Jorn-Jan van de Beld / Mbed 2 deprecated kin_PD_project

begin van episch avontuur

Dependencies:   QEI mbed

main.cpp@4:95bf97b44237, 2017-10-31 (annotated)

Committer:
Happyfield
Date:
Tue Oct 31 15:41:40 2017 +0000
Revision:
4:95bf97b44237
Parent:
3:329acce2487c
Child:
5:21e846902e3e
Bas bezig, met 2 PI's erin zetten

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JornJan 0:4c07bb5a9f9f 1 #include "mbed.h"
JornJan 0:4c07bb5a9f9f 2 #include "Serial.h"
JornJan 0:4c07bb5a9f9f 3 #include "math.h"
JornJan 0:4c07bb5a9f9f 4 #include "QEI.h"
JornJan 0:4c07bb5a9f9f 5
JornJan 0:4c07bb5a9f9f 6 // Connecties
JornJan 0:4c07bb5a9f9f 7 Serial pc(USBTX, USBRX); //Serial PC connectie
JornJan 2:821ae727bf8c 8 DigitalOut led_g(LED_GREEN); //Groene led op k64f bord
JornJan 0:4c07bb5a9f9f 9 DigitalOut motor1DirectionPin(D4); //Motorrichting op D4 (connected op het bord)
JornJan 0:4c07bb5a9f9f 10 PwmOut motor1MagnitudePin(D5); //Motorkracht op D5 (connected op het bord)
JornJan 2:821ae727bf8c 11 DigitalOut motor2DirectionPin(D7); //Motorrichting op D4 (connected op het bord)
JornJan 2:821ae727bf8c 12 PwmOut motor2MagnitudePin(D6); //Motorkracht op D5 (connected op het bord)
JornJan 0:4c07bb5a9f9f 13 QEI q1_enc(D13, D12, NC, 32); //encoder motor 1 instellen
JornJan 0:4c07bb5a9f9f 14 QEI q2_enc(D11, D10, NC, 32); // encoder motor 2 instellen
JornJan 0:4c07bb5a9f9f 15 const double pi = 3.1415926535897; // waarde voor pi aanmaken
JornJan 0:4c07bb5a9f9f 16
JornJan 0:4c07bb5a9f9f 17 // globale gegevens
JornJan 0:4c07bb5a9f9f 18 Ticker tick_sample; // ticker voor aanroepen aansturing
JornJan 2:821ae727bf8c 19 Ticker tick_wasd; //ticker voor toetsenbord aansturing
JornJan 0:4c07bb5a9f9f 20 char key;
JornJan 0:4c07bb5a9f9f 21 double ts=0.001;
JornJan 0:4c07bb5a9f9f 22 int q1_puls;
JornJan 0:4c07bb5a9f9f 23 int q2_puls;
JornJan 2:821ae727bf8c 24 int n = 0;
JornJan 0:4c07bb5a9f9f 25
JornJan 0:4c07bb5a9f9f 26 // kinematica gegevens
JornJan 0:4c07bb5a9f9f 27 // lengte armen
JornJan 0:4c07bb5a9f9f 28 double L1 = 0.250;
JornJan 0:4c07bb5a9f9f 29 double L2 = 0.355;
JornJan 0:4c07bb5a9f9f 30 double L3 = 0.150;
JornJan 0:4c07bb5a9f9f 31
JornJan 0:4c07bb5a9f9f 32 // reference position
JornJan 3:329acce2487c 33 double q1=0; // positie q1 in radialen
JornJan 0:4c07bb5a9f9f 34 double q2=0; // positie q2 in radialen
JornJan 0:4c07bb5a9f9f 35 double q1_pos;
JornJan 0:4c07bb5a9f9f 36 double q2_pos;
JornJan 0:4c07bb5a9f9f 37
JornJan 0:4c07bb5a9f9f 38 // EMG Input_k
JornJan 0:4c07bb5a9f9f 39 double vx = 0;
JornJan 0:4c07bb5a9f9f 40 double vy = 0;
JornJan 0:4c07bb5a9f9f 41
JornJan 0:4c07bb5a9f9f 42
JornJan 0:4c07bb5a9f9f 43 // PID gegevens
JornJan 0:4c07bb5a9f9f 44 double pulses2rad;
JornJan 0:4c07bb5a9f9f 45 double position;
