Chanaka Madhusanka
test not done
Dependencies: mbed QEI QEI_hw SDFileSystem
Diff: main.cpp
- Revision:
- 1:a7c5a3920ba8
- Parent:
- 0:0205108c2c99
--- a/main.cpp Thu Aug 08 08:12:52 2019 +0000
+++ b/main.cpp Wed Oct 30 06:52:53 2019 +0000
@@ -1,53 +1,333 @@
#include "mbed.h"
+#include "SDFileSystem.h"
+#include "QEI.h"
+#include <math.h>
+
+SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board p5 - mosi, p6-miso, p7 - sck, p8 - cs
+Serial pc (USBTX,USBRX);
+QEI wheel (p29, p30, NC, 2000, QEI::X4_ENCODING); //to get encoder position
+
+//int i= 2;
+int value = 0;
+
+void PID();
+void motor();
+void DOB(double derivative_position);
+void RTOB(double derivative_position);
+void sendDAC(int value);
+void file_writer(double input, double torque);
+
+double dt=0.0002,t=0; //time
+double Kp=0,Ki=0,Kd=0; //pid
+double torque_rtob,rtob_filter_input, rtob_filter_output, rtob_filter_integral = 0, rtob_additional_torque; //
+double torque_dob, dob_filter_input, dob_filter_output, dob_filter_integral = 0;
+double pre_val=0, g_dis=150, error_val=5, k=0.000000085, torque_command, pre_position=0,derivative_val, J=0.462, Jn=0.462, Kt1=25.0, Kt2=25.0, pid_val, motor_voltage, motor_input, motor_torque, motor_current, load_torque, integral1, theta_dot = 0, theta;
+
+
+//DAC 712
+DigitalOut dac_a0(p13);
+DigitalOut dac_a1(p12);
+DigitalOut dac_wr(p9);
+DigitalOut dac_clr(p10);
+DigitalOut dac_d15(p15);
+DigitalOut dac_d14(p16);
+DigitalOut dac_d13(p17);
+DigitalOut dac_d12(p18);
+DigitalOut dac_d11(p19);
+DigitalOut dac_d10(p20);
+DigitalOut dac_d9(p21);
+DigitalOut dac_d8(p22);
+DigitalOut dac_d7(p23);
+DigitalOut dac_d6(p24);
+DigitalOut dac_d5(p25);
+DigitalOut dac_d4(p26);
+DigitalOut dac_d3(p27);
+DigitalOut dac_d2(p28);
+DigitalOut dac_d1(p11);
+DigitalOut dac_d0(p14);
-#include "qeihw.h"
-
-DigitalOut led1 (LED1);
-DigitalOut led3 (LED3);
+int main(){
+
+ float val = 32767/10;
+ int sendval;
+ double position;
+ double x;
+
+ //while(1){
+ //reverse loop
+ dac_a0 = 0;
+ dac_a1 = 1;
+ dac_clr = 1;
+ sendval = int(val * 0.06*(0.9)); //for maximum torque = 46.75 voltage = 2.805 >>> 0 is not zero. Eventhough "0.9" is a positive it gives negative direction movement for "3" it gives positive movement
+ sendDAC(sendval);
+ dac_a0 = 1;
+ dac_a1 = 0;
+ wait(0.1); //to change the back velocity
+
+ dac_a0 = 0;
+ dac_a1 = 1;
+ dac_clr = 1;
+ sendval = int(val * 0.06*(1.4)); //for maximum torque = 46.75 voltage = 2.805 >>> 0 is not zero. Eventhough "0.9" is a positive it gives negative direction movement for "3" it gives positive movement
+ sendDAC(sendval);
+ dac_a0 = 1;
+ dac_a1 = 0;
+ wait(3); //to change the back velocity
+
+ //forward loop
+ dac_a0 = 0;
+ dac_a1 = 1;
+ sendval = int(val * 0.06*(6));
