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@4:98b3dfdd9ae1, 2018-10-31 (annotated)

Committer:
arnouddomhof
Date:
Wed Oct 31 18:43:28 2018 +0000
Revision:
4:98b3dfdd9ae1
Parent:
3:fd1380ffb200
Child:
5:cd329205f037
Laatste versie van Arnoud, data wordt geplot

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);
arnouddomhof 4:98b3dfdd9ae1 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;
arnouddomhof 3:fd1380ffb200 37 //double point3x = 350.0;
arnouddomhof 3:fd1380ffb200 38 //double point3y = 0.0;
arnouddomhof 3:fd1380ffb200 39 //double point4x = 200.0;
arnouddomhof 3:fd1380ffb200 40 //double point4y = 0.0;
arnouddomhof 3:fd1380ffb200 41 volatile int track = 1;
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 {
arnouddomhof 3:fd1380ffb200 83 if ((setpointx < point1x) && (track == 1)){
AppelSab 2:7e86ced5841f 84 setpointx = setpointx + 0.2;
AppelSab 1:7afdfab34bf7 85 }
arnouddomhof 3:fd1380ffb200 86 if ((setpointy < point1y) && (track == 1)){
AppelSab 2:7e86ced5841f 87 setpointy = setpointy + 0.1;
AppelSab 2:7e86ced5841f 88 }
AppelSab 0:755bc7c0f555 89
AppelSab 1:7afdfab34bf7 90 // Van punt 1 naar punt 2.
arnouddomhof 3:fd1380ffb200 91 if ((setpointy >= point1y - 0.3) && (setpointx >= point1x - 0.3) && (setpointy <= point1y + 0.3) && (setpointx <= point1x + 0.3 && track == 1)){
arnouddomhof 3:fd1380ffb200 92 //setpointx = point2x;
arnouddomhof 3:fd1380ffb200 93 //setpointy = setpointy + (-0.2); // Van punt 1 naar punt 2 op dezelfde y blijven.
arnouddomhof 3:fd1380ffb200 94 ledr = !ledr; // Aangeven met een ROOD lampje dat hij op de plaats van bestemming is
AppelSab 1:7afdfab34bf7 95 track = 12;
AppelSab 1:7afdfab34bf7 96 }
arnouddomhof 3:fd1380ffb200 97
arnouddomhof 3:fd1380ffb200 98 if ((setpointy > point2y) && (track == 12)) {
arnouddomhof 3:fd1380ffb200 99 setpointx = point2x;
arnouddomhof 3:fd1380ffb200 100 //setpointx = setpointx + 0.2;
arnouddomhof 4:98b3dfdd9ae1 101 setpointy = setpointy + (-0.2);
arnouddomhof 3:fd1380ffb200 102 }
arnouddomhof 3:fd1380ffb200 103
arnouddomhof 3:fd1380ffb200 104 if ((fabs(setpointx - point2x) <= 0.3) && (fabs(setpointy - point2y) <= 0.3) && (track == 12)) {
arnouddomhof 3:fd1380ffb200 105 ledr = !ledr;
arnouddomhof 3:fd1380ffb200 106 ledg = !ledg;
arnouddomhof 3:fd1380ffb200 107 track = 23;
arnouddomhof 3:fd1380ffb200 108 }
arnouddomhof 3:fd1380ffb200 109
arnouddomhof 3:fd1380ffb200 110
arnouddomhof 3:fd1380ffb200 111 /**
AppelSab 2:7e86ced5841f 112 if (setpointy > point2y && track == 12){
AppelSab 2:7e86ced5841f 113 setpointx = point2x;
AppelSab 2:7e86ced5841f 114 setpointy = setpointy + (-0.2);
AppelSab 1:7afdfab34bf7 115 }
AppelSab 0:755bc7c0f555 116
AppelSab 2:7e86ced5841f 117
arnouddomhof 3:fd1380ffb200 118 // Van punt 2 naar punt 3.
