naoto tanaka / PID_Control_SU

practice for PID control

Dependencies:   PID QEI USBDevice mbed

main.cpp@6:1250bc2df075, 2014-05-02 (annotated)

Committer:
NT32
Date:
Fri May 02 04:57:04 2014 +0000
Revision:
6:1250bc2df075
Parent:
5:f668eb3ee52a 
???

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 4:adf167473520 20
NT32 0:b2973a157cb6 21 Timer timer;
NT32 0:b2973a157cb6 22
NT32 0:b2973a157cb6 23 PID controller(kc, ti, td, PIDRATE);
NT32 0:b2973a157cb6 24
NT32 0:b2973a157cb6 25 QEI wheel (P1_15, P0_19, NC, 1, QEI::X4_ENCODING);
NT32 0:b2973a157cb6 26
NT32 0:b2973a157cb6 27 BusOut gled(P0_8, P0_9);
NT32 0:b2973a157cb6 28 BusOut mdrv(P1_27, P1_26);
NT32 0:b2973a157cb6 29
NT32 0:b2973a157cb6 30 DigitalIn SW(P0_1);
NT32 0:b2973a157cb6 31
NT32 2:b46f1a4c42fb 32 void initialize();
NT32 0:b2973a157cb6 33 void pidsetup();
NT32 0:b2973a157cb6 34
NT32 0:b2973a157cb6 35 union MCP4922
NT32 0:b2973a157cb6 36 {
NT32 0:b2973a157cb6 37 uint16_t command;
NT32 0:b2973a157cb6 38 struct
NT32 0:b2973a157cb6 39 {
NT32 0:b2973a157cb6 40 //DAC data bits
NT32 0:b2973a157cb6 41 uint16_t D :12;
NT32 0:b2973a157cb6 42 //Output power down control bit
NT32 0:b2973a157cb6 43 uint8_t SHDN:1;
NT32 0:b2973a157cb6 44 //Outout gain select bit
NT32 0:b2973a157cb6 45 uint8_t GA :1;
NT32 0:b2973a157cb6 46 //Vref input buffer Control bit
NT32 0:b2973a157cb6 47 uint8_t BUF :1;
NT32 0:b2973a157cb6 48 //DACa or DACb select bit
NT32 0:b2973a157cb6 49 uint8_t AB :1;
NT32 0:b2973a157cb6 50 }bit;
NT32 0:b2973a157cb6 51 };
NT32 0:b2973a157cb6 52
NT32 0:b2973a157cb6 53 union MCP4922 dac = {0xF7F};
NT32 0:b2973a157cb6 54
NT32 0:b2973a157cb6 55 int main()
NT32 0:b2973a157cb6 56 {
NT32 0:b2973a157cb6 57 uint8_t i = 0;
NT32 0:b2973a157cb6 58 int epls[2] = {0, 0};
NT32 0:b2973a157cb6 59 float rps = 0;
NT32 3:e9aeee8b41e4 60
NT32 3:e9aeee8b41e4 61 //IO,DAconverter and PID parameters configuretion.
NT32 2:b46f1a4c42fb 62 initialize();
NT32 3:e9aeee8b41e4 63
NT32 3:e9aeee8b41e4 64 //this block is the demonstration of PID control until BOOT switch is pushed.
NT32 0:b2973a157cb6 65 while(SW == 1)
NT32 0:b2973a157cb6 66 {
NT32 3:e9aeee8b41e4 67 //this block is the outputs DAC data and revolution per second of motor.
NT32 0:b2973a157cb6 68 if(i == 100)
NT32 0:b2973a157cb6 69 {
NT32 0:b2973a157cb6 70 i = 0;
NT32 0:b2973a157cb6 71 vcom.printf("\033[%d;%dH", 0, 0);
NT32 0:b2973a157cb6 72 vcom.printf("DAC.d :%012d\n", dac.bit.D);
NT32 0:b2973a157cb6 73 vcom.printf("rps :%12.4f", rps);
NT32 0:b2973a157cb6 74 }
NT32 3:e9aeee8b41e4 75
NT32 3:e9aeee8b41e4 76 //led is blinked to display the loop of PID control.
