Margreeth de Breij / Mbed 2 deprecated frdm_MotorEMG

Motor programma met EMG

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of frdm_Motor_V2_3 by Margreeth de Breij

main.cpp@22:56c3a5918bfc, 2015-10-03 (annotated)

Committer:
Rvs94
Date:
Sat Oct 03 14:04:36 2015 +0000
Revision:
22:56c3a5918bfc
Parent:
20:f5091e29cd26 
Tickers naar een lagere frequentie gehaald, mocht niet baten. Instabiliteit van het programma blijft het probleem

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Margreeth95 0:284ed397e046 1 #include "mbed.h"
Margreeth95 0:284ed397e046 2 #include "MODSERIAL.h"
Margreeth95 0:284ed397e046 3 #include "HIDScope.h"
Margreeth95 0:284ed397e046 4 #include "QEI.h"
Rvs94 12:69ab81cf5b7d 5 #include "biquadFilter.h"
Margreeth95 0:284ed397e046 6
Margreeth95 0:284ed397e046 7 Serial pc(USBTX, USBRX); // tx, rx
Rvs94 20:f5091e29cd26 8 QEI Encoder(D3, D2, NC, 128);
Rvs94 20:f5091e29cd26 9 HIDScope scope(3);
Rvs94 20:f5091e29cd26 10
Rvs94 20:f5091e29cd26 11 //Ledjes
Margreeth95 19:9417d2011e8b 12 DigitalOut LedR(LED_RED);
Margreeth95 19:9417d2011e8b 13 DigitalOut LedG(LED_GREEN);
Margreeth95 19:9417d2011e8b 14 DigitalOut LedB(LED_BLUE);
Rvs94 20:f5091e29cd26 15
Rvs94 20:f5091e29cd26 16 //Motor
Margreeth95 0:284ed397e046 17 DigitalOut motor2direction(D4); //D4 en D5 zijn motor 2 (op het motorshield)
Margreeth95 0:284ed397e046 18 PwmOut motor2speed(D5);
Rvs94 12:69ab81cf5b7d 19
Rvs94 20:f5091e29cd26 20 //Tickers
Margreeth95 0:284ed397e046 21 Ticker ScopeTime;
Rvs94 9:774fc3c6a39e 22 Ticker myControllerTicker;
Rvs94 7:67b50d4fb03c 23
Rvs94 20:f5091e29cd26 24 //Startwaarden
Rvs94 10:80fe931a71e4 25 double reference;
Rvs94 10:80fe931a71e4 26 double position;
Rvs94 15:7fbee317af2d 27 double m2_ref = 0;
Margreeth95 19:9417d2011e8b 28 int count = 0;
Rvs94 2:099da0fc31b6 29
Rvs94 20:f5091e29cd26 30 //Sample time (motor2-step)
Rvs94 20:f5091e29cd26 31 const double m2_Ts = 0.01;
Rvs94 20:f5091e29cd26 32
Rvs94 20:f5091e29cd26 33 //Controller gain Motor 2
Rvs94 20:f5091e29cd26 34 const double m2_Kp = 0.5,m2_Ki = 0.005, m2_Kd = 0.5;
Rvs94 20:f5091e29cd26 35 double m2_err_int = 0, m2_prev_err = 0;
Rvs94 20:f5091e29cd26 36
Rvs94 20:f5091e29cd26 37 //Derivative filter coeffs Motor 2
Rvs94 20:f5091e29cd26 38 const double BiGain = 0.016955;
Rvs94 20:f5091e29cd26 39 const double m2_f_a1 = -0.96608908283*BiGain, m2_f_a2 = 0.0*BiGain, m2_f_b0 = 1.0*BiGain, m2_f_b1 = 1.0*BiGain, m2_f_b2 = 0.0*BiGain;
Rvs94 20:f5091e29cd26 40
Rvs94 20:f5091e29cd26 41 // Filter variables
Rvs94 20:f5091e29cd26 42 double m2_f_v1 = 0, m2_f_v2 = 0;
Rvs94 20:f5091e29cd26 43
Rvs94 20:f5091e29cd26 44
Rvs94 20:f5091e29cd26 45 //HIDScope
