Ruprecht Altenburger
/
RT2_P3_students_G4
Template for group 4
Fork of RT2_P3_students by
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?
User | Revision | Line number | New 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 | //... |