Samuel Lin
123
Dependencies: StationKeeping MPU9250 PID Servo mbed
main.cpp
- Committer:
- d15321854
- Date:
- 2017-07-25
- Revision:
- 0:4fecb14ffbb8
File content as of revision 0:4fecb14ffbb8:
#include "mbed.h"
#include "PID.h"
#include "Servo.h"
#include "MPU9250.h"
//**************************** PID control para declaration ************************************//
#define RATE 0.005
#define Kp_1 1.1 //1.1
#define Ki_1 0.18 //0.2
#define Kd_1 0.001
//**************************** Angle Sonsor para declaration ************************************//
#define Kp 0.5f // proportional gain governs rate of convergence to accelerometer/magnetometer
#define Ki 0.0f//0.005f // integral gain governs rate of convergence of gyroscope biases
//**************************** pragram debug declaration ************************************//
int index_times = 0;
double RunTime =0,lastTime =0;
int do_measure_index=0;
int Arm_enable_index;
DigitalOut Arm_interrupt(D9);
double t_MeasureAngularVelocity=0.001;
double t_PIDcontrol_velocity =0.001;
double t_LQR_control = 0.005;
double t_MeasureRobotAttitudeAngle = 0.005;
double t_quadratureDecoder = 7;
double t_TrajectoryTracking_control = 0.1;
//**************************** Motor para declaration ************************************//
double radius_ball = 0.15;
double radius_robot = 0.105;
double r_wheel = 0.05;
//**************************** Motor declaration ************************************//
//DigitalOut ExtInt(PB_7);
DigitalOut Break_1(A5);//D15
DigitalOut Break_2(A4);//D14
DigitalOut Break_3(A3);//D8
DigitalOut AR_1(D15);//A5
DigitalOut AR_2(D14);//A4
DigitalOut AR_3(D8);//A3
DigitalOut CW_CCW_1(D7);
DigitalOut CW_CCW_2(D6);
DigitalOut CW_CCW_3(D5);
Servo PWM_Motor_1(D2);
Servo PWM_Motor_2(D3);
Servo PWM_Motor_3(D4);
int control_Brake,control_StopRun=0;
int cw_ccw_1=0,cw_ccw_2=0,cw_ccw_3=0;
//**************************** Measuremant of angular velocity declaration ************************************//
double Angle_1 =0,Angle_2 =0,Angle_3 =0;
double LastAngle_1 =0,LastAngle_2 =0,LastAngle_3 =0;
double _1_SectionAngle=0,_1_LastSectionAngle,_1_LastSectionAngle_1,_1_LastSectionAngle_2,_1_LastSectionAngle_3,_1_LastSectionAngle_4;
double _2_SectionAngle=0,_2_LastSectionAngle,_2_LastSectionAngle_1,_2_LastSectionAngle_2,_2_LastSectionAngle_3,_2_LastSectionAngle_4;
double _3_SectionAngle=0,_3_LastSectionAngle,_3_LastSectionAngle_1,_3_LastSectionAngle_2,_3_LastSectionAngle_3,_3_LastSectionAngle_4;
double Average_SectionAngle_1,Now_angularVelocity_1=0;
double Average_SectionAngle_2,Now_angularVelocity_2=0;
double Average_SectionAngle_3,Now_angularVelocity_3=0;
double SectionTime =0;
double NowTime_measureVelocity=0, LastTime_measureVelocity = 0;
//**************************** PID control declaration ************************************//
float Now_time_PID,Last_Time_PID;
//Command
double Command_AngularVel_1=1,Command_AngularVel_2=1,Command_AngularVel_3=1;
double command_AngularVel_1=1,command_AngularVel_2=1,command_AngularVel_3=1;
//Control
double Control_motor_1,Control_motor_2,Control_motor_3;
//Control PWM value
double Control_Motor_PWM_1,Control_Motor_PWM_2,Control_Motor_PWM_3;
PID Motor_1 (&Now_angularVelocity_1, &Control_motor_1, &Command_AngularVel_1, Kp_1, Ki_1, Kd_1, DIRECT,&Now_time_PID,&Last_Time_PID);
PID Motor_2 (&Now_angularVelocity_2, &Control_motor_2, &Command_AngularVel_2, Kp_1, Ki_1, Kd_1, DIRECT,&Now_time_PID,&Last_Time_PID);
