Thomas Burgers / Mbed 2 deprecated ZZ-TheChenneRobot

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Dependencies:   Encoder HIDScope MODSERIAL QEI biquadFilter mbed

main.cpp@13:bcf8ec7120ab, 2015-10-07 (annotated)

Committer:
ThomasBNL
Date:
Wed Oct 07 13:51:17 2015 +0000
Revision:
13:bcf8ec7120ab
Parent:
12:26759959c960
Child:
14:599896acf576
added pwm_motor_turn_D

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ThomasBNL 0:40052f5ca77b 1 #include "mbed.h"
ThomasBNL 0:40052f5ca77b 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 7:ddd7fb357786 8 MODSERIAL pc(USBTX,USBRX);
ThomasBNL 8:50d6e2323d3b 9
ThomasBNL 8:50d6e2323d3b 10 // (DEBUGGING AND TESTING BUTTONS) (0 when pressed and 1 when not pressed)
ThomasBNL 8:50d6e2323d3b 11 DigitalIn buttonL1(PTC6); // Button 1 (laag op board) for testing at the lower board
ThomasBNL 8:50d6e2323d3b 12 DigitalIn buttonL2(PTA4); // Button 2 (laag op board) for testing at the lower board
ThomasBNL 8:50d6e2323d3b 13 DigitalIn buttonH1(D2); // Button 3 (hoog op board) for testing at the top board
ThomasBNL 8:50d6e2323d3b 14 DigitalIn buttonH2(D6); // Button 4 (hoog op board) for testing at the top board
ThomasBNL 0:40052f5ca77b 15
ThomasBNL 0:40052f5ca77b 16 volatile bool looptimerflag;
ThomasBNL 8:50d6e2323d3b 17 const double cw=0; // zero is clockwise (front view)
ThomasBNL 8:50d6e2323d3b 18 const double ccw=1; // one is counterclockwise (front view)
ThomasBNL 8:50d6e2323d3b 19
ThomasBNL 8:50d6e2323d3b 20 const double Gain_P_turn=0.0067;
ThomasBNL 8:50d6e2323d3b 21 // stel setpoint tussen (0 en 360) en position tussen (0 en 360)
ThomasBNL 8:50d6e2323d3b 22 // 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 23 // dus 0.1=15*gain gain=0.0067
ThomasBNL 13:bcf8ec7120ab 24
ThomasBNL 13:bcf8ec7120ab 25 double Gain_I_turn=0.025; //(1/2000) //0.00000134
ThomasBNL 13:bcf8ec7120ab 26 // 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 27 // 0.1 / (4.01) = Gain = 0.025
ThomasBNL 13:bcf8ec7120ab 28
ThomasBNL 13:bcf8ec7120ab 29 double Gain_D_turn=1;
ThomasBNL 13:bcf8ec7120ab 30 // error_derivative_turn=(error - previous_error_turn)/sample_time
ThomasBNL 13:bcf8ec7120ab 31 //
ThomasBNL 8:50d6e2323d3b 32
ThomasBNL 8:50d6e2323d3b 33 double conversion_counts_to_degrees=0.085877862594198;
ThomasBNL 8:50d6e2323d3b 34 // gear ratio motor = 131
ThomasBNL 8:50d6e2323d3b 35 // ticks per magnet rotation = 32 (X2 Encoder)
ThomasBNL 8:50d6e2323d3b 36 // One revolution = 360 degrees
ThomasBNL 8:50d6e2323d3b 37 // degrees_per_encoder_tick = 360/(gear_ratio*ticks_per_magnet_rotation)=360/131*32=0.085877862594198
ThomasBNL 8:50d6e2323d3b 38
ThomasBNL 8:50d6e2323d3b 39 const double sample_time=0.01; // tijd voor een sample (100Hz)
ThomasBNL 8:50d6e2323d3b 40
ThomasBNL 8:50d6e2323d3b 41 // PID motor constants
