Thomas Burgers / Mbed 2 deprecated ZZ-TheChenneRobot

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Dependencies:   Encoder HIDScope MODSERIAL QEI biquadFilter mbed

main.cpp@24:8ca471562212, 2015-10-08 (annotated)

Committer:
ThomasBNL
Date:
Thu Oct 08 14:19:10 2015 +0000
Revision:
24:8ca471562212
Parent:
23:335a3b843a5e
Child:
25:d536056a2666
added green and blue led

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ThomasBNL 0:40052f5ca77b 1 #include "mbed.h"
ThomasBNL 21:c75210216204 2 #include "HIDScope.h"
ThomasBNL 0:40052f5ca77b 3 #include "QEI.h"
ThomasBNL 0:40052f5ca77b 4 #include "MODSERIAL.h"
ThomasBNL 8:50d6e2323d3b 5 #include "biquadFilter.h"
ThomasBNL 0:40052f5ca77b 6 #include "encoder.h"
ThomasBNL 0:40052f5ca77b 7
ThomasBNL 24:8ca471562212 8 MODSERIAL pc(USBTX,USBRX);
ThomasBNL 24:8ca471562212 9 DigitalOut debug_led_red(LED_RED); // Debug LED
ThomasBNL 24:8ca471562212 10 DigitalOut debug_led_green(LED_GREEN); // Debug LED
ThomasBNL 24:8ca471562212 11 DigitalOut debug_led_red(LED_BLUE); // Debug LED
ThomasBNL 8:50d6e2323d3b 12
ThomasBNL 21:c75210216204 13 HIDScope scope(2); // HIDSCOPE declared
ThomasBNL 14:599896acf576 14
ThomasBNL 22:eaf4cbd1dcec 15 //Ticker Sample_Ticker; // HIDSCOPE voor main
ThomasBNL 22:eaf4cbd1dcec 16 //volatile bool sample; // HIDSCOPE voor main
ThomasBNL 14:599896acf576 17
ThomasBNL 14:599896acf576 18
ThomasBNL 8:50d6e2323d3b 19 // (DEBUGGING AND TESTING BUTTONS) (0 when pressed and 1 when not pressed)
ThomasBNL 8:50d6e2323d3b 20 DigitalIn buttonL1(PTC6); // Button 1 (laag op board) for testing at the lower board
ThomasBNL 8:50d6e2323d3b 21 DigitalIn buttonL2(PTA4); // Button 2 (laag op board) for testing at the lower board
ThomasBNL 8:50d6e2323d3b 22 DigitalIn buttonH1(D2); // Button 3 (hoog op board) for testing at the top board
ThomasBNL 8:50d6e2323d3b 23 DigitalIn buttonH2(D6); // Button 4 (hoog op board) for testing at the top board
ThomasBNL 0:40052f5ca77b 24
ThomasBNL 15:f029351f1f3a 25
ThomasBNL 0:40052f5ca77b 26 volatile bool looptimerflag;
ThomasBNL 8:50d6e2323d3b 27 const double cw=0; // zero is clockwise (front view)
ThomasBNL 8:50d6e2323d3b 28 const double ccw=1; // one is counterclockwise (front view)
ThomasBNL 8:50d6e2323d3b 29
ThomasBNL 8:50d6e2323d3b 30 const double Gain_P_turn=0.0067;
ThomasBNL 8:50d6e2323d3b 31 // stel setpoint tussen (0 en 360) en position tussen (0 en 360)
ThomasBNL 8:50d6e2323d3b 32 // max verschil: 360 -> dan pwm_to_motor 1 tot aan een verschil van 15 graden-> bij 15 moet pwm_to_motor ong 0.1 zijn
ThomasBNL 8:50d6e2323d3b 33 // dus 0.1=15*gain gain=0.0067
ThomasBNL 14:599896acf576 34 // Als 3 graden verschil 0.1 dan 0.1/3=gain=0.33
ThomasBNL 13:bcf8ec7120ab 35
ThomasBNL 13:bcf8ec7120ab 36 double Gain_I_turn=0.025; //(1/2000) //0.00000134
