Jorn-Jan van de Beld
/
kin_PD_project
begin van episch avontuur
main.cpp@9:182b33cabd45, 2017-11-01 (annotated)
- Committer:
- JornJan
- Date:
- Wed Nov 01 10:18:46 2017 +0000
- Revision:
- 9:182b33cabd45
- Parent:
- 8:668afaa63c96
1 november;
Who changed what in which revision?
User | Revision | Line number | New 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 | 9:182b33cabd45 | 17 | double checkm1; |
JornJan | 9:182b33cabd45 | 18 | double checkm2; |
JornJan | 9:182b33cabd45 | 19 | |
JornJan | 0:4c07bb5a9f9f | 20 | // globale gegevens |
JornJan | 0:4c07bb5a9f9f | 21 | Ticker tick_sample; // ticker voor aanroepen aansturing |
JornJan | 2:821ae727bf8c | 22 | Ticker tick_wasd; //ticker voor toetsenbord aansturing |
JornJan | 0:4c07bb5a9f9f | 23 | char key; |
JornJan | 0:4c07bb5a9f9f | 24 | double ts=0.001; |
JornJan | 9:182b33cabd45 | 25 | int q1_puls; |
JornJan | 9:182b33cabd45 | 26 | int q2_puls; |
JornJan | 2:821ae727bf8c | 27 | int n = 0; |
Happyfield | 8:668afaa63c96 | 28 | double flex = 0; |
JornJan | 0:4c07bb5a9f9f | 29 | |
JornJan | 0:4c07bb5a9f9f | 30 | // kinematica gegevens |
JornJan | 0:4c07bb5a9f9f | 31 | // lengte armen |
JornJan | 0:4c07bb5a9f9f | 32 | double L1 = 0.250; |
JornJan | 0:4c07bb5a9f9f | 33 | double L2 = 0.355; |
JornJan | 0:4c07bb5a9f9f | 34 | double L3 = 0.150; |
JornJan | 0:4c07bb5a9f9f | 35 | |
JornJan | 0:4c07bb5a9f9f | 36 | // reference position |
JornJan | 3:329acce2487c | 37 | double q1=0; // positie q1 in radialen |
JornJan | 0:4c07bb5a9f9f | 38 | double q2=0; // positie q2 in radialen |
JornJan | 0:4c07bb5a9f9f | 39 | double q1_pos; |
JornJan | 0:4c07bb5a9f9f | 40 | double q2_pos; |
JornJan | 0:4c07bb5a9f9f | 41 | |
JornJan | 0:4c07bb5a9f9f | 42 | // EMG Input_k |
Happyfield | 7:9e965efc430e | 43 | double vx; |
Happyfield | 7:9e965efc430e | 44 | double vy; |
JornJan | 0:4c07bb5a9f9f | 45 | |
JornJan | 0:4c07bb5a9f9f | 46 | |
JornJan | 0:4c07bb5a9f9f | 47 | // PID gegevens |
Happyfield | 8:668afaa63c96 | 48 | double pulses2rad=(2*pi)/4200; |
Happyfield | 8:668afaa63c96 | 49 | double rad2pulses=4200/(2*pi); |
JornJan | 0:4c07bb5a9f9f | 50 | double position; |
JornJan | 0:4c07bb5a9f9f | 51 | double ref1; |
JornJan | 0:4c07bb5a9f9f | 52 | double ref2; |
Happyfield | 6:c97264a28123 | 53 | double PI1; |
Happyfield | 6:c97264a28123 | 54 | double PI2; |
Happyfield | 5:21e846902e3e | 55 | double error1_1=0; |
Happyfield | 5:21e846902e3e | 56 | double error1_2=0; |
Happyfield | 5:21e846902e3e | 57 | double error2_1=0; |
