Jorn-Jan van de Beld / Mbed 2 deprecated kin_PD_project

begin van episch avontuur

Dependencies:   QEI mbed

main.cpp@7:9e965efc430e, 2017-10-31 (annotated)

Committer:
Happyfield
Date:
Tue Oct 31 22:49:47 2017 +0000
Revision:
7:9e965efc430e
Parent:
6:c97264a28123
Child:
8:668afaa63c96
We beginnen moe te worden, kan fouten bevatten

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)
Happyfield 5:21e846902e3e 13 QEI q1_enc(D13, D12, NC, 32); //encoder motor 1 instellen
Happyfield 5:21e846902e3e 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;
Happyfield 7:9e965efc430e 22 double q1_puls;
Happyfield 7:9e965efc430e 23 double 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
Happyfield 7:9e965efc430e 39 double vx;
Happyfield 7:9e965efc430e 40 double vy;
JornJan 0:4c07bb5a9f9f 41
JornJan 0:4c07bb5a9f9f 42
JornJan 0:4c07bb5a9f9f 43 // PID gegevens
JornJan 0:4c07bb5a9f9f 44 double pulses2rad;
Happyfield 6:c97264a28123 45 double rad2pulses;
JornJan 0:4c07bb5a9f9f 46 double position;
JornJan 0:4c07bb5a9f9f 47 double ref1;
JornJan 0:4c07bb5a9f9f 48 double ref2;
Happyfield 6:c97264a28123 49 double PI1;
Happyfield 6:c97264a28123 50 double PI2;
Happyfield 5:21e846902e3e 51 double error1_1=0;
Happyfield 5:21e846902e3e 52 double error1_2=0;
Happyfield 5:21e846902e3e 53 double error2_1=0;
Happyfield 5:21e846902e3e 54 double error2_2=0;
Happyfield 5:21e846902e3e 55 double error_I_1=0;
Happyfield 5:21e846902e3e 56 double error_I2_1=0;
Happyfield 5:21e846902e3e 57 double error_I_2=0;
Happyfield 5:21e846902e3e 58 double error_I2_2=0;
JornJan 0:4c07bb5a9f9f 59
Happyfield 6:c97264a28123 60 double Kp1 = 0.0001; // proportional coefficient motor 1
Happyfield 6:c97264a28123 61 double Ki1 = 0.0002; // integrating coefficient motor 1
JornJan 0:4c07bb5a9f9f 62
Happyfield 6:c97264a28123 63 double Kp2 = 0.00015; // proportional coefficient motor 2
Happyfield 6:c97264a28123 64 double Ki2 = 0.0035; // integrating coefficient motor 2
JornJan 0:4c07bb5a9f9f 65
Happyfield 7:9e965efc430e 66 void toetsen()
Happyfield 7:9e965efc430e 67 {
Happyfield 7:9e965efc430e 68 if(pc.readable()==true)
Happyfield 7:9e965efc430e 69 { key = pc.getc();
Happyfield 7:9e965efc430e 70 if (key=='a')
Happyfield 7:9e965efc430e 71 {
Happyfield 7:9e965efc430e 72 vx= vx + 5; //reference wordt 500 pulses
Happyfield 7:9e965efc430e 73 }
Happyfield 7:9e965efc430e 74 else if(key=='d')
Happyfield 7:9e965efc430e 75 {
Happyfield 7:9e965efc430e 76 vx= vx - 5; //reference wordt 0 pulses
Happyfield 7:9e965efc430e 77 }
Happyfield 7:9e965efc430e 78 if (key=='w')
Happyfield 7:9e965efc430e 79 {
Happyfield 7:9e965efc430e 80 vy= vy + 5; //reference wordt 500 pulses
Happyfield 7:9e965efc430e 81 }
Happyfield 7:9e965efc430e 82 else if(key=='s')
Happyfield 7:9e965efc430e 83 {
Happyfield 7:9e965efc430e 84 vy= vy -5; //reference wordt 0 pulses
Happyfield 7:9e965efc430e 85 }
Happyfield 7:9e965efc430e 86 }
Happyfield 7:9e965efc430e 87 }
Happyfield 7:9e965efc430e 88
JornJan 2:821ae727bf8c 89 void wasd()
JornJan 0:4c07bb5a9f9f 90 {
JornJan 2:821ae727bf8c 91 static char oldkey = 'p';
JornJan 2:821ae727bf8c 92 static double oldvx = 0;
JornJan 2:821ae727bf8c 93 static double oldvy = 0;
JornJan 2:821ae727bf8c 94
JornJan 0:4c07bb5a9f9f 95 if(pc.readable()==true)
JornJan 0:4c07bb5a9f9f 96 { key = pc.getc();
JornJan 2:821ae727bf8c 97