ThomasBNL 8:50d6e2323d3b 42 double integrate_error_turn=0; // integration error turn motor
ThomasBNL 8:50d6e2323d3b 43 double previous_error_turn=0; // previous error turn motor
ThomasBNL 8:50d6e2323d3b 44
ThomasBNL 1:dc683e88b44e 45
ThomasBNL 7:ddd7fb357786 46 // Functions used (described after main)
ThomasBNL 7:ddd7fb357786 47 void keep_in_range(double * in, double min, double max);
ThomasBNL 7:ddd7fb357786 48 void setlooptimerflag(void);
ThomasBNL 8:50d6e2323d3b 49 double get_reference(double input);
ThomasBNL 8:50d6e2323d3b 50
ThomasBNL 0:40052f5ca77b 51
ThomasBNL 7:ddd7fb357786 52 // MAIN function
ThomasBNL 0:40052f5ca77b 53 int main() {
ThomasBNL 8:50d6e2323d3b 54 AnalogIn potmeter(A0); // Potmeter that can read a reference value (DEBUG TOOL)
ThomasBNL 8:50d6e2323d3b 55 QEI motor_turn(D12,D13,NC,32); // Encoder for motor Turn
ThomasBNL 8:50d6e2323d3b 56 PwmOut pwm_motor_turn(D5); // Pwm for motor Turn
ThomasBNL 8:50d6e2323d3b 57 DigitalOut motordirection_turn(D4); // Direction of the motor Turn
ThomasBNL 8:50d6e2323d3b 58 double reference_turn; // Set constant to store reference value of the Turn motor
ThomasBNL 8:50d6e2323d3b 59 double position_turn; // Set constant to store current position of the Turn motor
ThomasBNL 8:50d6e2323d3b 60 double error;
ThomasBNL 10:09ba965045a7 61 double pwm_to_motor_turn;
ThomasBNL 10:09ba965045a7 62 double pwm_motor_turn_P;
ThomasBNL 10:09ba965045a7 63 double pwm_motor_turn_I;
ThomasBNL 10:09ba965045a7 64 double pwm_motor_turn_D;
ThomasBNL 0:40052f5ca77b 65
ThomasBNL 7:ddd7fb357786 66 //START OF CODE
ThomasBNL 7:ddd7fb357786 67 pc.printf("Start of code \n\r");
ThomasBNL 0:40052f5ca77b 68
ThomasBNL 8:50d6e2323d3b 69 pc.baud(9600); // Set the baudrate
ThomasBNL 0:40052f5ca77b 70
ThomasBNL 7:ddd7fb357786 71 // Tickers
ThomasBNL 8:50d6e2323d3b 72 Ticker looptimer; // Ticker called looptimer to set a looptimerflag
ThomasBNL 8:50d6e2323d3b 73 looptimer.attach(setlooptimerflag,sample_time); // calls the looptimer flag every 0.01s
ThomasBNL 0:40052f5ca77b 74
ThomasBNL 7:ddd7fb357786 75 pc.printf("Start infinite loop \n\r");
ThomasBNL 8:50d6e2323d3b 76 wait (3); // Rest before starting system
ThomasBNL 0:40052f5ca77b 77
ThomasBNL 0:40052f5ca77b 78 //INFINITE LOOP
ThomasBNL 5:8fb74a22fe3c 79 while(1)
ThomasBNL 8:50d6e2323d3b 80 { // Start while loop
ThomasBNL 8:50d6e2323d3b 81 // DEBUGGING BUTTON: interrupt button Disbalances the current motor position
ThomasBNL 8:50d6e2323d3b 82 if (buttonL2.read() < 0.5){ //if button pressed
ThomasBNL 8:50d6e2323d3b 83 motordirection_turn = cw;
ThomasBNL 8:50d6e2323d3b 84 pwm_motor_turn = 0.5f; // motorspeed
ThomasBNL 8:50d6e2323d3b 85 pc.printf("positie = %d \r\n", motor_turn.getPulses()); }
ThomasBNL 8:50d6e2323d3b 86
ThomasBNL 8:50d6e2323d3b 87 // Wait until looptimer flag is true then execute PID controller.
