James Kiwic
/
RT2_P3_students
Fertig
Fork of RT2_P3_students by
Diff: main.cpp
- Revision:
- 10:ddbc7e4c41a0
- Parent:
- 9:dc0eb7dd0d92
- Child:
- 11:a0074351e154
--- a/main.cpp Tue Apr 17 13:30:52 2018 +0000 +++ b/main.cpp Tue Apr 17 15:56:11 2018 +0000 @@ -53,6 +53,11 @@ //------------------------------------------ //LinearCharacteristics i2u(0.8f,-2.0f); LinearCharacteristics i2u(-2.0f,2.0f,0.0f,3.2f); +LinearCharacteristics u2ax(0.30265f,0.69835f,9.81f,-9.81f); +LinearCharacteristics u2ay(0.29875f,0.69665f,9.81f,-9.81f); +LinearCharacteristics u2gyro(-4.65f,1.5f); + + //------------------------------------------ Ticker ControllerLoopTimer; // interrupt for control loop @@ -62,6 +67,13 @@ // ... here define instantiate classes //------------------------------------------ PI_Cntrl vel_cntrl(0.5f,.05f,Ts,0.4f); + +float tau = 1.0f; +IIR_filter LPF_gyro(tau,Ts,tau); +IIR_filter LPF_accX(tau,Ts,1.0f); +IIR_filter LPF_accY(tau,Ts,1.0f); + + //GPA gpa1(1.0f, 200.0f, 150, 4, 400, Ts, 10.0f, 0.3f); //float excWobble = 0.0f; // GPA(t fMin, t fMax, NfexcDes, NperMin, NmeasMin, Ts, Aexc0, Aexc1) @@ -94,13 +106,28 @@ /* outWobble = omega; excWobble = Wobble(excWobble, outWobble); */ - float torq_des = vel_cntrl(w_soll - vel); - out.write(i2u(torq_des/0.217f)); // the controller! convert torque to Amps km = 0.217 Nm/A + //float torq_des = vel_cntrl(w_soll - vel); + //out.write(i2u(torq_des/0.217f)); // the controller! convert torque to Amps km = 0.217 Nm/A + + float gyro_dir = (u2gyro(gz.read()*3.3f)); + float gyroV = LPF_gyro.filter(gyro_dir); + float accX = LPF_accX.filter(u2ax(ax.read())); + float accY = LPF_accY.filter(u2ay(ay.read())); + + float phi_mes = (PI/4) + atan2(-accX, accY) + gyroV; + + float torque = -(-3.7f*phi_mes - 0.42f * gyro_dir); + out.write(i2u(torque/0.217f)/3.3f); - if(++k >= 249){ + // OUTPUT + if(++k >= 150){ k = 0; - pc.printf("Des. velocity: %3.3f, Velocity: %3.3f\r\n",w_soll,vel); + //pc.printf("Des. velocity: %3.3f, Velocity: %3.3f\r\n",w_soll,vel); + pc.printf("Uax val %3.5f; ax val %3.5f; Uay val %3.5f; ay val %3.5f; gyro %3.5f\r\n",ax.read(),u2ax(ax.read()),ay.read(),u2ay(ay.read()), gz.read()); + //pc.printf("Gyro: %3.3f rad/s\r\n",gyroCalc(gz.read())); + //pc.printf("Gyro filt: %3.3f, Gyro roh; %3.3f, accx filt: %3.3f, accy filt: %3.3f\r\n", gyroV,gz.read()*3.3f, accX, accY); + pc.printf("Phii: %3.3f\r\n", phi_mes); } } //******************************************************************************