PID Motor_3 (&Now_angularVelocity_3, &Control_motor_3, &Command_AngularVel_3, Kp_1, Ki_1, Kd_1, DIRECT,&Now_time_PID,&Last_Time_PID);
//****************************LQR_control declaration************************************//
double Ka = 25; //25.0
double Kav = 10.7423; //10.4423
double Kt = 3.1 ; //3.1
double Kt_y = 3.1; //3.98
double Kv = 1.0; //1.0
double Kv_y = 1.0; //1.1
double Kz = 0.05; //0.05
double Kii = 0.15; //0.2
double KI_xy = 0.0085; //0.02
double KI_xy_y = 0.0085; //0.025
double Roll_offset = 2.1; //2.88 4.0
double Pitch_offset = 1.85; //-0.05 2.1
double Diff_Roll,Diff_Pitch,Diff_Yaw;
double Integ_Roll,Integ_Pitch;
double Integ_x,Integ_y;
double Roll_last,Pitch_last;
double Vx=0,Vy=0,Wz=0;
double d_x=0,d_y=0;
double u_x=0,u_y=0;
double Point_x;
double x_now,y_now;
double x_pre_1,y_pre_1;
double ax_now,ay_now;
double ax_pre_1,ay_pre_1;
double ax_pre_2,ay_pre_2;
double Vx_pre_1,Vy_pre_1;
double Diff_x,Diff_y;
double Diff_x_pre,Diff_y_pre;
double dot_diff_x,dot_diff_y;
//****************************Trajectory Tracking declaration************************************//
double x_trajectory,y_trajectory;
//****************************Encoder declaration************************************//
DigitalIn phaseA_1( PC_3 );
DigitalIn phaseB_1( PC_2 );
DigitalIn phaseA_2( PH_1 );
DigitalIn phaseB_2( PB_7 );
DigitalIn phaseA_3( PA_15 );
DigitalIn phaseB_3( PA_14 );
int encoderClickCount_1=0,previousEncoderState_1=0;
int encoderClickCount_2=0,previousEncoderState_2=0;
int encoderClickCount_3=0,previousEncoderState_3=0;
//****************************Angle Sensor declaration************************************//
float Times[10] = {0,0,0,0,0,0,0,0,0,0};
float control_frequency = 800;//PPM_FREQU; // frequency for the main loop in Hz
int counter = 0;
int divider = 20;
float dt; // time for entire loop
float dt_sensors; // time only to read sensors
float q0 = 1, q1 = 0, q2 = 0, q3 = 0;
float q0_A = 1, q1_A = 0, q2_A = 0, q3_A = 0;
float exInt = 0, eyInt = 0, ezInt = 0;
float OX = 0, OY = 0, OZ = 0;
float Roll_pre_1,Roll_pre_2,Roll_pre_3,Roll_pre_4;
float Pitch_pre_1,Pitch_pre_2,Pitch_pre_3,Pitch_pre_4;
float Mag_x_pre,Mag_y_pre,Mag_z_pre;
float Mag_x_pre_L,Mag_y_pre_L,Mag_z_pre_L;
float Mag_x_pre_LL,Mag_y_pre_LL,Mag_z_pre_LL;
float Mag_x_pre_LLL,Mag_y_pre_LLL,Mag_z_pre_LLL;
float Mag_x_ave,Mag_y_ave,Mag_x_total,Mag_y_total;
float Cal_Mag_x_pre_LL,Cal_Mag_x_pre_L,Cal_Mag_x_pre,Cal_Mag_x;
float GYRO_z_pre,GYRO_z_pre_L,GYRO_z_pre_LL,GYRO_z_pre_LLL;
float GYRO_z_total,GYRO_z_offset,Global_GYRO_z;
float Global_mag_vector_angle,Yaw_pre;
float Global_mag_x_vector_angle,Mag_x_vector_angle;
float Global_mag_y_vector_angle,Mag_y_vector_angle;
int Count_mag_check=0;
float angle[3];
float Roll,Pitch,Yaw;
float calibrated_values[3],magCalibrationp[3];
float v_index[3];
float dest1,dest2;
int f=0;
int j=0;
int k=0;
int g=0;
int count1=0,count2=0,count3=0,count4=0,count5=0,count6=0,count7=0,count8=0,count9=0,count11=0,count12=0,count14=0;
int Rot_index;
float mRes = 10.*4912./32760.0;
int AngleFilter_counter = 0;
float Roll_total = 0,Pitch_total = 0;
SPI spi(SPI_MOSI, SPI_MISO, SPI_SCK);
mpu9250_spi imu(spi,SPI_CS); //define the mpu9250 object
//****************************Timer declaration************************************//
Timer NowTime;
//**************************** Filter_IMUupdate ************************************//
//**************************** Filter_IMUupdate ************************************//
//**************************** Filter_IMUupdate ************************************//
