Kojiro Iizuka / PID_Control_SU

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Dependencies:   PID QEI USBDevice mbed

Fork of PID_Control_SU by naoto tanaka

main.cpp@4:e9aeee8b41e4, 2014-04-19 (annotated)

Committer:
NT32
Date:
Sat Apr 19 05:08:16 2014 +0000
Revision:
4:e9aeee8b41e4
Parent:
2:b46f1a4c42fb 
add a massage just start a timer.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NT32 0:b2973a157cb6 1 #include "mbed.h"
NT32 0:b2973a157cb6 2 #include "USBSerial.h"
NT32 0:b2973a157cb6 3 #include "QEI.h"
NT32 0:b2973a157cb6 4 #include "PID.h"
NT32 0:b2973a157cb6 5
NT32 0:b2973a157cb6 6 #define PIDRATE 0.01
NT32 0:b2973a157cb6 7 #define CW 0x01
NT32 0:b2973a157cb6 8 #define CCW 0x02
NT32 0:b2973a157cb6 9 #define STOP 0x03
NT32 0:b2973a157cb6 10 #define FREE 0x00
NT32 0:b2973a157cb6 11
NT32 0:b2973a157cb6 12 #define kc 2.8
NT32 0:b2973a157cb6 13 #define ti 16.0
NT32 0:b2973a157cb6 14 #define td 0.0
NT32 0:b2973a157cb6 15
NT32 0:b2973a157cb6 16 USBSerial vcom;
NT32 0:b2973a157cb6 17 SPI spi(P0_21, NC, P1_20);
NT32 0:b2973a157cb6 18 DigitalOut cs(P1_23);
NT32 0:b2973a157cb6 19
NT32 0:b2973a157cb6 20 Timer timer;
NT32 0:b2973a157cb6 21
NT32 0:b2973a157cb6 22 PID controller(kc, ti, td, PIDRATE);
NT32 0:b2973a157cb6 23
NT32 0:b2973a157cb6 24 QEI wheel (P1_15, P0_19, NC, 1, QEI::X4_ENCODING);
NT32 0:b2973a157cb6 25
NT32 0:b2973a157cb6 26 BusOut gled(P0_8, P0_9);
NT32 0:b2973a157cb6 27 BusOut mdrv(P1_27, P1_26);
NT32 0:b2973a157cb6 28
NT32 0:b2973a157cb6 29 DigitalIn SW(P0_1);
NT32 0:b2973a157cb6 30
NT32 2:b46f1a4c42fb 31 void initialize();
NT32 0:b2973a157cb6 32 void pidsetup();
NT32 0:b2973a157cb6 33
NT32 0:b2973a157cb6 34 union MCP4922
NT32 0:b2973a157cb6 35 {
NT32 0:b2973a157cb6 36 uint16_t command;
NT32 0:b2973a157cb6 37 struct
NT32 0:b2973a157cb6 38 {
NT32 0:b2973a157cb6 39 //DAC data bits
NT32 0:b2973a157cb6 40 uint16_t D :12;
NT32 0:b2973a157cb6 41 //Output power down control bit
NT32 0:b2973a157cb6 42 uint8_t SHDN:1;
NT32 0:b2973a157cb6 43 //Outout gain select bit
NT32 0:b2973a157cb6 44 uint8_t GA :1;
NT32 0:b2973a157cb6 45 //Vref input buffer Control bit
NT32 0:b2973a157cb6 46 uint8_t BUF :1;
NT32 0:b2973a157cb6 47 //DACa or DACb select bit
NT32 0:b2973a157cb6 48 uint8_t AB :1;
NT32 0:b2973a157cb6 49 }bit;
NT32 0:b2973a157cb6 50 };
NT32 0:b2973a157cb6 51
NT32 0:b2973a157cb6 52 union MCP4922 dac = {0xF7F};
NT32 0:b2973a157cb6 53
NT32 0:b2973a157cb6 54 int main()
NT32 0:b2973a157cb6 55 {
NT32 0:b2973a157cb6 56 uint8_t i = 0;
NT32 0:b2973a157cb6 57 int epls[2] = {0, 0};
NT32 0:b2973a157cb6 58 float rps = 0;
NT32 4:e9aeee8b41e4 59
NT32 4:e9aeee8b41e4 60 //IO,DAconverter and PID parameters configuretion.
