bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Controls/Controls.h@9:1d9b24d7ac77, 2015-12-05 (annotated)
- Committer:
- amandaghassaei
- Date:
- Sat Dec 05 00:40:42 2015 +0000
- Revision:
- 9:1d9b24d7ac77
- Parent:
- 8:1a3a69fecedf
- Child:
- 10:769cc457c3a4
basic motor pwm working
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
amandaghassaei | 7:7efcd3bf3302 | 1 | #ifndef Controls_h |
amandaghassaei | 7:7efcd3bf3302 | 2 | #define Controls_h |
amandaghassaei | 7:7efcd3bf3302 | 3 | |
amandaghassaei | 8:1a3a69fecedf | 4 | #include <math.h> |
amandaghassaei | 7:7efcd3bf3302 | 5 | #include "Gains.h" |
amandaghassaei | 7:7efcd3bf3302 | 6 | #include "Target.h" |
amandaghassaei | 8:1a3a69fecedf | 7 | #include "MyMPU6050.h" |
amandaghassaei | 8:1a3a69fecedf | 8 | #include "Motor.h" |
amandaghassaei | 8:1a3a69fecedf | 9 | #include "Dynamics.h" |
amandaghassaei | 7:7efcd3bf3302 | 10 | |
amandaghassaei | 8:1a3a69fecedf | 11 | class Controls: public CommDelegate{ |
amandaghassaei | 7:7efcd3bf3302 | 12 | |
amandaghassaei | 7:7efcd3bf3302 | 13 | public: |
amandaghassaei | 7:7efcd3bf3302 | 14 | |
amandaghassaei | 9:1d9b24d7ac77 | 15 | Controls():myMPU6050_1(p28, p27, p18), myMPU6050_2(p9, p10, p11){//I2C_SDA, I2C_SCL, int_pin |
amandaghassaei | 8:1a3a69fecedf | 16 | |
amandaghassaei | 9:1d9b24d7ac77 | 17 | setInverted(false); |
amandaghassaei | 8:1a3a69fecedf | 18 | |
amandaghassaei | 8:1a3a69fecedf | 19 | float m1 = 0.55; |
amandaghassaei | 8:1a3a69fecedf | 20 | float m2 = m1; |
amandaghassaei | 8:1a3a69fecedf | 21 | float l1 = 0.30;//length of links |
amandaghassaei | 8:1a3a69fecedf | 22 | float l2 = l1; |
amandaghassaei | 8:1a3a69fecedf | 23 | float I1 = 1/3*m1*pow(l1,2);//model as rod rotating around one end |
amandaghassaei | 8:1a3a69fecedf | 24 | float I2 = 1/3*m2*pow(l2,2); |
amandaghassaei | 8:1a3a69fecedf | 25 | float c1 = 0.5*l1;//location of center of mass along link |
amandaghassaei | 8:1a3a69fecedf | 26 | float c2 = 0.5*l2; |
amandaghassaei | 8:1a3a69fecedf | 27 | float g = 9.81; |
amandaghassaei | 8:1a3a69fecedf | 28 | float lattice_pitch = 0.35; |
amandaghassaei | 8:1a3a69fecedf | 29 | _parameters[0] = l1; |
amandaghassaei | 8:1a3a69fecedf | 30 | _parameters[1] = l2; |
amandaghassaei | 8:1a3a69fecedf | 31 | _parameters[2] = c1; |
amandaghassaei | 8:1a3a69fecedf | 32 | _parameters[3] = c2; |
amandaghassaei | 8:1a3a69fecedf | 33 | _parameters[4] = m1; |
amandaghassaei | 8:1a3a69fecedf | 34 | _parameters[5] = m2; |
amandaghassaei | 8:1a3a69fecedf | 35 | _parameters[6] = I1; |