+ sendDAC(sendval);
+ dac_a0 = 1;
+ dac_a1 = 0;
+ wait(4);
+
+
+ position = 0;
+ x = -wheel.getPulses()/200.0;
+
+ double torque;
+ torque = 25*0.6*0.4*(0.0284*(15)+0.1436)/1.2796; //maximum percentage is 40... range 0-40
+
+ while(-0.01>error_val | error_val>0.01) { //minimize the error value between reation torque and torque
+
+ pc.printf("%lf\t %lf\t %lf\r\n",pid_val,torque_rtob,error_val);
+
+ position = (-wheel.getPulses()/200.0)-x; ////////////////
+
+ double derivative_position = (position-pre_position)/dt;
+ pre_position = position;
+
+ error_val = torque - torque_rtob;
+
+ PID();
+
+ //DOB(derivative_position);
+
+ RTOB(derivative_position);
+
+ motor_voltage = ((pid_val*J)/25)*(1.2796/(0.6*0.4));
+
+ //motor_input = motor_voltage + ((torque_dob/25)*(1.2796/(0.6*0.4))); //sendVal=motor_input
+ motor_input = motor_voltage;
+
+ dac_a0 = 0;
+ dac_a1 = 1;
+ sendval = motor_input;
+ sendDAC(sendval);
+ dac_a0 = 1;
+ dac_a1 = 0;
+
+
+
+ //fprintf (fp3, "%f %f %f\n",t,torque_rtob,load_torque);
+
+ t+=0.0002;
+ }
+
+ if((wheel.getPulses()/200.0)<6){
+ //file_writer(position,torque_rtob);
+ }
+ pc.printf("Pulses is: %lf\t %lf\r\n",position,torque_rtob);
+
-int pulses = 0;
-int32_t temp=0;
-Serial pc(USBTX, USBRX);
-//Use X4 encoding.
-//QEI wheel(p29, p30, NC, 624, QEI::X4_ENCODING);
-//Use X2 encoding by default.
-//QEI wheel (p13, p14, NC, 2000);
-QEIHW wheel(QEI_DIRINV_NONE, QEI_SIGNALMODE_QUAD, QEI_CAPMODE_4X, QEI_INVINX_NONE );
-
-Ticker tick;
-
-void display()
-{
- pc.printf("Pulses is: %i\n", temp );
- //pc.printf(" State : %i\n", wheel.GetPosition());
+ //for(double i = 1 ; i<=20 ; i+=0.2){ //to increase torque
+//
+// double torque;
+//
+// if(i<10.1){
+//
+// torque = 25*0.6*0.4*(0.0284*(6+i)+0.1436)/1.2796; //maximum percentage is 40... range 0-40
+//
+// while(-0.1>error_val | error_val>0.1) { //minimize the error value between reation torque and torque
+// pc.printf("%lf\t %lf\t %lf\r\n",torque,torque_rtob,position);
+//
+// position = (-wheel.getPulses()/200.0)-x; ////////////////
+//
+// double derivative_position = (position-pre_position)/dt;
+// pre_position = position;
+//
+// error_val = torque - torque_rtob;
+//
+// PID();
+//
+// motor_voltage = ((pid_val*J)/25)*(1.2796/0.6*0.4);
+//
+// motor_input = motor_voltage + ((torque_dob/25)*(1.2796/0.6*0.4)); //sendVal=motor_input
+//
+// dac_a0 = 0;
+// dac_a1 = 1;
+// sendval = motor_input;
+// sendDAC(sendval);
+// dac_a0 = 1;
+// dac_a1 = 0;
+//
+// DOB(derivative_position);
+// RTOB(derivative_position);
+//
+// //fprintf (fp3, "%f %f %f\n",t,torque_rtob,load_torque);
+//
+// t+=0.0002;
+// }
+//
+// if((wheel.getPulses()/200.0)<6){
+// //file_writer(position,torque_rtob);
+// }
