Reiko Randoja
/
ut_bbr_2018
Firmware for UT Robotex 2018 basketball robot
Motor/motor.cpp@0:ef6268629f0b, 2018-09-28 (annotated)
- Committer:
- Reiko
- Date:
- Fri Sep 28 10:46:57 2018 +0000
- Revision:
- 0:ef6268629f0b
Firmware for UT Robotex 2018 basketball robot
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Reiko | 0:ef6268629f0b | 1 | #include "motor.h" |
Reiko | 0:ef6268629f0b | 2 | |
Reiko | 0:ef6268629f0b | 3 | Motor::Motor(PinName PWMpin, PinName dir1Pin, PinName dir2Pin, PinName encA, PinName encB) |
Reiko | 0:ef6268629f0b | 4 | : pwm(PWMpin), dir1(dir1Pin), dir2(dir2Pin), qed(encA, encB) { |
Reiko | 0:ef6268629f0b | 5 | |
Reiko | 0:ef6268629f0b | 6 | pwmPeriod = 4000; |
Reiko | 0:ef6268629f0b | 7 | PwmOut pwm(PWMpin); |
Reiko | 0:ef6268629f0b | 8 | pwm.period_us(pwmPeriod); |
Reiko | 0:ef6268629f0b | 9 | setPoint = 0; |
Reiko | 0:ef6268629f0b | 10 | pMulti = 64; |
Reiko | 0:ef6268629f0b | 11 | iMulti = 2; |
Reiko | 0:ef6268629f0b | 12 | dMulti = 1; |
Reiko | 0:ef6268629f0b | 13 | error = 0; |
Reiko | 0:ef6268629f0b | 14 | prevError = 0; |
Reiko | 0:ef6268629f0b | 15 | P = 0; |
Reiko | 0:ef6268629f0b | 16 | I = 0; |
Reiko | 0:ef6268629f0b | 17 | minPwm = 100; |
Reiko | 0:ef6268629f0b | 18 | pidMulti = 256; |
Reiko | 0:ef6268629f0b | 19 | iMax = 4096 * pidMulti; |
Reiko | 0:ef6268629f0b | 20 | |
Reiko | 0:ef6268629f0b | 21 | currentSpeed = 0; |
Reiko | 0:ef6268629f0b | 22 | |
Reiko | 0:ef6268629f0b | 23 | currentPWM = 0; |
Reiko | 0:ef6268629f0b | 24 | stallCount = 0; |
Reiko | 0:ef6268629f0b | 25 | prevStallCount = 0; |
Reiko | 0:ef6268629f0b | 26 | stallWarningLimit = 60; |
Reiko | 0:ef6268629f0b | 27 | stallErrorLimit = 300; |
Reiko | 0:ef6268629f0b | 28 | stallLevel = 0; |
Reiko | 0:ef6268629f0b | 29 | } |
Reiko | 0:ef6268629f0b | 30 | |
Reiko | 0:ef6268629f0b | 31 | void Motor::setPWM(int newPWM) { |
Reiko | 0:ef6268629f0b | 32 | currentPWM = newPWM; |
Reiko | 0:ef6268629f0b | 33 | if (newPWM < 0) { |
Reiko | 0:ef6268629f0b | 34 | pwm.pulsewidth_us(-1 * newPWM); |
Reiko | 0:ef6268629f0b | 35 | dir1 = 0; |
Reiko | 0:ef6268629f0b | 36 | dir2 = 1; |
Reiko | 0:ef6268629f0b | 37 | } else { |
Reiko | 0:ef6268629f0b | 38 | pwm.pulsewidth_us(newPWM); |
Reiko | 0:ef6268629f0b | 39 | dir1 = 1; |
Reiko | 0:ef6268629f0b | 40 | dir2 = 0; |
Reiko | 0:ef6268629f0b | 41 | } |
Reiko | 0:ef6268629f0b | 42 | } |
Reiko | 0:ef6268629f0b | 43 | |
Reiko | 0:ef6268629f0b | 44 | int Motor::getSpeed() { |
Reiko | 0:ef6268629f0b | 45 | return currentSpeed; |
Reiko | 0:ef6268629f0b | 46 | } |
Reiko | 0:ef6268629f0b | 47 | |
Reiko | 0:ef6268629f0b | 48 | int Motor::getDecoderCount() { |
