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@12:69ab81cf5b7d, 2015-09-29 (annotated)

Committer:
Rvs94
Date:
Tue Sep 29 16:28:55 2015 +0000
Revision:
12:69ab81cf5b7d
Parent:
11:0793a78109a2
Child:
13:a6770307a5d2
PID controller, nog niet getest, biquad vars nog niet gevonden.

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
Margreeth95 0:284ed397e046 8 DigitalOut motor2direction(D4); //D4 en D5 zijn motor 2 (op het motorshield)
Margreeth95 0:284ed397e046 9 PwmOut motor2speed(D5);
Rvs94 9:774fc3c6a39e 10 AnalogIn potmeter2(A5);
Rvs94 5:455773cf460b 11 QEI Encoder(D3, D2, NC, 128);
Rvs94 1:48aba8d5610a 12 HIDScope scope(3);
Rvs94 12:69ab81cf5b7d 13
Margreeth95 0:284ed397e046 14 Ticker ScopeTime;
Rvs94 9:774fc3c6a39e 15 Ticker myControllerTicker;
Rvs94 7:67b50d4fb03c 16
Rvs94 7:67b50d4fb03c 17 double Aantal_Degs;
Rvs94 7:67b50d4fb03c 18 double Aantal_pulses;
Rvs94 10:80fe931a71e4 19 double reference;
Rvs94 10:80fe931a71e4 20 double position;
Rvs94 2:099da0fc31b6 21
Margreeth95 0:284ed397e046 22 void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt
Margreeth95 0:284ed397e046 23 {
Margreeth95 0:284ed397e046 24 scope.set(0, motor2direction.read());
Margreeth95 0:284ed397e046 25 scope.set(1, motor2speed.read());
Rvs94 1:48aba8d5610a 26 scope.set(2, Aantal_Degs);
Rvs94 10:80fe931a71e4 27 Aantal_Degs = Encoder.getPulses()*360/(0.5*128*131);
Rvs94 4:0d4aff8b57b3 28
Margreeth95 0:284ed397e046 29 scope.send();
Rvs94 1:48aba8d5610a 30
Margreeth95 0:284ed397e046 31 }
Rvs94 12:69ab81cf5b7d 32 // Sample time (motor2-step)
Rvs94 12:69ab81cf5b7d 33 const double m2_Ts = 0.01;
Rvs94 12:69ab81cf5b7d 34
Rvs94 9:774fc3c6a39e 35 // Controller gain
Rvs94 12:69ab81cf5b7d 36 const double m2_Kp = 0.07,m2_Ki = 0.005, m2_Kd = 0.005;
Rvs94 12:69ab81cf5b7d 37 double m2_err_int = 0, m1_prev_err = 0;
Rvs94 12:69ab81cf5b7d 38
Rvs94 12:69ab81cf5b7d 39 //Derivative filter coeffs
Rvs94 12:69ab81cf5b7d 40 const double m2_f_a1 = 1.0, m2_f_a2 = 1.0, m2_f_b0 = 1.0, m2_f_b1 = 1.0, m2_f_b2 = 1.0;
Rvs94 12:69ab81cf5b7d 41 // Filter variables
Rvs94 12:69ab81cf5b7d 42 double m2_f_v1 = 0, m2_f_v2 = 0;
Rvs94 10:80fe931a71e4 43
Rvs94 12:69ab81cf5b7d 44 // Biquad filter
Rvs94 12:69ab81cf5b7d 45 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 46 {
Rvs94 12:69ab81cf5b7d 47 double v = u − a1∗v1 − a2∗v2;
Rvs94 12:69ab81cf5b7d 48 double y = b0∗v + b1∗v1 + b2∗v2;
Rvs94 12:69ab81cf5b7d 49 v2 = v1; v1 = v;
Rvs94 12:69ab81cf5b7d 50 return y;
Rvs94 12:69ab81cf5b7d 51 }
Rvs94 12:69ab81cf5b7d 52
Rvs94 12:69ab81cf5b7d 53
Rvs94 12:69ab81cf5b7d 54 // Reusable PID controller
Rvs94 12:69ab81cf5b7d 55 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 12:69ab81cf5b7d 56 const double f_a1,const double f_a2, const double f_b0, const double f_b1, const double f_b3)
Rvs94 12:69ab81cf5b7d 57 {
Rvs94 12:69ab81cf5b7d 58 // Derivative
Rvs94 12:69ab81cf5b7d 59 double e_der = (e-e_prev)/Ts;
Rvs94 12:69ab81cf5b7d 60 e_der = biquad(e_der,f_v1,f_v2,f_a1,f_a2,f_b0,f_b1,f_b2);
Rvs94 12:69ab81cf5b7d 61 e_prev = e
Rvs94 12:69ab81cf5b7d 62 // Integral
Rvs94 12:69ab81cf5b7d 63 e_int = e_int + Ts*e;
Rvs94 12:69ab81cf5b7d 64 // PID
Rvs94 12:69ab81cf5b7d 65 return Kp * e + Ki*e_int + Kd*e_der;
Rvs94 9:774fc3c6a39e 66 }
Margreeth95 0:284ed397e046 67
Rvs94 12:69ab81cf5b7d 68 // Motor control
Rvs94 11:0793a78109a2 69 void motor2_Controller()
Rvs94 9:774fc3c6a39e 70 {
Rvs94 10:80fe931a71e4 71 reference = potmeter2.read()*360;
Rvs94 10:80fe931a71e4 72 position = Encoder.getPulses()*360/(0.5*128*131); // Aantal Degs
Rvs94 12:69ab81cf5b7d 73 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 74 m2_f_b0, m2_f_b1, m2_f_b2);
Rvs94 9:774fc3c6a39e 75 motor2speed = abs(P2);
Rvs94 9:774fc3c6a39e 76 if(P2 > 0)
Rvs94 9:774fc3c6a39e 77 {
Rvs94 9:774fc3c6a39e 78 motor2direction = 0;
Rvs94 9:774fc3c6a39e 79 }
Rvs94 9:774fc3c6a39e 80 else
Rvs94 9:774fc3c6a39e 81 {
Rvs94 9:774fc3c6a39e 82 motor2direction = 1;
Rvs94 9:774fc3c6a39e 83 }
Rvs94 9:774fc3c6a39e 84
Rvs94 9:774fc3c6a39e 85 }
Rvs94 3:687729d7996e 86
Margreeth95 0:284ed397e046 87 int main()
Rvs94 9:774fc3c6a39e 88 {
Margreeth95 0:284ed397e046 89 pc.baud(115200);
Rvs94 3:687729d7996e 90 pc.printf("Tot aan loop werkt\n");
Rvs94 9:774fc3c6a39e 91
Margreeth95 0:284ed397e046 92 ScopeTime.attach_us(&ScopeSend, 10e4);
Rvs94 11:0793a78109a2 93 myControllerTicker.attach( &motor2_Controller, 0.01f ); // 100 Hz
Rvs94 9:774fc3c6a39e 94 while(true)
Margreeth95 0:284ed397e046 95 {
Rvs94 10:80fe931a71e4 96 pc.printf("position = %f aantal degs = %f \n",reference,position);
Rvs94 10:80fe931a71e4 97 wait(0.2f);
Margreeth95 0:284ed397e046 98 }
Rvs94 9:774fc3c6a39e 99
Margreeth95 0:284ed397e046 100 }