Ruprecht Altenburger
/
simple_program
Simple program for introduction of mirror actuator.
ControllerLoop.cpp
- Committer:
- altb2
- Date:
- 2021-04-15
- Revision:
- 7:942fd77d5e19
- Parent:
- 6:9ebeffe446e4
- Child:
- 8:49ac75c42da0
File content as of revision 7:942fd77d5e19:
#include "ControllerLoop.h" using namespace std; ControllerLoop::ControllerLoop(float Ts) : thread(osPriorityNormal,4096), dout1(PB_9) { this->Ts = Ts; diff1.reset(0.0f,0); diff2.reset(0.0f,0); Kv = 150; is_initialized = false; ti.reset(); ti.start(); data.laser_on = false; } ControllerLoop::~ControllerLoop() {} void ControllerLoop::loop(void){ float A=.6; uint32_t k=0; while(1) { ThisThread::flags_wait_any(threadFlag); // THE LOOP ------------------------------------------------------------ if(++k%500==0) { // short c1 = counter1; // get counts from Encoder // short c2 = counter2; // get counts from Encoder // printf("1: %d %d, 2: %d %d\r\n",index1.positionAtIndexPulse,c1-index1.positionAtIndexPulse-mc.inc_offset[0],index2.positionAtIndexPulse,c2-index2.positionAtIndexPulse-mc.inc_offset[1]); //led1=!led1; } if(!is_initialized) { find_index(); if(index1.positionAtIndexPulse != 0 && index2.positionAtIndexPulse != 0) is_initialized=true; } else { short c1 = counter1 - index1.positionAtIndexPulse - mk.inc_offset[0]- mk.inc_additional_offset[0]; // get counts from Encoder short c2 = counter2 - index2.positionAtIndexPulse - mk.inc_offset[1]- mk.inc_additional_offset[1]; // get counts from Encoder data.sens_phi[0] = uw2pi1(2*3.1415927/4000.0*(float)c1); data.sens_Vphi[0] = diff1(c1); // motor velocity data.sens_phi[1] = uw2pi2(2*3.1415927/4000.0*(float)c2); data.sens_Vphi[1] = diff2(c2); // motor velocity // ------------------------ do the control first float v_des1 = pos_cntrl(data.cntrl_phi_des[0]-data.sens_phi[0]); float v_des2 = pos_cntrl(data.cntrl_phi_des[1]-data.sens_phi[1]); data.i_des[0] = v_cntrl[0](v_des1 - data.sens_Vphi[0] ) ; data.i_des[1] = v_cntrl[1](v_des2 - data.sens_Vphi[1] ) ; // ------------------------ write outputs i_des1.write(i2u(data.i_des[0])); i_des2.write(i2u(data.i_des[1])); // now do trafos etc float w01=2*3.1415927 * .5; float w02=2*3.1415927 * 1.5; float xy[2]; if(mk.external_control) // get desired values from external source (GUI) { if(mk.trafo_is_on) // use desired xy values from xternal source and transform // otherwise external source delivers phi1, phi2 values directly { bool dum = mk.X2P(data.cntrl_xy_des,data.cntrl_phi_des); } } else { if(mk.trafo_is_on) { data.cntrl_xy_des[0] = 50.0f*cosf(w01*glob_ti.read()); data.cntrl_xy_des[1] = 50.0f*sinf(w01*glob_ti.read()); bool dum = mk.X2P(data.cntrl_xy_des,data.cntrl_phi_des); } else { data.cntrl_phi_des[0] = .50f*cosf(w01*glob_ti.read()); data.cntrl_phi_des[1] = .50f*sinf(w01*glob_ti.read()); } } //bool dum = mk.P2X(data.cntrl_phi_des,data.cntrl_xy_des) //current_path->get_x_v(glob_ti.read(),&phi_des,&v_des); //data.cntrl_phi_des[0] = 0.0f*A*sinf(w01*ti.read()); //data.cntrl_phi_des[1] = 0.0f*A*sinf(w02*ti.read()); //data.est_xy[0]=data.cntrl_phi_des[0]; // temporary //data.est_xy[1]=data.cntrl_phi_des[1]; //laser_on = 1; laser_on = data.laser_on; } } } void ControllerLoop::sendSignal() { thread.flags_set(threadFlag); } void ControllerLoop::start_loop(void) { thread.start(callback(this, &ControllerLoop::loop)); ticker.attach(callback(this, &ControllerLoop::sendSignal), Ts); } float ControllerLoop::pos_cntrl(float d_phi) { return Kv*mk.mot_inc_to_rad*round(mk.mot_rad_to_inc*(d_phi)); } void ControllerLoop::init_controllers(void) { float Kp = 2000 * 4.89e-7/0.094f; // XX * J/km float TroV = 1.0f / (2.0f * 3.1415f * 330.0f); float Tn = .005f; v_cntrl[0].setCoefficients(Kp,Kp/Tn,0.0f,1.0,TroV,Ts,-.8,.8); v_cntrl[1].setCoefficients(Kp,Kp/Tn,0.0f,1.0,TroV,Ts,-.8,.8); } void ControllerLoop::find_index(void) { float Kp = 0.005; short counts1 = counter1; // get counts from Encoder float vel1 = diff1(counts1); // motor velocity short counts2 = counter2; // get counts from Encoder float vel2 = diff2(counts2); // motor velocity float i1 = Kp*(25.0f - vel1 ); float i2 = Kp*(25.0f - vel2 ) ; //float dum = (float)(++u_test%16)/16.0f; //i_des1.write(i2u(.25f*sin(2*3.14f*1.0f))); i_des1.write(i2u(i1)); i_des2.write(i2u(i2)); }