AppelSab 1:7afdfab34bf7 119 if (fabs(setpointx - point2x) <= 0.3 && fabs(setpointy - point2y) <= 0.3)
AppelSab 1:7afdfab34bf7 120 {
AppelSab 2:7e86ced5841f 121 //setpointx = setpointx - 0.2;
AppelSab 2:7e86ced5841f 122 //setpointy = setpointy;
AppelSab 2:7e86ced5841f 123 ledr = 1;
AppelSab 2:7e86ced5841f 124 ledg = 0;
AppelSab 1:7afdfab34bf7 125 track = 23;
AppelSab 1:7afdfab34bf7 126 }
AppelSab 1:7afdfab34bf7 127 if (setpointy > point3y && track == 23)
AppelSab 1:7afdfab34bf7 128 {
AppelSab 2:7e86ced5841f 129 //setpointx = setpointx - 0.2; // Van punt 1 naar punt 2 op dezelfde y blijven.
AppelSab 2:7e86ced5841f 130 //setpointy = setpointy;
AppelSab 1:7afdfab34bf7 131 track = 23;
AppelSab 1:7afdfab34bf7 132 }
arnouddomhof 3:fd1380ffb200 133
arnouddomhof 3:fd1380ffb200 134
AppelSab 0:755bc7c0f555 135 // Van punt 3 naar punt 4.
AppelSab 0:755bc7c0f555 136 if (setpointy >= point3y - 0.3 && setpointx >= point3x - 0.3 && setpointy <= point3y + 0.3 && setpointx <= point3x + 0.3)
AppelSab 0:755bc7c0f555 137 {
AppelSab 0:755bc7c0f555 138 setpointx = setpointx - 0.1; // Van punt 1 naar punt 2 op dezelfde y blijven.
AppelSab 2:7e86ced5841f 139 setpointy = setpointy;
AppelSab 0:755bc7c0f555 140 track = 34;
AppelSab 0:755bc7c0f555 141 }
AppelSab 0:755bc7c0f555 142 if (setpointy > point3y && track == 34)
AppelSab 0:755bc7c0f555 143 {
AppelSab 0:755bc7c0f555 144 setpointx = setpointx - 0.1;
AppelSab 2:7e86ced5841f 145 setpointy = setpointy;
AppelSab 2:7e86ced5841f 146
AppelSab 0:755bc7c0f555 147 }
AppelSab 0:755bc7c0f555 148 */
arnouddomhof 3:fd1380ffb200 149
AppelSab 0:755bc7c0f555 150 }
AppelSab 0:755bc7c0f555 151
AppelSab 0:755bc7c0f555 152
AppelSab 0:755bc7c0f555 153 // -----------------------------------------------------------------
AppelSab 0:755bc7c0f555 154 // --------------------------- PI controllers ----------------------
AppelSab 0:755bc7c0f555 155 // -----------------------------------------------------------------
AppelSab 0:755bc7c0f555 156 double PI_controller1(double error1)
AppelSab 0:755bc7c0f555 157 {
AppelSab 0:755bc7c0f555 158 static double error_integral1 = 0;
AppelSab 0:755bc7c0f555 159
AppelSab 0:755bc7c0f555 160 // Proportional part
AppelSab 0:755bc7c0f555 161 double Kp1 = 3.95; // Kp (proportionele controller, nu nog een random waarde)
AppelSab 0:755bc7c0f555 162 double u_p1 = Kp1*error1; // Voltage dat naar de motor gestuurd wordt (volgt uit error en Kp)
AppelSab 0:755bc7c0f555 163
AppelSab 0:755bc7c0f555 164 // Integral part
AppelSab 0:755bc7c0f555 165 double Ki1 = 6.0; // Ki (Integrale deel vd controller, nu nog een random waarde)
AppelSab 0:755bc7c0f555 166 double Ts1 = 0.005; // Sample tijd, net zo vaak als de controller wordt aangeroepen (200 Hz, statemachine)
AppelSab 0:755bc7c0f555 167 error_integral1 = error_integral1 + error1 * Ts1;
AppelSab 0:755bc7c0f555 168 double u_i1 = Ki1 * error_integral1;
AppelSab 0:755bc7c0f555 169
AppelSab 0:755bc7c0f555 170 // Sum
AppelSab 0:755bc7c0f555 171 U1 = u_p1 + u_i1;
AppelSab 0:755bc7c0f555 172
AppelSab 0:755bc7c0f555 173 // Return
AppelSab 0:755bc7c0f555 174 return U1;