JornJan 0:4c07bb5a9f9f 46 double ref1;
JornJan 0:4c07bb5a9f9f 47 double ref2;
JornJan 0:4c07bb5a9f9f 48 double PD1;
JornJan 0:4c07bb5a9f9f 49 double PD2;
JornJan 2:821ae727bf8c 50 double error1=0;
JornJan 2:821ae727bf8c 51 double error1m=0;
JornJan 2:821ae727bf8c 52 double error2=0;
JornJan 2:821ae727bf8c 53 double error2m=0;
JornJan 0:4c07bb5a9f9f 54
JornJan 0:4c07bb5a9f9f 55 double Kp; // proportional coefficient (
JornJan 0:4c07bb5a9f9f 56 double Kd; // differential coefficient
JornJan 3:329acce2487c 57 double Ki; // integrating coefficient
JornJan 0:4c07bb5a9f9f 58
JornJan 0:4c07bb5a9f9f 59
JornJan 2:821ae727bf8c 60 void wasd()
JornJan 0:4c07bb5a9f9f 61 {
JornJan 2:821ae727bf8c 62 static char oldkey = 'p';
JornJan 2:821ae727bf8c 63 static double oldvx = 0;
JornJan 2:821ae727bf8c 64 static double oldvy = 0;
JornJan 2:821ae727bf8c 65
JornJan 0:4c07bb5a9f9f 66 if(pc.readable()==true)
JornJan 0:4c07bb5a9f9f 67 { key = pc.getc();
JornJan 2:821ae727bf8c 68
JornJan 0:4c07bb5a9f9f 69 if (key=='a')
JornJan 0:4c07bb5a9f9f 70 {
JornJan 1:b6a079ca16e0 71 vx = 0.04; //referentie snelheid m/s
JornJan 0:4c07bb5a9f9f 72 vy = 0;
JornJan 0:4c07bb5a9f9f 73 }
JornJan 0:4c07bb5a9f9f 74 else if(key=='d')
JornJan 0:4c07bb5a9f9f 75 {
JornJan 1:b6a079ca16e0 76 vx = -0.04;
JornJan 0:4c07bb5a9f9f 77 vy = 0;
JornJan 0:4c07bb5a9f9f 78 }
JornJan 0:4c07bb5a9f9f 79 else if(key=='w')
JornJan 0:4c07bb5a9f9f 80 {
JornJan 0:4c07bb5a9f9f 81 vx = 0;
JornJan 1:b6a079ca16e0 82 vy = 0.04;
JornJan 0:4c07bb5a9f9f 83 }
JornJan 0:4c07bb5a9f9f 84 else if(key=='s')
JornJan 0:4c07bb5a9f9f 85 {
JornJan 0:4c07bb5a9f9f 86 vx = 0;
JornJan 1:b6a079ca16e0 87 vy = -0.04;
JornJan 0:4c07bb5a9f9f 88 }
JornJan 2:821ae727bf8c 89 else
JornJan 0:4c07bb5a9f9f 90 {
JornJan 2:821ae727bf8c 91 key = oldkey;
JornJan 2:821ae727bf8c 92 vx = oldvx;
JornJan 2:821ae727bf8c 93 vy = oldvy;
JornJan 0:4c07bb5a9f9f 94 }
JornJan 2:821ae727bf8c 95
JornJan 2:821ae727bf8c 96 } //einde eerste if statemnet
JornJan 2:821ae727bf8c 97
JornJan 2:821ae727bf8c 98 else if (pc.readable()==false)
JornJan 0:4c07bb5a9f9f 99 {
JornJan 0:4c07bb5a9f9f 100 vx=0;
JornJan 2:821ae727bf8c 101 vy=0;
JornJan 2:821ae727bf8c 102 key='p';
JornJan 0:4c07bb5a9f9f 103 }
JornJan 2:821ae727bf8c 104 oldkey = key;
JornJan 2:821ae727bf8c 105 oldvx = vx;
JornJan 2:821ae727bf8c 106 oldvy = vy;
JornJan 2:821ae727bf8c 107
JornJan 0:4c07bb5a9f9f 108 }
JornJan 0:4c07bb5a9f9f 109
JornJan 2:821ae727bf8c 110 void kinematics()
JornJan 0:4c07bb5a9f9f 111 {
JornJan 0:4c07bb5a9f9f 112
JornJan 2:821ae727bf8c 113 q1 = ((-(L3 + L2*cos(q1 - q2))/(L1*L2*cos(2*q1 - q2) + L1*L3*cos(q1)))*vx + ((L2*sin(q1 - q2))/(L1*L2*cos(2*q1 - q2) + L1*L3*cos(q1)))*vy) * ts + q1_pos;