ThomasBNL 13:bcf8ec7120ab 37 // pwm_motor_I=(integrate_error_turn + sample_time*error)*gain; pwm = (4*0.01 + 4)* Gain => 0.1 pwm gewenst (na 1 seconde een verschil van 4 graden)
ThomasBNL 13:bcf8ec7120ab 38 // 0.1 / (4.01) = Gain = 0.025
ThomasBNL 13:bcf8ec7120ab 39
ThomasBNL 23:335a3b843a5e 40 double Gain_D_turn=0.01;
ThomasBNL 13:bcf8ec7120ab 41 // error_derivative_turn=(error - previous_error_turn)/sample_time
ThomasBNL 14:599896acf576 42 //
ThomasBNL 8:50d6e2323d3b 43
ThomasBNL 8:50d6e2323d3b 44 double conversion_counts_to_degrees=0.085877862594198;
ThomasBNL 8:50d6e2323d3b 45 // gear ratio motor = 131
ThomasBNL 8:50d6e2323d3b 46 // ticks per magnet rotation = 32 (X2 Encoder)
ThomasBNL 8:50d6e2323d3b 47 // One revolution = 360 degrees
ThomasBNL 8:50d6e2323d3b 48 // degrees_per_encoder_tick = 360/(gear_ratio*ticks_per_magnet_rotation)=360/131*32=0.085877862594198
ThomasBNL 8:50d6e2323d3b 49
ThomasBNL 18:6c065915f474 50
ThomasBNL 8:50d6e2323d3b 51 const double sample_time=0.01; // tijd voor een sample (100Hz)
ThomasBNL 8:50d6e2323d3b 52
ThomasBNL 8:50d6e2323d3b 53 // PID motor constants
ThomasBNL 8:50d6e2323d3b 54 double integrate_error_turn=0; // integration error turn motor
ThomasBNL 8:50d6e2323d3b 55 double previous_error_turn=0; // previous error turn motor
ThomasBNL 8:50d6e2323d3b 56
ThomasBNL 1:dc683e88b44e 57
ThomasBNL 7:ddd7fb357786 58 // Functions used (described after main)
ThomasBNL 7:ddd7fb357786 59 void keep_in_range(double * in, double min, double max);
ThomasBNL 7:ddd7fb357786 60 void setlooptimerflag(void);
ThomasBNL 8:50d6e2323d3b 61 double get_reference(double input);
ThomasBNL 22:eaf4cbd1dcec 62 //void get_sample(void); //HIDSCOPE
ThomasBNL 8:50d6e2323d3b 63
ThomasBNL 0:40052f5ca77b 64
ThomasBNL 7:ddd7fb357786 65 // MAIN function
ThomasBNL 0:40052f5ca77b 66 int main() {
ThomasBNL 8:50d6e2323d3b 67 AnalogIn potmeter(A0); // Potmeter that can read a reference value (DEBUG TOOL)
ThomasBNL 8:50d6e2323d3b 68 QEI motor_turn(D12,D13,NC,32); // Encoder for motor Turn
ThomasBNL 8:50d6e2323d3b 69 PwmOut pwm_motor_turn(D5); // Pwm for motor Turn
ThomasBNL 8:50d6e2323d3b 70 DigitalOut motordirection_turn(D4); // Direction of the motor Turn
ThomasBNL 18:6c065915f474 71 double reference_turn=0; // Set constant to store reference value of the Turn motor
ThomasBNL 8:50d6e2323d3b 72 double position_turn; // Set constant to store current position of the Turn motor
ThomasBNL 8:50d6e2323d3b 73 double error;
ThomasBNL 10:09ba965045a7 74 double pwm_to_motor_turn;
ThomasBNL 10:09ba965045a7 75 double pwm_motor_turn_P;
ThomasBNL 10:09ba965045a7 76 double pwm_motor_turn_I;
ThomasBNL 10:09ba965045a7 77 double pwm_motor_turn_D;
ThomasBNL 0:40052f5ca77b 78