amandaghassaei | 8:1a3a69fecedf | 36 | _parameters[7] = I2; |
amandaghassaei | 8:1a3a69fecedf | 37 | _parameters[8] = g; |
amandaghassaei | 8:1a3a69fecedf | 38 | _parameters[9] = lattice_pitch; |
amandaghassaei | 8:1a3a69fecedf | 39 | |
amandaghassaei | 7:7efcd3bf3302 | 40 | } |
amandaghassaei | 9:1d9b24d7ac77 | 41 | |
amandaghassaei | 9:1d9b24d7ac77 | 42 | void setInverted(bool inverted){ |
amandaghassaei | 9:1d9b24d7ac77 | 43 | _inverted = inverted; |
amandaghassaei | 9:1d9b24d7ac77 | 44 | if (!_inverted) { |
amandaghassaei | 9:1d9b24d7ac77 | 45 | myMPU6050_2.disable(); |
amandaghassaei | 9:1d9b24d7ac77 | 46 | myMPU6050_1.enable(); |
amandaghassaei | 9:1d9b24d7ac77 | 47 | } else { |
amandaghassaei | 9:1d9b24d7ac77 | 48 | myMPU6050_1.disable(); |
amandaghassaei | 9:1d9b24d7ac77 | 49 | myMPU6050_2.enable(); |
amandaghassaei | 9:1d9b24d7ac77 | 50 | } |
amandaghassaei | 9:1d9b24d7ac77 | 51 | } |
amandaghassaei | 9:1d9b24d7ac77 | 52 | |
amandaghassaei | 9:1d9b24d7ac77 | 53 | void setPC(Serial *pc){ |
amandaghassaei | 9:1d9b24d7ac77 | 54 | _pc = pc; |
amandaghassaei | 9:1d9b24d7ac77 | 55 | motor.setPC(pc); |
amandaghassaei | 9:1d9b24d7ac77 | 56 | gains.setPC(pc); |
amandaghassaei | 9:1d9b24d7ac77 | 57 | target.setPC(pc); |
amandaghassaei | 9:1d9b24d7ac77 | 58 | myMPU6050_1.setPC(pc); |
amandaghassaei | 9:1d9b24d7ac77 | 59 | myMPU6050_2.setPC(pc); |
amandaghassaei | 9:1d9b24d7ac77 | 60 | } |
amandaghassaei | 7:7efcd3bf3302 | 61 | |
amandaghassaei | 7:7efcd3bf3302 | 62 | Gains gains; |
amandaghassaei | 9:1d9b24d7ac77 | 63 | void setSwingUpK(float k){ |
amandaghassaei | 9:1d9b24d7ac77 | 64 | gains.setSwingUpK(k); |
amandaghassaei | 9:1d9b24d7ac77 | 65 | }; |
amandaghassaei | 9:1d9b24d7ac77 | 66 | void setSwingUpD(float d){ |
amandaghassaei | 9:1d9b24d7ac77 | 67 | gains.setSwingUpD(d); |
amandaghassaei | 9:1d9b24d7ac77 | 68 | }; |
amandaghassaei | 9:1d9b24d7ac77 | 69 | void setK2(float k2){ |
amandaghassaei | 9:1d9b24d7ac77 | 70 | gains.setK2(k2); |
amandaghassaei | 9:1d9b24d7ac77 | 71 | }; |
amandaghassaei | 9:1d9b24d7ac77 | 72 | void setD2(float d2){ |
amandaghassaei | 9:1d9b24d7ac77 | 73 | gains.setD2(d2); |
amandaghassaei | 9:1d9b24d7ac77 | 74 | }; |
amandaghassaei | 9:1d9b24d7ac77 | 75 | float getSwingUpK(){ |
amandaghassaei | 9:1d9b24d7ac77 | 76 | return gains.getSwingUpK(); |
amandaghassaei | 9:1d9b24d7ac77 | 77 | }; |
amandaghassaei | 9:1d9b24d7ac77 | 78 | float getSwingUpD(){ |
amandaghassaei | 9:1d9b24d7ac77 | 79 | return gains.getSwingUpD(); |
amandaghassaei | 9:1d9b24d7ac77 | 80 | }; |
