Arnoud Domhof / Mbed 2 deprecated project_demo_variable_controller

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Dependencies:   FastPWM MODSERIAL QEI mbed

Fork of project_demomode by Arnoud Domhof

main_demo.cpp@2:7e86ced5841f, 2018-10-31 (annotated)

Committer:
AppelSab
Date:
Wed Oct 31 14:24:21 2018 +0000
Revision:
2:7e86ced5841f
Parent:
1:7afdfab34bf7
Child:
3:fd1380ffb200
gaat wel naar punt 1 (rode led) maar denkt daarna al op punt 2 te zijn (groene led) terwijl dat niet zo is.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AppelSab 0:755bc7c0f555 1 #include "mbed.h"
AppelSab 0:755bc7c0f555 2 #include "FastPWM.h"
AppelSab 0:755bc7c0f555 3 #include "MODSERIAL.h"
AppelSab 0:755bc7c0f555 4 #include "QEI.h"
AppelSab 0:755bc7c0f555 5 #include "math.h"
AppelSab 0:755bc7c0f555 6
AppelSab 0:755bc7c0f555 7 // --------------------------------------------------
AppelSab 0:755bc7c0f555 8 // ----------------- SET UP -------------------------
AppelSab 0:755bc7c0f555 9 QEI Encoder1(D11, D10, NC, 4200) ; // Encoder motor 1, (pin 1A, pin 1B, counts/rev)
AppelSab 0:755bc7c0f555 10 QEI Encoder2(D9, D8, NC, 4200) ; // Encoder motor 2, (pin 2A, pin 2B, counts/rev)
AppelSab 0:755bc7c0f555 11 DigitalOut directionM1(D4);
AppelSab 0:755bc7c0f555 12 DigitalOut directionM2(D7);
AppelSab 0:755bc7c0f555 13 FastPWM motor1_pwm(D5);
AppelSab 0:755bc7c0f555 14 FastPWM motor2_pwm(D6);
AppelSab 0:755bc7c0f555 15 MODSERIAL pc(USBTX, USBRX);
AppelSab 2:7e86ced5841f 16 DigitalOut ledr(LED_RED);
AppelSab 2:7e86ced5841f 17 DigitalOut ledg(LED_GREEN);
AppelSab 2:7e86ced5841f 18 DigitalOut ledb(LED_BLUE);
AppelSab 0:755bc7c0f555 19
AppelSab 0:755bc7c0f555 20 // Tickers
AppelSab 0:755bc7c0f555 21 Ticker Demo;
AppelSab 0:755bc7c0f555 22 Ticker Write;
AppelSab 0:755bc7c0f555 23
AppelSab 0:755bc7c0f555 24 // ---------------------------------------------------
AppelSab 0:755bc7c0f555 25 // ----------------- GLOBAL VARIABLES ----------------
AppelSab 0:755bc7c0f555 26 volatile int counts1;
AppelSab 0:755bc7c0f555 27 volatile int counts2;
AppelSab 0:755bc7c0f555 28 volatile double theta1;
AppelSab 0:755bc7c0f555 29 volatile double theta2;
AppelSab 0:755bc7c0f555 30 const double pi = 3.14159265359;
AppelSab 0:755bc7c0f555 31 volatile double error1;
AppelSab 0:755bc7c0f555 32 volatile double error2;
AppelSab 0:755bc7c0f555 33 double point1x = 200.0;
AppelSab 0:755bc7c0f555 34 double point1y = 200.0;
AppelSab 2:7e86ced5841f 35 double point2x = 200.0;
AppelSab 2:7e86ced5841f 36 double point2y = 100.0;
AppelSab 0:755bc7c0f555 37 double point3x = 350.0;
AppelSab 0:755bc7c0f555 38 double point3y = 0.0;
AppelSab 0:755bc7c0f555 39 double point4x = 200.0;
AppelSab 0:755bc7c0f555 40 double point4y = 0.0;
AppelSab 0:755bc7c0f555 41 int track;
AppelSab 0:755bc7c0f555 42 const double x0 = 80.0; //zero x position after homing
AppelSab 0:755bc7c0f555 43 const double y0 = 141.0; //zero y position after homing
