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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

motorAndSensorControl.cpp@34:b035131eda3e, 2019-10-10 (annotated)

Committer:
JordanO
Date:
Thu Oct 10 10:56:23 2019 +0000
Revision:
34:b035131eda3e
Parent:
32:da34d27a13f3
Child:
35:51914ac2d7f4
Structure working;

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 18:266f1ffdc9c4 16 //Encoders
JordanO 18:266f1ffdc9c4 17 QEI encoderMotor1(D12,D13,NC,64,QEI::X2_ENCODING);
JordanO 18:266f1ffdc9c4 18 QEI encoderMotor2(D12,D13,NC,64,QEI::X2_ENCODING);
JordanO 27:71be6e074d0f 19
JordanO 18:266f1ffdc9c4 20 //Variables
JordanO 19:07706535ff7b 21 static int countsMotor1[2]; //Array to store motor counts for i and i-1
JordanO 18:266f1ffdc9c4 22 static int countsMotor2[2];
JordanO 21:0a37e3280bbd 23 static float velocityMotor1;
JordanO 21:0a37e3280bbd 24 static float velocityMotor2;
JordanO 27:71be6e074d0f 25 static float angleMotor1;
JordanO 27:71be6e074d0f 26 static float angleMotor2;
JordanO 18:266f1ffdc9c4 27 //Constants
JordanO 18:266f1ffdc9c4 28 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 29 const double PI = 3.14159265358979;
JordanO 18:266f1ffdc9c4 30 const float countsToRadians = (2*PI)/uniqueMeasurementPoints; //Number of radians per count
JordanO 27:71be6e074d0f 31
JordanO 34:b035131eda3e 32 motorData motorReturn;
JordanO 27:71be6e074d0f 33
JordanO 32:da34d27a13f3 34 void motorAndEncoder(float PWM1, float PWM2, float dt)
JordanO 18:266f1ffdc9c4 35 {
JordanO 18:266f1ffdc9c4 36 //Set motors
JordanO 19:07706535ff7b 37 //Direction
JordanO 27:71be6e074d0f 38 if (PWM1<0)
JordanO 19:07706535ff7b 39 {
JordanO 27:71be6e074d0f 40 PWM1 *= -1; //Shorthand for *-1
JordanO 19:07706535ff7b 41 motor1Dir.write(1); //negative direction
JordanO 19:07706535ff7b 42 }
JordanO 19:07706535ff7b 43 else
JordanO 19:07706535ff7b 44 {
JordanO 19:07706535ff7b 45 motor1Dir.write(0); //positive direction
JordanO 19:07706535ff7b 46 }
JordanO 27:71be6e074d0f 47 if (PWM2<0)
JordanO 19:07706535ff7b 48 {
JordanO 27:71be6e074d0f 49 PWM2 *= -1; //Shorthand for *-1
JordanO 19:07706535ff7b 50 motor2Dir.write(1); //negative direction
JordanO 19:07706535ff7b 51 }
JordanO 19:07706535ff7b 52 else
JordanO 19:07706535ff7b 53 {
JordanO 19:07706535ff7b 54 motor2Dir.write(0); //positive direction
JordanO 19:07706535ff7b 55 }
JordanO 19:07706535ff7b 56 //Period and PWM
JordanO 27:71be6e074d0f 57 float periodPWM = 1/2000;
JordanO 27:71be6e074d0f 58 motor1.period(periodPWM);
JordanO 27:71be6e074d0f 59 motor1.write(PWM1);
JordanO 19:07706535ff7b 60
JordanO 27:71be6e074d0f 61 motor2.period(periodPWM);
JordanO 27:71be6e074d0f 62 motor2.write(PWM2);
JordanO 34:b035131eda3e 63
JordanO 18:266f1ffdc9c4 64 //Read encoders
JordanO 34:b035131eda3e 65
JordanO 18:266f1ffdc9c4 66 //Counts
JordanO 19:07706535ff7b 67 //set the value from last loop to poisition 0 in the vector
JordanO 19:07706535ff7b 68 countsMotor1[0] = countsMotor1[1];
JordanO 19:07706535ff7b 69 countsMotor2[0] = countsMotor2[1];
JordanO 19:07706535ff7b 70 //set the new number of counts to position 1 in the vector
JordanO 21:0a37e3280bbd 71 countsMotor1[1] = encoderMotor1.getPulses();
JordanO 21:0a37e3280bbd 72 countsMotor2[1] = encoderMotor2.getPulses();
JordanO 27:71be6e074d0f 73 //Angle
JordanO 27:71be6e074d0f 74 angleMotor1 = countsMotor1[1]/countsToRadians;
JordanO 27:71be6e074d0f 75 angleMotor2 = countsMotor2[1]/countsToRadians;
JordanO 18:266f1ffdc9c4 76 //Velocity calculation
JordanO 21:0a37e3280bbd 77 velocityMotor1 = ((countsMotor1[1]-countsMotor1[0])/countsToRadians)/dt; //rad/s
JordanO 21:0a37e3280bbd 78 velocityMotor2 = ((countsMotor2[1]-countsMotor2[0])/countsToRadians)/dt; //rad/s
JordanO 31:d1bd16a05148 79
JordanO 34:b035131eda3e 80 ::motorReturn.motor1.counts = countsMotor1[1];
JordanO 34:b035131eda3e 81 ::motorReturn.motor2.counts = countsMotor2[1];
JordanO 27:71be6e074d0f 82
JordanO 34:b035131eda3e 83 ::motorReturn.motor1.angle = angleMotor1;
JordanO 34:b035131eda3e 84 ::motorReturn.motor2.angle = angleMotor2;
JordanO 27:71be6e074d0f 85
JordanO 34:b035131eda3e 86 ::motorReturn.motor1.velocity = velocityMotor1;
JordanO 34:b035131eda3e 87 ::motorReturn.motor2.velocity = velocityMotor2;
JordanO 34:b035131eda3e 88
JornD 28:4a5671b3d88d 89 }