Happyfield | 5:21e846902e3e | 58 | double error2_2=0; |
Happyfield | 5:21e846902e3e | 59 | double error_I_1=0; |
Happyfield | 5:21e846902e3e | 60 | double error_I2_1=0; |
Happyfield | 5:21e846902e3e | 61 | double error_I_2=0; |
Happyfield | 5:21e846902e3e | 62 | double error_I2_2=0; |
JornJan | 0:4c07bb5a9f9f | 63 | |
JornJan | 9:182b33cabd45 | 64 | double Kp1 = 0.2; // proportional coefficient motor 1 |
JornJan | 9:182b33cabd45 | 65 | double Ki1 = 0.02; // integrating coefficient motor 1 |
JornJan | 0:4c07bb5a9f9f | 66 | |
JornJan | 9:182b33cabd45 | 67 | double Kp2 = 0.0015; // proportional coefficient motor 2 |
JornJan | 9:182b33cabd45 | 68 | double Ki2 = 0.035; // integrating coefficient motor 2 |
JornJan | 9:182b33cabd45 | 69 | |
Happyfield | 7:9e965efc430e | 70 | |
JornJan | 2:821ae727bf8c | 71 | void wasd() |
JornJan | 0:4c07bb5a9f9f | 72 | { |
JornJan | 2:821ae727bf8c | 73 | static char oldkey = 'p'; |
JornJan | 2:821ae727bf8c | 74 | static double oldvx = 0; |
JornJan | 2:821ae727bf8c | 75 | static double oldvy = 0; |
JornJan | 2:821ae727bf8c | 76 | |
JornJan | 0:4c07bb5a9f9f | 77 | if(pc.readable()==true) |
JornJan | 0:4c07bb5a9f9f | 78 | { key = pc.getc(); |
JornJan | 2:821ae727bf8c | 79 | |
JornJan | 0:4c07bb5a9f9f | 80 | if (key=='a') |
JornJan | 0:4c07bb5a9f9f | 81 | { |
JornJan | 9:182b33cabd45 | 82 | vx = 0.02; //referentie snelheid m/s |
Happyfield | 8:668afaa63c96 | 83 | vy = 0; |
JornJan | 0:4c07bb5a9f9f | 84 | } |
JornJan | 0:4c07bb5a9f9f | 85 | else if(key=='d') |
JornJan | 0:4c07bb5a9f9f | 86 | { |
JornJan | 9:182b33cabd45 | 87 | vx = -0.02; |
Happyfield | 8:668afaa63c96 | 88 | vy = 0; |
JornJan | 0:4c07bb5a9f9f | 89 | } |
JornJan | 0:4c07bb5a9f9f | 90 | else if(key=='w') |
JornJan | 0:4c07bb5a9f9f | 91 | { |
Happyfield | 8:668afaa63c96 | 92 | vx = 0; |
JornJan | 9:182b33cabd45 | 93 | vy = 0.02; |
JornJan | 0:4c07bb5a9f9f | 94 | } |
JornJan | 0:4c07bb5a9f9f | 95 | else if(key=='s') |
JornJan | 0:4c07bb5a9f9f | 96 | { |
Happyfield | 8:668afaa63c96 | 97 | vx = 0; |
JornJan | 9:182b33cabd45 | 98 | vy = -0.02; |
JornJan | 0:4c07bb5a9f9f | 99 | } |
JornJan | 2:821ae727bf8c | 100 | else |
JornJan | 0:4c07bb5a9f9f | 101 | { |
JornJan | 2:821ae727bf8c | 102 | key = oldkey; |
JornJan | 2:821ae727bf8c | 103 | vx = oldvx; |
JornJan | 2:821ae727bf8c | 104 | vy = oldvy; |
JornJan | 0:4c07bb5a9f9f | 105 | } |
JornJan | 2:821ae727bf8c | 106 | |
JornJan | 2:821ae727bf8c | 107 | } //einde eerste if statemnet |
JornJan | 2:821ae727bf8c | 108 | |
JornJan | 2:821ae727bf8c | 109 | else if (pc.readable()==false) |