ThomasBNL 5:8fb74a22fe3c 88 else
ThomasBNL 8:50d6e2323d3b 89 {
ThomasBNL 0:40052f5ca77b 90 while(looptimerflag != true);
ThomasBNL 0:40052f5ca77b 91
ThomasBNL 0:40052f5ca77b 92 looptimerflag = false;
ThomasBNL 0:40052f5ca77b 93
ThomasBNL 8:50d6e2323d3b 94 //reference = (potmeter.read()-0.5)*2000; // Potmeter bepaald reference (uitgeschakeld)
ThomasBNL 8:50d6e2323d3b 95 reference_turn = 15;
ThomasBNL 0:40052f5ca77b 96
ThomasBNL 8:50d6e2323d3b 97 // Keep motor position between -4200 and 4200 counts
ThomasBNL 8:50d6e2323d3b 98 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 99 {
ThomasBNL 8:50d6e2323d3b 100 motor_turn.reset();
ThomasBNL 3:11a7da46e093 101 pc.printf("RESET \n\r");
ThomasBNL 3:11a7da46e093 102 }
ThomasBNL 3:11a7da46e093 103
ThomasBNL 8:50d6e2323d3b 104 // Convert position to degrees
ThomasBNL 8:50d6e2323d3b 105 position_turn = conversion_counts_to_degrees * motor_turn.getPulses();
ThomasBNL 0:40052f5ca77b 106
ThomasBNL 8:50d6e2323d3b 107 pc.printf("calibrated setpoint: %f, calibrated position motor %i, position %f \n\r", reference_turn, motor_turn.getPulses(), position_turn);
ThomasBNL 3:11a7da46e093 108
ThomasBNL 0:40052f5ca77b 109
ThomasBNL 8:50d6e2323d3b 110 // P-CONTROLLER
ThomasBNL 8:50d6e2323d3b 111 // Calculate error then multiply it with the gain, and store in pwm_to_motor
ThomasBNL 8:50d6e2323d3b 112
ThomasBNL 10:09ba965045a7 113 error=(reference_turn - position_turn); // Current error (input controller)
ThomasBNL 8:50d6e2323d3b 114
ThomasBNL 10:09ba965045a7 115 integrate_error_turn=integrate_error_turn + sample_time*error; // integral error output
ThomasBNL 8:50d6e2323d3b 116 // // overwrite previous integrate error by adding the current error multiplied by the sample time.
ThomasBNL 8:50d6e2323d3b 117 //
ThomasBNL 11:ecd83b303252 118 double error_derivative_turn=(error - previous_error_turn)/sample_time; // derivative error output
ThomasBNL 8:50d6e2323d3b 119
ThomasBNL 8:50d6e2323d3b 120 // FILTER error_derivative_turn (lowpassfilter)
ThomasBNL 11:ecd83b303252 121
ThomasBNL 12:26759959c960 122 const double mT_f_a1=-1.965293372622690e+00;
ThomasBNL 12:26759959c960 123 const double mT_f_a2=9.658854605688177e-01;
ThomasBNL 12:26759959c960 124 const double mT_f_b0=1.480219865318266e-04;
ThomasBNL 12:26759959c960 125 const double mT_f_b1=2.960439730636533e-04;
ThomasBNL 12:26759959c960 126 const double mT_f_b2=1.480219865318266e-04; // Motor Turn filter constants
ThomasBNL 11:ecd83b303252 127
ThomasBNL 12:26759959c960 128 biquadFilter Lowpassfilter(mT_f_a1,mT_f_a2,mT_f_b0,mT_f_b1,mT_f_b2);
ThomasBNL 11:ecd83b303252 129
ThomasBNL 12:26759959c960 130 error_derivative_turn=Lowpassfilter.step(error_derivative_turn);
ThomasBNL 3:11a7da46e093 131
ThomasBNL 11:ecd83b303252 132 previous_error_turn=error; // current error is saved to memory constant to be used in
ThomasBNL 8:50d6e2323d3b 133 // the next loop for calculating the derivative error
ThomasBNL 8:50d6e2323d3b 134
ThomasBNL 10:09ba965045a7 135 pwm_to_motor_turn = error*Gain_P_turn; // output P controller to pwm
ThomasBNL 8:50d6e2323d3b 136
ThomasBNL 10:09ba965045a7 137 pwm_motor_turn_P = error*Gain_P_turn; // output P controller to pwm
ThomasBNL 10:09ba965045a7 138 pwm_motor_turn_I = integrate_error_turn*Gain_I_turn; // output I controller to pwm
ThomasBNL 11:ecd83b303252 139 pwm_motor_turn_D = error_derivative_turn*Gain_D_turn; // output D controller to pwm
ThomasBNL 10:09ba965045a7 140
ThomasBNL 13:bcf8ec7120ab 141 pwm_to_motor_turn = pwm_motor_turn_P + pwm_motor_turn_I + pwm_motor_turn_D;
ThomasBNL 10:09ba965045a7 142
ThomasBNL 8:50d6e2323d3b 143 //
ThomasBNL 10:09ba965045a7 144 // double pwm_to_motor_turn = pwm_motor_turn_P + pwm_motor_turn_I + pwm_motor_turn_D; // Total output PID controller to pwm
ThomasBNL 8:50d6e2323d3b 145 //
ThomasBNL 0:40052f5ca77b 146
ThomasBNL 8:50d6e2323d3b 147 // Keep Pwm between -1 and 1
ThomasBNL 10:09ba965045a7 148 keep_in_range(&pwm_to_motor_turn, -1,1); // Pass to motor controller but keep it in range!