NT32 2:b46f1a4c42fb 61 initialize();
NT32 4:e9aeee8b41e4 62
NT32 4:e9aeee8b41e4 63 //this block is the demonstration of PID control until BOOT switch is pushed.
NT32 0:b2973a157cb6 64 while(SW == 1)
NT32 0:b2973a157cb6 65 {
NT32 4:e9aeee8b41e4 66 //this block is the outputs DAC data and revolution per second of motor.
NT32 0:b2973a157cb6 67 if(i == 100)
NT32 0:b2973a157cb6 68 {
NT32 0:b2973a157cb6 69 i = 0;
NT32 0:b2973a157cb6 70 vcom.printf("\033[%d;%dH", 0, 0);
NT32 0:b2973a157cb6 71 vcom.printf("DAC.d :%012d\n", dac.bit.D);
NT32 0:b2973a157cb6 72 vcom.printf("rps :%12.4f", rps);
NT32 0:b2973a157cb6 73 }
NT32 4:e9aeee8b41e4 74
NT32 4:e9aeee8b41e4 75 //led is blinked to display the loop of PID control.
NT32 0:b2973a157cb6 76 i++;
NT32 0:b2973a157cb6 77 gled = i;
NT32 0:b2973a157cb6 78
NT32 4:e9aeee8b41e4 79 //calculate rps.
NT32 0:b2973a157cb6 80 epls[1] = wheel.getPulses();
NT32 0:b2973a157cb6 81 rps = ((float)(epls[1] - epls[0]) / PIDRATE) / 3600;
NT32 0:b2973a157cb6 82 epls[0] = epls[1];
NT32 0:b2973a157cb6 83 controller.setProcessValue(rps);
NT32 0:b2973a157cb6 84 dac.bit.D = (int)controller.compute();
NT32 4:e9aeee8b41e4 85
NT32 4:e9aeee8b41e4 86 //send a command to change output of voltage.
NT32 0:b2973a157cb6 87 cs = 0;
NT32 0:b2973a157cb6 88 spi.write(dac.command);
NT32 0:b2973a157cb6 89 cs = 1;
NT32 0:b2973a157cb6 90 wait(PIDRATE);
NT32 0:b2973a157cb6 91 }
NT32 0:b2973a157cb6 92 pidsetup();
NT32 0:b2973a157cb6 93 i = 0;
NT32 0:b2973a157cb6 94 rps = 0;
NT32 0:b2973a157cb6 95 epls[0] = 0;
NT32 0:b2973a157cb6 96 timer.reset();
NT32 0:b2973a157cb6 97 timer.start();
NT32 4:e9aeee8b41e4 98 vcom.printf("%d,%d,%f\n" , timer.read_ms(), dac.bit.D, rps);
NT32 4:e9aeee8b41e4 99 i = 0;
NT32 0:b2973a157cb6 100 while(1)
NT32 0:b2973a157cb6 101 {
NT32 0:b2973a157cb6 102 if(SW == 0)
NT32 0:b2973a157cb6 103 {
NT32 0:b2973a157cb6 104 timer.stop();
NT32 0:b2973a157cb6 105 pidsetup();
NT32 0:b2973a157cb6 106 timer.reset();
NT32 0:b2973a157cb6 107 timer.start();
NT32 0:b2973a157cb6 108 }
NT32 2:b46f1a4c42fb 109
NT32 0:b2973a157cb6 110 i++;
NT32 0:b2973a157cb6 111 gled = i;
NT32 0:b2973a157cb6 112 epls[1] = wheel.getPulses();
NT32 0:b2973a157cb6 113 rps = ((float)(epls[1] - epls[0]) / PIDRATE) / 3600;
NT32 0:b2973a157cb6 114 epls[0] = epls[1];
NT32 0:b2973a157cb6 115 controller.setProcessValue(rps);
NT32 0:b2973a157cb6 116 dac.bit.D = (int)controller.compute();
NT32 0:b2973a157cb6 117 cs = 0;
NT32 0:b2973a157cb6 118 spi.write(dac.command);
NT32 0:b2973a157cb6 119 cs = 1;
NT32 2:b46f1a4c42fb 120 if(i == 10)
NT32 2:b46f1a4c42fb 121 {
NT32 2:b46f1a4c42fb 122 vcom.printf("%d,%d,%f\n" , timer.read_ms(), dac.bit.D, rps);
NT32 2:b46f1a4c42fb 123 i = 0;
NT32 2:b46f1a4c42fb 124 }
NT32 0:b2973a157cb6 125 wait(PIDRATE);
NT32 0:b2973a157cb6 126
NT32 0:b2973a157cb6 127 }
NT32 0:b2973a157cb6 128
NT32 0:b2973a157cb6 129 }
NT32 0:b2973a157cb6 130
NT32 2:b46f1a4c42fb 131 void initialize()
NT32 2:b46f1a4c42fb 132 {