Margreeth95 0:284ed397e046 46 void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt
Margreeth95 0:284ed397e046 47 {
Margreeth95 0:284ed397e046 48 scope.set(0, motor2direction.read());
Margreeth95 0:284ed397e046 49 scope.set(1, motor2speed.read());
Rvs94 15:7fbee317af2d 50 scope.set(2, position);
Rvs94 4:0d4aff8b57b3 51
Margreeth95 0:284ed397e046 52 scope.send();
Rvs94 1:48aba8d5610a 53
Margreeth95 0:284ed397e046 54 }
Rvs94 12:69ab81cf5b7d 55
Rvs94 12:69ab81cf5b7d 56 // Biquad filter
Rvs94 12:69ab81cf5b7d 57 double biquad( double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2 )
Rvs94 9:774fc3c6a39e 58 {
Rvs94 13:a6770307a5d2 59 double v = u - a1*v1 - a2*v2;
Rvs94 13:a6770307a5d2 60 double y = b0*v + b1*v1 + b2*v2;
Rvs94 12:69ab81cf5b7d 61 v2 = v1; v1 = v;
Rvs94 12:69ab81cf5b7d 62 return y;
Rvs94 12:69ab81cf5b7d 63 }
Rvs94 12:69ab81cf5b7d 64
Rvs94 12:69ab81cf5b7d 65
Rvs94 12:69ab81cf5b7d 66 // Reusable PID controller
Rvs94 12:69ab81cf5b7d 67 double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev, double &f_v1, double &f_v2,
Rvs94 13:a6770307a5d2 68 const double f_a1,const double f_a2, const double f_b0, const double f_b1, const double f_b2)
Rvs94 12:69ab81cf5b7d 69 {
Rvs94 12:69ab81cf5b7d 70 // Derivative
Rvs94 12:69ab81cf5b7d 71 double e_der = (e-e_prev)/Ts;
Rvs94 12:69ab81cf5b7d 72 e_der = biquad(e_der,f_v1,f_v2,f_a1,f_a2,f_b0,f_b1,f_b2);
Rvs94 13:a6770307a5d2 73 e_prev = e;
Rvs94 12:69ab81cf5b7d 74 // Integral
Rvs94 12:69ab81cf5b7d 75 e_int = e_int + Ts*e;
Rvs94 12:69ab81cf5b7d 76 // PID
Rvs94 12:69ab81cf5b7d 77 return Kp * e + Ki*e_int + Kd*e_der;
Rvs94 9:774fc3c6a39e 78 }
Margreeth95 0:284ed397e046 79
Margreeth95 18:6f71bb91b8bd 80 // Motor2 control
Rvs94 11:0793a78109a2 81 void motor2_Controller()
Rvs94 9:774fc3c6a39e 82 {
Rvs94 15:7fbee317af2d 83 reference = m2_ref; // Setpoint
Margreeth95 18:6f71bb91b8bd 84 double pulses = Encoder.getPulses();
Margreeth95 19:9417d2011e8b 85 position = Encoder.getPulses()*360/(0.5*128*131); // Aantal Degs
Rvs94 13:a6770307a5d2 86 double P2 = PID( reference - position, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err, m2_f_v1, m2_f_v2, m2_f_a1, m2_f_a2,
Rvs94 12:69ab81cf5b7d 87 m2_f_b0, m2_f_b1, m2_f_b2);
Rvs94 15:7fbee317af2d 88 motor2speed = abs(P2); // Speed control
Rvs94 15:7fbee317af2d 89 if(P2 > 0) // Direction control
Rvs94 9:774fc3c6a39e 90 {
Rvs94 9:774fc3c6a39e 91 motor2direction = 0;
Rvs94 9:774fc3c6a39e 92 }
Rvs94 9:774fc3c6a39e 93 else
Rvs94 9:774fc3c6a39e 94 {
Rvs94 9:774fc3c6a39e 95 motor2direction = 1;
Rvs94 9:774fc3c6a39e 96 }
Rvs94 22:56c3a5918bfc 97
Rvs94 9:774fc3c6a39e 98 }
Rvs94 3:687729d7996e 99
Margreeth95 0:284ed397e046 100 int main()