AppelSab 0:755bc7c0f555 44 volatile double setpointx = x0;
AppelSab 0:755bc7c0f555 45 volatile double setpointy = y0;
AppelSab 0:755bc7c0f555 46 volatile double U1;
AppelSab 0:755bc7c0f555 47 volatile double U2;
AppelSab 0:755bc7c0f555 48
AppelSab 0:755bc7c0f555 49 // Inverse Kinematics
AppelSab 0:755bc7c0f555 50 volatile double q1_diff;
AppelSab 0:755bc7c0f555 51 volatile double q2_diff;
AppelSab 0:755bc7c0f555 52 double sq = 2.0; //to square numbers
AppelSab 0:755bc7c0f555 53 const double L1 = 250.0; //length of the first link
AppelSab 0:755bc7c0f555 54 const double L3 = 350.0; //length of the second link
AppelSab 0:755bc7c0f555 55
AppelSab 0:755bc7c0f555 56 // Reference angles of the starting position
AppelSab 0:755bc7c0f555 57 double q2_0 = pi + acos((pow(x0,sq)+pow(y0,sq)-pow(L1,sq)-pow(L3,sq))/(2.0*L1*L3));
AppelSab 0:755bc7c0f555 58 double q1_0 = atan(y0/x0)+acos((-pow(L3,sq)+pow(L1,sq)+pow(x0,sq)+pow(y0,sq))/(2.0*L1*sqrt(pow(x0,sq)+pow(y0,sq))));
AppelSab 0:755bc7c0f555 59 double q2_0_enc = q2_0 + q1_0;
AppelSab 0:755bc7c0f555 60
AppelSab 0:755bc7c0f555 61 // --------------------------------------------------------------------
AppelSab 0:755bc7c0f555 62 // ---------------Read out encoders------------------------------------
AppelSab 0:755bc7c0f555 63 // --------------------------------------------------------------------
AppelSab 0:755bc7c0f555 64 double counts2angle1()
AppelSab 0:755bc7c0f555 65 {
AppelSab 0:755bc7c0f555 66 counts1 = Encoder1.getPulses(); // Counts of outputshaft of motor 1
AppelSab 0:755bc7c0f555 67 theta1 = -(double(counts1)/4200) * 2*pi; // Angle of outputshaft of motor 1
AppelSab 0:755bc7c0f555 68 return theta1;
AppelSab 0:755bc7c0f555 69 }
AppelSab 0:755bc7c0f555 70
AppelSab 0:755bc7c0f555 71 double counts2angle2()
AppelSab 0:755bc7c0f555 72 {
AppelSab 0:755bc7c0f555 73 counts2 = Encoder2.getPulses(); // Counts of outputshaft of motor 2
AppelSab 0:755bc7c0f555 74 theta2 = (double(counts2)/4200) * 2*pi; // Angle of outputshaft of motor 2
AppelSab 0:755bc7c0f555 75 return theta2;
AppelSab 0:755bc7c0f555 76 }
AppelSab 0:755bc7c0f555 77
AppelSab 0:755bc7c0f555 78 // -------------------------------------------------------------------------
AppelSab 0:755bc7c0f555 79 // -------------- Determine Setpoints --------------------------------------
AppelSab 0:755bc7c0f555 80 // -------------------------------------------------------------------------
AppelSab 2:7e86ced5841f 81 void determinedemoset()
AppelSab 0:755bc7c0f555 82 {
AppelSab 0:755bc7c0f555 83
AppelSab 1:7afdfab34bf7 84 if (setpointx < point1x){
AppelSab 2:7e86ced5841f 85 setpointx = setpointx + 0.2;
AppelSab 1:7afdfab34bf7 86 }
AppelSab 2:7e86ced5841f 87 if(setpointy < point1y){
AppelSab 2:7e86ced5841f 88 setpointy = setpointy + 0.1;
AppelSab 2:7e86ced5841f 89 }
AppelSab 0:755bc7c0f555 90
AppelSab 1:7afdfab34bf7 91 // Van punt 1 naar punt 2.