AppelSab 0:755bc7c0f555 175 }
AppelSab 0:755bc7c0f555 176 double PI_controller2(double error2)
AppelSab 0:755bc7c0f555 177 {
AppelSab 0:755bc7c0f555 178 static double error_integral2 = 0;
AppelSab 0:755bc7c0f555 179
AppelSab 0:755bc7c0f555 180 // Proportional part
AppelSab 0:755bc7c0f555 181 double Kp2 = 3.95; // Kp (proportionele controller, nu nog een random waarde)
AppelSab 0:755bc7c0f555 182 double u_p2 = Kp2*error2; // Voltage dat naar de motor gestuurd wordt (volgt uit error en Kp)
AppelSab 0:755bc7c0f555 183
AppelSab 0:755bc7c0f555 184 // Integral part
AppelSab 0:755bc7c0f555 185 double Ki2 = 6.0; // Ki (Integrale deel vd controller, nu nog een random waarde)
AppelSab 0:755bc7c0f555 186 double Ts2 = 0.005; // Sample tijd, net zo vaak als de controller wordt aangeroepen (200 Hz, statemachine)
AppelSab 0:755bc7c0f555 187 error_integral2 = error_integral2 + error2 * Ts2;
AppelSab 0:755bc7c0f555 188 double u_i2 = Ki2 * error_integral2;
AppelSab 0:755bc7c0f555 189
AppelSab 0:755bc7c0f555 190 // Sum +
AppelSab 0:755bc7c0f555 191 U2 = u_p2 + u_i2;
AppelSab 0:755bc7c0f555 192
AppelSab 0:755bc7c0f555 193 // Return
AppelSab 0:755bc7c0f555 194 return U2;
AppelSab 0:755bc7c0f555 195 }
arnouddomhof 4:98b3dfdd9ae1 196
AppelSab 0:755bc7c0f555 197 // ------------------------------------------------------------
AppelSab 0:755bc7c0f555 198 // ------------ Inverse Kinematics ----------------------------
AppelSab 0:755bc7c0f555 199 // ------------------------------------------------------------
AppelSab 0:755bc7c0f555 200 double makeAngleq1(double x, double y){
AppelSab 0:755bc7c0f555 201 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 202 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 203 return q1_diff;
AppelSab 0:755bc7c0f555 204 }
AppelSab 0:755bc7c0f555 205
AppelSab 0:755bc7c0f555 206 double makeAngleq2(double x, double y){
AppelSab 0:755bc7c0f555 207 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 208 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 209 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 210 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 211 return -q2_diff;
AppelSab 0:755bc7c0f555 212 }
AppelSab 0:755bc7c0f555 213
AppelSab 0:755bc7c0f555 214
AppelSab 0:755bc7c0f555 215 // -----------------------------------------------
AppelSab 0:755bc7c0f555 216 // ------------ RUN MOTORS -----------------------
AppelSab 0:755bc7c0f555 217 // -----------------------------------------------
AppelSab 0:755bc7c0f555 218 void motoraansturing()
AppelSab 0:755bc7c0f555 219 {
AppelSab 2:7e86ced5841f 220 determinedemoset();
AppelSab 0:755bc7c0f555 221 q1_diff = makeAngleq1(setpointx, setpointy);
AppelSab 0:755bc7c0f555 222 q2_diff = makeAngleq2(setpointx, setpointy);
AppelSab 0:755bc7c0f555 223
AppelSab 0:755bc7c0f555 224 theta2 = counts2angle2();
AppelSab 0:755bc7c0f555 225 error2 = q2_diff - theta2;
AppelSab 0:755bc7c0f555 226 theta1 = counts2angle1();
AppelSab 0:755bc7c0f555 227 error1 = q1_diff - theta1; // Setpoint error, te behalen setpoint minus de huidige positie van de as.
