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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

motorAndSensorControl.cpp@31:d1bd16a05148, 2019-10-09 (annotated)

Committer:
JordanO
Date:
Wed Oct 09 13:50:32 2019 +0000
Revision:
31:d1bd16a05148
Parent:
30:161f748a1cce
Child:
32:da34d27a13f3
asdd

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