ThomasBNL 7:ddd7fb357786 79 //START OF CODE
ThomasBNL 7:ddd7fb357786 80 pc.printf("Start of code \n\r");
ThomasBNL 0:40052f5ca77b 81
ThomasBNL 23:335a3b843a5e 82 pc.baud(115200); // Set the baudrate
ThomasBNL 0:40052f5ca77b 83
ThomasBNL 7:ddd7fb357786 84 // Tickers
ThomasBNL 8:50d6e2323d3b 85 Ticker looptimer; // Ticker called looptimer to set a looptimerflag
ThomasBNL 8:50d6e2323d3b 86 looptimer.attach(setlooptimerflag,sample_time); // calls the looptimer flag every 0.01s
ThomasBNL 0:40052f5ca77b 87
ThomasBNL 22:eaf4cbd1dcec 88 //Sample_Ticker.attach(&get_sample, sample_time); // HIDSCOPE sample Ticker
ThomasBNL 14:599896acf576 89
ThomasBNL 7:ddd7fb357786 90 pc.printf("Start infinite loop \n\r");
ThomasBNL 16:a8d2c721cf56 91 wait (3); // Wait before starting system
ThomasBNL 0:40052f5ca77b 92
ThomasBNL 0:40052f5ca77b 93 //INFINITE LOOP
ThomasBNL 5:8fb74a22fe3c 94 while(1)
ThomasBNL 8:50d6e2323d3b 95 { // Start while loop
ThomasBNL 8:50d6e2323d3b 96 // DEBUGGING BUTTON: interrupt button Disbalances the current motor position
ThomasBNL 8:50d6e2323d3b 97 if (buttonL2.read() < 0.5){ //if button pressed
ThomasBNL 8:50d6e2323d3b 98 motordirection_turn = cw;
ThomasBNL 8:50d6e2323d3b 99 pwm_motor_turn = 0.5f; // motorspeed
ThomasBNL 8:50d6e2323d3b 100 pc.printf("positie = %d \r\n", motor_turn.getPulses()); }
ThomasBNL 8:50d6e2323d3b 101
ThomasBNL 22:eaf4cbd1dcec 102 // // Change Reference button Positive
ThomasBNL 22:eaf4cbd1dcec 103 // if (buttonH1.read() < 0.5){ //if button pressed
ThomasBNL 22:eaf4cbd1dcec 104 // pc.printf("Reference after = %d \r\n", reference_turn);
ThomasBNL 22:eaf4cbd1dcec 105 // reference_turn=reference_turn+45;
ThomasBNL 22:eaf4cbd1dcec 106 // pc.printf("Reference after = %d \r\n", reference_turn);
ThomasBNL 22:eaf4cbd1dcec 107 // debug_led = !debug_led; }
ThomasBNL 22:eaf4cbd1dcec 108 //
ThomasBNL 22:eaf4cbd1dcec 109 // // Change Reference button Negative
ThomasBNL 22:eaf4cbd1dcec 110 // if (buttonH2.read() < 0.5){ //if button pressed
ThomasBNL 22:eaf4cbd1dcec 111 // pc.printf("Reference after = %d \r\n", reference_turn);
ThomasBNL 22:eaf4cbd1dcec 112 // reference_turn=reference_turn-45;
ThomasBNL 22:eaf4cbd1dcec 113 // pc.printf("Reference after = %d \r\n", reference_turn);
ThomasBNL 22:eaf4cbd1dcec 114 // debug_led = !debug_led; }
ThomasBNL 22:eaf4cbd1dcec 115
ThomasBNL 22:eaf4cbd1dcec 116 if (buttonL1.read() < 0.5){ //if button pressed
ThomasBNL 22:eaf4cbd1dcec 117 motordirection_turn = cw;
ThomasBNL 22:eaf4cbd1dcec 118 pwm_motor_turn = 0;
ThomasBNL 22:eaf4cbd1dcec 119 wait(1000);
ThomasBNL 22:eaf4cbd1dcec 120 pc.printf("positie = %d \r\n", motor_turn.getPulses()); }
ThomasBNL 17:aa167ab3cf75 121
ThomasBNL 8:50d6e2323d3b 122 // Wait until looptimer flag is true then execute PID controller.
