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@8:72f260c467ad, 2018-04-24 (annotated)

Committer:
altb
Date:
Tue Apr 24 09:13:59 2018 +0000
Revision:
8:72f260c467ad
Parent:
7:01a7363583b2
Child:
9:67ee46be0403
corrected bug in FIR filter init

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 6:8ed679044a72 11 #include "GPA.h"
altb 0:78ca29b4c49e 12 /* Cuboid balance on one edge on Nucleo F446RE
altb 0:78ca29b4c49e 13
altb 0:78ca29b4c49e 14 **** IMPORTANT: use ..\Labormodelle\RT-MOD054 - Würfel\Escon_Parameter_4nucleo.edc
altb 0:78ca29b4c49e 15 settings for Maxon ESCON controller (upload via ESCON Studio) ****
altb 0:78ca29b4c49e 16 hardware Connections:
altb 0:78ca29b4c49e 17
altb 0:78ca29b4c49e 18 CN7 CN10
altb 0:78ca29b4c49e 19 : :
altb 0:78ca29b4c49e 20 : :
altb 0:78ca29b4c49e 21 .. ..
altb 0:78ca29b4c49e 22 .. .. 15.
altb 0:78ca29b4c49e 23 .. AOUT i_des on (PA_5)o.
altb 0:78ca29b4c49e 24 .. ..
altb 0:78ca29b4c49e 25 .. ..
altb 0:78ca29b4c49e 26 .. ENC CH A o.
altb 0:78ca29b4c49e 27 o. GND .. 10.
altb 0:78ca29b4c49e 28 o. ENC CH B ..
altb 0:78ca29b4c49e 29 .. ..
altb 0:78ca29b4c49e 30 .. ..
altb 0:78ca29b4c49e 31 .o AIN acx (PA_0) ..
altb 0:78ca29b4c49e 32 .o AIN acy (PA_1) .. 5.
altb 0:78ca29b4c49e 33 .o AIN Gyro(PA_4) .o Analog GND
altb 0:78ca29b4c49e 34 .. ..
altb 0:78ca29b4c49e 35 .. ..
altb 0:78ca29b4c49e 36 .. .. 1.
altb 0:78ca29b4c49e 37 ----------------------------
altb 0:78ca29b4c49e 38 CN7 CN10
altb 0:78ca29b4c49e 39 */
altb 0:78ca29b4c49e 40 Serial pc(SERIAL_TX, SERIAL_RX); // serial connection via USB - programmer
altb 0:78ca29b4c49e 41 InterruptIn button(USER_BUTTON); // User Button, short presses: reduce speed, long presses: increase speed
altb 0:78ca29b4c49e 42 AnalogIn ax(PA_0); // Analog IN (acc x) on PA_0
altb 0:78ca29b4c49e 43 AnalogIn ay(PA_1); // Analog IN (acc y) on PA_1
altb 0:78ca29b4c49e 44 AnalogIn gz(PA_4); // Analog IN (gyr z) on PA_4
altb 0:78ca29b4c49e 45 AnalogOut out(PA_5); // Analog OUT on PA_5 1.6 V -> 0A 3.2A -> 2A (see ESCON)
altb 0:78ca29b4c49e 46 float out_value = 1.6f; // set voltage on 1.6 V (0 A current)
altb 0:78ca29b4c49e 47 float w_soll = 10.0f; // desired velocity
altb 7:01a7363583b2 48 float Ts = 0.002f; // sample time of main loops
altb 2:769ce5f06d3e 49 int k = 0;
altb 4:2cc56521aa16 50
altb 0:78ca29b4c49e 51 //------------------------------------------
altb 0:78ca29b4c49e 52 // ... here define variables like gains etc.