NT32 0:b2973a157cb6 77 i++;
NT32 0:b2973a157cb6 78 gled = i;
NT32 0:b2973a157cb6 79
NT32 3:e9aeee8b41e4 80 //calculate rps.
NT32 0:b2973a157cb6 81 epls[1] = wheel.getPulses();
NT32 0:b2973a157cb6 82 rps = ((float)(epls[1] - epls[0]) / PIDRATE) / 3600;
NT32 0:b2973a157cb6 83 epls[0] = epls[1];
NT32 0:b2973a157cb6 84 controller.setProcessValue(rps);
NT32 0:b2973a157cb6 85 dac.bit.D = (int)controller.compute();
NT32 3:e9aeee8b41e4 86
NT32 3:e9aeee8b41e4 87 //send a command to change output of voltage.
NT32 0:b2973a157cb6 88 cs = 0;
NT32 0:b2973a157cb6 89 spi.write(dac.command);
NT32 0:b2973a157cb6 90 cs = 1;
NT32 0:b2973a157cb6 91 wait(PIDRATE);
NT32 0:b2973a157cb6 92 }
NT32 0:b2973a157cb6 93 pidsetup();
NT32 0:b2973a157cb6 94 i = 0;
NT32 0:b2973a157cb6 95 rps = 0;
NT32 0:b2973a157cb6 96 epls[0] = 0;
NT32 0:b2973a157cb6 97 timer.reset();
NT32 0:b2973a157cb6 98 timer.start();
NT32 6:1250bc2df075 99 vcom.printf("%d,%d,%f\n" , timer.read_ms(), rps, dac.bit.D);
NT32 3:e9aeee8b41e4 100 i = 0;
NT32 0:b2973a157cb6 101 while(1)
NT32 0:b2973a157cb6 102 {
NT32 0:b2973a157cb6 103 if(SW == 0)
NT32 0:b2973a157cb6 104 {
NT32 0:b2973a157cb6 105 timer.stop();
NT32 0:b2973a157cb6 106 pidsetup();
NT32 0:b2973a157cb6 107 timer.reset();
NT32 0:b2973a157cb6 108 timer.start();
NT32 6:1250bc2df075 109 vcom.printf("%d,%d,%f\n" , timer.read_ms(), rps, dac.bit.D);
NT32 0:b2973a157cb6 110 }
NT32 2:b46f1a4c42fb 111
NT32 0:b2973a157cb6 112 i++;
NT32 0:b2973a157cb6 113 gled = i;
NT32 0:b2973a157cb6 114 epls[1] = wheel.getPulses();
NT32 0:b2973a157cb6 115 rps = ((float)(epls[1] - epls[0]) / PIDRATE) / 3600;
NT32 0:b2973a157cb6 116 epls[0] = epls[1];
NT32 0:b2973a157cb6 117 controller.setProcessValue(rps);
NT32 0:b2973a157cb6 118 dac.bit.D = (int)controller.compute();
NT32 0:b2973a157cb6 119 cs = 0;
NT32 0:b2973a157cb6 120 spi.write(dac.command);
NT32 0:b2973a157cb6 121 cs = 1;
NT32 2:b46f1a4c42fb 122 if(i == 10)
NT32 2:b46f1a4c42fb 123 {
NT32 2:b46f1a4c42fb 124 vcom.printf("%d,%d,%f\n" , timer.read_ms(), dac.bit.D, rps);
NT32 2:b46f1a4c42fb 125 i = 0;
NT32 2:b46f1a4c42fb 126 }
NT32 0:b2973a157cb6 127 wait(PIDRATE);
NT32 0:b2973a157cb6 128
NT32 0:b2973a157cb6 129 }
NT32 0:b2973a157cb6 130
NT32 0:b2973a157cb6 131 }
NT32 0:b2973a157cb6 132
NT32 2:b46f1a4c42fb 133 void initialize()
NT32 2:b46f1a4c42fb 134 {
NT32 2:b46f1a4c42fb 135 SW.mode(PullUp);
NT32 2:b46f1a4c42fb 136 mdrv = CW;
NT32 2:b46f1a4c42fb 137 cs = 1;
NT32 2:b46f1a4c42fb 138 dac.bit.AB = 0;
NT32 2:b46f1a4c42fb 139 dac.bit.BUF = 1;
NT32 2:b46f1a4c42fb 140 dac.bit.GA = 1;
NT32 2:b46f1a4c42fb 141 dac.bit.SHDN = 1;
NT32 2:b46f1a4c42fb 142 dac.bit.D = 0;
NT32 2:b46f1a4c42fb 143 spi.format(16,0);
NT32 2:b46f1a4c42fb 144 spi.frequency(20000000);
NT32 2:b46f1a4c42fb 145 cs = 0;
NT32 2:b46f1a4c42fb 146 spi.write(dac.command);
NT32 2:b46f1a4c42fb 147 cs = 1;
NT32 2:b46f1a4c42fb 148 //Revolution per second input from 0.0 to 50.0rev/sec