//**************************** Filter_IMUupdate ************************************//
//**************************** Filter_IMUupdate ************************************//
void Filter_IMUupdate(float halfT, float gx, float gy, float gz, float ax, float ay, float az) {
float norm;
float vx, vy, vz;
float ex, ey, ez;
// normalise the measurements
norm = sqrt(ax*ax + ay*ay + az*az);
if(norm == 0.0f) return;
ax /= norm;
ay /= norm;
az /= norm;
// estimated direction of gravity
vx = 2*(q1*q3 - q0*q2);
vy = 2*(q0*q1 + q2*q3);
vz = q0*q0 - q1*q1 - q2*q2 + q3*q3;
// error is sum of cross product between reference direction of field and direction measured by sensor
ex = (ay*vz - az*vy);
ey = (az*vx - ax*vz);
ez = (ax*vy - ay*vx);
// integral error scaled integral gain
exInt += ex*Ki;
eyInt += ey*Ki;
ezInt += ez*Ki;
// adjusted gyroscope measurements
gx += Kp*ex + exInt;
gy += Kp*ey + eyInt;
gz += Kp*ez + ezInt;
// integrate quaternion rate and normalise
float q0o = q0; // he did the MATLAB to C error by not thinking of the beginning vector elements already being changed for the calculation of the rest!
float q1o = q1;
float q2o = q2;
float q3o = q3;
q0 += (-q1o*gx - q2o*gy - q3o*gz)*halfT;
q1 += (q0o*gx + q2o*gz - q3o*gy)*halfT;
q2 += (q0o*gy - q1o*gz + q3o*gx)*halfT;
q3 += (q0o*gz + q1o*gy - q2o*gx)*halfT;
// normalise quaternion
norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);
q0 = q0 / norm;
q1 = q1 / norm;
q2 = q2 / norm;
q3 = q3 / norm;
}
//**************************** Filter_compute ************************************//
//**************************** Filter_compute ************************************//
//**************************** Filter_compute ************************************//
//**************************** Filter_compute ************************************//
//**************************** Filter_compute ************************************//
void Filter_compute(float dt, const float * Gyro_data, const float * Acc_data, const float * Comp_data)
{
// IMU/AHRS
float d_Gyro_angle[3];
void get_Acc_angle(const float * Acc_data);
// IMU/AHRS (from http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/)
float radGyro[3],Gyro_cal_data; // Gyro in radians per second
for(int i=0; i<3; i++)
radGyro[i] = Gyro_data[i] * 3.14159/ 180;
Filter_IMUupdate(dt/2, radGyro[0], radGyro[1], radGyro[2], Acc_data[0], Acc_data[1], Acc_data[2]);
//IMU_AHRSupdate(dt/2, radGyro[0], radGyro[1], radGyro[2], Acc_data[0], Acc_data[1], Acc_data[2], Comp_data[0], Comp_data[1], Comp_data[2]);
float rangle[3]; // calculate angles in radians from quternion output, formula from Wiki (http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles)
rangle[0] = atan2(2*q0*q1 + 2*q2*q3, 1 - 2*(q1*q1 + q2*q2));
rangle[1] = asin (2*q0*q2 - 2*q3*q1);
rangle[2] = atan2(2*q0_A*q3_A + 2*q1_A*q2_A, 1 - 2*(q2_A*q2_A + q3_A*q3_A)); // Z-axis
for(int i=0; i<2; i++){ // angle in degree
angle[i] = rangle[i] * 180 / 3.14159;
}
/*Roll=angle[0]*0.2 + Roll_pre_1*0.2 + Roll_pre_2*0.2 +Roll_pre_3*0.2 + Roll_pre_4*0.2;
Roll_pre_4 = Roll_pre_3;
Roll_pre_3 = Roll_pre_2;
Roll_pre_2 = Roll_pre_1;
Roll_pre_1 = Roll;
Pitch=angle[1]*0.2 + Pitch_pre_1*0.2 + Pitch_pre_2*0.2 + Pitch_pre_3*0.2 + Pitch_pre_4*0.2;
Pitch_pre_4 = Pitch_pre_3;
Pitch_pre_3 = Pitch_pre_2;
Pitch_pre_2 = Pitch_pre_1;
Pitch_pre_1 = Pitch;*/
Roll_total += angle[0];
Pitch_total += angle[1];
AngleFilter_counter++;
if( AngleFilter_counter > 1 ){ // The average of the attitude angle for 100 times.
