Jorn-Jan van de Beld / Mbed 2 deprecated PI_standaardsignalen

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Dependencies:   QEI mbed

main.cpp@6:f40e26afc9aa, 2017-11-02 (annotated)

Committer:
arthurdelange
Date:
Thu Nov 02 18:56:04 2017 +0000
Revision:
6:f40e26afc9aa
Parent:
4:e98ad06f227c
Child:
7:5d9907aa6dbc
We hebben een geneesmiddel voor aids gevonden.

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 3:3b5b85a32c9a 18 Ticker kinmat;
JornJan 0:921402a95675 19
JornJan 0:921402a95675 20 double ref1 = 0;
JornJan 0:921402a95675 21 double refrad1;
JornJan 0:921402a95675 22 double refrad2;
JornJan 0:921402a95675 23 double ref2 = 0;
JornJan 0:921402a95675 24 double Kp1 = 0.002; //kp motor 2 = 0.0001
JornJan 0:921402a95675 25 double Ki1 = 0;
JornJan 4:e98ad06f227c 26 double Kp2 = 0.0005;
JornJan 4:e98ad06f227c 27 double Ki2 = 0.0005;
JornJan 0:921402a95675 28 int q1_puls;
JornJan 0:921402a95675 29 int q2_puls;
JornJan 3:3b5b85a32c9a 30 double rad2pulses=(2100/pi);
JornJan 4:e98ad06f227c 31 double pulses2rad = (pi)/2100;
JornJan 0:921402a95675 32 double ts = 0.001;
JornJan 0:921402a95675 33 double PI1;
JornJan 0:921402a95675 34 int n;
JornJan 0:921402a95675 35
JornJan 0:921402a95675 36 double error1_1;
JornJan 0:921402a95675 37 double error2_1 = 0;
JornJan 0:921402a95675 38 double error_I_1;
JornJan 0:921402a95675 39 double error_I2_1 = 0;
JornJan 0:921402a95675 40 double error1_2;
JornJan 0:921402a95675 41 double error2_2 = 0;
JornJan 0:921402a95675 42 double error_I_2;
JornJan 0:921402a95675 43 double error_I2_2 = 0;
JornJan 0:921402a95675 44 double PI2;
JornJan 0:921402a95675 45
JornJan 2:0686b2132556 46 // kinematica gegevens
JornJan 2:0686b2132556 47 // lengte armen
JornJan 2:0686b2132556 48 double L1 = 0.250;
JornJan 2:0686b2132556 49 double L2 = 0.355;
JornJan 2:0686b2132556 50 double L3 = 0.150;
JornJan 2:0686b2132556 51
JornJan 2:0686b2132556 52 // reference position
JornJan 2:0686b2132556 53 double q1=0; // positie q1 in radialen
JornJan 2:0686b2132556 54 double q2=0; // positie q2 in radialen
JornJan 2:0686b2132556 55 double q1_pos;
JornJan 2:0686b2132556 56 double q2_pos;
JornJan 2:0686b2132556 57
JornJan 2:0686b2132556 58 // EMG Input_k
JornJan 2:0686b2132556 59 double vx;
JornJan 2:0686b2132556 60 double vy;
JornJan 2:0686b2132556 61
JornJan 2:0686b2132556 62
JornJan 2:0686b2132556 63 void kinematica()
JornJan 2:0686b2132556 64 {
JornJan 2:0686b2132556 65 // encoders uitlezen
JornJan 4:e98ad06f227c 66 q1_puls = q1_enc.getPulses();
JornJan 3:3b5b85a32c9a 67 q1_pos = q1_puls*pulses2rad; // berekent positie q1 in radialen
JornJan 2:0686b2132556 68 q2_puls = q2_enc.getPulses();
JornJan 3:3b5b85a32c9a 69 q2_pos = q2_puls*pulses2rad; // berekent positie q2 in radialen
JornJan 2:0686b2132556 70
arthurdelange 6:f40e26afc9aa 71 vx= 0.012f*sin(t.read());
arthurdelange 6:f40e26afc9aa 72 vy=0;
JornJan 3:3b5b85a32c9a 73
arthurdelange 6:f40e26afc9aa 74 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;
arthurdelange 6:f40e26afc9aa 75 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;
JornJan 4:e98ad06f227c 76