AppelSab 1:7afdfab34bf7 92 if (setpointy >= point1y - 0.3 && setpointx >= point1x - 0.3 && setpointy <= point1y + 0.3 && setpointx <= point1x + 0.3){
AppelSab 2:7e86ced5841f 93 setpointx = point2x;
AppelSab 2:7e86ced5841f 94 setpointy = setpointy + (-0.2); // Van punt 1 naar punt 2 op dezelfde y blijven.
AppelSab 2:7e86ced5841f 95 ledr = 0;
AppelSab 1:7afdfab34bf7 96 track = 12;
AppelSab 1:7afdfab34bf7 97 }
AppelSab 2:7e86ced5841f 98 if (setpointy > point2y && track == 12){
AppelSab 2:7e86ced5841f 99 setpointx = point2x;
AppelSab 2:7e86ced5841f 100 setpointy = setpointy + (-0.2);
AppelSab 1:7afdfab34bf7 101 }
AppelSab 0:755bc7c0f555 102
AppelSab 2:7e86ced5841f 103
AppelSab 1:7afdfab34bf7 104 // Van punt 2 naar punt 1.
AppelSab 1:7afdfab34bf7 105 if (fabs(setpointx - point2x) <= 0.3 && fabs(setpointy - point2y) <= 0.3)
AppelSab 1:7afdfab34bf7 106 {
AppelSab 2:7e86ced5841f 107 //setpointx = setpointx - 0.2;
AppelSab 2:7e86ced5841f 108 //setpointy = setpointy;
AppelSab 2:7e86ced5841f 109 ledr = 1;
AppelSab 2:7e86ced5841f 110 ledg = 0;
AppelSab 1:7afdfab34bf7 111 track = 23;
AppelSab 1:7afdfab34bf7 112 }
AppelSab 1:7afdfab34bf7 113 if (setpointy > point3y && track == 23)
AppelSab 1:7afdfab34bf7 114 {
AppelSab 2:7e86ced5841f 115 //setpointx = setpointx - 0.2; // Van punt 1 naar punt 2 op dezelfde y blijven.
AppelSab 2:7e86ced5841f 116 //setpointy = setpointy;
AppelSab 1:7afdfab34bf7 117 track = 23;
AppelSab 1:7afdfab34bf7 118 }
AppelSab 2:7e86ced5841f 119 /*
AppelSab 0:755bc7c0f555 120 // Van punt 3 naar punt 4.
AppelSab 0:755bc7c0f555 121 if (setpointy >= point3y - 0.3 && setpointx >= point3x - 0.3 && setpointy <= point3y + 0.3 && setpointx <= point3x + 0.3)
AppelSab 0:755bc7c0f555 122 {
AppelSab 0:755bc7c0f555 123 setpointx = setpointx - 0.1; // Van punt 1 naar punt 2 op dezelfde y blijven.
AppelSab 2:7e86ced5841f 124 setpointy = setpointy;
AppelSab 0:755bc7c0f555 125 track = 34;
AppelSab 0:755bc7c0f555 126 }
AppelSab 0:755bc7c0f555 127 if (setpointy > point3y && track == 34)
AppelSab 0:755bc7c0f555 128 {
AppelSab 0:755bc7c0f555 129 setpointx = setpointx - 0.1;
AppelSab 2:7e86ced5841f 130 setpointy = setpointy;
AppelSab 2:7e86ced5841f 131
AppelSab 0:755bc7c0f555 132 }
AppelSab 0:755bc7c0f555 133 */
AppelSab 0:755bc7c0f555 134 }
AppelSab 0:755bc7c0f555 135
AppelSab 0:755bc7c0f555 136
AppelSab 0:755bc7c0f555 137 // -----------------------------------------------------------------
AppelSab 0:755bc7c0f555 138 // --------------------------- PI controllers ----------------------
AppelSab 0:755bc7c0f555 139 // -----------------------------------------------------------------
AppelSab 0:755bc7c0f555 140 double PI_controller1(double error1)
AppelSab 0:755bc7c0f555 141 {
AppelSab 0:755bc7c0f555 142 static double error_integral1 = 0;
AppelSab 0:755bc7c0f555 143
AppelSab 0:755bc7c0f555 144 // Proportional part
AppelSab 0:755bc7c0f555 145 double Kp1 = 3.95; // Kp (proportionele controller, nu nog een random waarde)
