Amanda Ghassaei / Mbed 2 deprecated Bracky-MPU6050-DMP

bio robot

Dependencies:   MPU6050-DMP QEI_hw mbed-rpc mbed

Fork of MPU6050_Example by Shundo Kishi

Controls/Dynamics.cpp@14:d620415259b1, 2015-12-09 (annotated)

Committer:
amandaghassaei
Date:
Wed Dec 09 03:40:38 2015 +0000
Revision:
14:d620415259b1
Parent:
13:64d337c5114e
Child:
15:d88f10b3b5f8
renaming gains variable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 8:1a3a69fecedf 1 #include "Dynamics.h"
amandaghassaei 8:1a3a69fecedf 2 #include <math.h>
amandaghassaei 8:1a3a69fecedf 3 # define M_PI 3.14159265358979323846
amandaghassaei 8:1a3a69fecedf 4
amandaghassaei 12:49813131dd15 5 float calcTau(volatile float z[4], float p[10], Gains *gains, Target *target, Serial *pc){
amandaghassaei 8:1a3a69fecedf 6
amandaghassaei 8:1a3a69fecedf 7 float th1 = z[0];
amandaghassaei 8:1a3a69fecedf 8 float th2 = z[1];
amandaghassaei 8:1a3a69fecedf 9 float dth1 = z[2];
amandaghassaei 8:1a3a69fecedf 10 float dth2 = z[3];
amandaghassaei 8:1a3a69fecedf 11
amandaghassaei 11:711d3c207e8c 12 float A[2][2];
amandaghassaei 11:711d3c207e8c 13 getMassMatrix(A, z, p);
amandaghassaei 11:711d3c207e8c 14 float AHat = A[1][1]-A[1][0]*A[0][1]/A[0][0];
amandaghassaei 11:711d3c207e8c 15
amandaghassaei 11:711d3c207e8c 16 float corrCentripComp[2];
amandaghassaei 11:711d3c207e8c 17 getCoriolisCentrip(corrCentripComp, z, p);
amandaghassaei 11:711d3c207e8c 18 float corrCentripCompHat = corrCentripComp[1]-A[1][0]*corrCentripComp[0]/A[0][0];
amandaghassaei 11:711d3c207e8c 19
amandaghassaei 11:711d3c207e8c 20 float gravityComp[2];
amandaghassaei 11:711d3c207e8c 21 getGravity(gravityComp, z, p);
amandaghassaei 11:711d3c207e8c 22 float gravityCompHat = gravityComp[1]-A[1][0]*gravityComp[0]/A[0][0];
amandaghassaei 11:711d3c207e8c 23
amandaghassaei 9:1d9b24d7ac77 24 float K = gains->getSwingUpK();
amandaghassaei 9:1d9b24d7ac77 25 float D = gains->getSwingUpD();
amandaghassaei 8:1a3a69fecedf 26
amandaghassaei 12:49813131dd15 27 float th2Des;
amandaghassaei 12:49813131dd15 28 if (getEnergy(z, p) > target->getTargetEnergy()) th2Des = target->getTheta2ForTarget(z);
amandaghassaei 13:64d337c5114e 29 else th2Des = thetaDesiredForSwingUp(-1.5, 1.5, z);
amandaghassaei 8:1a3a69fecedf 30
amandaghassaei 11:711d3c207e8c 31 float ddth2 = K*(th2Des - th2) - D*dth2;
amandaghassaei 8:1a3a69fecedf 32
amandaghassaei 14:d620415259b1 33 return gains->getDesiredThetaP()*AHat*ddth2;// + corrCentripCompHat + gravityCompHat;
amandaghassaei 8:1a3a69fecedf 34 }
amandaghassaei 8:1a3a69fecedf 35
amandaghassaei 12:49813131dd15 36
amandaghassaei 13:64d337c5114e 37 float thetaDesiredForSwingUp(float rangeMin, float rangeMax, volatile float z[4]){
amandaghassaei 12:49813131dd15 38
amandaghassaei 12:49813131dd15 39 float th1 = z[0];
amandaghassaei 12:49813131dd15 40 float dth1 = z[2];
amandaghassaei 8:1a3a69fecedf 41
amandaghassaei 11:711d3c207e8c 42 int numTurns = fix(th1/(2*M_PI));
amandaghassaei 11:711d3c207e8c 43 float th1Rel = th1-numTurns*2*M_PI;
amandaghassaei 8:1a3a69fecedf 44
amandaghassaei 13:64d337c5114e 45 if (dth1<0) return rangeMin*abs(cos(th1Rel/2.0));//-abs(th1Rel));//*cos(th1)
amandaghassaei 13:64d337c5114e 46 return rangeMax*abs(cos(th1Rel/2.0));
amandaghassaei 8:1a3a69fecedf 47 }
amandaghassaei 8:1a3a69fecedf 48
amandaghassaei 8:1a3a69fecedf 49 int fix(float val){//round toward zero
amandaghassaei 11:711d3c207e8c 50 return val > 0 ? floor(val) : ceil(val);
amandaghassaei 8:1a3a69fecedf 51 }