James Kiwic
/
RT2_P3_students
Fertig
Fork of RT2_P3_students by
main.cpp
- Committer:
- Kiwicjam
- Date:
- 2018-04-17
- Revision:
- 4:16f47c056c7c
- Parent:
- 3:769ce5f06d3e
File content as of revision 4:16f47c056c7c:
#include "mbed.h" #include "math.h" //------------------------------------------ #define PI 3.1415927f //------------------------------------------ #include "EncoderCounter.h" #include "DiffCounter.h" #include "IIR_filter.h" #include "LinearCharacteristics.h" #include "PI_Cntrl.h" #include "GPA.h" /* Cuboid balance on one edge on Nucleo F446RE **** IMPORTANT: use ..\Labormodelle\RT-MOD054 - Würfel\Escon_Parameter_4nucleo.edc settings for Maxon ESCON controller (upload via ESCON Studio) **** hardware Connections: CN7 CN10 : : : : .. .. .. .. 15. .. AOUT i_des on (PA_5)o. .. .. .. .. .. ENC CH A o. o. GND .. 10. o. ENC CH B .. .. .. .. .. .o AIN acx (PA_0) .. .o AIN acy (PA_1) .. 5. .o AIN Gyro(PA_4) .o Analog GND .. .. .. .. .. .. 1. ---------------------------- CN7 CN10 */ Serial pc(SERIAL_TX, SERIAL_RX); // serial connection via USB - programmer InterruptIn button(USER_BUTTON); // User Button, short presses: reduce speed, long presses: increase speed AnalogIn ax(PA_0); // Analog IN (acc x) on PA_0 AnalogIn ay(PA_1); // Analog IN (acc y) on PA_1 AnalogIn gz(PA_4); // Analog IN (gyr z) on PA_4 AnalogOut out(PA_5); // Analog OUT on PA_5 1.6 V -> 0A 3.2A -> 2A (see ESCON) float out_value = 1.6f; // set voltage on 1.6 V (0 A current) float w_soll = 10.0f; // desired velocity float Ts = 0.002f; // sample time of main loops int k = 0; //------------------------------------------ // ... here define variables like gains etc. //------------------------------------------ LinearCharacteristics i2u(0.8f,-2.0f); PI_Cntrl controller(0.12f,0.0f); GPA gpa1(1.0f, 200.0f, 50, 3, 400, Ts, 5.0f, 0.3f); //------------------------------------------ Ticker ControllerLoopTimer; // interrupt for control loop EncoderCounter counter1(PB_6, PB_7); // initialize counter on PB_6 and PB_7 DiffCounter diff(0.01,Ts); // discrete differentiate, based on encoder data //------------------------------------------ // ... here define instantiate classes //------------------------------------------ // ... define some linear characteristics ----------------------------------------- // ----- User defined functions ----------- void updateControllers(void); // speed controller loop (via interrupt) // ------ END User defined functions ------ //****************************************************************************** //---------- main loop ------------- //****************************************************************************** int main() { //attach controller loop to timer interrupt pc.baud(2000000); // for serial comm. counter1.reset(); // encoder reset diff.reset(0.0f,0.0f); ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = ...; float value = i2u(22.2); } //****************************************************************************** //---------- control loop (called via interrupt) ------------- //****************************************************************************** void updateControllers(void){ short counts = counter1; // get counts from Encoder float vel = diff(counts); // motor velocity float esc = gpa1.update(0.0, 0.0); out.write(i2u(controller.doStep(w_soll - vel))/3.3f); if(++k >= 199){ k = 0; pc.printf("omega_soll=%3.2f omega=%3.2f \r\n",w_soll,vel); } } //****************************************************************************** //********** User functions like buttens handle etc. ************** //****************************************************************************** // pressed button //****************************************************************************** //...