AppelSab 0:755bc7c0f555 146 double u_p1 = Kp1*error1; // Voltage dat naar de motor gestuurd wordt (volgt uit error en Kp)
AppelSab 0:755bc7c0f555 147
AppelSab 0:755bc7c0f555 148 // Integral part
AppelSab 0:755bc7c0f555 149 double Ki1 = 6.0; // Ki (Integrale deel vd controller, nu nog een random waarde)
AppelSab 0:755bc7c0f555 150 double Ts1 = 0.005; // Sample tijd, net zo vaak als de controller wordt aangeroepen (200 Hz, statemachine)
AppelSab 0:755bc7c0f555 151 error_integral1 = error_integral1 + error1 * Ts1;
AppelSab 0:755bc7c0f555 152 double u_i1 = Ki1 * error_integral1;
AppelSab 0:755bc7c0f555 153
AppelSab 0:755bc7c0f555 154 // Sum
AppelSab 0:755bc7c0f555 155 U1 = u_p1 + u_i1;
AppelSab 0:755bc7c0f555 156
AppelSab 0:755bc7c0f555 157 // Return
AppelSab 0:755bc7c0f555 158 return U1;
AppelSab 0:755bc7c0f555 159 }
AppelSab 0:755bc7c0f555 160 double PI_controller2(double error2)
AppelSab 0:755bc7c0f555 161 {
AppelSab 0:755bc7c0f555 162 static double error_integral2 = 0;
AppelSab 0:755bc7c0f555 163
AppelSab 0:755bc7c0f555 164 // Proportional part
AppelSab 0:755bc7c0f555 165 double Kp2 = 3.95; // Kp (proportionele controller, nu nog een random waarde)
AppelSab 0:755bc7c0f555 166 double u_p2 = Kp2*error2; // Voltage dat naar de motor gestuurd wordt (volgt uit error en Kp)
AppelSab 0:755bc7c0f555 167
AppelSab 0:755bc7c0f555 168 // Integral part
AppelSab 0:755bc7c0f555 169 double Ki2 = 6.0; // Ki (Integrale deel vd controller, nu nog een random waarde)
AppelSab 0:755bc7c0f555 170 double Ts2 = 0.005; // Sample tijd, net zo vaak als de controller wordt aangeroepen (200 Hz, statemachine)
AppelSab 0:755bc7c0f555 171 error_integral2 = error_integral2 + error2 * Ts2;
AppelSab 0:755bc7c0f555 172 double u_i2 = Ki2 * error_integral2;
AppelSab 0:755bc7c0f555 173
AppelSab 0:755bc7c0f555 174 // Sum +
AppelSab 0:755bc7c0f555 175 U2 = u_p2 + u_i2;
AppelSab 0:755bc7c0f555 176
AppelSab 0:755bc7c0f555 177 // Return
AppelSab 0:755bc7c0f555 178 return U2;
AppelSab 0:755bc7c0f555 179 }
AppelSab 0:755bc7c0f555 180 // ------------------------------------------------------------
AppelSab 0:755bc7c0f555 181 // ------------ Inverse Kinematics ----------------------------
AppelSab 0:755bc7c0f555 182 // ------------------------------------------------------------
AppelSab 0:755bc7c0f555 183 double makeAngleq1(double x, double y){
AppelSab 0:755bc7c0f555 184 double q1 = atan(y/x)+acos((-pow(L3,sq)+pow(L1,sq)+pow(x,sq)+pow(y,sq))/(2.0*L1*sqrt(pow(x,sq)+pow(y,sq)))); //angle of the first joint in the setpoint configuration
AppelSab 0:755bc7c0f555 185 q1_diff = -2.0*(q1-q1_0); //the actual amount of radians that the motor has to turn in total to reach the setpoint
AppelSab 0:755bc7c0f555 186 return q1_diff;
AppelSab 0:755bc7c0f555 187 }
AppelSab 0:755bc7c0f555 188
AppelSab 0:755bc7c0f555 189 double makeAngleq2(double x, double y){
AppelSab 0:755bc7c0f555 190 double q2 = -acos((pow(x,sq)+pow(y,sq)-pow(L1,sq)-pow(L3,sq))/(2.0*L1*L3)); //angle of the second joint in setpoint configuration
