werkend x-y control
Dependencies: Encoder HIDScope MODSERIAL mbed
main.cpp
- Committer:
- Zeekat
- Date:
- 2015-10-18
- Revision:
- 1:f3910e46b831
- Parent:
- 0:a643b1b38abe
- Child:
- 2:867a1eb33bbe
File content as of revision 1:f3910e46b831:
#include "mbed.h" #include "MODSERIAL.h" #include "encoder.h" #include "HIDScope.h" #include "math.h" // #include "complex.h" Serial pc(USBTX,USBRX); HIDScope scope(3); // definieerd het aantal kanalen van de scope // Define Tickers and control frequencies Ticker controller1, controller2, main_filter, cartesian; // definieer de ticker die controler1 doet // Go flag variables volatile bool motor1_go = false, motor2_go = false, emg_go = false, cart_go = false; // Frequency control double controlfreq = 50 ; // controlloops frequentie (Hz) double controlstep = 1/controlfreq; // timestep derived from controlfreq //MOTOR OUTPUTPINS // motor 1 PwmOut motor1_aan(D6); // PWM signaal motor 2 (uit sheets) DigitalOut motor1_rich(D7); // digitaal signaal voor richting // motor 2 PwmOut motor2_aan(D5); DigitalOut motor2_rich(D4); // ENCODER INPUTPINS Encoder motor1_enc(D12,D11); // encoder outputpins Encoder motor2_enc(D10,D9); int reference1 = 0; // set the reference position of the encoders (not used) int reference2 = 0; //////// // physical constants const double L = 36; // lenght of arms const double pi = 3.1415926535897; /////////////////////////// // Main control loop transfer variables // here all variables that transfer bewtween the primary control functions double output1; double output2; double theta_one; double theta_two; // EXTRA INPUTS AND REQUIRED VARIABLES //POTMETERS AnalogIn potright(A0); // define the potmeter outputpins AnalogIn potleft(A1); // Analoge input signalen defineren AnalogIn EMG_in(A2); // EMG_in.read kan je nu gebruiken om het analoge signaal A2 uit te lezen AnalogIn EMG_int(A3); // deze leest A3 uit // BUTTONS // control flow DigitalIn buttonlinks(PTA4); DigitalIn buttonrechts(PTC6); // init values bool loop_start = false; bool calib_start = false; // direction control DigitalIn reverse_button_links(D0); DigitalIn reverse_button_rechts(D1); // init values bool reverse_links = false; bool reverse_rechts = false; // LED DigitalOut ledred(LED1); DigitalOut ledgreen(LED2); DigitalOut ledblue(LED3); // REFERENCE SIGNAL SETTINGS double input_threshold = 0.25; // the minimum value the signal must have to change the reference. // Define signal amplification (needed with EMG, used in control loop, precise amp determination is a work in progress!!!!) ?? double signalamp1 = 1; double signalamp2 = 1; // Define storage variables for reference values double c_reference1 = 0; double c_reference2 = 0; // limit angles (in radians) // motor1 const double limlow1 = 0.5; // min height const double limhigh1 = 4.5; // max height // motor 2 const double limlow2 = -4.5; // maximum height, motor has been inverted due to transmission const double limhigh2 = 2; // minimum height // Define the maximum rate of change for the reference (velocity) double Vmax = 3; // rad/sec // CONTROLLER SETTINGS // motor 1 const double m1_Kp = 5; // Proportional constant const double m1_Ki = 0.5; // integration constant const double m1_Kd = 0.4; // differentiation constant // motor 2 const double m2_Kp = 2; const double m2_Ki = 0; const double m2_Kd = 0.1; // storage variables // motor 1 double m1_err_int = 0; double m1_prev_err = 0; // motor 2 double m2_err_int = 0; double m2_prev_err = 0; //// FILTER VARIABLES // storage variables // differential action filter, same is used for both controllers double m_f_v1 = 0, m_f_v2 = 0; // input filter to smooth signal double r1_f_v1 = 0, r1_f_v2 = 0; double r2_f_v1 = 0, r2_f_v2 = 0; // Filter coefficients // differential action filter (lowpass 5Hz at 50samples) const double m_f_a1 = -1.1430, m_f_a2 = 0.4128, m_f_b0 = 0.0675, m_f_b1 = 0.1349, m_f_b2 = 0.0675; // coefficients from sheets are used as first test. // input filter (lowpass 1Hz at 50samples) const double r1_f_a1 = -1.6475, r1_f_a2 = 0.7009, r1_f_b0 = 0.0134, r1_f_b1 = 0.0267, r1_f_b2 = 0.0134; // tweede orde notch filter 50 Hz // biquad 1 coefficienten const double numnotch50biq1_1 = 1; const double numnotch50biq1_2 = -1.61816178466632; const double numnotch50biq1_3 = 1.00000006127058; const double dennotch50biq1_2 = -1.59325742941798; const double dennotch50biq1_3 = 0.982171881701431; // biquad 2 coefficienten const double numnotch50biq2_1 = 1; const double numnotch50biq2_2 = -1.61816171933244; const double numnotch50biq2_3 = 0.999999938729428; const double dennotch50biq2_2 = -1.61431180968071; const double dennotch50biq2_3 = 0.982599066293075; // highpass filter 20 Hz coefficienten const double numhigh20_1 = 0.837089190566345; const double numhigh20_2 = -1.67417838113269; const double numhigh20_3 = 0.837089190566345; const double denhigh20_2 = -1.64745998107698; const double denhigh20_3 = 0.700896781188403; // lowpass 5 Hz coefficienten const double numlow5_1 =0.000944691843840162; const double numlow5_2 =0.00188938368768032; const double numlow5_3 =0.000944691843840162; const double denlow5_2 =-1.91119706742607; const double denlow5_3 =0.914975834801434; // Define the storage variables and filter coeficients for eight filters //filter 1 double f1_v1 = 0, f1_v2 = 0, f2_v1 = 0, f2_v2 = 0, f3_v1 = 0, f3_v2 = 0,f4_v1 = 0, f4_v2 = 0; // filter2 double f1_v1t = 0, f1_v2t = 0, f2_v1t = 0, f2_v2t = 0, f3_v1t = 0, f3_v2t = 0,f4_v1t = 0, f4_v2t = 0; //////////////////////////////////////////////////////////////// /////////////////// START OF SIDE FUNCTIONS //////////////////// ////////////////////////////////////////////////////////////// // these functions are tailored to perform 1 specific function // this funtion flips leds on and off accordin to input with 0 being on void LED(int red,int green,int blue) { ledred.write(red); ledgreen.write(green); ledblue.write(blue); } // counts 2 radians // this function takes counts from the encoder and converts it to the amount of radians from the zero position. // It has been set up for standard 2X DECODING!!! double get_radians(double counts) { double radians = (counts/4200)*2*pi; // 2X DECODING!!!!! ((32 counts/rotation, last warning) return radians; } // This functions takes a 0->1 input, uses passing by reference (&c_reference) // to create a reference that moves with a variable speed. It is meant for 0->1 values double reference_f(double input, double &c_reference, double limlow, double limhigh) { double reference = c_reference + input * controlstep * Vmax ; // two if statements check if the reference exceeds the limits placed upon the arms if(reference < limlow){reference = limlow;} if(reference > limhigh){reference = limhigh;} c_reference = reference; // change the global variable to the latest location. return reference; } // This function takes the controller outputvalue and ensures it is between -1 and 1 // this is done to limit the motor input to possible values (the motor takes 0 to 1 and the sign changes the direction). // needs more work to use it for the wind-up prevention. double outputlimiter (double output, double limit) { if(output> limit) { output = 1; } else if(output < limit && output > 0) { output = output; } else if(output > -limit && output < 0) { output = output; } else if(output < -limit) { (output = -1); } return output; } // BIQUADFILTER CODE GIVEN IN SHEETS double biquadfilter(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2) { double v = u - a1*v1 - a2*v2; double y = b0*v + b1*v1 + b2*v2; v2 = v1; v1 = v; return y; } // biquadfilters die bij het filteren van signaal 2 horen, copy paste, alle waardes zijn veranderd naar +t (t van two of twee) double biquadfiltert(double ut, double &v1t, double &v2t, const