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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

motorAndSensorControl.cpp@27:71be6e074d0f, 2019-10-09 (annotated)

Committer:
JordanO
Date:
Wed Oct 09 12:56:35 2019 +0000
Revision:
27:71be6e074d0f
Parent:
22:4197629a300f
Child:
28:4a5671b3d88d
struct;

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 21:0a37e3280bbd 4 #include "mbed.h"
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 27:71be6e074d0f 17
JordanO 18:266f1ffdc9c4 18 //Variables
JordanO 19:07706535ff7b 19 static int countsMotor1[2]; //Array to store motor counts for i and i-1
JordanO 18:266f1ffdc9c4 20 static int countsMotor2[2];
JordanO 21:0a37e3280bbd 21 static float velocityMotor1;
JordanO 21:0a37e3280bbd 22 static float velocityMotor2;
JordanO 27:71be6e074d0f 23 static float angleMotor1;
JordanO 27:71be6e074d0f 24 static float angleMotor2;
JordanO 18:266f1ffdc9c4 25 //Constants
JordanO 18:266f1ffdc9c4 26 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 27 const double PI = 3.14159265358979;
JordanO 18:266f1ffdc9c4 28 const float countsToRadians = (2*PI)/uniqueMeasurementPoints; //Number of radians per count
JordanO 27:71be6e074d0f 29
JordanO 27:71be6e074d0f 30 struct motorReturnSub
JordanO 27:71be6e074d0f 31 {
JordanO 27:71be6e074d0f 32 int counts;
JordanO 27:71be6e074d0f 33 float angle;
JordanO 27:71be6e074d0f 34 float velocity;
JordanO 27:71be6e074d0f 35 };
JordanO 18:266f1ffdc9c4 36
JordanO 27:71be6e074d0f 37 struct motorReturn
JordanO 27:71be6e074d0f 38 {
JordanO 27:71be6e074d0f 39 motorReturnSub motor1;
JordanO 27:71be6e074d0f 40 motorReturnSub motor2;
JordanO 27:71be6e074d0f 41 motorReturnSub motor3;
JordanO 27:71be6e074d0f 42 } motorReturn;
JordanO 27:71be6e074d0f 43
JordanO 27:71be6e074d0f 44 motorReturn motorAndEncoder(float PWM1, float PWM2, float dt)
JordanO 18:266f1ffdc9c4 45 {
JordanO 18:266f1ffdc9c4 46 //Set motors
JordanO 19:07706535ff7b 47 //Direction
JordanO 27:71be6e074d0f 48 if (PWM1<0)
JordanO 19:07706535ff7b 49 {
JordanO 27:71be6e074d0f 50 PWM1 *= -1; //Shorthand for *-1
JordanO 19:07706535ff7b 51 motor1Dir.write(1); //negative direction
JordanO 19:07706535ff7b 52 }
JordanO 19:07706535ff7b 53 else
JordanO 19:07706535ff7b 54 {
JordanO 19:07706535ff7b 55 motor1Dir.write(0); //positive direction
JordanO 19:07706535ff7b 56 }
JordanO 27:71be6e074d0f 57 if (PWM2<0)
JordanO 19:07706535ff7b 58 {
JordanO 27:71be6e074d0f 59 PWM2 *= -1; //Shorthand for *-1
JordanO 19:07706535ff7b 60 motor2Dir.write(1); //negative direction
JordanO 19:07706535ff7b 61 }
JordanO 19:07706535ff7b 62 else
JordanO 19:07706535ff7b 63 {
JordanO 19:07706535ff7b 64 motor2Dir.write(0); //positive direction
JordanO 19:07706535ff7b 65 }
JordanO 19:07706535ff7b 66 //Period and PWM
JordanO 27:71be6e074d0f 67 float periodPWM = 1/2000;
JordanO 27:71be6e074d0f 68 motor1.period(periodPWM);
JordanO 27:71be6e074d0f 69 motor1.write(PWM1);
JordanO 19:07706535ff7b 70
JordanO 27:71be6e074d0f 71 motor2.period(periodPWM);
JordanO 27:71be6e074d0f 72 motor2.write(PWM2);
JordanO 18:266f1ffdc9c4 73 //Read encoders
JordanO 18:266f1ffdc9c4 74 //Counts
JordanO 19:07706535ff7b 75 //set the value from last loop to poisition 0 in the vector
JordanO 19:07706535ff7b 76 countsMotor1[0] = countsMotor1[1];
JordanO 19:07706535ff7b 77 countsMotor2[0] = countsMotor2[1];
JordanO 19:07706535ff7b 78 //set the new number of counts to position 1 in the vector
JordanO 21:0a37e3280bbd 79 countsMotor1[1] = encoderMotor1.getPulses();
JordanO 21:0a37e3280bbd 80 countsMotor2[1] = encoderMotor2.getPulses();
JordanO 27:71be6e074d0f 81 //Angle
JordanO 27:71be6e074d0f 82 angleMotor1 = countsMotor1[1]/countsToRadians;
JordanO 27:71be6e074d0f 83 angleMotor2 = countsMotor2[1]/countsToRadians;
JordanO 18:266f1ffdc9c4 84 //Velocity calculation
JordanO 21:0a37e3280bbd 85 velocityMotor1 = ((countsMotor1[1]-countsMotor1[0])/countsToRadians)/dt; //rad/s
JordanO 21:0a37e3280bbd 86 velocityMotor2 = ((countsMotor2[1]-countsMotor2[0])/countsToRadians)/dt; //rad/s
JordanO 27:71be6e074d0f 87 /*
JordanO 22:4197629a300f 88 countsMotor1Return = countsMotor1[1];
JordanO 22:4197629a300f 89 countsMotor2Return = countsMotor2[1];
JordanO 22:4197629a300f 90 velocityMotor1Return = velocityMotor1;
JordanO 22:4197629a300f 91 velocityMotor2Return = velocityMotor2;
JordanO 27:71be6e074d0f 92 */
JordanO 27:71be6e074d0f 93 motorReturn.motor1.counts = countsMotor1[1];
JordanO 27:71be6e074d0f 94 motorReturn.motor2.counts = countsMotor2[1];
JordanO 27:71be6e074d0f 95
JordanO 27:71be6e074d0f 96 motorReturn.motor1.angle = angleMotor1;
JordanO 27:71be6e074d0f 97 motorReturn.motor2.angle = angleMotor2;
JordanO 27:71be6e074d0f 98
JordanO 27:71be6e074d0f 99 motorReturn.motor1.velocity = velocityMotor1;
JordanO 27:71be6e074d0f 100 motorReturn.motor2.velocity = velocityMotor2;
JordanO 27:71be6e074d0f 101
JordanO 27:71be6e074d0f 102 return motorReturn
JordanO 18:266f1ffdc9c4 103 }