JornJan 0:4c07bb5a9f9f 98 if (key=='a')
JornJan 0:4c07bb5a9f9f 99 {
Happyfield 7:9e965efc430e 100 vx = vx - 10; //referentie snelheid m/s
Happyfield 7:9e965efc430e 101 vy = vy;
JornJan 0:4c07bb5a9f9f 102 }
JornJan 0:4c07bb5a9f9f 103 else if(key=='d')
JornJan 0:4c07bb5a9f9f 104 {
Happyfield 7:9e965efc430e 105 vx = vx - 10;
Happyfield 7:9e965efc430e 106 vy = vy;
JornJan 0:4c07bb5a9f9f 107 }
JornJan 0:4c07bb5a9f9f 108 else if(key=='w')
JornJan 0:4c07bb5a9f9f 109 {
Happyfield 7:9e965efc430e 110 vx = vx;
Happyfield 7:9e965efc430e 111 vy = vy + 25;
JornJan 0:4c07bb5a9f9f 112 }
JornJan 0:4c07bb5a9f9f 113 else if(key=='s')
JornJan 0:4c07bb5a9f9f 114 {
Happyfield 7:9e965efc430e 115 vx = vx;
Happyfield 7:9e965efc430e 116 vy = vy - 25;
JornJan 0:4c07bb5a9f9f 117 }
JornJan 2:821ae727bf8c 118 else
JornJan 0:4c07bb5a9f9f 119 {
JornJan 2:821ae727bf8c 120 key = oldkey;
JornJan 2:821ae727bf8c 121 vx = oldvx;
JornJan 2:821ae727bf8c 122 vy = oldvy;
JornJan 0:4c07bb5a9f9f 123 }
JornJan 2:821ae727bf8c 124
JornJan 2:821ae727bf8c 125 } //einde eerste if statemnet
JornJan 2:821ae727bf8c 126
JornJan 2:821ae727bf8c 127 else if (pc.readable()==false)
JornJan 0:4c07bb5a9f9f 128 {
JornJan 0:4c07bb5a9f9f 129 vx=0;
JornJan 2:821ae727bf8c 130 vy=0;
JornJan 2:821ae727bf8c 131 key='p';
JornJan 0:4c07bb5a9f9f 132 }
JornJan 2:821ae727bf8c 133 oldkey = key;
JornJan 2:821ae727bf8c 134 oldvx = vx;
JornJan 2:821ae727bf8c 135 oldvy = vy;
JornJan 2:821ae727bf8c 136
JornJan 0:4c07bb5a9f9f 137 }
JornJan 0:4c07bb5a9f9f 138
JornJan 2:821ae727bf8c 139 void kinematics()
JornJan 0:4c07bb5a9f9f 140 {
JornJan 0:4c07bb5a9f9f 141
Happyfield 5:21e846902e3e 142 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) * ts + q1_pos;
Happyfield 5:21e846902e3e 143 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) * ts + q2_pos;
Happyfield 5:21e846902e3e 144
Happyfield 5:21e846902e3e 145 ref1 = q1*rad2pulses;
Happyfield 5:21e846902e3e 146 ref2 = q2*rad2pulses;
JornJan 0:4c07bb5a9f9f 147 }
JornJan 0:4c07bb5a9f9f 148
Happyfield 5:21e846902e3e 149 void controller()
Happyfield 4:95bf97b44237 150 {
Happyfield 7:9e965efc430e 151 q1_puls = q1_enc.getPulses();
Happyfield 7:9e965efc430e 152 q1_pos = q1_puls*pulses2rad; // berekent positie q1 in radialen
Happyfield 7:9e965efc430e 153 q2_puls = q2_enc.getPulses();
Happyfield 7:9e965efc430e 154 q2_pos = q2_puls*pulses2rad; // berekent positie q2 in radialen
Happyfield 5:21e846902e3e 155 //PID 1
Happyfield 5:21e846902e3e 156 error1_1 = ref1 - q1_puls;
Happyfield 5:21e846902e3e 157 error_I_1 = error_I2_1 + ts*((error1_1 - error2_1)/2);
Happyfield 5:21e846902e3e 158
Happyfield 5:21e846902e3e 159 PI1 = Kp1*error1_1 + Ki1*(error_I_1);
Happyfield 5:21e846902e3e 160
Happyfield 5:21e846902e3e 161 error2_1 = error1_1;
Happyfield 5:21e846902e3e 162 error_I2_1 = error_I_1;
Happyfield 5:21e846902e3e 163
Happyfield 5:21e846902e3e 164 //PID 2
Happyfield 5:21e846902e3e 165 error1_2 = ref2 - q2_puls;
Happyfield 5:21e846902e3e 166 error_I_2 = error_I2_2 + ts*((error1_2 - error2_2)/2);
Happyfield 5:21e846902e3e 167
Happyfield 5:21e846902e3e 168 PI2 = Kp2*error1_2 + Ki2*(error_I_2);
Happyfield 4:95bf97b44237 169
Happyfield 5:21e846902e3e 170 error2_2 = error1_2;
Happyfield 5:21e846902e3e 171 error_I2_2 = error_I_2;
Happyfield 5:21e846902e3e 172
