Ruprecht Altenburger
/
mirror_actuator_V1
Mirror actuator for RT2 lab
ControllerLoop.cpp@15:9f32f64eee5b, 2021-05-02 (annotated)
- Committer:
- altb2
- Date:
- Sun May 02 08:17:06 2021 +0000
- Revision:
- 15:9f32f64eee5b
- Parent:
- 11:d43f8b421d6d
commit for students, 2.5.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 5:768e10f6d372 | 1 | #include "ControllerLoop.h" |
altb2 | 5:768e10f6d372 | 2 | using namespace std; |
altb2 | 5:768e10f6d372 | 3 | |
altb2 | 10:bfacffec199a | 4 | // contructor for controller loop |
altb2 | 10:bfacffec199a | 5 | ControllerLoop::ControllerLoop(float Ts) : thread(osPriorityHigh,4096), dout1(PB_9) |
altb2 | 5:768e10f6d372 | 6 | { |
altb2 | 6:9ebeffe446e4 | 7 | this->Ts = Ts; |
altb2 | 5:768e10f6d372 | 8 | diff1.reset(0.0f,0); |
altb2 | 5:768e10f6d372 | 9 | diff2.reset(0.0f,0); |
altb2 | 6:9ebeffe446e4 | 10 | is_initialized = false; |
altb2 | 6:9ebeffe446e4 | 11 | ti.reset(); |
altb2 | 6:9ebeffe446e4 | 12 | ti.start(); |
altb2 | 7:942fd77d5e19 | 13 | data.laser_on = false; |
altb2 | 5:768e10f6d372 | 14 | } |
altb2 | 5:768e10f6d372 | 15 | |
altb2 | 10:bfacffec199a | 16 | // decontructor for controller loop |
altb2 | 5:768e10f6d372 | 17 | ControllerLoop::~ControllerLoop() {} |
altb2 | 5:768e10f6d372 | 18 | |
altb2 | 10:bfacffec199a | 19 | // ---------------------------------------------------------------------------- |
altb2 | 10:bfacffec199a | 20 | // this is the main loop called every Ts with high priority |
altb2 | 5:768e10f6d372 | 21 | void ControllerLoop::loop(void){ |
altb2 | 8:49ac75c42da0 | 22 | float w01=2*3.1415927 * 8; |
altb2 | 8:49ac75c42da0 | 23 | float xy[2]; |
altb2 | 15:9f32f64eee5b | 24 | float exc=0.0; // excitation GPA |
altb2 | 5:768e10f6d372 | 25 | while(1) |
altb2 | 5:768e10f6d372 | 26 | { |
altb2 | 5:768e10f6d372 | 27 | ThisThread::flags_wait_any(threadFlag); |
altb2 | 5:768e10f6d372 | 28 | // THE LOOP ------------------------------------------------------------ |
altb2 | 10:bfacffec199a | 29 | short c1 = counter1 - index1.positionAtIndexPulse - mk.inc_offset[0]- mk.inc_additional_offset[0]; // get counts from Encoder |
altb2 | 10:bfacffec199a | 30 | short c2 = counter2 - index2.positionAtIndexPulse - mk.inc_offset[1]- mk.inc_additional_offset[1]; // get counts from Encoder |
altb2 | 10:bfacffec199a | 31 | data.sens_phi[0] = uw2pi1(2.0f*3.1415927f/4000.0f*(float)c1); |
altb2 | 10:bfacffec199a | 32 | data.sens_Vphi[0] = diff1(c1); // motor velocity |
altb2 | 10:bfacffec199a | 33 | data.sens_phi[1] = uw2pi2(2.0f*3.1415927f/4000.0f*(float)c2); |
altb2 | 10:bfacffec199a | 34 | data.sens_Vphi[1] = diff2(c2); // motor velocity |
altb2 | 10:bfacffec199a | 35 | // ------------------------------------------------------------- |
altb2 | 10:bfacffec199a | 36 | // at very beginning: move system slowly to find the zero pulse |
altb2 | 10:bfacffec199a | 37 | // set "if(0)" if you like to ommit at beginning |
altb2 | 7:942fd77d5e19 | 38 | if(!is_initialized) |
altb2 | 6:9ebeffe446e4 | 39 | { |
altb2 | 6:9ebeffe446e4 | 40 | find_index(); |
altb2 | 6:9ebeffe446e4 | 41 | if(index1.positionAtIndexPulse != 0 && index2.positionAtIndexPulse != 0) |
altb2 | 6:9ebeffe446e4 | 42 | is_initialized=true; |
altb2 | 5:768e10f6d372 | 43 | } |
altb2 | 6:9ebeffe446e4 | 44 | else |
altb2 | 6:9ebeffe446e4 | 45 | { |
altb2 | 7:942fd77d5e19 | 46 | // ------------------------ write outputs |
altb2 | 7:942fd77d5e19 | 47 | i_des1.write(i2u(data.i_des[0])); |
altb2 | 7:942fd77d5e19 | 48 | i_des2.write(i2u(data.i_des[1])); |
altb2 | 11:d43f8b421d6d | 49 | // GPA: if you want to use the GPA, uncomment and improve following line: |
altb2 | 11:d43f8b421d6d | 50 | // exc = myGPA(data.i_des[0],data.sens_Vphi[0]); |
altb2 | 11:d43f8b421d6d | 51 | |
altb2 | 15:9f32f64eee5b | 52 | // now do trafos etc, not needed at beginning of lab-course |
altb2 | 7:942fd77d5e19 | 53 | |
