Jorn-Jan van de Beld / Mbed 2 deprecated PI_standaardsignalen

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Dependencies:   QEI mbed

main.cpp@5:949c2861a79b, 2017-11-02 (annotated)

Committer:
JornJan
Date:
Thu Nov 02 18:40:41 2017 +0000
Revision:
5:949c2861a79b
Parent:
4:e98ad06f227c 
pittige avondsessie;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JornJan 0:921402a95675 1 #include "mbed.h"
JornJan 0:921402a95675 2 #include "Serial.h"
JornJan 0:921402a95675 3 #include "math.h"
JornJan 0:921402a95675 4 #include "QEI.h"
JornJan 0:921402a95675 5
JornJan 0:921402a95675 6 Serial pc(USBTX, USBRX); //Serial PC connectie
JornJan 0:921402a95675 7 DigitalOut motor1DirectionPin(D4); //Motorrichting op D4 (connected op het bord)
JornJan 0:921402a95675 8 PwmOut motor1MagnitudePin(D5); //Motorkracht op D5 (connected op het bord)
JornJan 0:921402a95675 9 DigitalOut motor2DirectionPin(D7); //Motorrichting op D4 (connected op het bord)
JornJan 0:921402a95675 10 PwmOut motor2MagnitudePin(D6); //Motorkracht op D5 (connected op het bord)
JornJan 0:921402a95675 11 QEI q1_enc(D13, D12, NC, 32); //encoder motor 1 instellen
JornJan 0:921402a95675 12 QEI q2_enc(D11, D10, NC, 32); // encoder motor 2 instellen
JornJan 0:921402a95675 13 const double pi = 3.1415926535897; // waarde voor pi aanmaken
JornJan 0:921402a95675 14
JornJan 0:921402a95675 15 Timer t;
JornJan 0:921402a95675 16 Ticker aansturing;
JornJan 0:921402a95675 17 Ticker stepres;
JornJan 0:921402a95675 18
JornJan 0:921402a95675 19 double ref1 = 0;
JornJan 0:921402a95675 20 double refrad1;
JornJan 0:921402a95675 21 double refrad2;
JornJan 0:921402a95675 22 double ref2 = 0;
JornJan 0:921402a95675 23 double Kp1 = 0.002; //kp motor 2 = 0.0001
JornJan 0:921402a95675 24 double Ki1 = 0;
JornJan 4:e98ad06f227c 25 double Kp2 = 0.0005;
JornJan 4:e98ad06f227c 26 double Ki2 = 0.0005;
JornJan 0:921402a95675 27 int q1_puls;
JornJan 0:921402a95675 28 int q2_puls;
JornJan 3:3b5b85a32c9a 29 double rad2pulses=(2100/pi);
JornJan 4:e98ad06f227c 30 double pulses2rad = (pi)/2100;
JornJan 0:921402a95675 31 double ts = 0.001;
JornJan 0:921402a95675 32 double PI1;
JornJan 0:921402a95675 33 int n;
JornJan 0:921402a95675 34
JornJan 5:949c2861a79b 35 double stap = 0.01;
JornJan 5:949c2861a79b 36
JornJan 0:921402a95675 37 double error1_1;
JornJan 0:921402a95675 38 double error2_1 = 0;
JornJan 0:921402a95675 39 double error_I_1;
JornJan 0:921402a95675 40 double error_I2_1 = 0;
JornJan 0:921402a95675 41 double error1_2;
JornJan 0:921402a95675 42 double error2_2 = 0;
JornJan 0:921402a95675 43 double error_I_2;
JornJan 0:921402a95675 44 double error_I2_2 = 0;
JornJan 0:921402a95675 45 double PI2;
JornJan 0:921402a95675 46
JornJan 2:0686b2132556 47 // kinematica gegevens
JornJan 2:0686b2132556 48 // lengte armen
JornJan 2:0686b2132556 49 double L1 = 0.250;
JornJan 2:0686b2132556 50 double L2 = 0.355;
JornJan 2:0686b2132556 51 double L3 = 0.150;
JornJan 2:0686b2132556 52
JornJan 2:0686b2132556 53 // reference position
JornJan 2:0686b2132556 54 double q1=0; // positie q1 in radialen
JornJan 2:0686b2132556 55 double q2=0; // positie q2 in radialen
JornJan 2:0686b2132556 56 double q1_pos;
JornJan 2:0686b2132556 57 double q2_pos;
JornJan 2:0686b2132556 58
JornJan 2:0686b2132556 59 // EMG Input_k
JornJan 5:949c2861a79b 60 double vx = 0;
JornJan 5:949c2861a79b 61 double vy = 0;
JornJan 2:0686b2132556 62
JornJan 2:0686b2132556 63
JornJan 2:0686b2132556 64 void kinematica()
JornJan 2:0686b2132556 65 {
JornJan 2:0686b2132556 66 // encoders uitlezen
JornJan 4:e98ad06f227c 67 q1_puls = q1_enc.getPulses();
JornJan 3:3b5b85a32c9a 68 q1_pos = q1_puls*pulses2rad; // berekent positie q1 in radialen
JornJan 2:0686b2132556 69 q2_puls = q2_enc.getPulses();