NT32 2:b46f1a4c42fb 133 SW.mode(PullUp);
NT32 2:b46f1a4c42fb 134 mdrv = CW;
NT32 2:b46f1a4c42fb 135 cs = 1;
NT32 2:b46f1a4c42fb 136 dac.bit.AB = 0;
NT32 2:b46f1a4c42fb 137 dac.bit.BUF = 1;
NT32 2:b46f1a4c42fb 138 dac.bit.GA = 1;
NT32 2:b46f1a4c42fb 139 dac.bit.SHDN = 1;
NT32 2:b46f1a4c42fb 140 dac.bit.D = 0;
NT32 2:b46f1a4c42fb 141 spi.format(16,0);
NT32 2:b46f1a4c42fb 142 spi.frequency(20000000);
NT32 2:b46f1a4c42fb 143 cs = 0;
NT32 2:b46f1a4c42fb 144 spi.write(dac.command);
NT32 2:b46f1a4c42fb 145 cs = 1;
NT32 2:b46f1a4c42fb 146 //Revolution per second input from 0.0 to 50.0rev/sec
NT32 2:b46f1a4c42fb 147 controller.setInputLimits(0.0, 30.0);
NT32 2:b46f1a4c42fb 148 //DAC output from 0.0 to 4096.0
NT32 2:b46f1a4c42fb 149 controller.setOutputLimits(0.0, 4095.0);
NT32 2:b46f1a4c42fb 150 //If there's a bias.
NT32 2:b46f1a4c42fb 151 controller.setBias(1000.0);
NT32 2:b46f1a4c42fb 152 controller.setMode(AUTO_MODE);
NT32 2:b46f1a4c42fb 153 //We want the process variable to be 12rev/sec
NT32 2:b46f1a4c42fb 154 controller.setSetPoint(12.0);
NT32 2:b46f1a4c42fb 155 }
NT32 2:b46f1a4c42fb 156
NT32 0:b2973a157cb6 157 void pidsetup()
NT32 0:b2973a157cb6 158 {
NT32 0:b2973a157cb6 159 char str[64] = {'\0'}, *erstr;
NT32 0:b2973a157cb6 160 float tmp[3];
NT32 0:b2973a157cb6 161 dac.bit.D = 0;
NT32 0:b2973a157cb6 162 cs = 0;
NT32 0:b2973a157cb6 163 spi.write(dac.command);
NT32 0:b2973a157cb6 164 cs = 1;
NT32 0:b2973a157cb6 165 controller.reset();
NT32 0:b2973a157cb6 166 vcom.printf("\033[2J");
NT32 0:b2973a157cb6 167 vcom.printf("\033[%d;%dH", 0, 0);
NT32 0:b2973a157cb6 168
NT32 0:b2973a157cb6 169 //Output bias
NT32 1:6d5c35b995fb 170 // vcom.printf("Input the bias for the controller output\n");
NT32 1:6d5c35b995fb 171 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 172 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 173 // tmp[0] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 174 // controller.setBias(tmp[0]);
NT32 1:6d5c35b995fb 175 // vcom.printf("Output bias : %15f\n", tmp[0]);
NT32 1:6d5c35b995fb 176 controller.setBias(200);
NT32 0:b2973a157cb6 177
NT32 0:b2973a157cb6 178 //Input limits
NT32 1:6d5c35b995fb 179 // vcom.printf("Input the minimum inputlimit\n");
NT32 1:6d5c35b995fb 180 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 181 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 182 // tmp[0] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 183 // vcom.printf("Minimum input limit : %15f\n", tmp[0]);
NT32 0:b2973a157cb6 184 vcom.printf("Input the maximum inputlimit\n");
NT32 0:b2973a157cb6 185 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 186 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 187 tmp[1] = strtof(str, &erstr);
NT32 0:b2973a157cb6 188 vcom.printf("Maximum input limit : %15f\n", tmp[1]);
NT32 1:6d5c35b995fb 189 // controller.setInputLimits(tmp[0], tmp[1]);
NT32 1:6d5c35b995fb 190 controller.setInputLimits(0,tmp[1]);
NT32 0:b2973a157cb6 191