NT32 2:b46f1a4c42fb 149 controller.setInputLimits(0.0, 30.0);
NT32 2:b46f1a4c42fb 150 //DAC output from 0.0 to 4096.0
NT32 2:b46f1a4c42fb 151 controller.setOutputLimits(0.0, 4095.0);
NT32 2:b46f1a4c42fb 152 //If there's a bias.
NT32 2:b46f1a4c42fb 153 controller.setBias(1000.0);
NT32 2:b46f1a4c42fb 154 controller.setMode(AUTO_MODE);
NT32 2:b46f1a4c42fb 155 //We want the process variable to be 12rev/sec
NT32 2:b46f1a4c42fb 156 controller.setSetPoint(12.0);
NT32 2:b46f1a4c42fb 157 }
NT32 2:b46f1a4c42fb 158
NT32 0:b2973a157cb6 159 void pidsetup()
NT32 0:b2973a157cb6 160 {
NT32 0:b2973a157cb6 161 char str[64] = {'\0'}, *erstr;
NT32 0:b2973a157cb6 162 float tmp[3];
NT32 0:b2973a157cb6 163 dac.bit.D = 0;
NT32 0:b2973a157cb6 164 cs = 0;
NT32 0:b2973a157cb6 165 spi.write(dac.command);
NT32 0:b2973a157cb6 166 cs = 1;
NT32 0:b2973a157cb6 167 controller.reset();
NT32 0:b2973a157cb6 168 vcom.printf("\033[2J");
NT32 0:b2973a157cb6 169 vcom.printf("\033[%d;%dH", 0, 0);
NT32 0:b2973a157cb6 170
NT32 0:b2973a157cb6 171 //Output bias
NT32 1:6d5c35b995fb 172 // vcom.printf("Input the bias for the controller output\n");
NT32 1:6d5c35b995fb 173 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 174 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 175 // tmp[0] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 176 // controller.setBias(tmp[0]);
NT32 1:6d5c35b995fb 177 // vcom.printf("Output bias : %15f\n", tmp[0]);
NT32 1:6d5c35b995fb 178 controller.setBias(200);
NT32 0:b2973a157cb6 179
NT32 0:b2973a157cb6 180 //Input limits
NT32 1:6d5c35b995fb 181 // vcom.printf("Input the minimum inputlimit\n");
NT32 1:6d5c35b995fb 182 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 183 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 184 // tmp[0] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 185 // vcom.printf("Minimum input limit : %15f\n", tmp[0]);
NT32 0:b2973a157cb6 186 vcom.printf("Input the maximum inputlimit\n");
NT32 0:b2973a157cb6 187 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 188 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 189 tmp[1] = strtof(str, &erstr);
NT32 0:b2973a157cb6 190 vcom.printf("Maximum input limit : %15f\n", tmp[1]);
NT32 1:6d5c35b995fb 191 // controller.setInputLimits(tmp[0], tmp[1]);
NT32 1:6d5c35b995fb 192 controller.setInputLimits(0,tmp[1]);
NT32 0:b2973a157cb6 193
NT32 0:b2973a157cb6 194 //Output limits
NT32 1:6d5c35b995fb 195 // vcom.printf("Input the minimum outputlimit\n");
NT32 1:6d5c35b995fb 196 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 197 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 198 // tmp[0] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 199 // vcom.printf("Minimum output limit : %15f\n", tmp[0]);
NT32 1:6d5c35b995fb 200 // vcom.printf("Input the maximum outputlimit\n");
