naoto tanaka / PID_Control_SU

practice for PID control

Dependencies:   PID QEI USBDevice mbed

main.cpp@2:b46f1a4c42fb, 2014-04-17 (annotated)

Committer:
NT32
Date:
Thu Apr 17 07:14:37 2014 +0000
Revision:
2:b46f1a4c42fb
Parent:
1:6d5c35b995fb
Child:
3:e9aeee8b41e4
practice;

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 2:b46f1a4c42fb 59 initialize();
NT32 0:b2973a157cb6 60 while(SW == 1)
NT32 0:b2973a157cb6 61 {
NT32 0:b2973a157cb6 62 if(i == 100)
NT32 0:b2973a157cb6 63 {
NT32 0:b2973a157cb6 64 i = 0;
NT32 0:b2973a157cb6 65 vcom.printf("\033[%d;%dH", 0, 0);
NT32 0:b2973a157cb6 66 vcom.printf("DAC.d :%012d\n", dac.bit.D);
NT32 0:b2973a157cb6 67 vcom.printf("rps :%12.4f", rps);
NT32 0:b2973a157cb6 68 }
NT32 0:b2973a157cb6 69 i++;
NT32 0:b2973a157cb6 70 gled = i;
NT32 0:b2973a157cb6 71
NT32 0:b2973a157cb6 72 epls[1] = wheel.getPulses();
NT32 0:b2973a157cb6 73 rps = ((float)(epls[1] - epls[0]) / PIDRATE) / 3600;
NT32 0:b2973a157cb6 74 epls[0] = epls[1];
NT32 0:b2973a157cb6 75 controller.setProcessValue(rps);
NT32 0:b2973a157cb6 76 dac.bit.D = (int)controller.compute();
NT32 0:b2973a157cb6 77 cs = 0;
NT32 0:b2973a157cb6 78 spi.write(dac.command);
NT32 0:b2973a157cb6 79 cs = 1;
NT32 0:b2973a157cb6 80 wait(PIDRATE);
NT32 0:b2973a157cb6 81 }
NT32 0:b2973a157cb6 82 pidsetup();
NT32 0:b2973a157cb6 83 i = 0;
NT32 0:b2973a157cb6 84 rps = 0;
NT32 0:b2973a157cb6 85 epls[0] = 0;
NT32 0:b2973a157cb6 86 timer.reset();
NT32 0:b2973a157cb6 87 timer.start();
NT32 0:b2973a157cb6 88 while(1)
NT32 0:b2973a157cb6 89 {
NT32 0:b2973a157cb6 90 if(SW == 0)
NT32 0:b2973a157cb6 91 {
NT32 0:b2973a157cb6 92 timer.stop();
NT32 0:b2973a157cb6 93 pidsetup();
NT32 0:b2973a157cb6 94 timer.reset();
NT32 0:b2973a157cb6 95 timer.start();
NT32 0:b2973a157cb6 96 }
NT32 2:b46f1a4c42fb 97
NT32 0:b2973a157cb6 98 i++;
NT32 0:b2973a157cb6 99 gled = i;
NT32 0:b2973a157cb6 100 epls[1] = wheel.getPulses();
NT32 0:b2973a157cb6 101 rps = ((float)(epls[1] - epls[0]) / PIDRATE) / 3600;
NT32 0:b2973a157cb6 102 epls[0] = epls[1];
NT32 0:b2973a157cb6 103 controller.setProcessValue(rps);
NT32 0:b2973a157cb6 104 dac.bit.D = (int)controller.compute();
NT32 0:b2973a157cb6 105 cs = 0;
NT32 0:b2973a157cb6 106 spi.write(dac.command);
NT32 0:b2973a157cb6 107 cs = 1;
NT32 2:b46f1a4c42fb 108 if(i == 10)
NT32 2:b46f1a4c42fb 109 {
NT32 2:b46f1a4c42fb 110 vcom.printf("%d,%d,%f\n" , timer.read_ms(), dac.bit.D, rps);
NT32 2:b46f1a4c42fb 111 i = 0;
NT32 2:b46f1a4c42fb 112 }
NT32 0:b2973a157cb6 113 wait(PIDRATE);
NT32 0:b2973a157cb6 114
NT32 0:b2973a157cb6 115 }
NT32 0:b2973a157cb6 116
NT32 0:b2973a157cb6 117 }
NT32 0:b2973a157cb6 118
NT32 2:b46f1a4c42fb 119 void initialize()
NT32 2:b46f1a4c42fb 120 {
NT32 2:b46f1a4c42fb 121 SW.mode(PullUp);
NT32 2:b46f1a4c42fb 122 mdrv = CW;
NT32 2:b46f1a4c42fb 123 cs = 1;