AppelSab 0:755bc7c0f555 191 double q1 = atan(y/x)+acos((-pow(L3,sq)+pow(L1,sq)+pow(x,sq)+pow(y,sq))/(2.0*L1*sqrt(pow(x,sq)+pow(y,sq)))); //angle of the first joint in the setpoint configuration
AppelSab 0:755bc7c0f555 192 double q2_motor = (pi - q2)+q1; //because q2 represents the angle at joint two and not at the motor a calculation has to be done
AppelSab 0:755bc7c0f555 193 q2_diff = (2.0*(q2_motor - q2_0_enc))/(2.0*pi); //the actual amount of radians that the motor has to turn in total to reach the setpoint
AppelSab 0:755bc7c0f555 194 return -q2_diff;
AppelSab 0:755bc7c0f555 195 }
AppelSab 0:755bc7c0f555 196
AppelSab 0:755bc7c0f555 197
AppelSab 0:755bc7c0f555 198 // -----------------------------------------------
AppelSab 0:755bc7c0f555 199 // ------------ RUN MOTORS -----------------------
AppelSab 0:755bc7c0f555 200 // -----------------------------------------------
AppelSab 0:755bc7c0f555 201 void motoraansturing()
AppelSab 0:755bc7c0f555 202 {
AppelSab 2:7e86ced5841f 203 determinedemoset();
AppelSab 0:755bc7c0f555 204 q1_diff = makeAngleq1(setpointx, setpointy);
AppelSab 0:755bc7c0f555 205 q2_diff = makeAngleq2(setpointx, setpointy);
AppelSab 0:755bc7c0f555 206
AppelSab 0:755bc7c0f555 207 theta2 = counts2angle2();
AppelSab 0:755bc7c0f555 208 error2 = q2_diff - theta2;
AppelSab 0:755bc7c0f555 209 theta1 = counts2angle1();
AppelSab 0:755bc7c0f555 210 error1 = q1_diff - theta1; // Setpoint error, te behalen setpoint minus de huidige positie van de as.
AppelSab 0:755bc7c0f555 211
AppelSab 0:755bc7c0f555 212 U1 = PI_controller1(error1); // Voltage dat naar de motor gestuurd wordt.
AppelSab 0:755bc7c0f555 213 U2 = PI_controller2(error2);
AppelSab 0:755bc7c0f555 214
AppelSab 0:755bc7c0f555 215 motor1_pwm.write(fabs(U1)); // Motor aansturen
AppelSab 0:755bc7c0f555 216 directionM1 = U1 > 0.0f; // Richting van de motor bepalen
AppelSab 0:755bc7c0f555 217 motor2_pwm.write(fabs(U2));
AppelSab 0:755bc7c0f555 218 directionM2 = U2 > 0.0f;
AppelSab 0:755bc7c0f555 219 }
AppelSab 0:755bc7c0f555 220
AppelSab 0:755bc7c0f555 221
AppelSab 0:755bc7c0f555 222 void rundemo()
AppelSab 0:755bc7c0f555 223 {
AppelSab 0:755bc7c0f555 224 motoraansturing();
AppelSab 0:755bc7c0f555 225 }
AppelSab 0:755bc7c0f555 226
AppelSab 0:755bc7c0f555 227
AppelSab 0:755bc7c0f555 228 int main()
AppelSab 0:755bc7c0f555 229 {
AppelSab 2:7e86ced5841f 230 ledr = 1;
AppelSab 2:7e86ced5841f 231 ledg = 1;
AppelSab 2:7e86ced5841f 232 ledb = 1;
AppelSab 2:7e86ced5841f 233
AppelSab 0:755bc7c0f555 234 pc.baud(115200);
AppelSab 0:755bc7c0f555 235 motor1_pwm.period_us(60); // Period is 60 microseconde
AppelSab 0:755bc7c0f555 236 motor2_pwm.period_us(60);
AppelSab 0:755bc7c0f555 237 Demo.attach(&rundemo, 0.005f);
AppelSab 0:755bc7c0f555 238
AppelSab 0:755bc7c0f555 239 while (true) {
AppelSab 0:755bc7c0f555 240
AppelSab 0:755bc7c0f555 241 }
AppelSab 0:755bc7c0f555 242 }