JornJan | 0:4c07bb5a9f9f | 110 | { |
JornJan | 0:4c07bb5a9f9f | 111 | vx=0; |
JornJan | 2:821ae727bf8c | 112 | vy=0; |
JornJan | 2:821ae727bf8c | 113 | key='p'; |
JornJan | 0:4c07bb5a9f9f | 114 | } |
JornJan | 2:821ae727bf8c | 115 | oldkey = key; |
JornJan | 2:821ae727bf8c | 116 | oldvx = vx; |
JornJan | 2:821ae727bf8c | 117 | oldvy = vy; |
JornJan | 2:821ae727bf8c | 118 | |
JornJan | 0:4c07bb5a9f9f | 119 | } |
JornJan | 0:4c07bb5a9f9f | 120 | |
JornJan | 2:821ae727bf8c | 121 | void kinematics() |
JornJan | 0:4c07bb5a9f9f | 122 | { |
JornJan | 0:4c07bb5a9f9f | 123 | |
Happyfield | 5:21e846902e3e | 124 | 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 | 125 | 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 | 126 | |
JornJan | 9:182b33cabd45 | 127 | ref1 = q1*rad2pulses; // converteert de radialen weer terug naar pulses voor verwerking in PID |
Happyfield | 5:21e846902e3e | 128 | ref2 = q2*rad2pulses; |
JornJan | 0:4c07bb5a9f9f | 129 | } |
JornJan | 0:4c07bb5a9f9f | 130 | |
Happyfield | 5:21e846902e3e | 131 | void controller() |
Happyfield | 8:668afaa63c96 | 132 | { |
Happyfield | 5:21e846902e3e | 133 | //PID 1 |
Happyfield | 5:21e846902e3e | 134 | error1_1 = ref1 - q1_puls; |
JornJan | 9:182b33cabd45 | 135 | error_I_1 = error_I2_1 + ts*((error1_1 + error2_1)/2); |
Happyfield | 5:21e846902e3e | 136 | |
JornJan | 9:182b33cabd45 | 137 | PI1 = Kp1*error1_1 + Ki1*error_I_1; |
Happyfield | 5:21e846902e3e | 138 | |
JornJan | 9:182b33cabd45 | 139 | error2_1 = error1_1; // opslaan variabelen voor integraal onderdeel |
Happyfield | 5:21e846902e3e | 140 | error_I2_1 = error_I_1; |
Happyfield | 5:21e846902e3e | 141 | |
Happyfield | 5:21e846902e3e | 142 | //PID 2 |
Happyfield | 5:21e846902e3e | 143 | error1_2 = ref2 - q2_puls; |
JornJan | 9:182b33cabd45 | 144 | error_I_2 = error_I2_2 + ts*((error1_2 + error2_2)/2); |
Happyfield | 5:21e846902e3e | 145 | |
Happyfield | 5:21e846902e3e | 146 | PI2 = Kp2*error1_2 + Ki2*(error_I_2); |
Happyfield | 4:95bf97b44237 | 147 | |
JornJan | 9:182b33cabd45 | 148 | error2_2 = error1_2; // opslaan variabelen voor integraal onderdeel |
Happyfield | 5:21e846902e3e | 149 | error_I2_2 = error_I_2; |
Happyfield | 5:21e846902e3e | 150 | |
Happyfield | 6:c97264a28123 | 151 | //Motor control |
JornJan | 9:182b33cabd45 | 152 | if (PI1==0 || PI2==0) |
Happyfield | 5:21e846902e3e | 153 | { |
JornJan | 9:182b33cabd45 | 154 | if (PI1<=0) |
JornJan | 9:182b33cabd45 | 155 | { |
JornJan | 9:182b33cabd45 | 156 | motor1DirectionPin = 0; |