ThomasBNL 5:8fb74a22fe3c 123 else
ThomasBNL 8:50d6e2323d3b 124 {
ThomasBNL 0:40052f5ca77b 125 while(looptimerflag != true);
ThomasBNL 0:40052f5ca77b 126
ThomasBNL 0:40052f5ca77b 127 looptimerflag = false;
ThomasBNL 0:40052f5ca77b 128
ThomasBNL 8:50d6e2323d3b 129 //reference = (potmeter.read()-0.5)*2000; // Potmeter bepaald reference (uitgeschakeld)
ThomasBNL 17:aa167ab3cf75 130 //reference_turn = 15; //BOVENAAN IN SCRIPT GEPLAATST
ThomasBNL 0:40052f5ca77b 131
ThomasBNL 8:50d6e2323d3b 132 // Keep motor position between -4200 and 4200 counts
ThomasBNL 8:50d6e2323d3b 133 if ((motor_turn.getPulses()>4200) || (motor_turn.getPulses()<-4200)) // If value is outside -4200 and 4200 (number of counts equal to one revolution) reset to zero
ThomasBNL 3:11a7da46e093 134 {
ThomasBNL 8:50d6e2323d3b 135 motor_turn.reset();
ThomasBNL 3:11a7da46e093 136 pc.printf("RESET \n\r");
ThomasBNL 3:11a7da46e093 137 }
ThomasBNL 3:11a7da46e093 138
ThomasBNL 8:50d6e2323d3b 139 // Convert position to degrees
ThomasBNL 8:50d6e2323d3b 140 position_turn = conversion_counts_to_degrees * motor_turn.getPulses();
ThomasBNL 0:40052f5ca77b 141
ThomasBNL 8:50d6e2323d3b 142 pc.printf("calibrated setpoint: %f, calibrated position motor %i, position %f \n\r", reference_turn, motor_turn.getPulses(), position_turn);
ThomasBNL 3:11a7da46e093 143
ThomasBNL 0:40052f5ca77b 144
ThomasBNL 8:50d6e2323d3b 145 // P-CONTROLLER
ThomasBNL 8:50d6e2323d3b 146 // Calculate error then multiply it with the gain, and store in pwm_to_motor
ThomasBNL 8:50d6e2323d3b 147
ThomasBNL 10:09ba965045a7 148 error=(reference_turn - position_turn); // Current error (input controller)
ThomasBNL 8:50d6e2323d3b 149
ThomasBNL 10:09ba965045a7 150 integrate_error_turn=integrate_error_turn + sample_time*error; // integral error output
ThomasBNL 8:50d6e2323d3b 151 // // overwrite previous integrate error by adding the current error multiplied by the sample time.
ThomasBNL 8:50d6e2323d3b 152 //
ThomasBNL 11:ecd83b303252 153 double error_derivative_turn=(error - previous_error_turn)/sample_time; // derivative error output
ThomasBNL 8:50d6e2323d3b 154
ThomasBNL 8:50d6e2323d3b 155 // FILTER error_derivative_turn (lowpassfilter)
ThomasBNL 11:ecd83b303252 156
ThomasBNL 12:26759959c960 157 const double mT_f_a1=-1.965293372622690e+00;
ThomasBNL 12:26759959c960 158 const double mT_f_a2=9.658854605688177e-01;
ThomasBNL 12:26759959c960 159 const double mT_f_b0=1.480219865318266e-04;
ThomasBNL 12:26759959c960 160 const double mT_f_b1=2.960439730636533e-04;
ThomasBNL 12:26759959c960 161 const double mT_f_b2=1.480219865318266e-04; // Motor Turn filter constants
ThomasBNL 11:ecd83b303252 162
ThomasBNL 12:26759959c960 163 biquadFilter Lowpassfilter(mT_f_a1,mT_f_a2,mT_f_b0,mT_f_b1,mT_f_b2);
ThomasBNL 11:ecd83b303252 164
ThomasBNL 12:26759959c960 165 error_derivative_turn=Lowpassfilter.step(error_derivative_turn);
ThomasBNL 3:11a7da46e093 166
ThomasBNL 11:ecd83b303252 167 previous_error_turn=error; // current error is saved to memory constant to be used in
ThomasBNL 8:50d6e2323d3b 168 // the next loop for calculating the derivative error
ThomasBNL 8:50d6e2323d3b 169
ThomasBNL 10:09ba965045a7 170 pwm_to_motor_turn = error*Gain_P_turn; // output P controller to pwm
ThomasBNL 8:50d6e2323d3b 171
ThomasBNL 10:09ba965045a7 172 pwm_motor_turn_P = error*Gain_P_turn; // output P controller to pwm
ThomasBNL 10:09ba965045a7 173 pwm_motor_turn_I = integrate_error_turn*Gain_I_turn; // output I controller to pwm
ThomasBNL 11:ecd83b303252 174 pwm_motor_turn_D = error_derivative_turn*Gain_D_turn; // output D controller to pwm
ThomasBNL 10:09ba965045a7 175
ThomasBNL 13:bcf8ec7120ab 176 pwm_to_motor_turn = pwm_motor_turn_P + pwm_motor_turn_I + pwm_motor_turn_D;
ThomasBNL 20:bdc62ee49197 177
ThomasBNL 0:40052f5ca77b 178
ThomasBNL 8:50d6e2323d3b 179 // Keep Pwm between -1 and 1
ThomasBNL 10:09ba965045a7 180 keep_in_range(&pwm_to_motor_turn, -1,1); // Pass to motor controller but keep it in range!