double a1t, const double a2t, const double b0t, const double b1t, const double b2t) { double vt = ut- a1t*v1t-a2t*v2t; double yt = b0t*vt+b1t*v1t+b2t*v2t; v2t = v1t; v1t = vt; return yt; } // PID Controller given in sheets // aangepast om zelfde filter te gebruiken en om de termen later gesplitst te kunnen limiteren (windup preventie!!) double PID(double e, const double Kp, const double Ki, const double Kd, double Ts,double &e_int, double &e_prev) { // Proportional double P = Kp * e; // Integral e_int = e_int + Ts * e; double I = e_int * Ki; // Derivative double e_derr = (e - e_prev)/Ts; e_derr = biquadfilter(e_derr, m_f_v1, m_f_v2, m_f_a1, m_f_a2, m_f_b0, m_f_b1, m_f_b2); // e_prev = e; double D = Kd* e_derr; // PID double output = P + I + D; return output; } ///////////////////////////////////////////////////////////////////// ////////////////// PRIMARY CONTROL FUNCTIONS /////////////////////// /////////////////////////////////////////////////////////////////// // these functions are called by go-flags and are used to update main variables and send signals to motor // MOTOR 1 void motor1_control() { double m_input1 = potright.read(); // used for pot input //input1 = 0.4505; // first input edit (limit signal between threshold and 1, and reverse if wanted if(m_input1 < input_threshold) {m_input1 = 0;} if(m_input1 > 1) {m_input1 = 1;} if(reverse_rechts == true) {m_input1 = -m_input1;} m_input1 = biquadfilter(m_input1, r1_f_v1, r1_f_v2, r1_f_a1, r1_f_a2, r1_f_b0, r1_f_b1, r1_f_b2); //biquad with diff-filter coefficients to smooth input double reference1 = reference_f(m_input1, c_reference1,limlow1,limhigh1); // determine the reference that has been set by the inputsignal scope.set(0,reference1); double rads1 = get_radians(motor1_enc.getPosition()); // determine the position of the motor scope.set(1,rads1); scope.send(); double error1 = (reference1 - rads1); // determine the error (reference - position) double m_output1 = PID(error1, m1_Kp, m1_Ki, m1_Kd, controlstep, m1_err_int, m1_prev_err); m_output1 = outputlimiter(m_output1,1); // relimit the output for safety if(m_output1 > 0) { // uses the calculated output to determine the direction of the motor motor1_rich.write(0); motor1_aan.write(m_output1); } else if(m_output1 < 0) { motor1_rich.write(1); motor1_aan.write(abs(m_output1)); } } // MOTOR 2 void motor2_control() { double m_input2 = potleft.read()*signalamp2; // replace potleft with filter // first input limiter if(m_input2 < input_threshold) {m_input2 = 0;} if(m_input2 > 1) {m_input2 = 1;} if(reverse_links == false) {m_input2 = -m_input2;} m_input2 = biquadfilter(m_input2, r2_f_v1, r2_f_v2, r1_f_a1, r1_f_a2, r1_f_b0, r1_f_b1, r1_f_b2); double reference2 = reference_f(m_input2, c_reference2,limlow2,limhigh2); // determine the reference that has been set by the clamped inputsignal double rads2 = get_radians(motor2_enc.getPosition()); // determine the position of the motor double error2 = (reference2 - rads2); // determine the error (reference - position) double m_output2 = PID(error2, m2_Kp, m2_Ki, m2_Kd, controlstep, m2_err_int, m2_prev_err); m_output2 = outputlimiter(m_output2,1); if(m_output2 > 0) { // uses the calculated output to determine the direction of the motor motor2_rich.write(0); motor2_aan.write(m_output2); } else if(m_output2 < 0) { motor2_rich.write(1); motor2_aan.write(abs(m_output2)); } } // function that updates the inputs void EMG_filter() { // filteren van EMG signaal 1 (A0) eerst notch(2 biquads), dan highpass, rectify(abs()), lowpass double u1 = EMG_in.read(); double y1 = biquadfilter( u1, f1_v1, f1_v2,dennotch50biq1_2, dennotch50biq1_3,numnotch50biq1_1,numnotch50biq1_2,numnotch50biq1_3); double y2 = biquadfilter( y1, f2_v1, f2_v2,dennotch50biq2_2, dennotch50biq2_3,numnotch50biq2_1,numnotch50biq2_2,numnotch50biq2_3); double y3 = biquadfilter( y2, f3_v1, f3_v2, denhigh20_2,denhigh20_3,numhigh20_1, numhigh20_2, numhigh20_3); double y4 = abs(y3); double y5 = biquadfilter( y4, f4_v1, f4_v2, denlow5_2,denlow5_3,numlow5_1, numlow5_2, numlow5_3); output1 = y5; // update global variable // versturen van het input signaal u1 en het gefilterde signaal y5 naar HIDScope channel 0 en 1 //scope.set(0,u1); //scope.set(1,y5); // filteren van EMG signaal 2 (A2), zelfde proces als signaal 1 double u1t = EMG_int.read(); double y1t = biquadfiltert( u1t, f1_v1t, f1_v2t,dennotch50biq1_2, dennotch50biq1_3,numnotch50biq1_1,numnotch50biq1_2,numnotch50biq1_3); double y2t = biquadfiltert( y1t, f2_v1t, f2_v2t,dennotch50biq2_2, dennotch50biq2_3,numnotch50biq2_1,numnotch50biq2_2,numnotch50biq2_3); double y3t = biquadfiltert( y2t, f3_v1t, f3_v2t, denhigh20_2,denhigh20_3,numhigh20_1, numhigh20_2, numhigh20_3); double y4t = abs(y3t); double y5t = biquadfiltert( y4t, f4_v1t, f4_v2t, denlow5_2,denlow5_3,numlow5_1, numlow5_2, numlow5_3); output2 = y5t; // update global variable // versturen van input signaal2; u1t en het gefilterde signaal; y5t naar HIDScope channel 2 en 3 //scope.set(2,u1t); //scope.set(3,y5t); // verzenden van de verstuurde signalen //scope.send(); } // function that updates the required motor angles void det_angles() { double xx = 7*50*output1; double yy = 7*50*output2; double r = sqrt(pow(xx,2)+pow(yy,2)); // vector naar end effector double alfa = acos((2*pow(L,2)-pow(r,2))/(2*pow(L,2))); // alfa is de hoek tussen upper en lower arm double beta = acos((pow(r,2))/(2*L*r)); // beta is de hoek tussen upper arm en r // hoeken berekenen theta_one = atan2(yy,xx)+beta; theta_two = pi + alfa; // testen van de functie scope.set(0,xx); scope.set(1,yy); double xt = L*cos(theta_one)+L*cos(theta_one+theta_two); double yt = L*sin(theta_one)+L*sin(theta_one+theta_two); scope.set(2,xt); scope.set(3,yt); scope.send(); } ////////////////////////////////////////////////////////////////// //////////// DEFINE GO-FLAG FUNCTIONS /////////////////////////// //////////////////////////////////////////////////////////////// void EMG_activate() { emg_go = true; } void angle_activate() { cart_go = true; } void motor1_activate() { motor1_go = true; } void motor2_activate() { motor2_go = true; } int main() { pc.baud(115200); main_filter.attach(&EMG_activate, controlstep); cartesian.attach(&angle_activate, controlstep); controller1.attach(&motor1_activate, controlstep); // call a go-flag controller2.attach(&motor2_activate, controlstep); while(true) { // button press functions // flow buttons if(buttonlinks.read() == 0) { loop_start = !loop_start; wait(buttonlinks.read() == 1); wait(0.3); } if(buttonrechts.read() == 0) { calib_start = !calib_start; wait(buttonrechts.read() == 1); wait(0.3); } // reverse buttons if(reverse_button_links.read() == 0) { reverse_links = !reverse_links; wait(reverse_button_links.read() == 1); wait(0.3); } if(reverse_button_rechts.read() == 0) { reverse_rechts = !reverse_rechts; wait(reverse_button_rechts.read() == 1); wait(0.3); } ////////////////////////////////////////////////// // Main Control stuff and options if(loop_start == true && calib_start == false) // check if start button = true then start the main control loops { LED(1,1,0); // turn blue led on if(cart_go) { cart_go = false; det_angles();} if(emg_go) { emg_go = false; EMG_filter();} if(motor1_go) { motor1_go = false; motor1_control();} if(motor2_go) { motor2_go = false; motor2_control();} } // shut off both motors if(loop_start == false) {motor1_aan.write(0); motor2_aan.write(0);} // turn green led on // start calibration procedures if(loop_start == false && calib_start == true) { LED(1,0,1); motor1_aan.write(0); motor2_aan.write(0);} // turn red led on if(loop_start == true && calib_start == true) { LED(0,1,1); motor1_aan.write(0); motor2_aan.write(0);} // turn leds off (both buttons false) else { LED(1,1,1);} } }