Reiko | 0:ef6268629f0b | 49 | currentSpeed = qed.read(); |
Reiko | 0:ef6268629f0b | 50 | return currentSpeed; |
Reiko | 0:ef6268629f0b | 51 | } |
Reiko | 0:ef6268629f0b | 52 | |
Reiko | 0:ef6268629f0b | 53 | void Motor::setSpeed(int newSpeed) { |
Reiko | 0:ef6268629f0b | 54 | setPoint = newSpeed; |
Reiko | 0:ef6268629f0b | 55 | |
Reiko | 0:ef6268629f0b | 56 | if (newSpeed == 0) { |
Reiko | 0:ef6268629f0b | 57 | resetPID(); |
Reiko | 0:ef6268629f0b | 58 | } |
Reiko | 0:ef6268629f0b | 59 | } |
Reiko | 0:ef6268629f0b | 60 | |
Reiko | 0:ef6268629f0b | 61 | void Motor::pid() { |
Reiko | 0:ef6268629f0b | 62 | prevError = error; |
Reiko | 0:ef6268629f0b | 63 | error = setPoint - getDecoderCount(); |
Reiko | 0:ef6268629f0b | 64 | |
Reiko | 0:ef6268629f0b | 65 | if (stallLevel != 2) { |
Reiko | 0:ef6268629f0b | 66 | float minPwmValue = minPwm; |
Reiko | 0:ef6268629f0b | 67 | |
Reiko | 0:ef6268629f0b | 68 | if (setPoint == 0) { |
Reiko | 0:ef6268629f0b | 69 | minPwmValue = 0; |
Reiko | 0:ef6268629f0b | 70 | } else if (setPoint < 0) { |
Reiko | 0:ef6268629f0b | 71 | minPwmValue = -minPwm; |
Reiko | 0:ef6268629f0b | 72 | } |
Reiko | 0:ef6268629f0b | 73 | |
Reiko | 0:ef6268629f0b | 74 | I += error * pidMulti * iMulti; |
Reiko | 0:ef6268629f0b | 75 | //constrain integral |
Reiko | 0:ef6268629f0b | 76 | if (I < -iMax) I = -iMax; |
Reiko | 0:ef6268629f0b | 77 | if (I > iMax) I = iMax; |
Reiko | 0:ef6268629f0b | 78 | |
Reiko | 0:ef6268629f0b | 79 | //D = error - prevError; |
Reiko | 0:ef6268629f0b | 80 | |
Reiko | 0:ef6268629f0b | 81 | int newPWMvalue = minPwmValue + error * pMulti + I / pidMulti; |
Reiko | 0:ef6268629f0b | 82 | |
Reiko | 0:ef6268629f0b | 83 | //constrain pwm |
Reiko | 0:ef6268629f0b | 84 | if (newPWMvalue < -pwmPeriod) newPWMvalue = -pwmPeriod; |
Reiko | 0:ef6268629f0b | 85 | if (newPWMvalue > pwmPeriod) newPWMvalue = pwmPeriod; |
Reiko | 0:ef6268629f0b | 86 | |
Reiko | 0:ef6268629f0b | 87 | prevStallCount = stallCount; |
Reiko | 0:ef6268629f0b | 88 | if ((currentSpeed < 5 && currentPWM == pwmPeriod || currentSpeed > -5 && currentPWM == -pwmPeriod) && stallCount < stallErrorLimit) { |
Reiko | 0:ef6268629f0b | 89 | stallCount++; |
Reiko | 0:ef6268629f0b | 90 | } else if (stallCount > 0) { |
Reiko | 0:ef6268629f0b | 91 | stallCount--; |
Reiko | 0:ef6268629f0b | 92 | } |
Reiko | 0:ef6268629f0b | 93 | |
Reiko | 0:ef6268629f0b | 94 | setPWM(newPWMvalue); |
Reiko | 0:ef6268629f0b | 95 | |
Reiko | 0:ef6268629f0b | 96 | if ((stallCount == stallWarningLimit - 1) && (prevStallCount == stallWarningLimit)) { |
Reiko | 0:ef6268629f0b | 97 | stallLevel = 0; |