NT32 2:b46f1a4c42fb 124 dac.bit.AB = 0;
NT32 2:b46f1a4c42fb 125 dac.bit.BUF = 1;
NT32 2:b46f1a4c42fb 126 dac.bit.GA = 1;
NT32 2:b46f1a4c42fb 127 dac.bit.SHDN = 1;
NT32 2:b46f1a4c42fb 128 dac.bit.D = 0;
NT32 2:b46f1a4c42fb 129 spi.format(16,0);
NT32 2:b46f1a4c42fb 130 spi.frequency(20000000);
NT32 2:b46f1a4c42fb 131 cs = 0;
NT32 2:b46f1a4c42fb 132 spi.write(dac.command);
NT32 2:b46f1a4c42fb 133 cs = 1;
NT32 2:b46f1a4c42fb 134 //Revolution per second input from 0.0 to 50.0rev/sec
NT32 2:b46f1a4c42fb 135 controller.setInputLimits(0.0, 30.0);
NT32 2:b46f1a4c42fb 136 //DAC output from 0.0 to 4096.0
NT32 2:b46f1a4c42fb 137 controller.setOutputLimits(0.0, 4095.0);
NT32 2:b46f1a4c42fb 138 //If there's a bias.
NT32 2:b46f1a4c42fb 139 controller.setBias(1000.0);
NT32 2:b46f1a4c42fb 140 controller.setMode(AUTO_MODE);
NT32 2:b46f1a4c42fb 141 //We want the process variable to be 12rev/sec
NT32 2:b46f1a4c42fb 142 controller.setSetPoint(12.0);
NT32 2:b46f1a4c42fb 143 }
NT32 2:b46f1a4c42fb 144
NT32 0:b2973a157cb6 145 void pidsetup()
NT32 0:b2973a157cb6 146 {
NT32 0:b2973a157cb6 147 char str[64] = {'\0'}, *erstr;
NT32 0:b2973a157cb6 148 float tmp[3];
NT32 0:b2973a157cb6 149 dac.bit.D = 0;
NT32 0:b2973a157cb6 150 cs = 0;
NT32 0:b2973a157cb6 151 spi.write(dac.command);
NT32 0:b2973a157cb6 152 cs = 1;
NT32 0:b2973a157cb6 153 controller.reset();
NT32 0:b2973a157cb6 154 vcom.printf("\033[2J");
NT32 0:b2973a157cb6 155 vcom.printf("\033[%d;%dH", 0, 0);
NT32 0:b2973a157cb6 156
NT32 0:b2973a157cb6 157 //Output bias
NT32 1:6d5c35b995fb 158 // vcom.printf("Input the bias for the controller output\n");
NT32 1:6d5c35b995fb 159 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 160 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 161 // tmp[0] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 162 // controller.setBias(tmp[0]);
NT32 1:6d5c35b995fb 163 // vcom.printf("Output bias : %15f\n", tmp[0]);
NT32 1:6d5c35b995fb 164 controller.setBias(200);
NT32 0:b2973a157cb6 165
NT32 0:b2973a157cb6 166 //Input limits
NT32 1:6d5c35b995fb 167 // vcom.printf("Input the minimum inputlimit\n");
NT32 1:6d5c35b995fb 168 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 169 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 170 // tmp[0] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 171 // vcom.printf("Minimum input limit : %15f\n", tmp[0]);
NT32 0:b2973a157cb6 172 vcom.printf("Input the maximum inputlimit\n");
NT32 0:b2973a157cb6 173 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 174 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 175 tmp[1] = strtof(str, &erstr);
NT32 0:b2973a157cb6 176 vcom.printf("Maximum input limit : %15f\n", tmp[1]);
NT32 1:6d5c35b995fb 177 // controller.setInputLimits(tmp[0], tmp[1]);
NT32 1:6d5c35b995fb 178 controller.setInputLimits(0,tmp[1]);
