Ruprecht Altenburger / Mbed 2 deprecated RT2_P3_students_G4

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Dependencies:   mbed

Fork of RT2_P3_students by RT2_P3_students

main.cpp@5:72982ede2ff6, 2018-04-17 (annotated)

Committer:
altb
Date:
Tue Apr 17 09:06:47 2018 +0000
Revision:
5:72982ede2ff6
Parent:
4:2cc56521aa16
Child:
6:8ed679044a72
.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb 0:78ca29b4c49e 1 #include "mbed.h"
altb 0:78ca29b4c49e 2 #include "math.h"
altb 0:78ca29b4c49e 3 //------------------------------------------
altb 0:78ca29b4c49e 4 #define PI 3.1415927f
altb 0:78ca29b4c49e 5 //------------------------------------------
altb 0:78ca29b4c49e 6 #include "EncoderCounter.h"
altb 0:78ca29b4c49e 7 #include "DiffCounter.h"
altb 0:78ca29b4c49e 8 #include "IIR_filter.h"
altb 0:78ca29b4c49e 9 #include "LinearCharacteristics.h"
altb 3:d79c437626e7 10 #include "PI_Cntrl.h"
altb 0:78ca29b4c49e 11 /* Cuboid balance on one edge on Nucleo F446RE
altb 0:78ca29b4c49e 12
altb 0:78ca29b4c49e 13 **** IMPORTANT: use ..\Labormodelle\RT-MOD054 - Würfel\Escon_Parameter_4nucleo.edc
altb 0:78ca29b4c49e 14 settings for Maxon ESCON controller (upload via ESCON Studio) ****
altb 0:78ca29b4c49e 15 hardware Connections:
altb 0:78ca29b4c49e 16
altb 0:78ca29b4c49e 17 CN7 CN10
altb 0:78ca29b4c49e 18 : :
altb 0:78ca29b4c49e 19 : :
altb 0:78ca29b4c49e 20 .. ..
altb 0:78ca29b4c49e 21 .. .. 15.
altb 0:78ca29b4c49e 22 .. AOUT i_des on (PA_5)o.
altb 0:78ca29b4c49e 23 .. ..
altb 0:78ca29b4c49e 24 .. ..
altb 0:78ca29b4c49e 25 .. ENC CH A o.
altb 0:78ca29b4c49e 26 o. GND .. 10.
altb 0:78ca29b4c49e 27 o. ENC CH B ..
altb 0:78ca29b4c49e 28 .. ..
altb 0:78ca29b4c49e 29 .. ..
altb 0:78ca29b4c49e 30 .o AIN acx (PA_0) ..
altb 0:78ca29b4c49e 31 .o AIN acy (PA_1) .. 5.
altb 0:78ca29b4c49e 32 .o AIN Gyro(PA_4) .o Analog GND
altb 0:78ca29b4c49e 33 .. ..
altb 0:78ca29b4c49e 34 .. ..
altb 0:78ca29b4c49e 35 .. .. 1.
altb 0:78ca29b4c49e 36 ----------------------------
altb 0:78ca29b4c49e 37 CN7 CN10
altb 0:78ca29b4c49e 38 */
altb 0:78ca29b4c49e 39 Serial pc(SERIAL_TX, SERIAL_RX); // serial connection via USB - programmer
altb 0:78ca29b4c49e 40 InterruptIn button(USER_BUTTON); // User Button, short presses: reduce speed, long presses: increase speed
altb 0:78ca29b4c49e 41 AnalogIn ax(PA_0); // Analog IN (acc x) on PA_0
altb 0:78ca29b4c49e 42 AnalogIn ay(PA_1); // Analog IN (acc y) on PA_1
altb 0:78ca29b4c49e 43 AnalogIn gz(PA_4); // Analog IN (gyr z) on PA_4
altb 0:78ca29b4c49e 44 AnalogOut out(PA_5); // Analog OUT on PA_5 1.6 V -> 0A 3.2A -> 2A (see ESCON)
altb 0:78ca29b4c49e 45 float out_value = 1.6f; // set voltage on 1.6 V (0 A current)
altb 0:78ca29b4c49e 46 float w_soll = 10.0f; // desired velocity
altb 5:72982ede2ff6 47 float Ts = 0.2f; // sample time of main loops
altb 2:769ce5f06d3e 48 int k = 0;
altb 4:2cc56521aa16 49
altb 0:78ca29b4c49e 50 //------------------------------------------
altb 0:78ca29b4c49e 51 // ... here define variables like gains etc.