+// pc.printf("Pulses is: %lf\t %lf\r\n",position,torque_rtob);
+//
+// if(i>9.9){
+// for(int j=1; j<500 ;j++){
+// pc.printf("Wait position : %lf\t %lf\r\n",-(wheel.getPulses()/200.0)-x,torque);
+// }
+// }
+// }else if(i>=10.1){
+//
+// dac_a0 = 0;
+// dac_a1 = 1;
+// sendval = int(val * 0.06*(6+20-i));
+// sendDAC(sendval);
+// dac_a0 = 1;
+// dac_a1 = 0;
+// torque = 25*0.6*0.4*(0.0284*(6+20-i)+0.1436)/1.2796
+// position = (-wheel.getPulses()/200.0)-x;
+//
+// if((wheel.getPulses()/200.0)<6){
+// //file_writer(position,torque);
+// }
+// pc.printf("Pulses is: %lf\t %lf\r\n",position,torque);
+// }
+// wait(0.05);
+// }
+ //}
}
-int main() {
-
+//set voltages to dac
+void sendDAC(int value){
+ int remainder = 0;
+ dac_clr = 0;
+ wait_us(120);
+ dac_clr = 1;
+ //send output dac
+ dac_wr = 1;
+ if(value >= 0){
+ if(value >= 32767){
+ dac_d15 = 0; dac_d14= 1; dac_d13 = 1; dac_d12 = 1; dac_d11 = 1; dac_d10 =1; dac_d9 = 1; dac_d8 = 1; dac_d7 = 1; dac_d6 = 1; dac_d5 = 1; dac_d4 = 1; dac_d3 = 1; dac_d2 = 1; dac_d1 =1; dac_d0 = 1;
+ }
+ else {
+ dac_d15 = 0;
+ dac_d14 = value / 16384 ;
+ remainder = value - dac_d14.read() * 16384;
+ dac_d13 = remainder / 8192;
+ remainder = remainder - dac_d13.read() * 8192;
+ dac_d12 = remainder / 4096;
+ remainder = remainder - dac_d12.read() * 4096;
+ dac_d11 = remainder / 2048;
+ remainder = remainder - dac_d11.read() * 2048;
+ dac_d10 = remainder / 1024;
+ remainder = remainder - dac_d10.read() * 1024;
+ dac_d9 = remainder / 512;
+ remainder = remainder - dac_d9.read() * 512;
+ dac_d8 = remainder / 256;
+ remainder = remainder - dac_d8.read() * 256;
+ dac_d7 = remainder / 128;
+ remainder = remainder - dac_d7.read() * 128;
+ dac_d6 = remainder / 64;
+ remainder = remainder - dac_d6.read() * 64;
+ dac_d5 = remainder / 32;
+ remainder = remainder - dac_d5.read() * 32;
+ dac_d4 = remainder / 16;
+ remainder = remainder - dac_d4.read() * 16;
+ dac_d3 = remainder / 8;
+ remainder = remainder - dac_d3.read() * 8;
+ dac_d2 = remainder / 4;
+ remainder = remainder - dac_d2.read() * 4;
+ dac_d1 = remainder / 2;
+ remainder = remainder - dac_d1.read() * 2;
+ dac_d0 = remainder ;
+ }
+ }
+ if (value < 0){
+ if(value <= -32768){
+ dac_d15 = 1; dac_d14= 0; dac_d13 = 0; dac_d12 = 0; dac_d11 = 0; dac_d10 =0; dac_d9 = 0; dac_d8 = 0; dac_d7 = 0; dac_d6 = 0; dac_d5 = 0; dac_d4 = 0; dac_d3 = 0; dac_d2 = 0; dac_d1 =0; dac_d0 = 0;
+ }
+ else{
+ dac_d15 = 1;
+ dac_d14 = ( 32768 + value) / 16384 ;
+ remainder = ( 32768 + value) - dac_d14.read() * 16384;
+ dac_d13 = remainder / 8192;
+ remainder = remainder - dac_d13.read() * 8192;
+ dac_d12 = remainder / 4096;
+ remainder = remainder - dac_d12.read() * 4096;
+ dac_d11 = remainder / 2048;
+ remainder = remainder - dac_d11.read() * 2048;
