Thomas Burgers
/
ZZ-TheChenneRobot
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Dependencies: Encoder HIDScope MODSERIAL QEI biquadFilter mbed
main.cpp
- Committer:
- ThomasBNL
- Date:
- 2015-10-14
- Revision:
- 37:23660d12d772
- Parent:
- 36:da07b5c2984d
File content as of revision 37:23660d12d772:
#include "mbed.h"
#include "HIDScope.h"
#include "QEI.h"
#include "MODSERIAL.h"
#include "biquadFilter.h"
#include "encoder.h"
// ___________________________
// // \\
// || [Inputs] ||
// \\___________________________//
//
MODSERIAL pc(USBTX,USBRX);
DigitalOut debug_led_red(LED_RED); // Debug LED
DigitalOut debug_led_green(LED_GREEN); // Debug LED
DigitalOut debug_led_blue(LED_BLUE); // Debug LED
DigitalIn buttonL1(PTC6); // Button 1 (low on k64f) for testing at the lower board
DigitalIn buttonL2(PTA4); // Button 2 (low on k64f) for testing at the lower board
DigitalIn buttonH1(D2); // Button 3 (high on k64f) for testing at the top board
DigitalIn buttonH2(D6); // Button 4 (high on k64f) for testing at the top board
AnalogIn potmeter(A0); // Potmeter that can read a reference value (DEBUG TOOL)
// ___________________________
// // \\
// || [MOTOR TURN] ||
// \\___________________________//
//
QEI motor_turn(D12,D13,NC,32); // Encoder for motor Turn
PwmOut pwm_motor_turn(D5); // Pwm for motor Turn
DigitalOut motordirection_turn(D4); // Direction of the motor Turn
// ___________________________
// // \\
// || [HIDSCOPE] ||
// \\___________________________//
//
//HIDScope scope(3); // HIDSCOPE declared
// ___________________________
// // \\
// || [CONSTANTS] ||
// \\___________________________//
//
const double off=1; //Led off
const double on=0; //Led on
const int Fs = 512; // sampling frequency (512 Hz)
// ___________________________
// // \\
// || [FUNCTIONS USED] ||
// \\___________________________//
//
void keep_in_range(double * in, double min, double max);
void setlooptimerflag(void);
///////////////////////////////
// //
/////////////////////////////////////////////////////// [MAIN FUNCTION] ////////////////////////////////////////////////////////////////////////////
// // //
/////////////////////////////// //
int main() {
debug_led_red=off;
debug_led_blue=off;
debug_led_green=off;
//START OF CODE
pc.printf("Start of code \n\r");
pc.baud(115200); // Set the baudrate
// Tickers
Ticker looptimer; // Ticker called looptimer to set a looptimerflag
looptimer.attach(&setlooptimerflag,(float)1/Fs); // calls the looptimer flag every 0.01s
pc.printf("Start infinite loop \n\r");
wait (3); // Wait before starting system
//INFINITE LOOP
while(1)
{ // Start while loop
// ___________________________
// // \\
// || [Wait for go signal] ||
// \\___________________________//
// // Wait until looptimer flag is true then execute PID controller loop.
//reference = (potmeter.read()-0.5)*2000; // Potmeter bepaald reference (uitgeschakeld)
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// //
// [Functions Described] //
// //
////////////////////////////////////
// Keep in range function
void keep_in_range(double * in, double min, double max)
{
*in > min ? *in < max? : *in = max: *in = min;
}
double reference_turn=20; // Set constant to store reference value of the Turn motor
volatile bool looptimerflag;
const double cw=0; // zero is clockwise (front view)
const double ccw=1; // one is counterclockwise (front view)
const double sample_time = 0.001953125; // sampling frequency (512 Hz)
// PID motor constants
double integrate_error_turn=0; // integration error turn motor
double previous_error_turn=0; // previous error turn motor
const double Gain_P_turn=10; //0.0067;
// stel setpoint tussen (0 en 360) en position tussen (0 en 360)
// 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
// dus 0.1=15*gain gain=0.0067
// Als 3 graden verschil 0.1 dan 0.1/3=gain=0.33
double Gain_I_turn=0.1; //0.025; //(1/2000) //0.00000134
// 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)
// 0.1 / (4.01) = Gain = 0.025
double Gain_D_turn=50; //0.01;
// error_derivative_turn=(error - previous_error_turn)/sample_time
//
double conversion_counts_to_degrees=0.085877862594198;
// gear ratio motor = 131
// ticks per magnet rotation = 32 (X2 Encoder)
