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corrections altb2
ControllerLoop.cpp@0:d2e117716219, 2021-05-02 (annotated)
- Committer:
- altb2
- Date:
- Sun May 02 19:32:30 2021 +0000
- Revision:
- 0:d2e117716219
- Child:
- 1:25a2b47ca291
1st commit;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 0:d2e117716219 | 1 | #include "ControllerLoop.h" |
altb2 | 0:d2e117716219 | 2 | using namespace std; |
altb2 | 0:d2e117716219 | 3 | |
altb2 | 0:d2e117716219 | 4 | // contructor for controller loop |
altb2 | 0:d2e117716219 | 5 | ControllerLoop::ControllerLoop(float Ts) : thread(osPriorityHigh,4096), dout1(PB_9) |
altb2 | 0:d2e117716219 | 6 | { |
altb2 | 0:d2e117716219 | 7 | this->Ts = Ts; |
altb2 | 0:d2e117716219 | 8 | diff1.reset(0.0f,0); |
altb2 | 0:d2e117716219 | 9 | diff2.reset(0.0f,0); |
altb2 | 0:d2e117716219 | 10 | is_initialized = false; |
altb2 | 0:d2e117716219 | 11 | ti.reset(); |
altb2 | 0:d2e117716219 | 12 | ti.start(); |
altb2 | 0:d2e117716219 | 13 | data.laser_on = false; |
altb2 | 0:d2e117716219 | 14 | } |
altb2 | 0:d2e117716219 | 15 | |
altb2 | 0:d2e117716219 | 16 | // decontructor for controller loop |
altb2 | 0:d2e117716219 | 17 | ControllerLoop::~ControllerLoop() {} |
altb2 | 0:d2e117716219 | 18 | |
altb2 | 0:d2e117716219 | 19 | // ---------------------------------------------------------------------------- |
altb2 | 0:d2e117716219 | 20 | // this is the main loop called every Ts with high priority |
altb2 | 0:d2e117716219 | 21 | void ControllerLoop::loop(void){ |
altb2 | 0:d2e117716219 | 22 | float w01=2*3.1415927 * 8; |
altb2 | 0:d2e117716219 | 23 | float xy[2]; |
altb2 | 0:d2e117716219 | 24 | while(1) |
altb2 | 0:d2e117716219 | 25 | { |
altb2 | 0:d2e117716219 | 26 | ThisThread::flags_wait_any(threadFlag); |
altb2 | 0:d2e117716219 | 27 | // THE LOOP ------------------------------------------------------------ |
altb2 | 0:d2e117716219 | 28 | short c1 = counter1 - index1.positionAtIndexPulse - mk.inc_offset[0]- mk.inc_additional_offset[0]; // get counts from Encoder |
altb2 | 0:d2e117716219 | 29 | short c2 = counter2 - index2.positionAtIndexPulse - mk.inc_offset[1]- mk.inc_additional_offset[1]; // get counts from Encoder |
altb2 | 0:d2e117716219 | 30 | data.sens_phi[0] = uw2pi1(2.0f*3.1415927f/4000.0f*(float)c1); |
altb2 | 0:d2e117716219 | 31 | data.sens_Vphi[0] = diff1(c1); // motor velocity |
altb2 | 0:d2e117716219 | 32 | data.sens_phi[1] = uw2pi2(2.0f*3.1415927f/4000.0f*(float)c2); |
altb2 | 0:d2e117716219 | 33 | data.sens_Vphi[1] = diff2(c2); // motor velocity |
altb2 | 0:d2e117716219 | 34 | // ------------------------------------------------------------- |
altb2 | 0:d2e117716219 | 35 | // at very beginning: move system slowly to find the zero pulse |
altb2 | 0:d2e117716219 | 36 | // set "if(0)" if you like to ommit at beginning |
altb2 | 0:d2e117716219 | 37 | if(0)//!is_initialized) |
altb2 | 0:d2e117716219 | 38 | { |
altb2 | 0:d2e117716219 | 39 | find_index(); |
altb2 | 0:d2e117716219 | 40 | if(index1.positionAtIndexPulse != 0 && index2.positionAtIndexPulse != 0) |
altb2 | 0:d2e117716219 | 41 | is_initialized=true; |
altb2 | 0:d2e117716219 | 42 | } |
altb2 | 0:d2e117716219 | 43 | else |
altb2 | 0:d2e117716219 | 44 | { |
altb2 | 0:d2e117716219 | 45 | // ------------------------ do the control first |
altb2 | 0:d2e117716219 | 46 | |
altb2 | 0:d2e117716219 | 47 | // calculate desired currents here, you can do "anything" here, |
altb2 | 0:d2e117716219 | 48 | // if you like to refer to values e.g. from the gui or from the trafo, |
altb2 | 0:d2e117716219 | 49 | // please use data.xxx values, they are calculated 30 lines below |
altb2 | 0:d2e117716219 | 50 | |
altb2 | 0:d2e117716219 | 51 | data.i_des[0] = data.i_des[1] =0.0; |
altb2 | 0:d2e117716219 | 52 | |
altb2 | 0:d2e117716219 | 53 | // ------------------------ write outputs |
altb2 | 0:d2e117716219 | 54 | i_des1.write(i2u(data.i_des[0])); |
altb2 | 0:d2e117716219 | 55 | i_des2.write(i2u(data.i_des[1])); |
altb2 | 0:d2e117716219 | 56 | // GPA: if you want to use the GPA, uncomment and improve following line: |