Reiko | 0:ef6268629f0b | 98 | stallEndCallback.call(); |
Reiko | 0:ef6268629f0b | 99 | stallChangeCallback.call(); |
Reiko | 0:ef6268629f0b | 100 | } else if ((stallCount == stallWarningLimit) && (prevStallCount == stallWarningLimit - 1)) { |
Reiko | 0:ef6268629f0b | 101 | stallLevel = 1; |
Reiko | 0:ef6268629f0b | 102 | stallWarningCallback.call(); |
Reiko | 0:ef6268629f0b | 103 | stallChangeCallback.call(); |
Reiko | 0:ef6268629f0b | 104 | } else if (stallCount == stallErrorLimit) { |
Reiko | 0:ef6268629f0b | 105 | stallLevel = 2; |
Reiko | 0:ef6268629f0b | 106 | stallErrorCallback.call(); |
Reiko | 0:ef6268629f0b | 107 | stallChangeCallback.call(); |
Reiko | 0:ef6268629f0b | 108 | resetPID(); |
Reiko | 0:ef6268629f0b | 109 | } |
Reiko | 0:ef6268629f0b | 110 | } else { |
Reiko | 0:ef6268629f0b | 111 | stallCount--; |
Reiko | 0:ef6268629f0b | 112 | if (stallCount == 0) { |
Reiko | 0:ef6268629f0b | 113 | stallLevel = 0; |
Reiko | 0:ef6268629f0b | 114 | stallEndCallback.call(); |
Reiko | 0:ef6268629f0b | 115 | stallChangeCallback.call(); |
Reiko | 0:ef6268629f0b | 116 | } |
Reiko | 0:ef6268629f0b | 117 | } |
Reiko | 0:ef6268629f0b | 118 | } |
Reiko | 0:ef6268629f0b | 119 | |
Reiko | 0:ef6268629f0b | 120 | void Motor::resetPID() { |
Reiko | 0:ef6268629f0b | 121 | error = 0; |
Reiko | 0:ef6268629f0b | 122 | prevError = 0; |
Reiko | 0:ef6268629f0b | 123 | P = 0; |
Reiko | 0:ef6268629f0b | 124 | I = 0; |
Reiko | 0:ef6268629f0b | 125 | setPoint = 0; |
Reiko | 0:ef6268629f0b | 126 | setPWM(0); |
Reiko | 0:ef6268629f0b | 127 | } |
Reiko | 0:ef6268629f0b | 128 | |
Reiko | 0:ef6268629f0b | 129 | int Motor::getStallLevel() { |
Reiko | 0:ef6268629f0b | 130 | return stallLevel; |
Reiko | 0:ef6268629f0b | 131 | } |
Reiko | 0:ef6268629f0b | 132 | |
Reiko | 0:ef6268629f0b | 133 | void Motor::stallChange(void (*function)(void)) { |
Reiko | 0:ef6268629f0b | 134 | stallChangeCallback.attach(function); |
Reiko | 0:ef6268629f0b | 135 | } |
Reiko | 0:ef6268629f0b | 136 | |
Reiko | 0:ef6268629f0b | 137 | void Motor::stallEnd(void (*function)(void)) { |
Reiko | 0:ef6268629f0b | 138 | stallEndCallback.attach(function); |
Reiko | 0:ef6268629f0b | 139 | } |
Reiko | 0:ef6268629f0b | 140 | |
Reiko | 0:ef6268629f0b | 141 | void Motor::stallWarning(void (*function)(void)) { |
Reiko | 0:ef6268629f0b | 142 | stallWarningCallback.attach(function); |
Reiko | 0:ef6268629f0b | 143 | } |
Reiko | 0:ef6268629f0b | 144 | |
Reiko | 0:ef6268629f0b | 145 | void Motor::stallError(void (*function)(void)) { |
Reiko | 0:ef6268629f0b | 146 | stallErrorCallback.attach(function); |
Reiko | 0:ef6268629f0b | 147 | } |