Ruprecht Altenburger / Mbed 2 deprecated RT2_P3_students_G4

Template for group 4

Dependencies:   mbed

Fork of RT2_P3_students by RT2_P3_students

main.cpp@10:85840c065e00, 2018-04-27 (annotated)

Committer:
altb
Date:
Fri Apr 27 06:34:29 2018 +0000
Revision:
10:85840c065e00
Parent:
9:67ee46be0403 
group 4, 1

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 8:72f260c467ad 54 //-------------DEFINE FILTERS----------------
altb 0:78ca29b4c49e 55
altb 0:78ca29b4c49e 56 //------------------------------------------
altb 0:78ca29b4c49e 57 Ticker ControllerLoopTimer; // interrupt for control loop
altb 0:78ca29b4c49e 58 EncoderCounter counter1(PB_6, PB_7); // initialize counter on PB_6 and PB_7
altb 0:78ca29b4c49e 59 DiffCounter diff(0.01,Ts); // discrete differentiate, based on encoder data
altb 0:78ca29b4c49e 60 //------------------------------------------
altb 0:78ca29b4c49e 61 // ... here define instantiate classes
altb 0:78ca29b4c49e 62 //------------------------------------------
altb 0:78ca29b4c49e 63
altb 0:78ca29b4c49e 64 // ----- User defined functions -----------
altb 0:78ca29b4c49e 65 void updateControllers(void); // speed controller loop (via interrupt)
altb 0:78ca29b4c49e 66 // ------ END User defined functions ------
altb 0:78ca29b4c49e 67
altb 0:78ca29b4c49e 68 //******************************************************************************
altb 0:78ca29b4c49e 69 //---------- main loop -------------
altb 0:78ca29b4c49e 70 //******************************************************************************
altb 0:78ca29b4c49e 71 int main()
altb 0:78ca29b4c49e 72 {
altb 0:78ca29b4c49e 73 //attach controller loop to timer interrupt
altb 0:78ca29b4c49e 74 pc.baud(2000000); // for serial comm.
altb 0:78ca29b4c49e 75 counter1.reset(); // encoder reset
altb 0:78ca29b4c49e 76 diff.reset(0.0f,0.0f);
altb 0:78ca29b4c49e 77 ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = ...;
altb 3:d79c437626e7 78
altb 2:769ce5f06d3e 79
altb 0:78ca29b4c49e 80 }
altb 0:78ca29b4c49e 81 //******************************************************************************
altb 0:78ca29b4c49e 82 //---------- control loop (called via interrupt) -------------
altb 0:78ca29b4c49e 83 //******************************************************************************
altb 0:78ca29b4c49e 84 void updateControllers(void){
altb 0:78ca29b4c49e 85 short counts = counter1; // get counts from Encoder
altb 0:78ca29b4c49e 86 float vel = diff(counts); // motor velocity
altb 7:01a7363583b2 87
altb 6:8ed679044a72 88
altb 10:85840c065e00 89 if(++k >= 249){
altb 7:01a7363583b2 90 k = 0;
altb 9:67ee46be0403 91 pc.printf("Some Output: %1.5f \r\n",PI);
altb 7:01a7363583b2 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 //...