Diff: main.cpp

Revision:

0:a6f2b6cc83ca

Child:

1:4f1cd3b918f5

Child:

2:44758d95cb0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 30 16:04:17 2018 +0000
@@ -0,0 +1,274 @@
+// KINEMATICS + PID + MOTOR CONTROL
+
+//----------------~INITIATING-------------------------
+#include "mbed.h"
+
+// KINEMATICS          --       DEPENDENCIES
+#include "stdio.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+#define M_PI    3.14159265358979323846 /* pi */
+
+// PID CONTROLLER      --      DEPENDENCIES
+#include "BiQuad.h"
+#include "QEI.h"
+#include "MODSERIAL.h"
+#include "HIDScope.h"
+//#include "Math.h"
+
+// PID  CONTROLLER     --        PIN DEFENITIONS 
+AnalogIn button2(A4);
+DigitalOut directionpin1(D7);   // motor 1
+PwmOut pwmpin1(D6);             // motor 1
+
+QEI encoder1 (D9, D8, NC, 8400, QEI::X4_ENCODING);
+MODSERIAL pc(USBTX, USBRX);
+HIDScope scope(2);
+
+// TICKERS
+Ticker ref_rot;
+Ticker show_counts;
+Ticker Scope_Data;
+
+//----------------GLOBALS--------------------------
+
+// CONSTANTS PID CONTROLLER
+double PI = M_PI;// CHANGE THIS INTO M_PI
+double Kp = 16; //200 , 50
+double Ki = 0;   //1, 0.5
+double Kd = 4.5; //200, 10
+double Ts = 0.1; // Sample time in seconds
+double reference_rotation; //define as radians
+double motor_position;
+bool AlwaysTrue;
+
+//CONSTANTS KINEMATICS
+// constants
+const float la = 0.256;         // lengte actieve arm
+const float lp = 0.21;          // lengte passieve arm
+const float rp = 0.052;         // straal van midden end effector tot hoekpunt
+const float rm = 0.23;          // straal van global midden tot motor
+const float a = 0.09;           // zijde van de driehoek
+const float xas = 0.40;         // afstand van motor 1 tot motor 3
+const float yas = 0.346;        // afstand van xas tot motor 2
+const float thetap = 0;         // rotatiehoek van de end effector
+
+// motor locatie
+const int a1x = 0;              //x locatie motor 1
+const int a1y = 0;              //y locatie motor 1
+const float a2x = (0.5)*xas;    // x locatie motor 2
+const float a2y = yas;          // y locatie motor 2
+const float a3x = xas;          // x locatie motor 3
+const int a3y = 0;              // y locatie motor 3
+
+// script voor het bepalen van de desired position aan de hand van emg (1/0)
+
+//  EMG OUTPUT
+int EMGxplus;
+int EMGxmin ;
+int EMGyplus;
+int EMGymin ;
+
+// Dit moet experimenteel geperfectioneerd worden
+float tijdstap = 0.05;      //nu wss heel langzaam, kan miss omhoog
+float v = 0.1;                // snelheid kan wss ook hoger
+
+float px = 0.2;     //starting x    
+float py = 0.155;   // starting y
+
+// limits (since no forward kinematics)
+float upperxlim = 0.36; //niet helemaal naar requierments ff kijken of ie groter kan
+float lowerxlim = 0.04;
+float upperylim = 0.30;
+float lowerylim = 0.04;
+
+
+//----------------FUNCTIONS--------------------------
+
+// ~~~~~~~~~~~~~~ROBOT KINEMATICS ~~~~~~~~~~~~~~~~~~
+
+// functie x positie
+float positionx(int EMGxplus,int EMGxmin)
+{
+    float EMGx = EMGxplus - EMGxmin;
+
+    float verplaatsingx = EMGx * tijdstap * v;
+    float pxnieuw = px + verplaatsingx;
+    // x limit
+    if (pxnieuw <= upperxlim && pxnieuw >= lowerxlim)
+        {
+        px = pxnieuw;
+        }
+    else
+        {
+        if (pxnieuw >= lowerxlim)
+        {
+        px = upperxlim;
+        }
+    else
+        {
+        px = lowerxlim;
+        }
+    }
+//printf("X eindpunt (%f) en verplaatsing: (%f)\n\r",px,verplaatsingx);
+return px;
+}
+
+
+// functie y positie
+float positiony(int EMGyplus,int EMGymin)
+{
+    float EMGy = EMGyplus - EMGymin;
+
+    float verplaatsingy = EMGy * tijdstap * v;
+    float pynieuw = py + verplaatsingy;
+
+    // y limit
+    if (pynieuw <= upperylim && pynieuw >= lowerylim)
+        {
+        py = pynieuw;
+        }
+    else
+        {
+            if (pynieuw >= lowerylim)
+            {
+            py = upperylim;
+            }
+            else
+            {
+            py = lowerylim;
+            }
+        }
