Jorn-Jan van de Beld
/
kin_PD_project
begin van episch avontuur
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?
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 | 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 | } |