Rvs94 9:774fc3c6a39e 101 {
Rvs94 20:f5091e29cd26 102 LedR.write(1);
Rvs94 20:f5091e29cd26 103 LedB.write(1);
Rvs94 20:f5091e29cd26 104 LedG.write(1);
Margreeth95 0:284ed397e046 105 pc.baud(115200);
Rvs94 3:687729d7996e 106 pc.printf("Tot aan loop werkt\n");
Rvs94 9:774fc3c6a39e 107
Rvs94 22:56c3a5918bfc 108 ScopeTime.attach(&ScopeSend, 0.01f);
Rvs94 22:56c3a5918bfc 109 myControllerTicker.attach( &motor2_Controller, 0.1f ); // 100 Hz
Rvs94 9:774fc3c6a39e 110 while(true)
Rvs94 20:f5091e29cd26 111 {
Rvs94 20:f5091e29cd26 112 char c = pc.getc();
Rvs94 20:f5091e29cd26 113 if(c == 'e') //Ga 1 programma omhoog
Rvs94 20:f5091e29cd26 114 {
Rvs94 20:f5091e29cd26 115 count = count + 1;
Rvs94 20:f5091e29cd26 116 if(count > 2)
Rvs94 20:f5091e29cd26 117 {
Rvs94 20:f5091e29cd26 118 count = 2;
Rvs94 20:f5091e29cd26 119 }
Rvs94 20:f5091e29cd26 120
Rvs94 20:f5091e29cd26 121 }
Rvs94 20:f5091e29cd26 122 if(c == 'd') //Ga 1 programma omlaag
Rvs94 20:f5091e29cd26 123 {
Rvs94 20:f5091e29cd26 124 count = count - 1;
Rvs94 20:f5091e29cd26 125 if(count < 0)
Rvs94 20:f5091e29cd26 126 {
Rvs94 20:f5091e29cd26 127 count = 0;
Rvs94 20:f5091e29cd26 128 }
Rvs94 20:f5091e29cd26 129 }
Rvs94 20:f5091e29cd26 130 if(count == 0) //Motor 1 control
Rvs94 20:f5091e29cd26 131 {
Rvs94 20:f5091e29cd26 132
Rvs94 20:f5091e29cd26 133 LedR = LedB = 1;
Rvs94 20:f5091e29cd26 134 LedG = 0;
Margreeth95 19:9417d2011e8b 135 if(c == 'r')
Margreeth95 19:9417d2011e8b 136 {
Margreeth95 19:9417d2011e8b 137 m2_ref = m2_ref + 5;
Margreeth95 19:9417d2011e8b 138 if (m2_ref > 90)
Margreeth95 19:9417d2011e8b 139 {
Margreeth95 19:9417d2011e8b 140 m2_ref = 90;
Margreeth95 19:9417d2011e8b 141 }
Margreeth95 19:9417d2011e8b 142 }
Margreeth95 19:9417d2011e8b 143 if(c == 'f')
Margreeth95 19:9417d2011e8b 144 {
Margreeth95 19:9417d2011e8b 145 m2_ref = m2_ref - 5;
Margreeth95 19:9417d2011e8b 146 if (m2_ref < -90)
Margreeth95 19:9417d2011e8b 147 {
Margreeth95 19:9417d2011e8b 148 m2_ref = -90;
Margreeth95 19:9417d2011e8b 149 }
Margreeth95 19:9417d2011e8b 150 }
Rvs94 20:f5091e29cd26 151 }
Rvs94 20:f5091e29cd26 152 if(count == 1) //Motor 2 control
Rvs94 20:f5091e29cd26 153 {
Rvs94 20:f5091e29cd26 154 LedG = LedB = 1;
Rvs94 20:f5091e29cd26 155 LedR = 0;
Rvs94 20:f5091e29cd26 156 }
Rvs94 20:f5091e29cd26 157 if(count == 2) //Vuur mechanisme
Rvs94 20:f5091e29cd26 158 {
Rvs94 20:f5091e29cd26 159
Rvs94 20:f5091e29cd26 160 LedR = LedG = 1;
Rvs94 20:f5091e29cd26 161 LedB = 0;
Rvs94 20:f5091e29cd26 162 }
Rvs94 22:56c3a5918bfc 163 pc.printf("position = %f aantal degs = %f, count = %i\n",reference,position,count);
Margreeth95 0:284ed397e046 164 }
Rvs94 9:774fc3c6a39e 165
Margreeth95 0:284ed397e046 166 }