ThomasBNL 10:09ba965045a7 181 pc.printf("pwm %f \n\r", pwm_to_motor_turn);
ThomasBNL 0:40052f5ca77b 182
ThomasBNL 8:50d6e2323d3b 183 // Check error and decide direction to turn
ThomasBNL 10:09ba965045a7 184 if(pwm_to_motor_turn > 0)
ThomasBNL 3:11a7da46e093 185 {
ThomasBNL 8:50d6e2323d3b 186 motordirection_turn=ccw;
ThomasBNL 15:f029351f1f3a 187 pc.printf("if loop pwm > 0 \n\r");
ThomasBNL 3:11a7da46e093 188 }
ThomasBNL 0:40052f5ca77b 189 else
ThomasBNL 3:11a7da46e093 190 {
ThomasBNL 8:50d6e2323d3b 191 motordirection_turn=cw;
ThomasBNL 15:f029351f1f3a 192 pc.printf("else loop pwm < 0 \n\r");
ThomasBNL 3:11a7da46e093 193 }
ThomasBNL 8:50d6e2323d3b 194
ThomasBNL 8:50d6e2323d3b 195 // Put pwm_motor to the motor
ThomasBNL 10:09ba965045a7 196 pwm_motor_turn=(abs(pwm_to_motor_turn));
ThomasBNL 14:599896acf576 197
ThomasBNL 22:eaf4cbd1dcec 198 // while(sample != true) // HIDSCOPE input => sample_go nu nog niet nodig opzich // BLINK LEDS TOEVOEGEN
ThomasBNL 22:eaf4cbd1dcec 199 // {
ThomasBNL 21:c75210216204 200 //sample_filter; (filter function zie EMG filter working script)
ThomasBNL 21:c75210216204 201 scope.set(0,reference_turn); // HIDSCOPE channel 0 : Current Reference
ThomasBNL 21:c75210216204 202 scope.set(0,position_turn); // HIDSCOPE channel 0 : Position_turn
ThomasBNL 21:c75210216204 203 scope.set(1,pwm_to_motor_turn); // HIDSCOPE channel 1 : Pwm_to_motor_turn
ThomasBNL 21:c75210216204 204 scope.send(); // Send channel info to HIDSCOPE
ThomasBNL 22:eaf4cbd1dcec 205 // sample = false;
ThomasBNL 22:eaf4cbd1dcec 206 // }
ThomasBNL 22:eaf4cbd1dcec 207 //debug_led = !debug_led; // should flicker with freq 50 Hz
ThomasBNL 0:40052f5ca77b 208 }
ThomasBNL 0:40052f5ca77b 209 }
ThomasBNL 5:8fb74a22fe3c 210 }
ThomasBNL 0:40052f5ca77b 211
ThomasBNL 0:40052f5ca77b 212 // Keep in range function
ThomasBNL 0:40052f5ca77b 213 void keep_in_range(double * in, double min, double max)
ThomasBNL 0:40052f5ca77b 214 {
ThomasBNL 0:40052f5ca77b 215 *in > min ? *in < max? : *in = max: *in = min;
ThomasBNL 0:40052f5ca77b 216 }
ThomasBNL 0:40052f5ca77b 217
ThomasBNL 0:40052f5ca77b 218 // Looptimerflag function
ThomasBNL 0:40052f5ca77b 219 void setlooptimerflag(void)
ThomasBNL 0:40052f5ca77b 220 {
ThomasBNL 0:40052f5ca77b 221 looptimerflag = true;
ThomasBNL 1:dc683e88b44e 222 }
ThomasBNL 1:dc683e88b44e 223
ThomasBNL 8:50d6e2323d3b 224 // Get setpoint -> potmeter (MOMENTEEL UITGESCHAKELD)
ThomasBNL 8:50d6e2323d3b 225 double get_reference(double input)
ThomasBNL 1:dc683e88b44e 226 {
ThomasBNL 1:dc683e88b44e 227 const float offset = 0.5;
ThomasBNL 1:dc683e88b44e 228 const float gain = 4.0;
ThomasBNL 1:dc683e88b44e 229 return (input-offset)*gain;
ThomasBNL 5:8fb74a22fe3c 230 }
ThomasBNL 14:599896acf576 231
ThomasBNL 22:eaf4cbd1dcec 232 //// Get sample
ThomasBNL 22:eaf4cbd1dcec 233 //void get_sample(void) // HIDSCOPE sample fuction
ThomasBNL 22:eaf4cbd1dcec 234 //{
ThomasBNL 22:eaf4cbd1dcec 235 // sample = true;
ThomasBNL 22:eaf4cbd1dcec 236 //}