Thomas Burgers / Mbed 2 deprecated ZZ-TheChenneRobot

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Dependencies:   Encoder HIDScope MODSERIAL QEI biquadFilter mbed

main.cpp@15:f029351f1f3a, 2015-10-08 (annotated)

Committer:
ThomasBNL
Date:
Thu Oct 08 10:18:50 2015 +0000
Revision:
15:f029351f1f3a
Parent:
14:599896acf576
Child:
16:a8d2c721cf56
added debug led

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 15:f029351f1f3a 9 DigitalOut debug_led(LED_RED); // Debug LED
ThomasBNL 8:50d6e2323d3b 10
ThomasBNL 14:599896acf576 11 //HIDScope scope(2); // HIDSCOPE declared
ThomasBNL 14:599896acf576 12
ThomasBNL 14:599896acf576 13 //Ticker Sample_Ticker; // HIDSCOPE voor main
ThomasBNL 14:599896acf576 14 //volatile bool get_sample; // HIDSCOPE voor main
ThomasBNL 14:599896acf576 15
ThomasBNL 14:599896acf576 16
ThomasBNL 8:50d6e2323d3b 17 // (DEBUGGING AND TESTING BUTTONS) (0 when pressed and 1 when not pressed)
ThomasBNL 8:50d6e2323d3b 18 DigitalIn buttonL1(PTC6); // Button 1 (laag op board) for testing at the lower board
ThomasBNL 8:50d6e2323d3b 19 DigitalIn buttonL2(PTA4); // Button 2 (laag op board) for testing at the lower board
ThomasBNL 8:50d6e2323d3b 20 DigitalIn buttonH1(D2); // Button 3 (hoog op board) for testing at the top board
ThomasBNL 8:50d6e2323d3b 21 DigitalIn buttonH2(D6); // Button 4 (hoog op board) for testing at the top board
ThomasBNL 0:40052f5ca77b 22
ThomasBNL 15:f029351f1f3a 23
ThomasBNL 0:40052f5ca77b 24 volatile bool looptimerflag;
ThomasBNL 8:50d6e2323d3b 25 const double cw=0; // zero is clockwise (front view)
ThomasBNL 8:50d6e2323d3b 26 const double ccw=1; // one is counterclockwise (front view)
ThomasBNL 8:50d6e2323d3b 27
ThomasBNL 8:50d6e2323d3b 28 const double Gain_P_turn=0.0067;
ThomasBNL 8:50d6e2323d3b 29 // stel setpoint tussen (0 en 360) en position tussen (0 en 360)
ThomasBNL 8:50d6e2323d3b 30 // 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 31 // dus 0.1=15*gain gain=0.0067
ThomasBNL 14:599896acf576 32 // Als 3 graden verschil 0.1 dan 0.1/3=gain=0.33
ThomasBNL 13:bcf8ec7120ab 33
ThomasBNL 13:bcf8ec7120ab 34 double Gain_I_turn=0.025; //(1/2000) //0.00000134
ThomasBNL 13:bcf8ec7120ab 35 // 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 36 // 0.1 / (4.01) = Gain = 0.025
ThomasBNL 13:bcf8ec7120ab 37
ThomasBNL 13:bcf8ec7120ab 38 double Gain_D_turn=1;
ThomasBNL 13:bcf8ec7120ab 39 // error_derivative_turn=(error - previous_error_turn)/sample_time
ThomasBNL 14:599896acf576 40 //
ThomasBNL 8:50d6e2323d3b 41
ThomasBNL 8:50d6e2323d3b 42 double conversion_counts_to_degrees=0.085877862594198;
ThomasBNL 8:50d6e2323d3b 43 // gear ratio motor = 131
ThomasBNL 8:50d6e2323d3b 44 // ticks per magnet rotation = 32 (X2 Encoder)
ThomasBNL 8:50d6e2323d3b 45 // One revolution = 360 degrees
ThomasBNL 8:50d6e2323d3b 46 // degrees_per_encoder_tick = 360/(gear_ratio*ticks_per_magnet_rotation)=360/131*32=0.085877862594198
ThomasBNL 8:50d6e2323d3b 47
ThomasBNL 8:50d6e2323d3b 48 const double sample_time=0.01; // tijd voor een sample (100Hz)
ThomasBNL 8:50d6e2323d3b 49