arthurdelange 6:f40e26afc9aa 77 ref1 = -q1*rad2pulses;
JornJan 4:e98ad06f227c 78 ref2 = q2*rad2pulses;
arthurdelange 6:f40e26afc9aa 79
JornJan 4:e98ad06f227c 80
JornJan 4:e98ad06f227c 81
JornJan 2:0686b2132556 82 }
JornJan 2:0686b2132556 83
JornJan 2:0686b2132556 84
JornJan 0:921402a95675 85 void controller()
JornJan 3:3b5b85a32c9a 86 {
JornJan 4:e98ad06f227c 87 kinematica();
JornJan 0:921402a95675 88 //PID 1
JornJan 0:921402a95675 89 error1_1 = ref1 - q1_puls;
JornJan 0:921402a95675 90 error_I_1 = error_I2_1 + ts*((error1_1 + error2_1)/2);
JornJan 0:921402a95675 91
JornJan 0:921402a95675 92 PI1 = Kp1*error1_1 + Ki1*error_I_1;
JornJan 0:921402a95675 93
JornJan 0:921402a95675 94 error2_1 = error1_1; // opslaan variabelen voor integraal onderdeel
JornJan 0:921402a95675 95 error_I2_1 = error_I_1;
JornJan 0:921402a95675 96
JornJan 0:921402a95675 97 //PID 2
JornJan 0:921402a95675 98 error1_2 = ref2 - q2_puls;
JornJan 0:921402a95675 99 error_I_2 = error_I2_2 + ts*((error1_2 + error2_2)/2);
JornJan 4:e98ad06f227c 100 error_I2_2 = error_I_2;
JornJan 4:e98ad06f227c 101 error2_2 = error1_2;
JornJan 0:921402a95675 102
JornJan 0:921402a95675 103 PI2 = Kp2*error1_2 + Ki2*(error_I_2);
JornJan 0:921402a95675 104
JornJan 0:921402a95675 105
JornJan 0:921402a95675 106 if (PI1<=0)
JornJan 0:921402a95675 107 {
JornJan 0:921402a95675 108 motor1DirectionPin = 1;
arthurdelange 6:f40e26afc9aa 109 motor1MagnitudePin = fabs(PI1);
JornJan 0:921402a95675 110 }
JornJan 0:921402a95675 111 else if (PI1>0)
JornJan 0:921402a95675 112 {
JornJan 0:921402a95675 113 motor1DirectionPin = 0;
arthurdelange 6:f40e26afc9aa 114 motor1MagnitudePin = fabs(PI1);
JornJan 0:921402a95675 115 }
JornJan 0:921402a95675 116
JornJan 0:921402a95675 117 if (PI2>=0)
JornJan 0:921402a95675 118 {
JornJan 0:921402a95675 119 motor2DirectionPin = 1;
JornJan 3:3b5b85a32c9a 120 motor2MagnitudePin = fabs(PI2);
JornJan 0:921402a95675 121 }
JornJan 0:921402a95675 122 else if(PI2<0)
JornJan 0:921402a95675 123 {
JornJan 0:921402a95675 124 motor2DirectionPin = 0;
JornJan 3:3b5b85a32c9a 125 motor2MagnitudePin = fabs(PI2);
JornJan 0:921402a95675 126 }
JornJan 0:921402a95675 127
JornJan 0:921402a95675 128 if(n==500){
JornJan 4:e98ad06f227c 129 printf("q1_puls = %d q2_puls = %d ref1 = %f ref2 = %f\n\r", q1_puls, q2_puls, ref1, ref2);
JornJan 0:921402a95675 130 n=0;
JornJan 0:921402a95675 131 }
JornJan 0:921402a95675 132 else{
JornJan 0:921402a95675 133 n=n+1;
JornJan 0:921402a95675 134 }
JornJan 0:921402a95675 135
JornJan 0:921402a95675 136 }
JornJan 0:921402a95675 137
JornJan 0:921402a95675 138
JornJan 0:921402a95675 139 int main()
JornJan 0:921402a95675 140 {
JornJan 0:921402a95675 141 pc.baud(115200);
JornJan 0:921402a95675 142 t.start();
JornJan 0:921402a95675 143 aansturing.attach_us(&controller, 1000);
JornJan 4:e98ad06f227c 144 //kinmat.attach(&kinematica, 0.001);
JornJan 4:e98ad06f227c 145
JornJan 0:921402a95675 146
JornJan 0:921402a95675 147 while(true){
JornJan 0:921402a95675 148
JornJan 0:921402a95675 149 }
JornJan 0:921402a95675 150
JornJan 0:921402a95675 151
JornJan 0:921402a95675 152 }