amandaghassaei | 9:1d9b24d7ac77 | 81 | float getK2(){ |
amandaghassaei | 9:1d9b24d7ac77 | 82 | return gains.getK2(); |
amandaghassaei | 9:1d9b24d7ac77 | 83 | }; |
amandaghassaei | 9:1d9b24d7ac77 | 84 | float getD2(){ |
amandaghassaei | 9:1d9b24d7ac77 | 85 | return gains.getD2(); |
amandaghassaei | 9:1d9b24d7ac77 | 86 | }; |
amandaghassaei | 9:1d9b24d7ac77 | 87 | |
amandaghassaei | 7:7efcd3bf3302 | 88 | Target target; |
amandaghassaei | 9:1d9b24d7ac77 | 89 | void setTargetPosition(int position){ |
amandaghassaei | 9:1d9b24d7ac77 | 90 | target.setPosition(position); |
amandaghassaei | 9:1d9b24d7ac77 | 91 | }; |
amandaghassaei | 9:1d9b24d7ac77 | 92 | int getTargetPosition(){ |
amandaghassaei | 9:1d9b24d7ac77 | 93 | return target.getPosition(); |
amandaghassaei | 9:1d9b24d7ac77 | 94 | }; |
amandaghassaei | 8:1a3a69fecedf | 95 | |
amandaghassaei | 8:1a3a69fecedf | 96 | Motor motor; |
amandaghassaei | 9:1d9b24d7ac77 | 97 | void setTorque(float torque){ |
amandaghassaei | 9:1d9b24d7ac77 | 98 | motor.setTorque(torque); |
amandaghassaei | 9:1d9b24d7ac77 | 99 | }; |
amandaghassaei | 7:7efcd3bf3302 | 100 | |
amandaghassaei | 8:1a3a69fecedf | 101 | //imu |
amandaghassaei | 8:1a3a69fecedf | 102 | MyMPU6050 myMPU6050_1; |
amandaghassaei | 8:1a3a69fecedf | 103 | MyMPU6050 myMPU6050_2; |
amandaghassaei | 7:7efcd3bf3302 | 104 | |
amandaghassaei | 7:7efcd3bf3302 | 105 | void loop(){ |
amandaghassaei | 8:1a3a69fecedf | 106 | if (_inverted) myMPU6050_2.loop(); |
amandaghassaei | 8:1a3a69fecedf | 107 | else myMPU6050_1.loop(); |
amandaghassaei | 8:1a3a69fecedf | 108 | updateThetas(); |
amandaghassaei | 8:1a3a69fecedf | 109 | |
amandaghassaei | 9:1d9b24d7ac77 | 110 | // float tau = calcTau(_z, _parameters, &gains, _pc); |
amandaghassaei | 9:1d9b24d7ac77 | 111 | float tau = getTheta1(); |
amandaghassaei | 9:1d9b24d7ac77 | 112 | motor.setTorque(tau); |
amandaghassaei | 8:1a3a69fecedf | 113 | } |
amandaghassaei | 8:1a3a69fecedf | 114 | |
amandaghassaei | 8:1a3a69fecedf | 115 | float getTheta1(){ |
amandaghassaei | 8:1a3a69fecedf | 116 | return _z[0]; |
amandaghassaei | 7:7efcd3bf3302 | 117 | } |
amandaghassaei | 8:1a3a69fecedf | 118 | float getDTheta1(){ |
amandaghassaei | 8:1a3a69fecedf | 119 | return _z[2]; |
amandaghassaei | 8:1a3a69fecedf | 120 | } |
amandaghassaei | 8:1a3a69fecedf | 121 | float getTheta2(){ |
amandaghassaei | 8:1a3a69fecedf | 122 | return _z[1]; |
amandaghassaei | 8:1a3a69fecedf | 123 | } |
amandaghassaei | 8:1a3a69fecedf | 124 | float getDTheta2(){ |
amandaghassaei | 8:1a3a69fecedf | 125 | return _z[3]; |