Happyfield 6:c97264a28123 173 //Motor control
Happyfield 6:c97264a28123 174 if (PI1<0 && PI2<0)
Happyfield 5:21e846902e3e 175 {
Happyfield 5:21e846902e3e 176 motor1DirectionPin = 0;
Happyfield 5:21e846902e3e 177 motor1MagnitudePin = fabs(PI1);
Happyfield 4:95bf97b44237 178 motor2DirectionPin = 0;
Happyfield 5:21e846902e3e 179 motor2MagnitudePin = fabs(PI2);
Happyfield 4:95bf97b44237 180
Happyfield 4:95bf97b44237 181 }
Happyfield 6:c97264a28123 182 else if (PI1>0 && PI2<0)
Happyfield 6:c97264a28123 183 {
Happyfield 6:c97264a28123 184 motor1DirectionPin = 1;
Happyfield 6:c97264a28123 185 motor1MagnitudePin = fabs(PI1);
Happyfield 6:c97264a28123 186 motor2DirectionPin = 0;
Happyfield 6:c97264a28123 187 motor2MagnitudePin = fabs(PI2);
Happyfield 6:c97264a28123 188 }
Happyfield 6:c97264a28123 189
Happyfield 6:c97264a28123 190 else if (PI1<0 && PI2>0)
Happyfield 4:95bf97b44237 191 {
Happyfield 6:c97264a28123 192 motor1DirectionPin = 0;
Happyfield 6:c97264a28123 193 motor1MagnitudePin = fabs(PI1);
Happyfield 6:c97264a28123 194 motor2DirectionPin = 1;
Happyfield 6:c97264a28123 195 motor2MagnitudePin = fabs(PI2);
Happyfield 6:c97264a28123 196 }
Happyfield 6:c97264a28123 197
Happyfield 6:c97264a28123 198 else if (PI1>0 && PI2>0)
Happyfield 6:c97264a28123 199 {
Happyfield 6:c97264a28123 200 motor1DirectionPin = 1;
Happyfield 6:c97264a28123 201 motor1MagnitudePin = fabs(PI1);
Happyfield 4:95bf97b44237 202 motor2DirectionPin = 1;
Happyfield 5:21e846902e3e 203 motor2MagnitudePin = fabs(PI2);
Happyfield 4:95bf97b44237 204 }
Happyfield 4:95bf97b44237 205 }
JornJan 0:4c07bb5a9f9f 206
JornJan 0:4c07bb5a9f9f 207 void aansturing()
Happyfield 6:c97264a28123 208 {
JornJan 0:4c07bb5a9f9f 209 // encoders uitlezen
JornJan 0:4c07bb5a9f9f 210 q1_puls = q1_enc.getPulses();
JornJan 0:4c07bb5a9f9f 211 q1_pos = q1_puls*pulses2rad; // berekent positie q1 in radialen
JornJan 0:4c07bb5a9f9f 212 q2_puls = q2_enc.getPulses();
JornJan 0:4c07bb5a9f9f 213 q2_pos = q2_puls*pulses2rad; // berekent positie q2 in radialen
JornJan 2:821ae727bf8c 214
JornJan 0:4c07bb5a9f9f 215 // kinematica bepaald gewenste q1 en q2 referenties afhankelijk van ingegeven vx en vy
JornJan 2:821ae727bf8c 216 kinematics();
JornJan 2:821ae727bf8c 217
JornJan 0:4c07bb5a9f9f 218 // PD controller gebruikt PD control en stuurt motor aan
Happyfield 7:9e965efc430e 219 controller();
Happyfield 7:9e965efc430e 220 if(n==500){
Happyfield 7:9e965efc430e 221 printf("PI1 = %f PI2 = %f\n\r", ref1, ref2);
Happyfield 7:9e965efc430e 222 n=0;
Happyfield 7:9e965efc430e 223 }
Happyfield 7:9e965efc430e 224 else{
Happyfield 7:9e965efc430e 225 n=n+1;
Happyfield 7:9e965efc430e 226 }
Happyfield 6:c97264a28123 227 }
JornJan 0:4c07bb5a9f9f 228
JornJan 0:4c07bb5a9f9f 229
JornJan 0:4c07bb5a9f9f 230 int main()
JornJan 0:4c07bb5a9f9f 231 {
JornJan 0:4c07bb5a9f9f 232 pc.baud(115200);
JornJan 0:4c07bb5a9f9f 233 pulses2rad=(2*pi)/4200;
Happyfield 5:21e846902e3e 234 rad2pulses=4200/(2*pi);
Happyfield 7:9e965efc430e 235 tick_wasd.attach_us(&toetsen, 1000);
JornJan 2:821ae727bf8c 236 tick_sample.attach_us(&aansturing, 1000); //sample frequency 1000 Hz;
JornJan 2:821ae727bf8c 237 led_g = 0;
JornJan 2:821ae727bf8c 238
JornJan 0:4c07bb5a9f9f 239 while(true)
JornJan 0:4c07bb5a9f9f 240 {
JornJan 2:821ae727bf8c 241
JornJan 0:4c07bb5a9f9f 242 }
JornJan 0:4c07bb5a9f9f 243 }