Roll = Roll_total / AngleFilter_counter;
Pitch = Pitch_total / AngleFilter_counter;
AngleFilter_counter = 0;
Roll_total = 0;
Pitch_total = 0;
Roll -= Roll_offset;
Pitch -= Pitch_offset;
}
//**************************************************Gyro_data[2] filter start
float GYRO_z=0;
GYRO_z=Gyro_data[2]*0.15 + GYRO_z_pre*0.20 + GYRO_z_pre_L*0.20 + GYRO_z_pre_LL*0.25 + GYRO_z_pre_LLL*0.20;
if( count4==1 ){
GYRO_z_pre_L=GYRO_z_pre;
count4=0;
}
if( count5==2 ){
GYRO_z_pre_LL=GYRO_z_pre_L;
count5=0;
}
if( count6==3 ){
GYRO_z_pre_LLL=GYRO_z_pre_LL;
count6=0;
}
count4++;
count5++;
count6++;
GYRO_z_pre=Gyro_data[2];
Global_GYRO_z=GYRO_z;
/*printf(" GYRO_z:%10.3f ,count8:%10d \n",
GYRO_z,
count8
);*/
if((count8>5)&&(count8<=2005)){
GYRO_z_total+=GYRO_z;
}
if( count8==2005 ){
GYRO_z_offset=GYRO_z_total/2000;
/* printf(" GYRO_z_offset:%10.5f \n ",
GYRO_z_offset
);*/
GYRO_z_total=0;
count8=0;
}
count8++;
//**************************************************Gyro_data[2]'s average filter : answer=GYRO_Z is roughly = 0.74956
//************************************************** calculate Yaw
if( (count11==35) ){
if( abs(Yaw_pre-Yaw)<1 ){
Yaw_pre=Yaw_pre;
}else{
Yaw_pre=Yaw;
}
count11=0;
}
count11++;
if( count12>=20 ){
Yaw += (Gyro_data[2]-0.74936) *dt;
}
count12++;
//pc.printf(" Yaw:%10.5f ",
//Yaw
// );
}
//**************************** Mag_Complentary_Filter ************************************//
//**************************** Mag_Complentary_Filter ************************************//
//**************************** Mag_Complentary_Filter ************************************//
//**************************** Mag_Complentary_Filter ************************************//
//**************************** Mag_Complentary_Filter ************************************//
void Mag_Complentary_Filter(float dt, const float * Comp_data)
{
float Mag_x=0,Mag_y=0,Mag_z=0;
Mag_x=Comp_data[0]*0.15 + Mag_x_pre*0.20 + Mag_x_pre_L*0.20 + Mag_x_pre_LL*0.25 + Mag_x_pre_LLL*0.20;
Mag_y=Comp_data[1]*0.15 + Mag_y_pre*0.20 + Mag_y_pre_L*0.20 + Mag_y_pre_LL*0.25 + Mag_y_pre_LLL*0.20;
Mag_z=Comp_data[2]*0.15 + Mag_z_pre*0.20 + Mag_z_pre_L*0.20 + Mag_z_pre_LL*0.25 + Mag_z_pre_LLL*0.20;
if( count1==1 ){
Mag_x_pre_L=Mag_x_pre;
Mag_y_pre_L=Mag_y_pre;
Mag_z_pre_L=Mag_z_pre;
Cal_Mag_x_pre=Cal_Mag_x;
count1=0;
}
if( count2==2 ){
Mag_x_pre_LL=Mag_x_pre_L;
Mag_y_pre_LL=Mag_y_pre_L;
Mag_z_pre_LL=Mag_z_pre_L;
Cal_Mag_x_pre_L=Cal_Mag_x_pre;
count2=0;
}
if( count7==3 ){
Mag_x_pre_LLL=Mag_x_pre_LL;
Mag_y_pre_LLL=Mag_y_pre_LL;
Mag_z_pre_LLL=Mag_z_pre_LL;
Cal_Mag_x_pre_LL=Cal_Mag_x_pre_L;
count7=0;
}
count1++;
count2++;
count7++;
Mag_x_pre=Comp_data[0];
Mag_y_pre=Comp_data[1];
Mag_z_pre=Comp_data[2];
if( count14>4 ){
Cal_Mag_x=Mag_x;
}
count14++;
//*************************************Mag_ave calculate
if(count3<=20){
Mag_x_total+=Mag_x;
Mag_y_total+=Mag_y;
}
if( count3==20){
Mag_x_ave=Mag_x_total/21;
Mag_y_ave=Mag_y_total/21;
/*pc.printf(" Mag_x_ave:%10.5f ,Mag_y_ave:%10.5f ",
Mag_x_ave,
Mag_y_ave
);*/
Mag_x_total=0;
Mag_y_total=0;
count3=0;
}
count3++;
//********************************ROT_check start
float v_length,v_length_ave,MagVector_angle;