+//printf("Y eindpunt (%f) en verplaatsing: (%f) \n\r",py,verplaatsingy);
+return (py);
+}
+
+
+//~~~~~~~~~~~~CALCULATIING MOTOR ANGLES ~~~~~~~~
+// arm 1 --> reference angle motor 1
+float hoek1(float px, float py) // input: ref x, ref y
+{
+    float c1x =  px - rp * cos(thetap +(M_PI/6));       // x locatie hoekpunt end-effector
+    float c1y = py - rp*sin(thetap+(M_PI/6));           // y locatie hoekpunt end-effector
+    float alpha1 = atan2((c1y-a1y),(c1x-a1x));          // hoek tussen horizontaal en lijn van motor naar bijbehorende end-effector punt
+    float psi1 = acos(( pow(la,2)-pow(lp,2)+pow((c1x-a1x),2)+pow((c1y-a1y),2))/(2*la*sqrt(pow ((c1x-a1x),2)+pow((c1y-a1y),2) ))); //Hoek tussen lijn van motor naar bijbehorende end=effector punt en actieve arm
+    float a1 = alpha1 + psi1;                          //hoek tussen horizontaal en actieve arm
+    //printf("arm 1 = %f \n\r",a1);
+    return a1;
+}
+
+// arm 2 --> reference angle motor 2
+float hoek2(float px, float py)
+{
+    float c2x =  px - rp * cos(thetap -(M_PI/2)); 
+    float c2y = py - rp*sin(thetap-(M_PI/2)); 
+    float alpha2 = atan2((c2y-a2y),(c2x-a2x)); 
+    float psi2 = acos(( pow(la,2)-pow(lp,2)+pow((c2x-a2x),2)+pow((c2y-a2y),2))/(2*la*sqrt(pow ((c2x-a2x),2)+pow((c2y-a2y),2) )));
+    float a2 = alpha2 + psi2;   
+    //printf("arm 2 = %f \n\r",a2);
+    return a2;
+}
+
+//arm 3 --> reference angle motor 3
+float hoek3(float px, float py)
+{
+    float c3x =  px - rp * cos(thetap +(5*M_PI/6)); 
+    float c3y = py - rp*sin(thetap+(5*M_PI/6)); 
+    float alpha3 = atan2((c3y-a3y),(c3x-a3x)); 
+    float psi3 = acos(( pow(la,2)-pow(lp,2)+pow((c3x-a3x),2)+pow((c3y-a3y),2))/(2*la*sqrt(pow ((c3x-a3x),2)+pow((c3y-a3y),2) ))); 
+    float a3 = alpha3 + psi3;   
+    //printf("arm 3 = %f \n\r",a3);
+    return a3;
+}
+
+// ~~~~~~~~~~~~~~PID CONTROLLER~~~~~~~~~~~~~~~~~~
+
+double PID_controller(double error)
+{
+    static double error_integral = 0;
+    static double error_prev = error; // initialization with this value only done once!
+    static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
+
+    // Proportional part:
+    double u_k = Kp * error;
+
+    // Integral part
+    error_integral = error_integral + error * Ts;
+    double u_i = Ki * error_integral;
+
+    // Derivative part
+    double error_derivative = (error - error_prev)/Ts;
+    double filtered_error_derivative = LowPassFilter.step(error_derivative);
+    double u_d = Kd * filtered_error_derivative;
+    error_prev = error;
+
+    // Sum all parts and return it
+    return u_k + u_i + u_d;
+}
+
+
+// DIRECTON AND SPEED CONTROL
+void moter_control(double u)
+{
+    directionpin1= u > 0.0f; //eithertrueor false
+    pwmpin1= fabs(u); //pwmduty cycle canonlybepositive, floatingpoint absolute value
+}
+
+
+// CONTROLLING THE MOTOR
+void Motor_mover()
+{
+    double motor_position = encoder1.getPulses(); //output in counts
+    double reference_rotation = hoek3(px, py);
+    double error = reference_rotation - motor_position*(2*PI)/8400;
+    double u = PID_controller(error);
+    moter_control(u);
+}
+
+//PRINT TICKER
+void PrintFlag()
+{
+    AlwaysTrue = true;
+}
+
+// HIDSCOPE
+void ScopeData()
+{
+    double y = encoder1.getPulses();
+    scope.set(0, y);
+    scope.send();
+}
+
+
+//----------------------MAIN---------------------------------
+int main()
+{
+    // ~~~~~~~~~~~~~~~~ INITIATING ~~~~~~~~~~~~
+        pwmpin1.period_us(60); // setup motor
+        
+        // setup printing service
+        pc.baud(9600);
+        pc.printf("test");
+        
+        // Tickers
+        //show_counts.attach(PrintFlag, 0.2);
+        ref_rot.attach(Motor_mover, 0.01);
+        Scope_Data.attach(ScopeData, 0.01);
+        
+
+// berekenen positie
+   float px = positionx(1,0);  // EMG: +x, -x
+   float py = positiony(1,0);  // EMG: +y, -y
+   //printf("positie (%f,%f)\n\r",px,py);
+
+// berekenen hoeken
+/*
+float a1 = hoek1(px, py);
+float a2 = hoek2(px, py);
+float a3 = hoek3(px, py);
+
+printf("hoek(%f,%f,%f)\n\r",a1,a2,a3);
+
+ return 0;
+*/
+}