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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

motorAndSensorControl.cpp@36:331907080ffb, 2019-10-10 (annotated)

Committer:
JordanO
Date:
Thu Oct 10 14:47:47 2019 +0000
Revision:
36:331907080ffb
Parent:
35:51914ac2d7f4
Child:
37:6602655a80f4
Motor 3 commented to make it publishable due to no pin allocation;

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 32:da34d27a13f3 8 #include "global.h"
JordanO 18:266f1ffdc9c4 9
JordanO 18:266f1ffdc9c4 10 //Objects
JordanO 18:266f1ffdc9c4 11 //Motors
JordanO 19:07706535ff7b 12 FastPWM motor1(D6); //Motor1 PWM output pin
JordanO 19:07706535ff7b 13 DigitalOut motor1Dir(D7); //Motor1 directional pin
JordanO 19:07706535ff7b 14 FastPWM motor2(D5); //Motor2 PWM output pin
JordanO 19:07706535ff7b 15 DigitalOut motor2Dir(D4); //Motor2 directional pin
JordanO 36:331907080ffb 16 //FastPWM motor3(); //Motor3 PWM output pin
JordanO 36:331907080ffb 17 //DigitalOut motor3Dir(); //Motor3 directional pin
JordanO 18:266f1ffdc9c4 18 //Encoders
JordanO 18:266f1ffdc9c4 19 QEI encoderMotor1(D12,D13,NC,64,QEI::X2_ENCODING);
JordanO 18:266f1ffdc9c4 20 QEI encoderMotor2(D12,D13,NC,64,QEI::X2_ENCODING);
JordanO 36:331907080ffb 21 //QEI encoderMotor3(,,NC,64,QEI::X2_ENCODING);
JordanO 27:71be6e074d0f 22
JordanO 18:266f1ffdc9c4 23 //Variables
JordanO 19:07706535ff7b 24 static int countsMotor1[2]; //Array to store motor counts for i and i-1
JordanO 18:266f1ffdc9c4 25 static int countsMotor2[2];
JordanO 35:51914ac2d7f4 26 static int countsMotor3[2];
JordanO 21:0a37e3280bbd 27 static float velocityMotor1;
JordanO 21:0a37e3280bbd 28 static float velocityMotor2;
JordanO 35:51914ac2d7f4 29 static float velocityMotor3;
JordanO 27:71be6e074d0f 30 static float angleMotor1;
JordanO 27:71be6e074d0f 31 static float angleMotor2;
JordanO 35:51914ac2d7f4 32 static float angleMotor3;
JordanO 18:266f1ffdc9c4 33 //Constants
JordanO 18:266f1ffdc9c4 34 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 35 const double PI = 3.14159265358979;
JordanO 18:266f1ffdc9c4 36 const float countsToRadians = (2*PI)/uniqueMeasurementPoints; //Number of radians per count
JordanO 27:71be6e074d0f 37
JordanO 34:b035131eda3e 38 motorData motorReturn;
JordanO 27:71be6e074d0f 39
JordanO 35:51914ac2d7f4 40 void motorAndEncoder(float PWM1, float PWM2, float PWM3, float dt)
JordanO 18:266f1ffdc9c4 41 {
JordanO 18:266f1ffdc9c4 42 //Set motors
JordanO 19:07706535ff7b 43 //Direction
JordanO 35:51914ac2d7f4 44 //Motor 1
JordanO 35:51914ac2d7f4 45 if (PWM1<0)
JordanO 35:51914ac2d7f4 46 {
JordanO 35:51914ac2d7f4 47 PWM1 *= -1; //Shorthand for *-1
JordanO 35:51914ac2d7f4 48 motor1Dir.write(1); //negative direction
JordanO 35:51914ac2d7f4 49 }
JordanO 35:51914ac2d7f4 50 else
JordanO 35:51914ac2d7f4 51 {
JordanO 35:51914ac2d7f4 52 motor1Dir.write(0); //positive direction
JordanO 35:51914ac2d7f4 53 }
JordanO 35:51914ac2d7f4 54 //Motor 2
JordanO 35:51914ac2d7f4 55 if (PWM2<0)
JordanO 35:51914ac2d7f4 56 {
JordanO 35:51914ac2d7f4 57 PWM2 *= -1; //Shorthand for *-1
JordanO 35:51914ac2d7f4 58 motor2Dir.write(1); //negative direction
JordanO 35:51914ac2d7f4 59 }
JordanO 35:51914ac2d7f4 60 else
JordanO 35:51914ac2d7f4 61 {
JordanO 35:51914ac2d7f4 62 motor2Dir.write(0); //positive direction