NT32 1:6d5c35b995fb 201 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 202 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 203 // tmp[1] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 204 // vcom.printf("Maximum output limit : %15f\n", tmp[1]);
NT32 1:6d5c35b995fb 205 // controller.setOutputLimits(tmp[0], tmp[1]);
NT32 1:6d5c35b995fb 206 controller.setOutputLimits(0, 4095);
NT32 0:b2973a157cb6 207
NT32 0:b2973a157cb6 208 //Setpoint
NT32 0:b2973a157cb6 209 vcom.printf("Input the setpoint\n");
NT32 0:b2973a157cb6 210 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 211 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 212 tmp[0] = strtof(str, &erstr);
NT32 0:b2973a157cb6 213 controller.setSetPoint(tmp[0]);
NT32 0:b2973a157cb6 214 vcom.printf("Setpoint : %15f\n", tmp[0]);
NT32 0:b2973a157cb6 215
NT32 0:b2973a157cb6 216 //tuning parameter
NT32 0:b2973a157cb6 217 vcom.printf("Input the proportional gain\n");
NT32 0:b2973a157cb6 218 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 219 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 220 tmp[0] = strtof(str, &erstr);
NT32 0:b2973a157cb6 221 vcom.printf("proportional gain : %15f\n", tmp[0]);
NT32 0:b2973a157cb6 222 vcom.printf("Input the integral gain\n");
NT32 0:b2973a157cb6 223 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 224 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 225 tmp[1] = strtof(str, &erstr);
NT32 0:b2973a157cb6 226 vcom.printf("integral gain : %15f\n", tmp[1]);
NT32 0:b2973a157cb6 227 vcom.printf("Input the derivative gain\n");
NT32 0:b2973a157cb6 228 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 229 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 230 tmp[2] = strtof(str, &erstr);
NT32 0:b2973a157cb6 231 vcom.printf("derivative gain : %15f\n", tmp[2]);
NT32 0:b2973a157cb6 232 controller.setTunings(tmp[0], tmp[1], tmp[2]);
NT32 0:b2973a157cb6 233
NT32 0:b2973a157cb6 234 //interval
NT32 0:b2973a157cb6 235 // vcom.printf("Input the interval seconds\n");
NT32 0:b2973a157cb6 236 // vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 237 // vcom.scanf("%s", str);
NT32 0:b2973a157cb6 238 // tmp[0] = strtof(str, &erstr);
NT32 0:b2973a157cb6 239 controller.setInterval(PIDRATE);
NT32 0:b2973a157cb6 240 vcom.printf("\033[2J");
NT32 4:adf167473520 241 vcom.printf("\033[%d;%dH", 0, 0);
NT32 5:f668eb3ee52a 242 vcom.printf("Make a logfile that name of \" hoge.csv \"\n");
NT32 4:adf167473520 243 vcom.printf("Push the boot switch to start PID control.");
NT32 4:adf167473520 244
NT32 4:adf167473520 245 while(SW == 1){};
NT32 4:adf167473520 246 wait(0.1);
NT32 4:adf167473520 247 while(SW == 0){};
NT32 4:adf167473520 248
NT32 4:adf167473520 249 vcom.printf("\033[2J");
NT32 4:adf167473520 250 vcom.printf("\033[%d;%dH", 0, 0);
NT32 0:b2973a157cb6 251
NT32 0:b2973a157cb6 252 //PID mode
NT32 0:b2973a157cb6 253 controller.setMode(AUTO_MODE);
NT32 6:1250bc2df075 254 }