JornJan 2:821ae727bf8c 114 q2 = (((L3 - L1*sin(q1) + L2*cos(q1 - q2))/(L1*L2*cos(2*q1 - q2) + L1*L3*cos(q1))*vx) + ((L1*cos(q1) - L2*sin(q1 - q2))/(L1*L2*cos(2*q1 - q2) + L1*L3*cos(q1)))*vy) * ts + q2_pos;
JornJan 0:4c07bb5a9f9f 115 }
JornJan 0:4c07bb5a9f9f 116
JornJan 2:821ae727bf8c 117 void controller(double q1ref, double q2ref)
JornJan 0:4c07bb5a9f9f 118 {
JornJan 0:4c07bb5a9f9f 119 // error = qset
JornJan 0:4c07bb5a9f9f 120 // referentie bepalen
JornJan 0:4c07bb5a9f9f 121
JornJan 2:821ae727bf8c 122 error1 = q1ref - q1_pos;
JornJan 2:821ae727bf8c 123 error2 = q2ref - q2_pos;
JornJan 0:4c07bb5a9f9f 124
JornJan 0:4c07bb5a9f9f 125 //PD
JornJan 2:821ae727bf8c 126 PD1 = Kp*(error1) + Kd*((error1m-error1)/ts) ; // PD sum; PD = proportianal + differential
JornJan 2:821ae727bf8c 127 error1m = error1; // waarde voor qset wordt opgeslagen (m = memory)
JornJan 2:821ae727bf8c 128 PD2 = Kp*(error2) + Kd*((error2m-error2)/ts) ;
JornJan 2:821ae727bf8c 129 error2m = error2;
JornJan 0:4c07bb5a9f9f 130
JornJan 0:4c07bb5a9f9f 131 //Motor control
JornJan 0:4c07bb5a9f9f 132 if (PD1<0 && PD2<0 )
JornJan 0:4c07bb5a9f9f 133 {
JornJan 0:4c07bb5a9f9f 134 motor1MagnitudePin = fabs(PD1);
JornJan 2:821ae727bf8c 135 motor1DirectionPin = 0;
JornJan 0:4c07bb5a9f9f 136 motor2MagnitudePin = fabs(PD2);
JornJan 0:4c07bb5a9f9f 137 motor2DirectionPin = 1;
JornJan 0:4c07bb5a9f9f 138 }
JornJan 0:4c07bb5a9f9f 139 else if (PD1>0 && PD2<0)
JornJan 0:4c07bb5a9f9f 140 {
JornJan 0:4c07bb5a9f9f 141 motor1MagnitudePin = fabs(PD1);
JornJan 2:821ae727bf8c 142 motor1DirectionPin = 1;
JornJan 0:4c07bb5a9f9f 143 motor2MagnitudePin = fabs(PD2);
JornJan 0:4c07bb5a9f9f 144 motor2DirectionPin = 1;
JornJan 0:4c07bb5a9f9f 145 }
JornJan 0:4c07bb5a9f9f 146
JornJan 0:4c07bb5a9f9f 147 else if (PD1<0 && PD2>0)
JornJan 0:4c07bb5a9f9f 148 {
JornJan 0:4c07bb5a9f9f 149 motor1MagnitudePin = fabs(PD1);
JornJan 2:821ae727bf8c 150 motor1DirectionPin = 0;
JornJan 0:4c07bb5a9f9f 151 motor2MagnitudePin = fabs(PD2);
JornJan 0:4c07bb5a9f9f 152 motor2DirectionPin = 0;
JornJan 0:4c07bb5a9f9f 153 }
JornJan 0:4c07bb5a9f9f 154
JornJan 0:4c07bb5a9f9f 155 else if (PD1>0 && PD2>0)
JornJan 0:4c07bb5a9f9f 156 {
JornJan 0:4c07bb5a9f9f 157 motor1MagnitudePin = fabs(PD1);
JornJan 2:821ae727bf8c 158 motor1DirectionPin = 1;
JornJan 0:4c07bb5a9f9f 159 motor2MagnitudePin = fabs(PD2);
JornJan 0:4c07bb5a9f9f 160 motor2DirectionPin = 0;
JornJan 0:4c07bb5a9f9f 161 }
JornJan 0:4c07bb5a9f9f 162
JornJan 0:4c07bb5a9f9f 163
JornJan 0:4c07bb5a9f9f 164
JornJan 0:4c07bb5a9f9f 165 }
Happyfield 4:95bf97b44237 166
Happyfield 4:95bf97b44237 167 void controller(double q1ref, double q2ref) //HIER WAS JE BEZIG@!#!@#!@#@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
Happyfield 4:95bf97b44237 168 {
Happyfield 4:95bf97b44237 169 pulses1 = q1_enc.getPulses();
