Jorn-Jan van de Beld / Mbed 2 deprecated kin_PD_project

begin van episch avontuur

Dependencies:   QEI mbed

main.cpp@6:c97264a28123, 2017-10-31 (annotated)

Committer:
Happyfield
Date:
Tue Oct 31 21:37:31 2017 +0000
Revision:
6:c97264a28123
Parent:
5:21e846902e3e
Child:
7:9e965efc430e
Alles samen, maar iets is mis

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;
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;
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
JornJan 2:821ae727bf8c 66 void wasd()
JornJan 0:4c07bb5a9f9f 67 {
JornJan 2:821ae727bf8c 68 static char oldkey = 'p';
JornJan 2:821ae727bf8c 69 static double oldvx = 0;
JornJan 2:821ae727bf8c 70 static double oldvy = 0;
JornJan 2:821ae727bf8c 71
JornJan 0:4c07bb5a9f9f 72 if(pc.readable()==true)
JornJan 0:4c07bb5a9f9f 73 { key = pc.getc();
JornJan 2:821ae727bf8c 74
JornJan 0:4c07bb5a9f9f 75 if (key=='a')
JornJan 0:4c07bb5a9f9f 76 {
JornJan 1:b6a079ca16e0 77 vx = 0.04; //referentie snelheid m/s
JornJan 0:4c07bb5a9f9f 78 vy = 0;
JornJan 0:4c07bb5a9f9f 79 }
JornJan 0:4c07bb5a9f9f 80 else if(key=='d')
JornJan 0:4c07bb5a9f9f 81 {
JornJan 1:b6a079ca16e0 82 vx = -0.04;
JornJan 0:4c07bb5a9f9f 83 vy = 0;
JornJan 0:4c07bb5a9f9f 84 }
JornJan 0:4c07bb5a9f9f 85 else if(key=='w')
JornJan 0:4c07bb5a9f9f 86 {
JornJan 0:4c07bb5a9f9f 87 vx = 0;
JornJan 1:b6a079ca16e0 88 vy = 0.04;
JornJan 0:4c07bb5a9f9f 89 }
JornJan 0:4c07bb5a9f9f 90 else if(key=='s')
JornJan 0:4c07bb5a9f9f 91 {
JornJan 0:4c07bb5a9f9f 92 vx = 0;
JornJan 1:b6a079ca16e0 93 vy = -0.04;
JornJan 0:4c07bb5a9f9f 94 }
JornJan 2:821ae727bf8c 95 else
JornJan 0:4c07bb5a9f9f 96 {
JornJan 2:821ae727bf8c 97 key = oldkey;
JornJan 2:821ae727bf8c 98 vx = oldvx;
JornJan 2:821ae727bf8c 99 vy = oldvy;
JornJan 0:4c07bb5a9f9f 100 }
JornJan 2:821ae727bf8c 101
JornJan 2:821ae727bf8c 102 } //einde eerste if statemnet
JornJan 2:821ae727bf8c 103
JornJan 2:821ae727bf8c 104 else if (pc.readable()==false)
JornJan 0:4c07bb5a9f9f 105 {
JornJan 0:4c07bb5a9f9f 106 vx=0;
JornJan 2:821ae727bf8c 107 vy=0;
JornJan 2:821ae727bf8c 108 key='p';
JornJan 0:4c07bb5a9f9f 109 }
JornJan 2:821ae727bf8c 110 oldkey = key;
JornJan 2:821ae727bf8c 111 oldvx = vx;
JornJan 2:821ae727bf8c 112 oldvy = vy;
JornJan 2:821ae727bf8c 113
JornJan 0:4c07bb5a9f9f 114 }
JornJan 0:4c07bb5a9f9f 115
JornJan 2:821ae727bf8c 116 void kinematics()
JornJan 0:4c07bb5a9f9f 117 {
JornJan 0:4c07bb5a9f9f 118
Happyfield 5:21e846902e3e 119 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 120 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 121
Happyfield 5:21e846902e3e 122 ref1 = q1*rad2pulses;
Happyfield 5:21e846902e3e 123 ref2 = q2*rad2pulses;
JornJan 0:4c07bb5a9f9f 124 }
JornJan 0:4c07bb5a9f9f 125
Happyfield 5:21e846902e3e 126 void controller()
Happyfield 4:95bf97b44237 127 {
Happyfield 5:21e846902e3e 128 //PID 1
Happyfield 5:21e846902e3e 129 error1_1 = ref1 - q1_puls;
Happyfield 5:21e846902e3e 130 error_I_1 = error_I2_1 + ts*((error1_1 - error2_1)/2);
Happyfield 5:21e846902e3e 131
Happyfield 5:21e846902e3e 132 PI1 = Kp1*error1_1 + Ki1*(error_I_1);
Happyfield 5:21e846902e3e 133
Happyfield 5:21e846902e3e 134 error2_1 = error1_1;
Happyfield 5:21e846902e3e 135 error_I2_1 = error_I_1;
Happyfield 5:21e846902e3e 136
Happyfield 5:21e846902e3e 137 //PID 2
Happyfield 5:21e846902e3e 138 error1_2 = ref2 - q2_puls;