JornJan 3:3b5b85a32c9a 70 q2_pos = q2_puls*pulses2rad; // berekent positie q2 in radialen
JornJan 2:0686b2132556 71
JornJan 5:949c2861a79b 72
JornJan 5:949c2861a79b 73 px = oldpx + stap;
JornJan 5:949c2861a79b 74 py = oldpy + stap;
JornJan 5:949c2861a79b 75
JornJan 5:949c2861a79b 76 if (px >= pxmax || px <= pxmin)
JornJan 5:949c2861a79b 77 {
JornJan 5:949c2861a79b 78 vx = oldvx;
JornJan 5:949c2861a79b 79 }
JornJan 5:949c2861a79b 80 else if (py >= pymax || py <= pymin)
JornJan 5:949c2861a79b 81 {
JornJan 5:949c2861a79b 82 vy = oldvy;
JornJan 5:949c2861a79b 83 }
JornJan 2:0686b2132556 84
JornJan 4:e98ad06f227c 85 q1 =
JornJan 4:e98ad06f227c 86 q2 =
JornJan 5:949c2861a79b 87
JornJan 5:949c2861a79b 88 ref1 = q1 * rad2pulses;
JornJan 5:949c2861a79b 89 ref2 = q2 * rad2pulses;
JornJan 3:3b5b85a32c9a 90
JornJan 5:949c2861a79b 91 px = oldpx;
JornJan 5:949c2861a79b 92 py = oldpy;
JornJan 4:e98ad06f227c 93
JornJan 2:0686b2132556 94 }
JornJan 2:0686b2132556 95
JornJan 2:0686b2132556 96
JornJan 0:921402a95675 97 void controller()
JornJan 3:3b5b85a32c9a 98 {
JornJan 4:e98ad06f227c 99 kinematica();
JornJan 0:921402a95675 100 //PID 1
JornJan 0:921402a95675 101 error1_1 = ref1 - q1_puls;
JornJan 0:921402a95675 102 error_I_1 = error_I2_1 + ts*((error1_1 + error2_1)/2);
JornJan 0:921402a95675 103
JornJan 0:921402a95675 104 PI1 = Kp1*error1_1 + Ki1*error_I_1;
JornJan 0:921402a95675 105
JornJan 0:921402a95675 106 error2_1 = error1_1; // opslaan variabelen voor integraal onderdeel
JornJan 0:921402a95675 107 error_I2_1 = error_I_1;
JornJan 0:921402a95675 108
JornJan 0:921402a95675 109 //PID 2
JornJan 0:921402a95675 110 error1_2 = ref2 - q2_puls;
JornJan 0:921402a95675 111 error_I_2 = error_I2_2 + ts*((error1_2 + error2_2)/2);
JornJan 4:e98ad06f227c 112 error_I2_2 = error_I_2;
JornJan 4:e98ad06f227c 113 error2_2 = error1_2;
JornJan 0:921402a95675 114
JornJan 0:921402a95675 115 PI2 = Kp2*error1_2 + Ki2*(error_I_2);
JornJan 0:921402a95675 116
JornJan 0:921402a95675 117
JornJan 0:921402a95675 118 if (PI1<=0)
JornJan 0:921402a95675 119 {
JornJan 0:921402a95675 120 motor1DirectionPin = 1;
JornJan 5:949c2861a79b 121 motor1MagnitudePin = fabs(PI1);
JornJan 0:921402a95675 122 }
JornJan 0:921402a95675 123 else if (PI1>0)
JornJan 0:921402a95675 124 {
JornJan 0:921402a95675 125 motor1DirectionPin = 0;
JornJan 5:949c2861a79b 126 motor1MagnitudePin = fabs(PI1);
JornJan 0:921402a95675 127 }
JornJan 0:921402a95675 128
JornJan 0:921402a95675 129 if (PI2>=0)
JornJan 0:921402a95675 130 {
JornJan 0:921402a95675 131 motor2DirectionPin = 1;
JornJan 3:3b5b85a32c9a 132 motor2MagnitudePin = fabs(PI2);
JornJan 0:921402a95675 133 }
JornJan 0:921402a95675 134 else if(PI2<0)
JornJan 0:921402a95675 135 {
JornJan 0:921402a95675 136 motor2DirectionPin = 0;
JornJan 3:3b5b85a32c9a 137 motor2MagnitudePin = fabs(PI2);
JornJan 0:921402a95675 138 }
JornJan 0:921402a95675 139
JornJan 0:921402a95675 140 if(n==500){
JornJan 4:e98ad06f227c 141 printf("q1_puls = %d q2_puls = %d ref1 = %f ref2 = %f\n\r", q1_puls, q2_puls, ref1, ref2);
JornJan 0:921402a95675 142 n=0;
JornJan 0:921402a95675 143 }
JornJan 0:921402a95675 144 else{
JornJan 0:921402a95675 145 n=n+1;
JornJan 0:921402a95675 146 }
JornJan 0:921402a95675 147
JornJan 0:921402a95675 148 }
JornJan 0:921402a95675 149
JornJan 0:921402a95675 150
JornJan 0:921402a95675 151 int main()
JornJan 0:921402a95675 152 {
JornJan 0:921402a95675 153 pc.baud(115200);
JornJan 0:921402a95675 154 t.start();
JornJan 0:921402a95675 155 aansturing.attach_us(&controller, 1000);
JornJan 4:e98ad06f227c 156
JornJan 0:921402a95675 157
JornJan 0:921402a95675 158 while(true){
JornJan 0:921402a95675 159
JornJan 0:921402a95675 160 }
JornJan 0:921402a95675 161
JornJan 0:921402a95675 162
JornJan 0:921402a95675 163 }