// One revolution = 360 degrees
// degrees_per_encoder_tick = 360/(gear_ratio*ticks_per_magnet_rotation)=360/131*32=0.085877862594198
// Looptimerflag function
void setlooptimerflag(void)
{
debug_led_green=on;
// ___________________________
// // \\
// || [DEBUG BUTTONS] ||
// \\___________________________//
// interrupt button Disbalances the current motor position
//if button L2 pressed => disbalance motor
if (buttonL2.read() < 0.5){
motordirection_turn = cw;
pwm_motor_turn = 0.5f;
pc.printf("positie = %d \r\n", motor_turn.getPulses()); }
// if button L1 pressed => shut down motor for 1000 seconds
if (buttonL1.read() < 0.5){
motordirection_turn = cw;
pwm_motor_turn = 0;
wait(1000);
pc.printf("positie = %d \r\n", motor_turn.getPulses()); }
else
{
// ___________________________
// // \\
// || [Calibrate position] ||
// \\___________________________//
// // Keep motor position between -4200 and 4200 counts
debug_led_green=on;
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
{
motor_turn.reset();
pc.printf("RESET \n\r");
}
// Convert position to degrees \\
double position_turn = conversion_counts_to_degrees * motor_turn.getPulses();
pc.printf("calibrated setpoint: %f, calibrated position motor %i, position %f \n\r", reference_turn, motor_turn.getPulses(), position_turn);
// ___________________________
// // \\
// || [PID CONTROLLER] ||
// \\___________________________//
// // Calculate error then multiply it with the (P, I and D) gains, and store in pwm_to_motor \\
double error_turn=(reference_turn - position_turn); // Current error (input controller)
integrate_error_turn=integrate_error_turn + sample_time*error_turn; // integral error output
// // overwrite previous integrate error by adding the current error
// multiplied by the sample time.
//
double error_derivative_turn=(error_turn - previous_error_turn)/sample_time; // derivative error output
// FILTER error_derivative_turn (lowpassfilter) (EMG LOWPASS FILTER MOMENTEEL!!!!!)
const double low_b1 = 1.480219865318266e-04; //filter coefficients
const double low_b2 = 2.960439730636533e-04;
const double low_b3 = 1.480219865318266e-04;
const double low_a2 = -1.965293372622690e+00; // a1 is normalized to 1
const double low_a3 = 9.658854605688177e-01;
biquadFilter lowpassfilter_1(low_a2, low_a3, low_b1, low_b2, low_b3);
error_derivative_turn=lowpassfilter_1.step(error_derivative_turn);
previous_error_turn=error_turn; // current error is saved to memory constant to be used in
// the next loop for calculating the derivative error
double pwm_to_motor_turn = error_turn*Gain_P_turn; // output P controller to pwm
double pwm_motor_turn_P = error_turn*Gain_P_turn; // output P controller to pwm
double pwm_motor_turn_I = integrate_error_turn*Gain_I_turn; // output I controller to pwm
double pwm_motor_turn_D = error_derivative_turn*Gain_D_turn; // output D controller to pwm
pwm_to_motor_turn = pwm_motor_turn_P + pwm_motor_turn_I + pwm_motor_turn_D;
// ___________________________
// // \\
// || [PID error -> pwm motor] ||
// \\___________________________//
// // Keep Pwm between -1 and 1 -> and decide the direction of the motor to compensate the error
keep_in_range(&pwm_to_motor_turn, -1,1); // Pass to motor controller but keep it in range!
pc.printf("pwm %f \n\r", pwm_to_motor_turn);
// Check error and decide direction to turn
if(pwm_to_motor_turn > 0)
{
motordirection_turn=ccw;
pc.printf("if loop pwm > 0 \n\r");
}
else
{
motordirection_turn=cw;
pc.printf("else loop pwm < 0 \n\r");
}
// ___________________________
// // \\
// || [pwm -> Plant] ||
// \\___________________________//
// // Put pwm to the motor \\
pwm_motor_turn=(abs(pwm_to_motor_turn));
// ___________________________
// // \\
// || [HIDSCOPE] ||
// \\___________________________//
// // Check signals inside HIDSCOPE \\
// scope.set(0,error_turn); // HIDSCOPE channel 0 : Current Reference
// scope.set(1,position_turn); // HIDSCOPE channel 1 : Position_turn
// scope.set(2,pwm_to_motor_turn); // HIDSCOPE channel 2 : Pwm_to_motor_turn
// scope.send(); // Send channel info to HIDSCOPE
}
}
// Get setpoint -> potmeter (MOMENTEEL UITGESCHAKELD)
double get_reference(double input)
{
const float offset = 0.5;
const float gain = 4.0;
return (input-offset)*gain;
}
