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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

motorAndSensorControl.cpp@19:07706535ff7b, 2019-10-04 (annotated)

Committer:
JordanO
Date:
Fri Oct 04 09:41:14 2019 +0000
Revision:
19:07706535ff7b
Parent:
18:266f1ffdc9c4
Child:
21:0a37e3280bbd
motorAndEncoder added, motorAndEncoder written;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JordanO 19:07706535ff7b 1 //voltage in PWM (between -1 and 1)
JordanO 18:266f1ffdc9c4 2 //period in seconds
JordanO 18:266f1ffdc9c4 3 //dt the time between measurements, i.o.w. Ticker timing
JordanO 18:266f1ffdc9c4 4
JordanO 18:266f1ffdc9c4 5 #include "FastPWM.h"
JordanO 18:266f1ffdc9c4 6 #include "QEI.h"
JordanO 18:266f1ffdc9c4 7
JordanO 18:266f1ffdc9c4 8 //Objects
JordanO 18:266f1ffdc9c4 9 //Motors
JordanO 19:07706535ff7b 10 FastPWM motor1(D6); //Motor1 PWM output pin
JordanO 19:07706535ff7b 11 DigitalOut motor1Dir(D7); //Motor1 directional pin
JordanO 19:07706535ff7b 12 FastPWM motor2(D5); //Motor2 PWM output pin
JordanO 19:07706535ff7b 13 DigitalOut motor2Dir(D4); //Motor2 directional pin
JordanO 18:266f1ffdc9c4 14 //Encoders
JordanO 18:266f1ffdc9c4 15 QEI encoderMotor1(D12,D13,NC,64,QEI::X2_ENCODING);
JordanO 18:266f1ffdc9c4 16 QEI encoderMotor2(D12,D13,NC,64,QEI::X2_ENCODING);
JordanO 18:266f1ffdc9c4 17 //Variables
JordanO 19:07706535ff7b 18 static int countsMotor1[2]; //Array to store motor counts for i and i-1
JordanO 18:266f1ffdc9c4 19 static int countsMotor2[2];
JordanO 18:266f1ffdc9c4 20 static double velocityMotor1;
JordanO 18:266f1ffdc9c4 21 static double velocityMotor2;
JordanO 18:266f1ffdc9c4 22 //Constants
JordanO 18:266f1ffdc9c4 23 const int uniqueMeasurementPoints = 4200; //From Canvas X4 = 8400, X1 = 2100, so X2 = 4200 https://canvas.utwente.nl/courses/4023/pages/project-materials?module_item_id=91422
JordanO 18:266f1ffdc9c4 24 const float countsToRadians = (2*PI)/uniqueMeasurementPoints; //Number of radians per count
JordanO 18:266f1ffdc9c4 25
JordanO 19:07706535ff7b 26 double motorAndEncoder(voltage1, periodMotor1, voltage2, periodMotor2, dt)
JordanO 18:266f1ffdc9c4 27 {
JordanO 18:266f1ffdc9c4 28 //Set motors
JordanO 19:07706535ff7b 29 //Direction
JordanO 19:07706535ff7b 30 if (voltage1<0)
JordanO 19:07706535ff7b 31 {
JordanO 19:07706535ff7b 32 voltage1 *= -1 //Shorthand for *-1
JordanO 19:07706535ff7b 33 motor1Dir.write(1); //negative direction
JordanO 19:07706535ff7b 34 }
JordanO 19:07706535ff7b 35 else
JordanO 19:07706535ff7b 36 {
JordanO 19:07706535ff7b 37 motor1Dir.write(0); //positive direction
JordanO 19:07706535ff7b 38 }
JordanO 19:07706535ff7b 39 if (voltage2<0)
JordanO 19:07706535ff7b 40 {
JordanO 19:07706535ff7b 41 voltage2 *= -1 //Shorthand for *-1
JordanO 19:07706535ff7b 42 motor2Dir.write(1); //negative direction
JordanO 19:07706535ff7b 43 }
JordanO 19:07706535ff7b 44 else
JordanO 19:07706535ff7b 45 {
JordanO 19:07706535ff7b 46 motor2Dir.write(0); //positive direction
JordanO 19:07706535ff7b 47 }
JordanO 19:07706535ff7b 48 //Period and PWM
JordanO 19:07706535ff7b 49 motor1.period(periodMotor1);
JordanO 19:07706535ff7b 50 motor1.write(voltage1);
JordanO 19:07706535ff7b 51
JordanO 19:07706535ff7b 52 motor2.period(periodMotor2);
JordanO 19:07706535ff7b 53 motor2.write(voltage2);
JordanO 18:266f1ffdc9c4 54 //Read encoders
JordanO 18:266f1ffdc9c4 55 //Counts
JordanO 19:07706535ff7b 56 //set the value from last loop to poisition 0 in the vector
JordanO 19:07706535ff7b 57 countsMotor1[0] = countsMotor1[1];
JordanO 19:07706535ff7b 58 countsMotor2[0] = countsMotor2[1];
JordanO 19:07706535ff7b 59 //set the new number of counts to position 1 in the vector
JordanO 19:07706535ff7b 60 countsMotor1[1] = encoderMotor1.gePulses();
JordanO 19:07706535ff7b 61 countsMotor2[1] = encoderMotor2.gePulses();
JordanO 18:266f1ffdc9c4 62 //Velocity calculation
JordanO 18:266f1ffdc9c4 63 velocityMotor1 = ((countsMotor1[1]-countsMotor1[2])/countsToRadians)/dt; //rad/s
JordanO 18:266f1ffdc9c4 64 velocityMotor2 = ((countsMotor2[1]-countsMotor2[2])/countsToRadians)/dt; //rad/s
JordanO 18:266f1ffdc9c4 65
JordanO 18:266f1ffdc9c4 66 return (velocityMotor1, velocityMotor2, countsMotor1[1], countsMotor2[0]);
JordanO 18:266f1ffdc9c4 67 }