altb 0:78ca29b4c49e 52 //------------------------------------------
altb 5:72982ede2ff6 53 LinearCharacteristics i2u(1.5f,2.5f);
altb 0:78ca29b4c49e 54
altb 0:78ca29b4c49e 55 //------------------------------------------
altb 0:78ca29b4c49e 56 Ticker ControllerLoopTimer; // interrupt for control loop
altb 0:78ca29b4c49e 57 EncoderCounter counter1(PB_6, PB_7); // initialize counter on PB_6 and PB_7
altb 0:78ca29b4c49e 58 DiffCounter diff(0.01,Ts); // discrete differentiate, based on encoder data
altb 0:78ca29b4c49e 59 //------------------------------------------
altb 0:78ca29b4c49e 60 // ... here define instantiate classes
altb 0:78ca29b4c49e 61 //------------------------------------------
altb 0:78ca29b4c49e 62
altb 0:78ca29b4c49e 63 // ... define some linear characteristics -----------------------------------------
altb 0:78ca29b4c49e 64
altb 0:78ca29b4c49e 65 // ----- User defined functions -----------
altb 0:78ca29b4c49e 66 void updateControllers(void); // speed controller loop (via interrupt)
altb 0:78ca29b4c49e 67 // ------ END User defined functions ------
altb 0:78ca29b4c49e 68
altb 0:78ca29b4c49e 69 //******************************************************************************
altb 0:78ca29b4c49e 70 //---------- main loop -------------
altb 0:78ca29b4c49e 71 //******************************************************************************
altb 0:78ca29b4c49e 72 int main()
altb 0:78ca29b4c49e 73 {
altb 0:78ca29b4c49e 74 //attach controller loop to timer interrupt
altb 0:78ca29b4c49e 75 pc.baud(2000000); // for serial comm.
altb 0:78ca29b4c49e 76 counter1.reset(); // encoder reset
altb 0:78ca29b4c49e 77 diff.reset(0.0f,0.0f);
altb 0:78ca29b4c49e 78 ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = ...;
altb 3:d79c437626e7 79
altb 2:769ce5f06d3e 80
altb 0:78ca29b4c49e 81 }
altb 0:78ca29b4c49e 82 //******************************************************************************
altb 0:78ca29b4c49e 83 //---------- control loop (called via interrupt) -------------
altb 0:78ca29b4c49e 84 //******************************************************************************
altb 0:78ca29b4c49e 85 void updateControllers(void){
altb 0:78ca29b4c49e 86 short counts = counter1; // get counts from Encoder
altb 0:78ca29b4c49e 87 float vel = diff(counts); // motor velocity
altb 4:2cc56521aa16 88 // ... your code
altb 5:72982ede2ff6 89 // if(++k >= 249){
altb 5:72982ede2ff6 90 // k = 0;
altb 5:72982ede2ff6 91 pc.printf("i2u(8): %3.3f\r\n",i2u(8.0f));
altb 5:72982ede2ff6 92 //}
altb 0:78ca29b4c49e 93 }
altb 0:78ca29b4c49e 94 //******************************************************************************
altb 0:78ca29b4c49e 95 //********** User functions like buttens handle etc. **************
altb 0:78ca29b4c49e 96 //******************************************************************************
altb 0:78ca29b4c49e 97 // pressed button
altb 0:78ca29b4c49e 98 //******************************************************************************
altb 0:78ca29b4c49e 99
altb 0:78ca29b4c49e 100 //...