Jorn-Jan van de Beld
/
kin_PD_project
begin van episch avontuur
main.cpp
- Committer:
- JornJan
- Date:
- 2017-11-01
- Revision:
- 9:182b33cabd45
- Parent:
- 8:668afaa63c96
File content as of revision 9:182b33cabd45:
#include "mbed.h" #include "Serial.h" #include "math.h" #include "QEI.h" // Connecties Serial pc(USBTX, USBRX); //Serial PC connectie DigitalOut led_g(LED_GREEN); //Groene led op k64f bord 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 double checkm1; double checkm2; // globale gegevens Ticker tick_sample; // ticker voor aanroepen aansturing Ticker tick_wasd; //ticker voor toetsenbord aansturing char key; double ts=0.001; int q1_puls; int q2_puls; int n = 0; double flex = 0; // 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; // PID gegevens double pulses2rad=(2*pi)/4200; double rad2pulses=4200/(2*pi); double position; double ref1; double ref2; double PI1; double PI2; double error1_1=0; double error1_2=0; double error2_1=0; double error2_2=0; double error_I_1=0; double error_I2_1=0; double error_I_2=0; double error_I2_2=0; double Kp1 = 0.2; // proportional coefficient motor 1 double Ki1 = 0.02; // integrating coefficient motor 1 double Kp2 = 0.0015; // proportional coefficient motor 2 double Ki2 = 0.035; // integrating coefficient motor 2 void wasd() { static char oldkey = 'p'; static double oldvx = 0; static double oldvy = 0; if(pc.readable()==true) { key = pc.getc(); if (key=='a') { vx = 0.02; //referentie snelheid m/s vy = 0; } else if(key=='d') { vx = -0.02; vy = 0; } else if(key=='w') { vx = 0; vy = 0.02; } else if(key=='s') { vx = 0; vy = -0.02; } else { key = oldkey; vx = oldvx; vy = oldvy; } } //einde eerste if statemnet else if (pc.readable()==false) { vx=0; vy=0; key='p'; } oldkey = key; oldvx = vx; oldvy = vy; } void kinematics() { 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; 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; ref1 = q1*rad2pulses; // converteert de radialen weer terug naar pulses voor verwerking in PID ref2 = q2*rad2pulses; } void controller() { //PID 1 error1_1 = ref1 - q1_puls; error_I_1 = error_I2_1 + ts*((error1_1 + error2_1)/2); 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); PI2 = Kp2*error1_2 + Ki2*(error_I_2); error2_2 = error1_2; // opslaan variabelen voor integraal onderdeel error_I2_2 = error_I_2; //Motor control if (PI1==0 || PI2==0) { if (PI1<=0) { motor1DirectionPin = 0; motor1MagnitudePin = fabs(PI1); motor2MagnitudePin = 0; } else if (PI1>0) { motor1DirectionPin = 1; motor1MagnitudePin = fabs(PI1); motor2MagnitudePin = 0; } else if (PI2<=0) { motor2DirectionPin = 0; motor2MagnitudePin = fabs(PI2); motor1MagnitudePin = 0; } else if (PI2>0) { motor2DirectionPin = 1; motor2MagnitudePin = fabs(PI2); motor1MagnitudePin = 0; } } else if (PI1<0 && PI2<0) { motor1DirectionPin = 1; motor1MagnitudePin = fabs(PI1); motor2DirectionPin = 0; motor2MagnitudePin = fabs(PI2); } else if (PI1>0 && PI2<0) { motor1DirectionPin = 1; motor1MagnitudePin = fabs(PI1); motor2DirectionPin = 0; motor2MagnitudePin = fabs(PI2); } else if (PI1<0 && PI2>0) { motor1DirectionPin = 0; motor1MagnitudePin = fabs(PI1); motor2DirectionPin = 1; motor2MagnitudePin = fabs(PI2); } else if (PI1>0 && PI2>0) { motor1DirectionPin = 0; motor1MagnitudePin = fabs(PI1); motor2DirectionPin = 1; motor2MagnitudePin = fabs(PI2); } checkm1 = motor1MagnitudePin; checkm2 = motor2MagnitudePin; } void aansturing() { // 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 // kinematica bepaald gewenste q1 en q2 referenties afhankelijk van ingegeven vx en vy kinematics(); // PD controller gebruikt PD control en stuurt motor aan controller(); if(n==500){ printf("checkm1 = %f checkm2 = %f\n\r", ref1, ref2); n=0; } else{ n=n+1; } } int main() { pc.baud(115200); tick_wasd.attach_us(&wasd, 100000); tick_sample.attach_us(&aansturing, 1000); //sample frequency 1000 Hz; led_g = 1; while(true) { } }