Happyfield 4:95bf97b44237 170 error1_1 = ref1 - pulses1;
Happyfield 4:95bf97b44237 171 error1_I = error1_I2 + ts*((error1_1 - error2_1)/2);
Happyfield 4:95bf97b44237 172
Happyfield 4:95bf97b44237 173 PI = Kp*error1 + Ki*(error_I);
Happyfield 4:95bf97b44237 174
Happyfield 4:95bf97b44237 175 error2 = error1;
Happyfield 4:95bf97b44237 176 error_I2 = error_I;
Happyfield 4:95bf97b44237 177
Happyfield 4:95bf97b44237 178 //Motor control
Happyfield 4:95bf97b44237 179 if (PI<0 )
Happyfield 4:95bf97b44237 180 {
Happyfield 4:95bf97b44237 181 motor2DirectionPin = 0;
Happyfield 4:95bf97b44237 182 motor2MagnitudePin = fabs(PI);
Happyfield 4:95bf97b44237 183
Happyfield 4:95bf97b44237 184 }
Happyfield 4:95bf97b44237 185 else if (PI>0)
Happyfield 4:95bf97b44237 186 {
Happyfield 4:95bf97b44237 187 motor2DirectionPin = 1;
Happyfield 4:95bf97b44237 188 motor2MagnitudePin = fabs(PI);
Happyfield 4:95bf97b44237 189 }
Happyfield 4:95bf97b44237 190 }
JornJan 0:4c07bb5a9f9f 191
JornJan 0:4c07bb5a9f9f 192 void aansturing()
JornJan 0:4c07bb5a9f9f 193 {
JornJan 0:4c07bb5a9f9f 194 // encoders uitlezen
JornJan 0:4c07bb5a9f9f 195 q1_puls = q1_enc.getPulses();
JornJan 0:4c07bb5a9f9f 196 q1_pos = q1_puls*pulses2rad; // berekent positie q1 in radialen
JornJan 0:4c07bb5a9f9f 197 q2_puls = q2_enc.getPulses();
JornJan 0:4c07bb5a9f9f 198 q2_pos = q2_puls*pulses2rad; // berekent positie q2 in radialen
JornJan 2:821ae727bf8c 199
JornJan 0:4c07bb5a9f9f 200 // kinematica bepaald gewenste q1 en q2 referenties afhankelijk van ingegeven vx en vy
JornJan 2:821ae727bf8c 201 kinematics();
JornJan 2:821ae727bf8c 202
JornJan 0:4c07bb5a9f9f 203 // PD controller gebruikt PD control en stuurt motor aan
JornJan 0:4c07bb5a9f9f 204 controller(q1, q2);
JornJan 2:821ae727bf8c 205
JornJan 2:821ae727bf8c 206 if(n==500){
JornJan 2:821ae727bf8c 207 printf("motor1 = %f motor2 = %f\n\r", PD1, PD2);
JornJan 2:821ae727bf8c 208 n=0;
JornJan 2:821ae727bf8c 209 }
JornJan 2:821ae727bf8c 210 else{
JornJan 2:821ae727bf8c 211 n=n+1;
JornJan 2:821ae727bf8c 212 }
JornJan 0:4c07bb5a9f9f 213 }
JornJan 0:4c07bb5a9f9f 214
JornJan 0:4c07bb5a9f9f 215
JornJan 0:4c07bb5a9f9f 216 int main()
JornJan 0:4c07bb5a9f9f 217 {
JornJan 0:4c07bb5a9f9f 218 pc.baud(115200);
JornJan 0:4c07bb5a9f9f 219 pulses2rad=(2*pi)/4200;
JornJan 3:329acce2487c 220 Kp = 100;
JornJan 3:329acce2487c 221 Ki = ;
JornJan 2:821ae727bf8c 222 tick_sample.attach_us(&aansturing, 1000); //sample frequency 1000 Hz;
JornJan 2:821ae727bf8c 223 tick_wasd.attach(&wasd, 0.1);
JornJan 2:821ae727bf8c 224 led_g = 0;
JornJan 2:821ae727bf8c 225
JornJan 0:4c07bb5a9f9f 226 while(true)
JornJan 0:4c07bb5a9f9f 227 {
JornJan 2:821ae727bf8c 228
JornJan 0:4c07bb5a9f9f 229 }
JornJan 0:4c07bb5a9f9f 230
JornJan 0:4c07bb5a9f9f 231
JornJan 0:4c07bb5a9f9f 232 }