JornJan | 9:182b33cabd45 | 157 | motor1MagnitudePin = fabs(PI1); |
JornJan | 9:182b33cabd45 | 158 | motor2MagnitudePin = 0; |
JornJan | 9:182b33cabd45 | 159 | } |
JornJan | 9:182b33cabd45 | 160 | else if (PI1>0) |
JornJan | 9:182b33cabd45 | 161 | { |
JornJan | 9:182b33cabd45 | 162 | motor1DirectionPin = 1; |
JornJan | 9:182b33cabd45 | 163 | motor1MagnitudePin = fabs(PI1); |
JornJan | 9:182b33cabd45 | 164 | motor2MagnitudePin = 0; |
JornJan | 9:182b33cabd45 | 165 | } |
JornJan | 9:182b33cabd45 | 166 | else if (PI2<=0) |
JornJan | 9:182b33cabd45 | 167 | { |
JornJan | 9:182b33cabd45 | 168 | motor2DirectionPin = 0; |
JornJan | 9:182b33cabd45 | 169 | motor2MagnitudePin = fabs(PI2); |
JornJan | 9:182b33cabd45 | 170 | motor1MagnitudePin = 0; |
JornJan | 9:182b33cabd45 | 171 | } |
JornJan | 9:182b33cabd45 | 172 | else if (PI2>0) |
JornJan | 9:182b33cabd45 | 173 | { |
JornJan | 9:182b33cabd45 | 174 | motor2DirectionPin = 1; |
JornJan | 9:182b33cabd45 | 175 | motor2MagnitudePin = fabs(PI2); |
JornJan | 9:182b33cabd45 | 176 | motor1MagnitudePin = 0; |
JornJan | 9:182b33cabd45 | 177 | } |
JornJan | 9:182b33cabd45 | 178 | } |
JornJan | 9:182b33cabd45 | 179 | |
JornJan | 9:182b33cabd45 | 180 | else if (PI1<0 && PI2<0) |
JornJan | 9:182b33cabd45 | 181 | { |
JornJan | 9:182b33cabd45 | 182 | motor1DirectionPin = 1; |
Happyfield | 5:21e846902e3e | 183 | motor1MagnitudePin = fabs(PI1); |
Happyfield | 4:95bf97b44237 | 184 | motor2DirectionPin = 0; |
Happyfield | 5:21e846902e3e | 185 | motor2MagnitudePin = fabs(PI2); |
Happyfield | 4:95bf97b44237 | 186 | } |
Happyfield | 6:c97264a28123 | 187 | else if (PI1>0 && PI2<0) |
Happyfield | 6:c97264a28123 | 188 | { |
Happyfield | 6:c97264a28123 | 189 | motor1DirectionPin = 1; |
Happyfield | 6:c97264a28123 | 190 | motor1MagnitudePin = fabs(PI1); |
Happyfield | 6:c97264a28123 | 191 | motor2DirectionPin = 0; |
Happyfield | 6:c97264a28123 | 192 | motor2MagnitudePin = fabs(PI2); |
Happyfield | 6:c97264a28123 | 193 | } |
Happyfield | 6:c97264a28123 | 194 | |
Happyfield | 6:c97264a28123 | 195 | else if (PI1<0 && PI2>0) |
Happyfield | 4:95bf97b44237 | 196 | { |
Happyfield | 6:c97264a28123 | 197 | motor1DirectionPin = 0; |
Happyfield | 6:c97264a28123 | 198 | motor1MagnitudePin = fabs(PI1); |
Happyfield | 6:c97264a28123 | 199 | motor2DirectionPin = 1; |
Happyfield | 6:c97264a28123 | 200 | motor2MagnitudePin = fabs(PI2); |
Happyfield | 6:c97264a28123 | 201 | } |
Happyfield | 6:c97264a28123 | 202 | |
Happyfield | 6:c97264a28123 | 203 | else if (PI1>0 && PI2>0) |