AppelSab 0:755bc7c0f555 228
AppelSab 0:755bc7c0f555 229 U1 = PI_controller1(error1); // Voltage dat naar de motor gestuurd wordt.
AppelSab 0:755bc7c0f555 230 U2 = PI_controller2(error2);
AppelSab 0:755bc7c0f555 231
AppelSab 0:755bc7c0f555 232 motor1_pwm.write(fabs(U1)); // Motor aansturen
AppelSab 0:755bc7c0f555 233 directionM1 = U1 > 0.0f; // Richting van de motor bepalen
AppelSab 0:755bc7c0f555 234 motor2_pwm.write(fabs(U2));
arnouddomhof 4:98b3dfdd9ae1 235 directionM2 = U2 > 0.0f;
AppelSab 0:755bc7c0f555 236 }
AppelSab 0:755bc7c0f555 237
AppelSab 0:755bc7c0f555 238
AppelSab 0:755bc7c0f555 239 void rundemo()
AppelSab 0:755bc7c0f555 240 {
AppelSab 0:755bc7c0f555 241 motoraansturing();
AppelSab 0:755bc7c0f555 242 }
AppelSab 0:755bc7c0f555 243
AppelSab 0:755bc7c0f555 244
AppelSab 0:755bc7c0f555 245 int main()
AppelSab 0:755bc7c0f555 246 {
AppelSab 2:7e86ced5841f 247 ledr = 1;
AppelSab 2:7e86ced5841f 248 ledg = 1;
AppelSab 2:7e86ced5841f 249 ledb = 1;
AppelSab 2:7e86ced5841f 250
AppelSab 0:755bc7c0f555 251 pc.baud(115200);
AppelSab 0:755bc7c0f555 252 motor1_pwm.period_us(60); // Period is 60 microseconde
AppelSab 0:755bc7c0f555 253 motor2_pwm.period_us(60);
AppelSab 0:755bc7c0f555 254 Demo.attach(&rundemo, 0.005f);
AppelSab 0:755bc7c0f555 255
arnouddomhof 3:fd1380ffb200 256 pc.printf("\r\n\r\nDOE HET AUB!!! \r\n\r\n");
arnouddomhof 3:fd1380ffb200 257
AppelSab 0:755bc7c0f555 258 while (true) {
arnouddomhof 4:98b3dfdd9ae1 259 pc.printf("Setpointx: %0.2f, Setpointy: %02f, q1_diff: %0.2f, q2_diff: %0.2f, U1: %0.2f, U2: %0.2f\r\n", setpointx,setpointy,q1_diff,q2_diff, U1,U2);
arnouddomhof 3:fd1380ffb200 260 if (track == 1) {
arnouddomhof 3:fd1380ffb200 261 pc.printf("Gaat naar positie 1\r\n");
arnouddomhof 3:fd1380ffb200 262 }
arnouddomhof 3:fd1380ffb200 263 else if (track == 12) {
arnouddomhof 3:fd1380ffb200 264 pc.printf("Gaat naar positie 2\r\n");
arnouddomhof 3:fd1380ffb200 265 }
arnouddomhof 3:fd1380ffb200 266 wait(0.5f);
arnouddomhof 4:98b3dfdd9ae1 267
AppelSab 0:755bc7c0f555 268 }
AppelSab 0:755bc7c0f555 269 }