JordanO 35:51914ac2d7f4 63 }
JordanO 35:51914ac2d7f4 64 //Motor 3
JordanO 35:51914ac2d7f4 65 if (PWM3<0)
JordanO 35:51914ac2d7f4 66 {
JordanO 35:51914ac2d7f4 67 PWM3 *= -1; //Shorthand for *-1
JordanO 36:331907080ffb 68 // motor3Dir.write(1); //negative direction
JordanO 35:51914ac2d7f4 69 }
JordanO 35:51914ac2d7f4 70 else
JordanO 35:51914ac2d7f4 71 {
JordanO 36:331907080ffb 72 //motor3Dir.write(0); //positive direction
JordanO 35:51914ac2d7f4 73 }
JordanO 19:07706535ff7b 74 //Period and PWM
JordanO 27:71be6e074d0f 75 float periodPWM = 1/2000;
JordanO 27:71be6e074d0f 76 motor1.period(periodPWM);
JordanO 27:71be6e074d0f 77 motor1.write(PWM1);
JordanO 19:07706535ff7b 78
JordanO 27:71be6e074d0f 79 motor2.period(periodPWM);
JordanO 27:71be6e074d0f 80 motor2.write(PWM2);
JordanO 34:b035131eda3e 81
JordanO 36:331907080ffb 82 //motor3.period(periodPWM);
JordanO 36:331907080ffb 83 //motor3.write(PWM3);
JordanO 35:51914ac2d7f4 84
JordanO 18:266f1ffdc9c4 85 //Read encoders
JordanO 34:b035131eda3e 86
JordanO 18:266f1ffdc9c4 87 //Counts
JordanO 19:07706535ff7b 88 //set the value from last loop to poisition 0 in the vector
JordanO 19:07706535ff7b 89 countsMotor1[0] = countsMotor1[1];
JordanO 19:07706535ff7b 90 countsMotor2[0] = countsMotor2[1];
JordanO 36:331907080ffb 91 //countsMotor3[0] = countsMotor3[1];
JordanO 19:07706535ff7b 92 //set the new number of counts to position 1 in the vector
JordanO 21:0a37e3280bbd 93 countsMotor1[1] = encoderMotor1.getPulses();
JordanO 21:0a37e3280bbd 94 countsMotor2[1] = encoderMotor2.getPulses();
JordanO 36:331907080ffb 95 //countsMotor3[1] = encoderMotor3.getPulses();
JordanO 27:71be6e074d0f 96 //Angle
JordanO 27:71be6e074d0f 97 angleMotor1 = countsMotor1[1]/countsToRadians;
JordanO 35:51914ac2d7f4 98 angleMotor2 = countsMotor2[1]/countsToRadians;
JordanO 36:331907080ffb 99 //angleMotor3 = countsMotor3[1]/countsToRadians;
JordanO 18:266f1ffdc9c4 100 //Velocity calculation
JordanO 36:331907080ffb 101 velocityMotor1 = ((countsMotor1[1]-countsMotor1[0])/countsToRadians)/dt; //difference in counts difided by the number of counts per radians [rad/s]
JordanO 21:0a37e3280bbd 102 velocityMotor2 = ((countsMotor2[1]-countsMotor2[0])/countsToRadians)/dt; //rad/s
JordanO 36:331907080ffb 103 //velocityMotor3 = ((countsMotor3[1]-countsMotor3[0])/countsToRadians)/dt; //rad/s
JordanO 27:71be6e074d0f 104
JordanO 35:51914ac2d7f4 105 //Push variables to global structure
JordanO 35:51914ac2d7f4 106 ::motorReturn.motor1.counts = countsMotor1[1]; //:: To signal the global structure
JordanO 35:51914ac2d7f4 107 ::motorReturn.motor2.counts = countsMotor2[1];
JordanO 36:331907080ffb 108 //::motorReturn.motor3.counts = countsMotor3[1];
JordanO 35:51914ac2d7f4 109
JordanO 35:51914ac2d7f4 110 ::motorReturn.motor1.angle = angleMotor1;
JordanO 35:51914ac2d7f4 111 ::motorReturn.motor2.angle = angleMotor2;
JordanO 36:331907080ffb 112 //::motorReturn.motor3.angle = angleMotor3;
JordanO 35:51914ac2d7f4 113
JordanO 35:51914ac2d7f4 114 ::motorReturn.motor1.velocity = velocityMotor1;
JordanO 35:51914ac2d7f4 115 ::motorReturn.motor2.velocity = velocityMotor2;
JordanO 36:331907080ffb 116 //::motorReturn.motor3.velocity = velocityMotor3;
JordanO 34:b035131eda3e 117
JornD 28:4a5671b3d88d 118 }