NT32 0:b2973a157cb6 192 //Output limits
NT32 1:6d5c35b995fb 193 // vcom.printf("Input the minimum outputlimit\n");
NT32 1:6d5c35b995fb 194 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 195 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 196 // tmp[0] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 197 // vcom.printf("Minimum output limit : %15f\n", tmp[0]);
NT32 1:6d5c35b995fb 198 // vcom.printf("Input the maximum outputlimit\n");
NT32 1:6d5c35b995fb 199 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 200 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 201 // tmp[1] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 202 // vcom.printf("Maximum output limit : %15f\n", tmp[1]);
NT32 1:6d5c35b995fb 203 // controller.setOutputLimits(tmp[0], tmp[1]);
NT32 1:6d5c35b995fb 204 controller.setOutputLimits(0, 4095);
NT32 0:b2973a157cb6 205
NT32 0:b2973a157cb6 206 //Setpoint
NT32 0:b2973a157cb6 207 vcom.printf("Input the setpoint\n");
NT32 0:b2973a157cb6 208 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 209 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 210 tmp[0] = strtof(str, &erstr);
NT32 0:b2973a157cb6 211 controller.setSetPoint(tmp[0]);
NT32 0:b2973a157cb6 212 vcom.printf("Setpoint : %15f\n", tmp[0]);
NT32 0:b2973a157cb6 213
NT32 0:b2973a157cb6 214 //tuning parameter
NT32 0:b2973a157cb6 215 vcom.printf("Input the proportional gain\n");
NT32 0:b2973a157cb6 216 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 217 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 218 tmp[0] = strtof(str, &erstr);
NT32 0:b2973a157cb6 219 vcom.printf("proportional gain : %15f\n", tmp[0]);
NT32 0:b2973a157cb6 220 vcom.printf("Input the integral gain\n");
NT32 0:b2973a157cb6 221 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 222 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 223 tmp[1] = strtof(str, &erstr);
NT32 0:b2973a157cb6 224 vcom.printf("integral gain : %15f\n", tmp[1]);
NT32 0:b2973a157cb6 225 vcom.printf("Input the derivative gain\n");
NT32 0:b2973a157cb6 226 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 227 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 228 tmp[2] = strtof(str, &erstr);
NT32 0:b2973a157cb6 229 vcom.printf("derivative gain : %15f\n", tmp[2]);
NT32 0:b2973a157cb6 230 controller.setTunings(tmp[0], tmp[1], tmp[2]);
NT32 0:b2973a157cb6 231
NT32 0:b2973a157cb6 232 //interval
NT32 0:b2973a157cb6 233 // vcom.printf("Input the interval seconds\n");
NT32 0:b2973a157cb6 234 // vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 235 // vcom.scanf("%s", str);
NT32 0:b2973a157cb6 236 // tmp[0] = strtof(str, &erstr);
NT32 0:b2973a157cb6 237 controller.setInterval(PIDRATE);
NT32 0:b2973a157cb6 238 vcom.printf("\033[2J");
NT32 0:b2973a157cb6 239
NT32 0:b2973a157cb6 240
NT32 0:b2973a157cb6 241
NT32 0:b2973a157cb6 242 //PID mode
NT32 0:b2973a157cb6 243 controller.setMode(AUTO_MODE);
NT32 0:b2973a157cb6 244 }