altb2 | 0:d2e117716219 | 57 | // exc = myGPA(data.i_des[0],data.sens_Vphi[0]); |
altb2 | 0:d2e117716219 | 58 | |
altb2 | 0:d2e117716219 | 59 | // now do trafos etc |
altb2 | 0:d2e117716219 | 60 | |
altb2 | 0:d2e117716219 | 61 | if(mk.external_control) // get desired values from external source (GUI) |
altb2 | 0:d2e117716219 | 62 | { |
altb2 | 0:d2e117716219 | 63 | if(mk.trafo_is_on) // use desired xy values from xternal source and transform |
altb2 | 0:d2e117716219 | 64 | // otherwise external source delivers phi1, phi2 values directly |
altb2 | 0:d2e117716219 | 65 | { |
altb2 | 0:d2e117716219 | 66 | bool dum = mk.X2P(data.cntrl_xy_des,data.cntrl_phi_des); |
altb2 | 0:d2e117716219 | 67 | } |
altb2 | 0:d2e117716219 | 68 | } |
altb2 | 0:d2e117716219 | 69 | else // this is called, when desired values are calculated here internally (e.g. pathplanner) |
altb2 | 0:d2e117716219 | 70 | { |
altb2 | 0:d2e117716219 | 71 | if(mk.trafo_is_on) |
altb2 | 0:d2e117716219 | 72 | { |
altb2 | 0:d2e117716219 | 73 | data.cntrl_xy_des[0] = 30.0f*cosf(w01*glob_ti.read()); // make a circle in xy-co-ordinates |
altb2 | 0:d2e117716219 | 74 | data.cntrl_xy_des[1] = 30.0f*sinf(w01*glob_ti.read()); |
altb2 | 0:d2e117716219 | 75 | bool dum = mk.X2P(data.cntrl_xy_des,data.cntrl_phi_des); |
altb2 | 0:d2e117716219 | 76 | } |
altb2 | 0:d2e117716219 | 77 | else |
altb2 | 0:d2e117716219 | 78 | { |
altb2 | 0:d2e117716219 | 79 | data.cntrl_phi_des[0] = .250f*cosf(w01*glob_ti.read()); // make some harmonic movements directly on phi1/phi2 |
altb2 | 0:d2e117716219 | 80 | data.cntrl_phi_des[1] = .250f*sinf(w01*glob_ti.read()); |
altb2 | 0:d2e117716219 | 81 | } |
altb2 | 0:d2e117716219 | 82 | } |
altb2 | 0:d2e117716219 | 83 | bool dum = mk.P2X(data.sens_phi,data.est_xy); // calculate actual xy-values, uncomment this if there are timing issues |
altb2 | 0:d2e117716219 | 84 | //current_path->get_x_v(glob_ti.read(),&phi_des,&v_des); |
altb2 | 0:d2e117716219 | 85 | } // else(..) |
altb2 | 0:d2e117716219 | 86 | laser_on = data.laser_on; |
altb2 | 0:d2e117716219 | 87 | i_enable = big_button; |
altb2 | 0:d2e117716219 | 88 | }// endof the main loop |
altb2 | 0:d2e117716219 | 89 | } |
altb2 | 0:d2e117716219 | 90 | |
altb2 | 0:d2e117716219 | 91 | void ControllerLoop::sendSignal() { |
altb2 | 0:d2e117716219 | 92 | thread.flags_set(threadFlag); |
altb2 | 0:d2e117716219 | 93 | } |
altb2 | 0:d2e117716219 | 94 | void ControllerLoop::start_loop(void) |
altb2 | 0:d2e117716219 | 95 | { |
altb2 | 0:d2e117716219 | 96 | thread.start(callback(this, &ControllerLoop::loop)); |
altb2 | 0:d2e117716219 | 97 | ticker.attach(callback(this, &ControllerLoop::sendSignal), Ts); |
altb2 | 0:d2e117716219 | 98 | } |
altb2 | 0:d2e117716219 | 99 | |
altb2 | 0:d2e117716219 | 100 | float ControllerLoop::pos_cntrl(float d_phi) |
altb2 | 0:d2e117716219 | 101 | { |
altb2 | 0:d2e117716219 | 102 | |
altb2 | 0:d2e117716219 | 103 | // write position controller here |
altb2 | 0:d2e117716219 | 104 | return 0.0; |
altb2 | 0:d2e117716219 | 105 | } |
altb2 | 0:d2e117716219 | 106 | |
altb2 | 0:d2e117716219 | 107 | void ControllerLoop::init_controllers(void) |
altb2 | 0:d2e117716219 | 108 | { |
altb2 | 0:d2e117716219 | 109 | // set values for your velocity and position controller here! |
altb2 | 0:d2e117716219 | 110 | |
altb2 | 0:d2e117716219 | 111 | |
altb2 | 0:d2e117716219 | 112 | } |
altb2 | 0:d2e117716219 | 113 | // find_index: move axis slowly to detect the zero-pulse |
altb2 | 0:d2e117716219 | 114 | void ControllerLoop::find_index(void) |
altb2 | 0:d2e117716219 | 115 | { |
altb2 | 0:d2e117716219 | 116 | // use a simple P-controller to get system spinning, add a constant current to overcome friction |
altb2 | 0:d2e117716219 | 117 | float Kp = 0.005; |
altb2 | 0:d2e117716219 | 118 | float i1 = 0.2f + Kp*(50.0f - data.sens_Vphi[0]); |
altb2 | 0:d2e117716219 | 119 | float i2 = 0.2f + Kp*(50.0f - data.sens_Vphi[1]) ; |
altb2 | 0:d2e117716219 | 120 | i_des1.write(i2u(i1)); |
altb2 | 0:d2e117716219 | 121 | i_des2.write(i2u(i2)); |
altb2 | 0:d2e117716219 | 122 | } |