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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

motorAndSensorControl.cpp@40:82addb417220, 2019-10-14 (annotated)

Committer:
JornD
Date:
Mon Oct 14 11:46:35 2019 +0000
Revision:
40:82addb417220
Parent:
33:5e2e95c322da
Child:
63:734986afcddb
Child:
66:fa7171cf3f67
Added some files and commented out Jordan's code;

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
JornD 28:4a5671b3d88d 3 //dt the time between measurements, i.o.w. Ticker timing
JordanO 30:161f748a1cce 4
JornD 40:82addb417220 5 /*
JordanO 21:0a37e3280bbd 6 #include "mbed.h"
JordanO 18:266f1ffdc9c4 7 #include "FastPWM.h"
JordanO 18:266f1ffdc9c4 8 #include "QEI.h"
JornD 40:82addb417220 9 #include "functions.h"
JornD 40:82addb417220 10 #include "structures.h"
JornD 40:82addb417220 11
JornD 40:82addb417220 12 extern motorData motorReturn;
JordanO 18:266f1ffdc9c4 13
JordanO 18:266f1ffdc9c4 14 //Objects
JordanO 18:266f1ffdc9c4 15 //Motors
JordanO 19:07706535ff7b 16 FastPWM motor1(D6); //Motor1 PWM output pin
JordanO 19:07706535ff7b 17 DigitalOut motor1Dir(D7); //Motor1 directional pin
JordanO 19:07706535ff7b 18 FastPWM motor2(D5); //Motor2 PWM output pin
JordanO 19:07706535ff7b 19 DigitalOut motor2Dir(D4); //Motor2 directional pin
JordanO 18:266f1ffdc9c4 20 //Encoders
JordanO 18:266f1ffdc9c4 21 QEI encoderMotor1(D12,D13,NC,64,QEI::X2_ENCODING);
JordanO 18:266f1ffdc9c4 22 QEI encoderMotor2(D12,D13,NC,64,QEI::X2_ENCODING);
JordanO 27:71be6e074d0f 23
JordanO 18:266f1ffdc9c4 24 //Variables
JordanO 19:07706535ff7b 25 static int countsMotor1[2]; //Array to store motor counts for i and i-1
JordanO 18:266f1ffdc9c4 26 static int countsMotor2[2];
JordanO 21:0a37e3280bbd 27 static float velocityMotor1;
JordanO 21:0a37e3280bbd 28 static float velocityMotor2;
JordanO 27:71be6e074d0f 29 static float angleMotor1;
JordanO 27:71be6e074d0f 30 static float angleMotor2;
JordanO 18:266f1ffdc9c4 31 //Constants
JordanO 18:266f1ffdc9c4 32 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 21:0a37e3280bbd 33 const double PI = 3.14159265358979;
JordanO 18:266f1ffdc9c4 34 const float countsToRadians = (2*PI)/uniqueMeasurementPoints; //Number of radians per count
JordanO 27:71be6e074d0f 35
JordanO 32:da34d27a13f3 36
JordanO 27:71be6e074d0f 37
JordanO 32:da34d27a13f3 38 void motorAndEncoder(float PWM1, float PWM2, float dt)
JordanO 18:266f1ffdc9c4 39 {
JordanO 18:266f1ffdc9c4 40 //Set motors
JordanO 19:07706535ff7b 41 //Direction
JordanO 27:71be6e074d0f 42 if (PWM1<0)
JordanO 19:07706535ff7b 43 {
JordanO 27:71be6e074d0f 44 PWM1 *= -1; //Shorthand for *-1
JordanO 19:07706535ff7b 45 motor1Dir.write(1); //negative direction
JordanO 19:07706535ff7b 46 }
JordanO 19:07706535ff7b 47 else
JordanO 19:07706535ff7b 48 {
JordanO 19:07706535ff7b 49 motor1Dir.write(0); //positive direction
JordanO 19:07706535ff7b 50 }
JordanO 27:71be6e074d0f 51 if (PWM2<0)
JordanO 19:07706535ff7b 52 {
JordanO 27:71be6e074d0f 53 PWM2 *= -1; //Shorthand for *-1
JordanO 19:07706535ff7b 54 motor2Dir.write(1); //negative direction
JordanO 19:07706535ff7b 55 }
JordanO 19:07706535ff7b 56 else
JordanO 19:07706535ff7b 57 {
JordanO 19:07706535ff7b 58 motor2Dir.write(0); //positive direction
JordanO 19:07706535ff7b 59 }
JordanO 19:07706535ff7b 60 //Period and PWM
JordanO 27:71be6e074d0f 61 float periodPWM = 1/2000;
JordanO 27:71be6e074d0f 62 motor1.period(periodPWM);
JordanO 27:71be6e074d0f 63 motor1.write(PWM1);
JordanO 19:07706535ff7b 64
JordanO 27:71be6e074d0f 65 motor2.period(periodPWM);
JordanO 27:71be6e074d0f 66 motor2.write(PWM2);
JordanO 18:266f1ffdc9c4 67 //Read encoders
JordanO 18:266f1ffdc9c4 68 //Counts
JordanO 19:07706535ff7b 69 //set the value from last loop to poisition 0 in the vector
JordanO 19:07706535ff7b 70 countsMotor1[0] = countsMotor1[1];
JordanO 19:07706535ff7b 71 countsMotor2[0] = countsMotor2[1];
JordanO 19:07706535ff7b 72 //set the new number of counts to position 1 in the vector
JordanO 21:0a37e3280bbd 73 countsMotor1[1] = encoderMotor1.getPulses();
JordanO 21:0a37e3280bbd 74 countsMotor2[1] = encoderMotor2.getPulses();
JordanO 27:71be6e074d0f 75 //Angle
JordanO 27:71be6e074d0f 76 angleMotor1 = countsMotor1[1]/countsToRadians;
JordanO 27:71be6e074d0f 77 angleMotor2 = countsMotor2[1]/countsToRadians;
JordanO 18:266f1ffdc9c4 78 //Velocity calculation
JordanO 21:0a37e3280bbd 79 velocityMotor1 = ((countsMotor1[1]-countsMotor1[0])/countsToRadians)/dt; //rad/s
JordanO 21:0a37e3280bbd 80 velocityMotor2 = ((countsMotor2[1]-countsMotor2[0])/countsToRadians)/dt; //rad/s
JordanO 31:d1bd16a05148 81
JordanO 27:71be6e074d0f 82 motorReturn.motor1.counts = countsMotor1[1];
JordanO 27:71be6e074d0f 83 motorReturn.motor2.counts = countsMotor2[1];
JordanO 27:71be6e074d0f 84
JordanO 27:71be6e074d0f 85 motorReturn.motor1.angle = angleMotor1;
JordanO 27:71be6e074d0f 86 motorReturn.motor2.angle = angleMotor2;
JordanO 27:71be6e074d0f 87
JordanO 27:71be6e074d0f 88 motorReturn.motor1.velocity = velocityMotor1;
JordanO 27:71be6e074d0f 89 motorReturn.motor2.velocity = velocityMotor2;
JornD 28:4a5671b3d88d 90 }
JornD 40:82addb417220 91 */