a70c7c 208 control_m1(motor1);
IngmarLoohuis 15:d38d5d4ae86a 209 }
IngmarLoohuis 15:d38d5d4ae86a 210 if(fn4_go)
IngmarLoohuis 15:d38d5d4ae86a 211 {
IngmarLoohuis 15:d38d5d4ae86a 212 fn4_go = false;
IngmarLoohuis 17:457dd9a70c7c 213 getAngPosition_m2();
IngmarLoohuis 7:742b1969f6c9 214 }
IngmarLoohuis 15:d38d5d4ae86a 215 if(fn5_go)
IngmarLoohuis 15:d38d5d4ae86a 216 {
IngmarLoohuis 15:d38d5d4ae86a 217 fn5_go = false;
IngmarLoohuis 15:d38d5d4ae86a 218 motor2_Controller(radians_m2);
IngmarLoohuis 15:d38d5d4ae86a 219 }
IngmarLoohuis 15:d38d5d4ae86a 220 if(fn6_go)
IngmarLoohuis 15:d38d5d4ae86a 221 {
IngmarLoohuis 15:d38d5d4ae86a 222 fn6_go = false;
IngmarLoohuis 17:457dd9a70c7c 223 control_m2(motor2);
IngmarLoohuis 15:d38d5d4ae86a 224 }
IngmarLoohuis 15:d38d5d4ae86a 225
IngmarLoohuis 7:742b1969f6c9 226 }
IngmarLoohuis 2:665df4abd084 227 }