ThomasBNL 8:50d6e2323d3b 50 // PID motor constants
ThomasBNL 8:50d6e2323d3b 51 double integrate_error_turn=0; // integration error turn motor
ThomasBNL 8:50d6e2323d3b 52 double previous_error_turn=0; // previous error turn motor
ThomasBNL 8:50d6e2323d3b 53
ThomasBNL 1:dc683e88b44e 54
ThomasBNL 7:ddd7fb357786 55 // Functions used (described after main)
ThomasBNL 7:ddd7fb357786 56 void keep_in_range(double * in, double min, double max);
ThomasBNL 7:ddd7fb357786 57 void setlooptimerflag(void);
ThomasBNL 8:50d6e2323d3b 58 double get_reference(double input);
ThomasBNL 14:599896acf576 59 // void get_sample(); //HIDSCOPE
ThomasBNL 8:50d6e2323d3b 60
ThomasBNL 0:40052f5ca77b 61
ThomasBNL 7:ddd7fb357786 62 // MAIN function
ThomasBNL 0:40052f5ca77b 63 int main() {
ThomasBNL 8:50d6e2323d3b 64 AnalogIn potmeter(A0); // Potmeter that can read a reference value (DEBUG TOOL)
ThomasBNL 8:50d6e2323d3b 65 QEI motor_turn(D12,D13,NC,32); // Encoder for motor Turn
ThomasBNL 8:50d6e2323d3b 66 PwmOut pwm_motor_turn(D5); // Pwm for motor Turn
ThomasBNL 8:50d6e2323d3b 67 DigitalOut motordirection_turn(D4); // Direction of the motor Turn
ThomasBNL 8:50d6e2323d3b 68 double reference_turn; // Set constant to store reference value of the Turn motor
ThomasBNL 8:50d6e2323d3b 69 double position_turn; // Set constant to store current position of the Turn motor
ThomasBNL 8:50d6e2323d3b 70 double error;
ThomasBNL 10:09ba965045a7 71 double pwm_to_motor_turn;
ThomasBNL 10:09ba965045a7 72 double pwm_motor_turn_P;
ThomasBNL 10:09ba965045a7 73 double pwm_motor_turn_I;
ThomasBNL 10:09ba965045a7 74 double pwm_motor_turn_D;
ThomasBNL 0:40052f5ca77b 75
ThomasBNL 7:ddd7fb357786 76 //START OF CODE
ThomasBNL 7:ddd7fb357786 77 pc.printf("Start of code \n\r");
ThomasBNL 0:40052f5ca77b 78
ThomasBNL 8:50d6e2323d3b 79 pc.baud(9600); // Set the baudrate
ThomasBNL 0:40052f5ca77b 80
ThomasBNL 7:ddd7fb357786 81 // Tickers
ThomasBNL 8:50d6e2323d3b 82 Ticker looptimer; // Ticker called looptimer to set a looptimerflag
ThomasBNL 8:50d6e2323d3b 83 looptimer.attach(setlooptimerflag,sample_time); // calls the looptimer flag every 0.01s
ThomasBNL 0:40052f5ca77b 84
ThomasBNL 14:599896acf576 85 // Sample_Ticker.attach(&get_sample, (float)1/Fs); HIDSCOPE sample Ticker
ThomasBNL 14:599896acf576 86
ThomasBNL 7:ddd7fb357786 87 pc.printf("Start infinite loop \n\r");
ThomasBNL 8:50d6e2323d3b 88 wait (3); // Rest before starting system
ThomasBNL 0:40052f5ca77b 89
ThomasBNL 0:40052f5ca77b 90 //INFINITE LOOP
ThomasBNL 5:8fb74a22fe3c 91 while(1)
ThomasBNL 8:50d6e2323d3b 92 { // Start while loop
ThomasBNL 8:50d6e2323d3b 93 // DEBUGGING BUTTON: interrupt button Disbalances the current motor position
ThomasBNL 8:50d6e2323d3b 94 if (buttonL2.read() < 0.5){ //if button pressed
ThomasBNL 8:50d6e2323d3b 95 motordirection_turn = cw;
ThomasBNL 8:50d6e2323d3b 96 pwm_motor_turn = 0.5f; // motorspeed
ThomasBNL 8:50d6e2323d3b 97 pc.printf("positie = %d \r\n", motor_turn.getPulses()); }
ThomasBNL 8:50d6e2323d3b 98
ThomasBNL 8:50d6e2323d3b 99 // Wait until looptimer flag is true then execute PID controller.