altb 0:78ca29b4c49e 53 //------------------------------------------
altb 7:01a7363583b2 54 //LinearCharacteristics i2u(0.8f,-2.0f);
altb 7:01a7363583b2 55 LinearCharacteristics i2u(-2.0f,2.0f,0.0f,3.2f);
altb 8:72f260c467ad 56 LinearCharacteristics ax2ms2(0.2972f,0.7028f,-9.81,9.81);
altb 8:72f260c467ad 57 LinearCharacteristics ay2ms2(0.29866f,0.70134f,-9.81,9.81);
altb 8:72f260c467ad 58 LinearCharacteristics gz2om(4.6517f,1.4852f);
altb 8:72f260c467ad 59 //-------------DEFINE FILTERS----------------
altb 8:72f260c467ad 60 float tau = 1.0f;
altb 8:72f260c467ad 61 IIR_filter f_ax(tau,Ts,1.0f); // filter ax signals
altb 8:72f260c467ad 62 IIR_filter f_ay(tau,Ts,1.0f); // filter ay signals
altb 8:72f260c467ad 63 IIR_filter f_gz(tau,Ts,tau); // filter gz signals
altb 0:78ca29b4c49e 64
altb 0:78ca29b4c49e 65 //------------------------------------------
altb 0:78ca29b4c49e 66 Ticker ControllerLoopTimer; // interrupt for control loop
altb 0:78ca29b4c49e 67 EncoderCounter counter1(PB_6, PB_7); // initialize counter on PB_6 and PB_7
altb 0:78ca29b4c49e 68 DiffCounter diff(0.01,Ts); // discrete differentiate, based on encoder data
altb 0:78ca29b4c49e 69 //------------------------------------------
altb 0:78ca29b4c49e 70 // ... here define instantiate classes
altb 0:78ca29b4c49e 71 //------------------------------------------
altb 6:8ed679044a72 72 PI_Cntrl vel_cntrl(0.5f,.05f,Ts,0.4f);
altb 7:01a7363583b2 73 //GPA gpa1(1.0f, 200.0f, 150, 4, 400, Ts, 10.0f, 0.3f);
altb 6:8ed679044a72 74 // GPA(t fMin, t fMax, NfexcDes, NperMin, NmeasMin, Ts, Aexc0, Aexc1)
altb 0:78ca29b4c49e 75 // ... define some linear characteristics -----------------------------------------
altb 0:78ca29b4c49e 76
altb 0:78ca29b4c49e 77 // ----- User defined functions -----------
altb 0:78ca29b4c49e 78 void updateControllers(void); // speed controller loop (via interrupt)
altb 0:78ca29b4c49e 79 // ------ END User defined functions ------
altb 0:78ca29b4c49e 80
altb 0:78ca29b4c49e 81 //******************************************************************************
altb 0:78ca29b4c49e 82 //---------- main loop -------------
altb 0:78ca29b4c49e 83 //******************************************************************************
altb 0:78ca29b4c49e 84 int main()
altb 0:78ca29b4c49e 85 {
altb 0:78ca29b4c49e 86 //attach controller loop to timer interrupt
altb 0:78ca29b4c49e 87 pc.baud(2000000); // for serial comm.
altb 0:78ca29b4c49e 88 counter1.reset(); // encoder reset
altb 0:78ca29b4c49e 89 diff.reset(0.0f,0.0f);
altb 0:78ca29b4c49e 90 ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = ...;
altb 3:d79c437626e7 91
altb 2:769ce5f06d3e 92
altb 0:78ca29b4c49e 93 }
altb 0:78ca29b4c49e 94 //******************************************************************************
altb 0:78ca29b4c49e 95 //---------- control loop (called via interrupt) -------------
altb 0:78ca29b4c49e 96 //******************************************************************************
altb 0:78ca29b4c49e 97 void updateControllers(void){
altb 0:78ca29b4c49e 98 short counts = counter1; // get counts from Encoder
altb 0:78ca29b4c49e 99 float vel = diff(counts); // motor velocity
altb 7:01a7363583b2 100
altb 6:8ed679044a72 101
altb 7:01a7363583b2 102 /*float torq_des = vel_cntrl(excWobble + w_soll - vel);
altb 6:8ed679044a72 103 excWobble = gpa1(torq_des,vel);
altb 6:8ed679044a72 104 out.write(i2u(torq_des/0.217f)); // the controller! convert torque to Amps km = 0.217 Nm/A
altb 7:01a7363583b2 105 */
altb 6:8ed679044a72 106
altb 8:72f260c467ad 107 //float phi1 = atan2(-f_ax(ax2ms2(ax.read())),f_ay(ax2ms2(ay.read()))) + PI/4.0f + f_gz(gz2om(gz.read()*3.3f));
altb 8:72f260c467ad 108 float fax = f_ax(ax2ms2(ax.read()));
altb 8:72f260c467ad 109 float fay = f_ay(ay2ms2(ay.read()));
altb 7:01a7363583b2 110 if(++k >= 249){
altb 7:01a7363583b2 111 k = 0;
altb 8:72f260c467ad 112 //pc.printf("Phi1: %1.5f \r\n",phi1);
altb 8:72f260c467ad 113 pc.printf("f_ax: %1.5f f_ay: %1.5f \r\n",fax,fay);
altb 7:01a7363583b2 114 }
altb 0:78ca29b4c49e 115 }
altb 0:78ca29b4c49e 116 //******************************************************************************
altb 0:78ca29b4c49e 117 //********** User functions like buttens handle etc. **************
altb 0:78ca29b4c49e 118 //******************************************************************************
altb 0:78ca29b4c49e 119 // pressed button
altb 0:78ca29b4c49e 120 //******************************************************************************
altb 0:78ca29b4c49e 121
altb 0:78ca29b4c49e 122 //...