Ruprecht Altenburger
/
RT2_P3_students_G4
Template for group 4
Fork of RT2_P3_students by
main.cpp
- Committer:
- altb
- Date:
- 2018-04-24
- Revision:
- 8:72f260c467ad
- Parent:
- 7:01a7363583b2
- Child:
- 9:67ee46be0403
File content as of revision 8:72f260c467ad:
#include "mbed.h" #include "math.h" //------------------------------------------ #define PI 3.1415927f //------------------------------------------ #include "EncoderCounter.h" #include "DiffCounter.h" #include "IIR_filter.h" #include "LinearCharacteristics.h" #include "PI_Cntrl.h" #include "GPA.h" /* Cuboid balance on one edge on Nucleo F446RE **** IMPORTANT: use ..\Labormodelle\RT-MOD054 - Würfel\Escon_Parameter_4nucleo.edc settings for Maxon ESCON controller (upload via ESCON Studio) **** hardware Connections: CN7 CN10 : : : : .. .. .. .. 15. .. AOUT i_des on (PA_5)o. .. .. .. .. .. ENC CH A o. o. GND .. 10. o. ENC CH B .. .. .. .. .. .o AIN acx (PA_0) .. .o AIN acy (PA_1) .. 5. .o AIN Gyro(PA_4) .o Analog GND .. .. .. .. .. .. 1. ---------------------------- CN7 CN10 */ Serial pc(SERIAL_TX, SERIAL_RX); // serial connection via USB - programmer InterruptIn button(USER_BUTTON); // User Button, short presses: reduce speed, long presses: increase speed AnalogIn ax(PA_0); // Analog IN (acc x) on PA_0 AnalogIn ay(PA_1); // Analog IN (acc y) on PA_1 AnalogIn gz(PA_4); // Analog IN (gyr z) on PA_4 AnalogOut out(PA_5); // Analog OUT on PA_5 1.6 V -> 0A 3.2A -> 2A (see ESCON) float out_value = 1.6f; // set voltage on 1.6 V (0 A current) float w_soll = 10.0f; // desired velocity float Ts = 0.002f; // sample time of main loops int k = 0; //------------------------------------------ // ... here define variables like gains etc. //------------------------------------------ //LinearCharacteristics i2u(0.8f,-2.0f); LinearCharacteristics i2u(-2.0f,2.0f,0.0f,3.2f); LinearCharacteristics ax2ms2(0.2972f,0.7028f,-9.81,9.81); LinearCharacteristics ay2ms2(0.29866f,0.70134f,-9.81,9.81); LinearCharacteristics gz2om(4.6517f,1.4852f); //-------------DEFINE FILTERS---------------- float tau = 1.0f; IIR_filter f_ax(tau,Ts,1.0f); // filter ax signals IIR_filter f_ay(tau,Ts,1.0f); // filter ay signals IIR_filter f_gz(tau,Ts,tau); // filter gz signals //------------------------------------------ Ticker ControllerLoopTimer; // interrupt for control loop EncoderCounter counter1(PB_6, PB_7); // initialize counter on PB_6 and PB_7 DiffCounter diff(0.01,Ts); // discrete differentiate, based on encoder data //------------------------------------------ // ... here define instantiate classes //------------------------------------------ PI_Cntrl vel_cntrl(0.5f,.05f,Ts,0.4f); //GPA gpa1(1.0f, 200.0f, 150, 4, 400, Ts, 10.0f, 0.3f); // GPA(t fMin, t fMax, NfexcDes, NperMin, NmeasMin, Ts, Aexc0, Aexc1) // ... define some linear characteristics ----------------------------------------- // ----- User defined functions ----------- void updateControllers(void); // speed controller loop (via interrupt) // ------ END User defined functions ------ //****************************************************************************** //---------- main loop ------------- //****************************************************************************** int main() { //attach controller loop to timer interrupt pc.baud(2000000); // for serial comm. counter1.reset(); // encoder reset diff.reset(0.0f,0.0f); ControllerLoopTimer.attach(&updateControllers, Ts); //Assume Fs = ...; } //****************************************************************************** //---------- control loop (called via interrupt) ------------- //****************************************************************************** void updateControllers(void){ short counts = counter1; // get counts from Encoder float vel = diff(counts); // motor velocity /*float torq_des = vel_cntrl(excWobble + w_soll - vel); excWobble = gpa1(torq_des,vel); out.write(i2u(torq_des/0.217f)); // the controller! convert torque to Amps km = 0.217 Nm/A */ //float phi1 = atan2(-f_ax(ax2ms2(ax.read())),f_ay(ax2ms2(ay.read()))) + PI/4.0f + f_gz(gz2om(gz.read()*3.3f)); float fax = f_ax(ax2ms2(ax.read())); float fay = f_ay(ay2ms2(ay.read())); if(++k >= 249){ k = 0; //pc.printf("Phi1: %1.5f \r\n",phi1); pc.printf("f_ax: %1.5f f_ay: %1.5f \r\n",fax,fay); } } //****************************************************************************** //********** User functions like buttens handle etc. ************** //****************************************************************************** // pressed button //****************************************************************************** //...