ThomasBNL 5:8fb74a22fe3c 100 else
ThomasBNL 8:50d6e2323d3b 101 {
ThomasBNL 0:40052f5ca77b 102 while(looptimerflag != true);
ThomasBNL 0:40052f5ca77b 103
ThomasBNL 0:40052f5ca77b 104 looptimerflag = false;
ThomasBNL 0:40052f5ca77b 105
ThomasBNL 8:50d6e2323d3b 106 //reference = (potmeter.read()-0.5)*2000; // Potmeter bepaald reference (uitgeschakeld)
ThomasBNL 8:50d6e2323d3b 107 reference_turn = 15;
ThomasBNL 0:40052f5ca77b 108
ThomasBNL 8:50d6e2323d3b 109 // Keep motor position between -4200 and 4200 counts
ThomasBNL 8:50d6e2323d3b 110 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 111 {
ThomasBNL 8:50d6e2323d3b 112 motor_turn.reset();
ThomasBNL 3:11a7da46e093 113 pc.printf("RESET \n\r");
ThomasBNL 3:11a7da46e093 114 }
ThomasBNL 3:11a7da46e093 115
ThomasBNL 8:50d6e2323d3b 116 // Convert position to degrees
ThomasBNL 8:50d6e2323d3b 117 position_turn = conversion_counts_to_degrees * motor_turn.getPulses();
ThomasBNL 0:40052f5ca77b 118
ThomasBNL 8:50d6e2323d3b 119 pc.printf("calibrated setpoint: %f, calibrated position motor %i, position %f \n\r", reference_turn, motor_turn.getPulses(), position_turn);
ThomasBNL 3:11a7da46e093 120
ThomasBNL 0:40052f5ca77b 121
ThomasBNL 8:50d6e2323d3b 122 // P-CONTROLLER
ThomasBNL 8:50d6e2323d3b 123 // Calculate error then multiply it with the gain, and store in pwm_to_motor
ThomasBNL 8:50d6e2323d3b 124
ThomasBNL 10:09ba965045a7 125 error=(reference_turn - position_turn); // Current error (input controller)
ThomasBNL 8:50d6e2323d3b 126
ThomasBNL 10:09ba965045a7 127 integrate_error_turn=integrate_error_turn + sample_time*error; // integral error output
ThomasBNL 8:50d6e2323d3b 128 // // overwrite previous integrate error by adding the current error multiplied by the sample time.
ThomasBNL 8:50d6e2323d3b 129 //
ThomasBNL 11:ecd83b303252 130 double error_derivative_turn=(error - previous_error_turn)/sample_time; // derivative error output
ThomasBNL 8:50d6e2323d3b 131
ThomasBNL 8:50d6e2323d3b 132 // FILTER error_derivative_turn (lowpassfilter)
ThomasBNL 11:ecd83b303252 133
ThomasBNL 12:26759959c960 134 const double mT_f_a1=-1.965293372622690e+00;
ThomasBNL 12:26759959c960 135 const double mT_f_a2=9.658854605688177e-01;
ThomasBNL 12:26759959c960 136 const double mT_f_b0=1.480219865318266e-04;
ThomasBNL 12:26759959c960 137 const double mT_f_b1=2.960439730636533e-04;
ThomasBNL 12:26759959c960 138 const double mT_f_b2=1.480219865318266e-04; // Motor Turn filter constants
ThomasBNL 11:ecd83b303252 139
ThomasBNL 12:26759959c960 140 biquadFilter Lowpassfilter(mT_f_a1,mT_f_a2,mT_f_b0,mT_f_b1,mT_f_b2);
ThomasBNL 11:ecd83b303252 141
ThomasBNL 12:26759959c960 142 error_derivative_turn=Lowpassfilter.step(error_derivative_turn);
ThomasBNL 3:11a7da46e093 143
ThomasBNL 11:ecd83b303252 144 previous_error_turn=error; // current error is saved to memory constant to be used in
ThomasBNL 8:50d6e2323d3b 145 // the next loop for calculating the derivative error
ThomasBNL 8:50d6e2323d3b 146
ThomasBNL 10:09ba965045a7 147 pwm_to_motor_turn = error*Gain_P_turn; // output P controller to pwm
ThomasBNL 8:50d6e2323d3b 148
ThomasBNL 10:09ba965045a7 149 pwm_motor_turn_P = error*Gain_P_turn; // output P controller to pwm
ThomasBNL 10:09ba965045a7 150 pwm_motor_turn_I = integrate_error_turn*Gain_I_turn; // output I controller to pwm
ThomasBNL 11:ecd83b303252 151 pwm_motor_turn_D = error_derivative_turn*Gain_D_turn; // output D controller to pwm
ThomasBNL 10:09ba965045a7 152
ThomasBNL 13:bcf8ec7120ab 153 pwm_to_motor_turn = pwm_motor_turn_P + pwm_motor_turn_I + pwm_motor_turn_D;
ThomasBNL 10:09ba965045a7 154
ThomasBNL 8:50d6e2323d3b 155 //
ThomasBNL 10:09ba965045a7 156 // 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 157 //
ThomasBNL 0:40052f5ca77b 158
ThomasBNL 8:50d6e2323d3b 159 // Keep Pwm between -1 and 1
ThomasBNL 10:09ba965045a7 160 keep_in_range(&pwm_to_motor_turn, -1,1); // Pass to motor controller but keep it in range!