Happyfield 5:21e846902e3e 139 error_I_2 = error_I2_2 + ts*((error1_2 - error2_2)/2);
Happyfield 5:21e846902e3e 140
Happyfield 5:21e846902e3e 141 PI2 = Kp2*error1_2 + Ki2*(error_I_2);
Happyfield 4:95bf97b44237 142
Happyfield 5:21e846902e3e 143 error2_2 = error1_2;
Happyfield 5:21e846902e3e 144 error_I2_2 = error_I_2;
Happyfield 5:21e846902e3e 145
Happyfield 6:c97264a28123 146 //Motor control
Happyfield 6:c97264a28123 147 if (PI1<0 && PI2<0)
Happyfield 5:21e846902e3e 148 {
Happyfield 5:21e846902e3e 149 motor1DirectionPin = 0;
Happyfield 5:21e846902e3e 150 motor1MagnitudePin = fabs(PI1);
Happyfield 4:95bf97b44237 151 motor2DirectionPin = 0;
Happyfield 5:21e846902e3e 152 motor2MagnitudePin = fabs(PI2);
Happyfield 4:95bf97b44237 153
Happyfield 4:95bf97b44237 154 }
Happyfield 6:c97264a28123 155 else if (PI1>0 && PI2<0)
Happyfield 6:c97264a28123 156 {
Happyfield 6:c97264a28123 157 motor1DirectionPin = 1;
Happyfield 6:c97264a28123 158 motor1MagnitudePin = fabs(PI1);
Happyfield 6:c97264a28123 159 motor2DirectionPin = 0;
Happyfield 6:c97264a28123 160 motor2MagnitudePin = fabs(PI2);
Happyfield 6:c97264a28123 161 }
Happyfield 6:c97264a28123 162
Happyfield 6:c97264a28123 163 else if (PI1<0 && PI2>0)
Happyfield 4:95bf97b44237 164 {
Happyfield 6:c97264a28123 165 motor1DirectionPin = 0;
Happyfield 6:c97264a28123 166 motor1MagnitudePin = fabs(PI1);
Happyfield 6:c97264a28123 167 motor2DirectionPin = 1;
Happyfield 6:c97264a28123 168 motor2MagnitudePin = fabs(PI2);
Happyfield 6:c97264a28123 169 }
Happyfield 6:c97264a28123 170
Happyfield 6:c97264a28123 171 else if (PI1>0 && PI2>0)
Happyfield 6:c97264a28123 172 {
Happyfield 6:c97264a28123 173 motor1DirectionPin = 1;
Happyfield 6:c97264a28123 174 motor1MagnitudePin = fabs(PI1);
Happyfield 4:95bf97b44237 175 motor2DirectionPin = 1;
Happyfield 5:21e846902e3e 176 motor2MagnitudePin = fabs(PI2);
Happyfield 4:95bf97b44237 177 }
Happyfield 4:95bf97b44237 178 }
JornJan 0:4c07bb5a9f9f 179
JornJan 0:4c07bb5a9f9f 180 void aansturing()
Happyfield 6:c97264a28123 181 {
JornJan 0:4c07bb5a9f9f 182 // encoders uitlezen
JornJan 0:4c07bb5a9f9f 183 q1_puls = q1_enc.getPulses();
JornJan 0:4c07bb5a9f9f 184 q1_pos = q1_puls*pulses2rad; // berekent positie q1 in radialen
JornJan 0:4c07bb5a9f9f 185 q2_puls = q2_enc.getPulses();
JornJan 0:4c07bb5a9f9f 186 q2_pos = q2_puls*pulses2rad; // berekent positie q2 in radialen
JornJan 2:821ae727bf8c 187
JornJan 0:4c07bb5a9f9f 188 // kinematica bepaald gewenste q1 en q2 referenties afhankelijk van ingegeven vx en vy
JornJan 2:821ae727bf8c 189 kinematics();
JornJan 2:821ae727bf8c 190
JornJan 0:4c07bb5a9f9f 191 // PD controller gebruikt PD control en stuurt motor aan
Happyfield 6:c97264a28123 192 controller();
Happyfield 6:c97264a28123 193 }
JornJan 0:4c07bb5a9f9f 194
JornJan 0:4c07bb5a9f9f 195
JornJan 0:4c07bb5a9f9f 196 int main()
JornJan 0:4c07bb5a9f9f 197 {
JornJan 0:4c07bb5a9f9f 198 pc.baud(115200);
JornJan 0:4c07bb5a9f9f 199 pulses2rad=(2*pi)/4200;
Happyfield 5:21e846902e3e 200 rad2pulses=4200/(2*pi);
Happyfield 6:c97264a28123 201 tick_wasd.attach_us(&wasd, 1000);
JornJan 2:821ae727bf8c 202 tick_sample.attach_us(&aansturing, 1000); //sample frequency 1000 Hz;
JornJan 2:821ae727bf8c 203 led_g = 0;
JornJan 2:821ae727bf8c 204
JornJan 0:4c07bb5a9f9f 205 while(true)
JornJan 0:4c07bb5a9f9f 206 {
JornJan 2:821ae727bf8c 207
JornJan 0:4c07bb5a9f9f 208 }
JornJan 0:4c07bb5a9f9f 209 }