ThomasBNL 10:09ba965045a7 149 pc.printf("pwm %f \n\r", pwm_to_motor_turn);
ThomasBNL 0:40052f5ca77b 150
ThomasBNL 8:50d6e2323d3b 151 // Check error and decide direction to turn
ThomasBNL 10:09ba965045a7 152 if(pwm_to_motor_turn > 0)
ThomasBNL 3:11a7da46e093 153 {
ThomasBNL 8:50d6e2323d3b 154 motordirection_turn=ccw;
ThomasBNL 3:11a7da46e093 155 pc.printf("if loop pwm_to_motor > 0 \n\r");
ThomasBNL 3:11a7da46e093 156 }
ThomasBNL 0:40052f5ca77b 157 else
ThomasBNL 3:11a7da46e093 158 {
ThomasBNL 8:50d6e2323d3b 159 motordirection_turn=cw;
ThomasBNL 3:11a7da46e093 160 pc.printf("else loop pwm_to_motor < 0 \n\r");
ThomasBNL 3:11a7da46e093 161 }
ThomasBNL 8:50d6e2323d3b 162
ThomasBNL 8:50d6e2323d3b 163 // Put pwm_motor to the motor
ThomasBNL 10:09ba965045a7 164 pwm_motor_turn=(abs(pwm_to_motor_turn));
ThomasBNL 0:40052f5ca77b 165 }
ThomasBNL 0:40052f5ca77b 166 }
ThomasBNL 5:8fb74a22fe3c 167 }
ThomasBNL 0:40052f5ca77b 168
ThomasBNL 0:40052f5ca77b 169 // Keep in range function
ThomasBNL 0:40052f5ca77b 170 void keep_in_range(double * in, double min, double max)
ThomasBNL 0:40052f5ca77b 171 {
ThomasBNL 0:40052f5ca77b 172 *in > min ? *in < max? : *in = max: *in = min;
ThomasBNL 0:40052f5ca77b 173 }
ThomasBNL 0:40052f5ca77b 174
ThomasBNL 0:40052f5ca77b 175 // Looptimerflag function
ThomasBNL 0:40052f5ca77b 176 void setlooptimerflag(void)
ThomasBNL 0:40052f5ca77b 177 {
ThomasBNL 0:40052f5ca77b 178 looptimerflag = true;
ThomasBNL 1:dc683e88b44e 179 }
ThomasBNL 1:dc683e88b44e 180
ThomasBNL 8:50d6e2323d3b 181 // Get setpoint -> potmeter (MOMENTEEL UITGESCHAKELD)
ThomasBNL 8:50d6e2323d3b 182 double get_reference(double input)
ThomasBNL 1:dc683e88b44e 183 {
ThomasBNL 1:dc683e88b44e 184 const float offset = 0.5;
ThomasBNL 1:dc683e88b44e 185 const float gain = 4.0;
ThomasBNL 1:dc683e88b44e 186 return (input-offset)*gain;
ThomasBNL 5:8fb74a22fe3c 187 }