ThomasBNL 10:09ba965045a7 161 pc.printf("pwm %f \n\r", pwm_to_motor_turn);
ThomasBNL 0:40052f5ca77b 162
ThomasBNL 8:50d6e2323d3b 163 // Check error and decide direction to turn
ThomasBNL 10:09ba965045a7 164 if(pwm_to_motor_turn > 0)
ThomasBNL 3:11a7da46e093 165 {
ThomasBNL 8:50d6e2323d3b 166 motordirection_turn=ccw;
ThomasBNL 15:f029351f1f3a 167 pc.printf("if loop pwm > 0 \n\r");
ThomasBNL 3:11a7da46e093 168 }
ThomasBNL 0:40052f5ca77b 169 else
ThomasBNL 3:11a7da46e093 170 {
ThomasBNL 8:50d6e2323d3b 171 motordirection_turn=cw;
ThomasBNL 15:f029351f1f3a 172 pc.printf("else loop pwm < 0 \n\r");
ThomasBNL 3:11a7da46e093 173 }
ThomasBNL 8:50d6e2323d3b 174
ThomasBNL 8:50d6e2323d3b 175 // Put pwm_motor to the motor
ThomasBNL 10:09ba965045a7 176 pwm_motor_turn=(abs(pwm_to_motor_turn));
ThomasBNL 14:599896acf576 177
ThomasBNL 14:599896acf576 178 // if(sample_go) // HIDSCOPE input => sample_go nu nog niet nodig opzich // BLINK LEDS TOEVOEGEN
ThomasBNL 14:599896acf576 179 // {
ThomasBNL 14:599896acf576 180 // //sample_filter; (filter function zie EMG filter working script)
ThomasBNL 14:599896acf576 181 // scope.set(0,u); // HIDSCOPE channel 0 :
ThomasBNL 14:599896acf576 182 // scope.set(1,y); // HIDSCOPE channel 1 :
ThomasBNL 14:599896acf576 183 // scope.send(); // Send channel info to HIDSCOPE
ThomasBNL 14:599896acf576 184 // sample_go = 0;
ThomasBNL 14:599896acf576 185 // }
ThomasBNL 15:f029351f1f3a 186 debug_led = !debug_led;
ThomasBNL 0:40052f5ca77b 187 }
ThomasBNL 0:40052f5ca77b 188 }
ThomasBNL 5:8fb74a22fe3c 189 }
ThomasBNL 0:40052f5ca77b 190
ThomasBNL 0:40052f5ca77b 191 // Keep in range function
ThomasBNL 0:40052f5ca77b 192 void keep_in_range(double * in, double min, double max)
ThomasBNL 0:40052f5ca77b 193 {
ThomasBNL 0:40052f5ca77b 194 *in > min ? *in < max? : *in = max: *in = min;
ThomasBNL 0:40052f5ca77b 195 }
ThomasBNL 0:40052f5ca77b 196
ThomasBNL 0:40052f5ca77b 197 // Looptimerflag function
ThomasBNL 0:40052f5ca77b 198 void setlooptimerflag(void)
ThomasBNL 0:40052f5ca77b 199 {
ThomasBNL 0:40052f5ca77b 200 looptimerflag = true;
ThomasBNL 1:dc683e88b44e 201 }
ThomasBNL 1:dc683e88b44e 202
ThomasBNL 8:50d6e2323d3b 203 // Get setpoint -> potmeter (MOMENTEEL UITGESCHAKELD)
ThomasBNL 8:50d6e2323d3b 204 double get_reference(double input)
ThomasBNL 1:dc683e88b44e 205 {
ThomasBNL 1:dc683e88b44e 206 const float offset = 0.5;
ThomasBNL 1:dc683e88b44e 207 const float gain = 4.0;
ThomasBNL 1:dc683e88b44e 208 return (input-offset)*gain;
ThomasBNL 5:8fb74a22fe3c 209 }
ThomasBNL 14:599896acf576 210
ThomasBNL 14:599896acf576 211 //// Get sample
ThomasBNL 14:599896acf576 212 //void get_sample() // HIDSCOPE sample fuction
ThomasBNL 14:599896acf576 213 //{
ThomasBNL 14:599896acf576 214 // get_sample = 1;
ThomasBNL 14:599896acf576 215 //}