NT32 0:b2973a157cb6 179
NT32 0:b2973a157cb6 180 //Output limits
NT32 1:6d5c35b995fb 181 // vcom.printf("Input the minimum outputlimit\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 output limit : %15f\n", tmp[0]);
NT32 1:6d5c35b995fb 186 // vcom.printf("Input the maximum outputlimit\n");
NT32 1:6d5c35b995fb 187 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 188 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 189 // tmp[1] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 190 // vcom.printf("Maximum output limit : %15f\n", tmp[1]);
NT32 1:6d5c35b995fb 191 // controller.setOutputLimits(tmp[0], tmp[1]);
NT32 1:6d5c35b995fb 192 controller.setOutputLimits(0, 4095);
NT32 0:b2973a157cb6 193
NT32 0:b2973a157cb6 194 //Setpoint
NT32 0:b2973a157cb6 195 vcom.printf("Input the setpoint\n");
NT32 0:b2973a157cb6 196 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 197 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 198 tmp[0] = strtof(str, &erstr);
NT32 0:b2973a157cb6 199 controller.setSetPoint(tmp[0]);
NT32 0:b2973a157cb6 200 vcom.printf("Setpoint : %15f\n", tmp[0]);
NT32 0:b2973a157cb6 201
NT32 0:b2973a157cb6 202 //tuning parameter
NT32 0:b2973a157cb6 203 vcom.printf("Input the proportional gain\n");
NT32 0:b2973a157cb6 204 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 205 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 206 tmp[0] = strtof(str, &erstr);
NT32 0:b2973a157cb6 207 vcom.printf("proportional gain : %15f\n", tmp[0]);
NT32 0:b2973a157cb6 208 vcom.printf("Input the integral gain\n");
NT32 0:b2973a157cb6 209 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 210 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 211 tmp[1] = strtof(str, &erstr);
NT32 0:b2973a157cb6 212 vcom.printf("integral gain : %15f\n", tmp[1]);
NT32 0:b2973a157cb6 213 vcom.printf("Input the derivative gain\n");
NT32 0:b2973a157cb6 214 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 215 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 216 tmp[2] = strtof(str, &erstr);
NT32 0:b2973a157cb6 217 vcom.printf("derivative gain : %15f\n", tmp[2]);
NT32 0:b2973a157cb6 218 controller.setTunings(tmp[0], tmp[1], tmp[2]);
NT32 0:b2973a157cb6 219
NT32 0:b2973a157cb6 220 //interval
NT32 0:b2973a157cb6 221 // vcom.printf("Input the interval seconds\n");
NT32 0:b2973a157cb6 222 // vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 223 // vcom.scanf("%s", str);
NT32 0:b2973a157cb6 224 // tmp[0] = strtof(str, &erstr);
NT32 0:b2973a157cb6 225 controller.setInterval(PIDRATE);
NT32 0:b2973a157cb6 226 vcom.printf("\033[2J");
NT32 0:b2973a157cb6 227
NT32 0:b2973a157cb6 228
NT32 0:b2973a157cb6 229
NT32 0:b2973a157cb6 230 //PID mode
NT32 0:b2973a157cb6 231 controller.setMode(AUTO_MODE);
NT32 0:b2973a157cb6 232 }