+ dac_d10 = remainder / 1024;
+ remainder = remainder - dac_d10.read() * 1024;
+ dac_d9 = remainder / 512;
+ remainder = remainder - dac_d9.read() * 512;
+ dac_d8 = remainder / 256;
+ remainder = remainder - dac_d8.read() * 256;
+ dac_d7 = remainder / 128;
+ remainder = remainder - dac_d7.read() * 128;
+ dac_d6 = remainder / 64;
+ remainder = remainder - dac_d6.read() * 64;
+ dac_d5 = remainder / 32;
+ remainder = remainder - dac_d5.read() * 32;
+ dac_d4 = remainder / 16;
+ remainder = remainder - dac_d4.read() * 16;
+ dac_d3 = remainder / 8;
+ remainder = remainder - dac_d3.read() * 8;
+ dac_d2 = remainder / 4;
+ remainder = remainder - dac_d2.read() * 4;
+ dac_d1 = remainder / 2 ;
+ remainder = remainder - dac_d1.read() * 2;
+ dac_d0 = remainder ;
+ }
+ }
+ dac_wr = 0;
+}
+
+void file_writer(double position,double torque){
+ mkdir("/sd/mydir", 0777);
+ FILE *fp = fopen("/sd/mydir/sdtesthys.txt", "a");
+ if(fp == NULL){
+ error("Could not open file for write\n");
+ }
+ fprintf(fp,"%lf\t %lf\t \r\n",position,torque);
+ fclose(fp);
+}
+
+//PID controller
+void PID(){
+ integral1 = integral1 + error_val*dt;
+ derivative_val = (error_val - pre_val)/dt;
+ pre_val = error_val;
+ pid_val = (0*error_val)+(0*integral1)+(0*derivative_val);
+}
+
+//disturbance observer
+void DOB(double derivative_position){ //disturbance observer
+ dob_filter_input = (derivative_position * g_dis * Jn) + (motor_input * Kt2 * (0.6*0.4/1.2796)); //g = g_dis / J_n / filter_input_dob = dob_filter_input
+ dob_filter_integral = dob_filter_integral + ((dob_filter_input - dob_filter_output) * dt); //filter
+ dob_filter_output = g_dis * dob_filter_integral;
+ torque_dob = dob_filter_output - (Jn * g_dis);
+}
+
+//reaction torque observer
+void RTOB(double derivative_position){
+ rtob_additional_torque = 1.10745; //ask sir
+ rtob_filter_input = (derivative_position * g_dis * Jn) + (motor_input * Kt2 * (0.6*0.4/1.2796)) - rtob_additional_torque;
+ rtob_filter_integral = rtob_filter_integral + ((rtob_filter_input - rtob_filter_output) * dt); //fil
+ rtob_filter_output = g_dis * rtob_filter_integral;
+ torque_rtob = rtob_filter_output - (derivative_position * g_dis * Jn);
+}
+
+//Threading code
+void thread_2(void const *argument){
while(1){
- wait(0.1);
- wheel.SetDigiFilter(480UL);
- wheel.SetMaxPosition(0xFFFFFFFF);
- temp = wheel.GetPosition();
- // pulses = wheel.();
- //tick.attach (&display , 1);
-
- display();
- if (temp >20000){
- led1 = 1;
- led3 = 1;
- }
- else if (temp >10000){
- led1 = 1;
- led3 = 0;
- }
- else if (temp >5000){
- led1 = 0;
- led3 = 1;
- }
- else{
- led1 = 0;
- led3 = 0;
+ //pc.printf("%i\t %f %f\t \r\n)",count,dx_res,I_msrd);
+ //file_writer();
}
}
-}
\ No newline at end of file
+
+
+