amandaghassaei | 8:1a3a69fecedf | 126 | } |
amandaghassaei | 8:1a3a69fecedf | 127 | |
amandaghassaei | 9:1d9b24d7ac77 | 128 | void printPWM(){ |
amandaghassaei | 9:1d9b24d7ac77 | 129 | motor.printPWM(); |
amandaghassaei | 9:1d9b24d7ac77 | 130 | } |
amandaghassaei | 9:1d9b24d7ac77 | 131 | |
amandaghassaei | 8:1a3a69fecedf | 132 | |
amandaghassaei | 7:7efcd3bf3302 | 133 | |
amandaghassaei | 7:7efcd3bf3302 | 134 | private: |
amandaghassaei | 7:7efcd3bf3302 | 135 | |
amandaghassaei | 9:1d9b24d7ac77 | 136 | Serial *_pc; |
amandaghassaei | 9:1d9b24d7ac77 | 137 | |
amandaghassaei | 8:1a3a69fecedf | 138 | float _parameters[10]; |
amandaghassaei | 7:7efcd3bf3302 | 139 | |
amandaghassaei | 8:1a3a69fecedf | 140 | float _z[4];//theta1, theta2, dtheta2, dtheta2 |
amandaghassaei | 8:1a3a69fecedf | 141 | |
amandaghassaei | 8:1a3a69fecedf | 142 | void updateThetas(){ |
amandaghassaei | 8:1a3a69fecedf | 143 | _z[0] = _getTheta1(); |
amandaghassaei | 8:1a3a69fecedf | 144 | _z[2] = _getDTheta1(); |
amandaghassaei | 8:1a3a69fecedf | 145 | _z[1] = _getTheta2(); |
amandaghassaei | 8:1a3a69fecedf | 146 | _z[3] = _getDTheta2(); |
amandaghassaei | 8:1a3a69fecedf | 147 | |
amandaghassaei | 8:1a3a69fecedf | 148 | } |
amandaghassaei | 8:1a3a69fecedf | 149 | float _getTheta1(){ |
amandaghassaei | 8:1a3a69fecedf | 150 | if (_inverted) return myMPU6050_2.getTheta(); |
amandaghassaei | 8:1a3a69fecedf | 151 | return myMPU6050_1.getTheta(); |
amandaghassaei | 8:1a3a69fecedf | 152 | } |
amandaghassaei | 8:1a3a69fecedf | 153 | float _getDTheta1(){ |
amandaghassaei | 8:1a3a69fecedf | 154 | if (_inverted) return myMPU6050_2.getDTheta(); |
amandaghassaei | 8:1a3a69fecedf | 155 | return myMPU6050_1.getDTheta(); |
amandaghassaei | 8:1a3a69fecedf | 156 | } |
amandaghassaei | 8:1a3a69fecedf | 157 | float _getTheta2(){ |
amandaghassaei | 8:1a3a69fecedf | 158 | if (_inverted) return -motor.getTheta(); |
amandaghassaei | 8:1a3a69fecedf | 159 | return motor.getTheta(); |
amandaghassaei | 8:1a3a69fecedf | 160 | } |
amandaghassaei | 8:1a3a69fecedf | 161 | float _getDTheta2(){ |
amandaghassaei | 8:1a3a69fecedf | 162 | if (_inverted) return -motor.getDTheta(); |
amandaghassaei | 8:1a3a69fecedf | 163 | return motor.getDTheta(); |
amandaghassaei | 8:1a3a69fecedf | 164 | } |
amandaghassaei | 8:1a3a69fecedf | 165 | |
amandaghassaei | 8:1a3a69fecedf | 166 | bool _inverted; |
amandaghassaei | 7:7efcd3bf3302 | 167 | |
amandaghassaei | 7:7efcd3bf3302 | 168 | }; |
amandaghassaei | 7:7efcd3bf3302 | 169 | |
amandaghassaei | 7:7efcd3bf3302 | 170 | #endif |