altb2 | 7:942fd77d5e19 | 54 | if(mk.external_control) // get desired values from external source (GUI) |
altb2 | 7:942fd77d5e19 | 55 | { |
altb2 | 7:942fd77d5e19 | 56 | if(mk.trafo_is_on) // use desired xy values from xternal source and transform |
altb2 | 7:942fd77d5e19 | 57 | // otherwise external source delivers phi1, phi2 values directly |
altb2 | 7:942fd77d5e19 | 58 | { |
altb2 | 7:942fd77d5e19 | 59 | bool dum = mk.X2P(data.cntrl_xy_des,data.cntrl_phi_des); |
altb2 | 7:942fd77d5e19 | 60 | } |
altb2 | 7:942fd77d5e19 | 61 | } |
altb2 | 11:d43f8b421d6d | 62 | else // this is called, when desired values are calculated here internally (e.g. pathplanner) |
altb2 | 7:942fd77d5e19 | 63 | { |
altb2 | 7:942fd77d5e19 | 64 | if(mk.trafo_is_on) |
altb2 | 7:942fd77d5e19 | 65 | { |
altb2 | 11:d43f8b421d6d | 66 | data.cntrl_xy_des[0] = 30.0f*cosf(w01*glob_ti.read()); // make a circle in xy-co-ordinates |
altb2 | 8:49ac75c42da0 | 67 | data.cntrl_xy_des[1] = 30.0f*sinf(w01*glob_ti.read()); |
altb2 | 7:942fd77d5e19 | 68 | bool dum = mk.X2P(data.cntrl_xy_des,data.cntrl_phi_des); |
altb2 | 7:942fd77d5e19 | 69 | } |
altb2 | 7:942fd77d5e19 | 70 | else |
altb2 | 7:942fd77d5e19 | 71 | { |
altb2 | 11:d43f8b421d6d | 72 | data.cntrl_phi_des[0] = .250f*cosf(w01*glob_ti.read()); // make some harmonic movements directly on phi1/phi2 |
altb2 | 8:49ac75c42da0 | 73 | data.cntrl_phi_des[1] = .250f*sinf(w01*glob_ti.read()); |
altb2 | 7:942fd77d5e19 | 74 | } |
altb2 | 7:942fd77d5e19 | 75 | } |
altb2 | 11:d43f8b421d6d | 76 | bool dum = mk.P2X(data.sens_phi,data.est_xy); // calculate actual xy-values, uncomment this if there are timing issues |
altb2 | 6:9ebeffe446e4 | 77 | //current_path->get_x_v(glob_ti.read(),&phi_des,&v_des); |
altb2 | 11:d43f8b421d6d | 78 | } // else(..) |
altb2 | 8:49ac75c42da0 | 79 | laser_on = data.laser_on; |
altb2 | 8:49ac75c42da0 | 80 | i_enable = big_button; |
altb2 | 11:d43f8b421d6d | 81 | }// endof the main loop |
altb2 | 5:768e10f6d372 | 82 | } |
altb2 | 5:768e10f6d372 | 83 | |
altb2 | 5:768e10f6d372 | 84 | void ControllerLoop::sendSignal() { |
altb2 | 5:768e10f6d372 | 85 | thread.flags_set(threadFlag); |
altb2 | 5:768e10f6d372 | 86 | } |
altb2 | 6:9ebeffe446e4 | 87 | void ControllerLoop::start_loop(void) |
altb2 | 6:9ebeffe446e4 | 88 | { |
altb2 | 6:9ebeffe446e4 | 89 | thread.start(callback(this, &ControllerLoop::loop)); |
altb2 | 6:9ebeffe446e4 | 90 | ticker.attach(callback(this, &ControllerLoop::sendSignal), Ts); |
altb2 | 6:9ebeffe446e4 | 91 | } |
altb2 | 7:942fd77d5e19 | 92 | |
altb2 | 7:942fd77d5e19 | 93 | float ControllerLoop::pos_cntrl(float d_phi) |
altb2 | 7:942fd77d5e19 | 94 | { |
altb2 | 11:d43f8b421d6d | 95 | |
altb2 | 11:d43f8b421d6d | 96 | // write position controller here |
altb2 | 11:d43f8b421d6d | 97 | return 0.0; |
altb2 | 7:942fd77d5e19 | 98 | } |
altb2 | 7:942fd77d5e19 | 99 | |
altb2 | 6:9ebeffe446e4 | 100 | void ControllerLoop::init_controllers(void) |
altb2 | 6:9ebeffe446e4 | 101 | { |
altb2 | 11:d43f8b421d6d | 102 | // set values for your velocity and position controller here! |
altb2 | 11:d43f8b421d6d | 103 | |
altb2 | 11:d43f8b421d6d | 104 | |
altb2 | 6:9ebeffe446e4 | 105 | } |
altb2 | 10:bfacffec199a | 106 | // find_index: move axis slowly to detect the zero-pulse |
altb2 | 6:9ebeffe446e4 | 107 | void ControllerLoop::find_index(void) |
altb2 | 6:9ebeffe446e4 | 108 | { |
altb2 | 10:bfacffec199a | 109 | // use a simple P-controller to get system spinning, add a constant current to overcome friction |
altb2 | 6:9ebeffe446e4 | 110 | float Kp = 0.005; |
altb2 | 11:d43f8b421d6d | 111 | float i1 = 0.2f + Kp*(50.0f - data.sens_Vphi[0]); |
altb2 | 11:d43f8b421d6d | 112 | float i2 = 0.2f + Kp*(50.0f - data.sens_Vphi[1]) ; |
altb2 | 7:942fd77d5e19 | 113 | i_des1.write(i2u(i1)); |
altb2 | 6:9ebeffe446e4 | 114 | i_des2.write(i2u(i2)); |
altb2 | 6:9ebeffe446e4 | 115 | } |