Jorn-Jan van de Beld
/
PI_standaardsignalen
kom op
main.cpp
- Committer:
- arthurdelange
- Date:
- 2017-11-02
- Revision:
- 7:5d9907aa6dbc
- Parent:
- 6:f40e26afc9aa
File content as of revision 7:5d9907aa6dbc:
#include "mbed.h" #include "Serial.h" #include "math.h" #include "QEI.h" Serial pc(USBTX, USBRX); //Serial PC connectie DigitalOut motor1DirectionPin(D4); //Motorrichting op D4 (connected op het bord) PwmOut motor1MagnitudePin(D5); //Motorkracht op D5 (connected op het bord) DigitalOut motor2DirectionPin(D7); //Motorrichting op D4 (connected op het bord) PwmOut motor2MagnitudePin(D6); //Motorkracht op D5 (connected op het bord) QEI q1_enc(D13, D12, NC, 32); //encoder motor 1 instellen QEI q2_enc(D11, D10, NC, 32); // encoder motor 2 instellen const double pi = 3.1415926535897; // waarde voor pi aanmaken Timer t; Ticker aansturing; Ticker stepres; Ticker kinmat; double ref1 = 0; double refrad1; double refrad2; double ref2 = 0; double Kp1 = 0.002; // 1 moet nog getweakt worden double Ki1 = 0; double Kp2 = 0.00021; double Ki2 = 0.00005; int q1_puls; int q2_puls; double rad2pulses=(2100/pi); double pulses2rad = (pi)/2100; double ts = 0.001; double PI1; int n; double error1_1; double error2_1 = 0; double error_I_1; double error_I2_1 = 0; double error1_2; double error2_2 = 0; double error_I_2; double error_I2_2 = 0; double PI2; // kinematica gegevens // lengte armen double L1 = 0.250; double L2 = 0.355; double L3 = 0.150; // reference position double q1=0; // positie q1 in radialen double q2=0; // positie q2 in radialen double q1_pos; double q2_pos; // EMG Input_k double vx; double vy; void kinematica() { // encoders uitlezen q1_puls = q1_enc.getPulses(); q1_pos = q1_puls*pulses2rad; // berekent positie q1 in radialen q2_puls = q2_enc.getPulses(); q2_pos = q2_puls*pulses2rad; // berekent positie q2 in radialen vy= 0; vx=0.012f*sin(t.read()); q1 = ((-(L3 + L2*cos(q1_pos - q2_pos))/(L1*L2*cos(2*q1_pos - q2_pos) + L1*L3*cos(q1_pos)))*vx + ((L2*sin(q1_pos - q2_pos))/(L1*L2*cos(2*q1_pos - q2_pos) + L1*L3*cos(q1_pos)))*vy) * 5 *ts + q1; q2 = (((L3 - L1*sin(q1_pos) + L2*cos(q1_pos - q2_pos))/(L1*L2*cos(2*q1_pos - q2_pos) + L1*L3*cos(q1_pos))*vx) + ((L1*cos(q1_pos) - L2*sin(q1_pos - q2_pos))/(L1*L2*cos(2*q1_pos - q2_pos) + L1*L3*cos(q1_pos)))*vy) * 5 * ts + q2; ref1 = -q1*rad2pulses; ref2 = q2*rad2pulses; } void controller() { kinematica(); //PID 1 error1_1 = ref1 - q1_puls; error_I_1 = error_I2_1 + ts*((error1_1 + error2_1)/2); error_I2_1 = error_I_1; error2_1 = error1_1; PI1 = Kp1*error1_1 + Ki1*error_I_1; error2_1 = error1_1; // opslaan variabelen voor integraal onderdeel error_I2_1 = error_I_1; //PID 2 error1_2 = ref2 - q2_puls; error_I_2 = error_I2_2 + ts*((error1_2 + error2_2)/2); error_I2_2 = error_I_2; error2_2 = error1_2; PI2 = Kp2*error1_2 + Ki2*(error_I_2); if (PI1<=0) { motor1DirectionPin = 1; motor1MagnitudePin = fabs(PI1); } else if (PI1>0) { motor1DirectionPin = 0; motor1MagnitudePin = fabs(PI1); } if (PI2>=0) { motor2DirectionPin = 1; motor2MagnitudePin = fabs(PI2); } else if(PI2<0) { motor2DirectionPin = 0; motor2MagnitudePin = fabs(PI2); } if(n==100){ printf("q1_puls = %d q2_puls = %d ref1 = %f ref2 = %f\n\r", q1_puls, q2_puls, ref1, ref2); n=0; } else{ n=n+1; } } int main() { pc.baud(115200); t.start(); aansturing.attach_us(&controller, 1000); //kinmat.attach(&kinematica, 0.001); while(true){ } }