Happyfield | 6:c97264a28123 | 204 | { |
JornJan | 9:182b33cabd45 | 205 | motor1DirectionPin = 0; |
Happyfield | 6:c97264a28123 | 206 | motor1MagnitudePin = fabs(PI1); |
Happyfield | 4:95bf97b44237 | 207 | motor2DirectionPin = 1; |
Happyfield | 5:21e846902e3e | 208 | motor2MagnitudePin = fabs(PI2); |
Happyfield | 4:95bf97b44237 | 209 | } |
JornJan | 9:182b33cabd45 | 210 | |
JornJan | 9:182b33cabd45 | 211 | checkm1 = motor1MagnitudePin; |
JornJan | 9:182b33cabd45 | 212 | checkm2 = motor2MagnitudePin; |
Happyfield | 4:95bf97b44237 | 213 | } |
JornJan | 0:4c07bb5a9f9f | 214 | |
JornJan | 0:4c07bb5a9f9f | 215 | void aansturing() |
Happyfield | 6:c97264a28123 | 216 | { |
JornJan | 0:4c07bb5a9f9f | 217 | // encoders uitlezen |
JornJan | 0:4c07bb5a9f9f | 218 | q1_puls = q1_enc.getPulses(); |
JornJan | 0:4c07bb5a9f9f | 219 | q1_pos = q1_puls*pulses2rad; // berekent positie q1 in radialen |
JornJan | 0:4c07bb5a9f9f | 220 | q2_puls = q2_enc.getPulses(); |
JornJan | 0:4c07bb5a9f9f | 221 | q2_pos = q2_puls*pulses2rad; // berekent positie q2 in radialen |
JornJan | 2:821ae727bf8c | 222 | |
JornJan | 0:4c07bb5a9f9f | 223 | // kinematica bepaald gewenste q1 en q2 referenties afhankelijk van ingegeven vx en vy |
JornJan | 2:821ae727bf8c | 224 | kinematics(); |
JornJan | 2:821ae727bf8c | 225 | |
JornJan | 0:4c07bb5a9f9f | 226 | // PD controller gebruikt PD control en stuurt motor aan |
Happyfield | 7:9e965efc430e | 227 | controller(); |
JornJan | 9:182b33cabd45 | 228 | |
Happyfield | 7:9e965efc430e | 229 | if(n==500){ |
JornJan | 9:182b33cabd45 | 230 | printf("checkm1 = %f checkm2 = %f\n\r", ref1, ref2); |
Happyfield | 7:9e965efc430e | 231 | n=0; |
Happyfield | 7:9e965efc430e | 232 | } |
Happyfield | 7:9e965efc430e | 233 | else{ |
Happyfield | 7:9e965efc430e | 234 | n=n+1; |
Happyfield | 7:9e965efc430e | 235 | } |
Happyfield | 6:c97264a28123 | 236 | } |
JornJan | 0:4c07bb5a9f9f | 237 | |
JornJan | 0:4c07bb5a9f9f | 238 | |
JornJan | 0:4c07bb5a9f9f | 239 | int main() |
JornJan | 0:4c07bb5a9f9f | 240 | { |
JornJan | 0:4c07bb5a9f9f | 241 | pc.baud(115200); |
Happyfield | 8:668afaa63c96 | 242 | tick_wasd.attach_us(&wasd, 100000); |
JornJan | 2:821ae727bf8c | 243 | tick_sample.attach_us(&aansturing, 1000); //sample frequency 1000 Hz; |
Happyfield | 8:668afaa63c96 | 244 | led_g = 1; |
JornJan | 2:821ae727bf8c | 245 | |
JornJan | 0:4c07bb5a9f9f | 246 | while(true) |
JornJan | 0:4c07bb5a9f9f | 247 | { |
JornJan | 2:821ae727bf8c | 248 | |
JornJan | 0:4c07bb5a9f9f | 249 | } |
JornJan | 0:4c07bb5a9f9f | 250 | } |