v_length=sqrt( Mag_x*Mag_x + Mag_y*Mag_y );
v_length_ave=sqrt( Mag_x_ave*Mag_x_ave + Mag_y_ave*Mag_y_ave );
MagVector_angle=acos(( Mag_x*Mag_x_ave + Mag_y*Mag_y_ave )/(v_length*v_length_ave))*57.3;
if( count9==3 ){
Global_mag_vector_angle=MagVector_angle;
count9=0;
}
count9++;
if( (abs(Global_mag_vector_angle-MagVector_angle)<5) && (abs(Global_GYRO_z)<5) ){
Count_mag_check++;
}else{ Count_mag_check=0; }
if( Count_mag_check==30 ){
Yaw=Yaw_pre;
Count_mag_check=0;
}
float ABS_CHECK=abs(Global_mag_vector_angle-MagVector_angle);
//********************************Theta_check end
/*pc.printf("ABS_CHECK:%10.3f,Cal_Mag_x_pre_LL:%10.3f,Mag_x:%10.3f,Count_mag_check:%10d ,Yaw_pre:%10.3f,Yaw_filter:%10.3f ",
ABS_CHECK,
Cal_Mag_x_pre_LL,
Mag_x,
Count_mag_check,
Yaw_pre,
Yaw
);*/
}
//****************************Motor_run************************************//
//****************************Motor_run************************************//
//****************************Motor_run************************************//
//****************************Motor_run************************************//
//****************************Motor_run************************************//
int Motor_run(double control_value_PWM_1,double control_value_PWM_2,double control_value_PWM_3,int control_CW_CCW_1,int control_CW_CCW_2,int control_CW_CCW_3,int control_brake ,int control_stopRun){
Break_1 = 0;
Break_2 = 0;
Break_3 = 0;
//Brake = 1;
/*CW_CCW_1 = 1;
CW_CCW_2 = 1;
CW_CCW_3 = 1;*/
CW_CCW_1 = control_CW_CCW_1;
CW_CCW_2 = control_CW_CCW_2;
CW_CCW_3 = control_CW_CCW_3;
double Control_value_PWM_1 = 1-control_value_PWM_1;
double Control_value_PWM_2 = 1-control_value_PWM_2;
double Control_value_PWM_3 = 1-control_value_PWM_3;
//printf("Control_value_PWM_2: %f\n",Control_value_PWM_2);
//printf("Control_value_PWM_3: %f\n",Control_value_PWM_3);
//PWM_Motor_1.write(Control_value_PWM_1);
/*control_CW_CCW_1 = 0;
control_CW_CCW_2 = 0;
control_CW_CCW_3 = 0;
AR_1 = 1;
AR_2 = 1;
AR_3 = 1;
CW_CCW_1 = 1;
CW_CCW_2 = 1;
CW_CCW_3 = 1;
PWM_Motor_1.write(0.75);
PWM_Motor_2.write(0.75);
PWM_Motor_3.write(0.75);*/
//wait_ms(0.5);
PWM_Motor_1.write(Control_value_PWM_1);
PWM_Motor_2.write(Control_value_PWM_2);
PWM_Motor_3.write(Control_value_PWM_3);
}
//****************************quadratureDecoder_1************************************//
//****************************quadratureDecoder_1************************************//
//****************************quadratureDecoder_1************************************//
//****************************quadratureDecoder_1************************************//
//****************************quadratureDecoder_1************************************//
void quadratureDecoder_1( void )
{
int currentEncoderState_1 = (phaseB_1.read() << 1) + phaseA_1.read();
//**************************** 1 ************************************//
if( currentEncoderState_1 == previousEncoderState_1 )
{
return;
}
switch( previousEncoderState_1 )
{
case 0:
if( currentEncoderState_1 == 2 )
{
encoderClickCount_1--;
}
else if( currentEncoderState_1 == 1 )
{
encoderClickCount_1++;
}
break;
case 1:
if( currentEncoderState_1 == 0 )
{
encoderClickCount_1--;
}
else if( currentEncoderState_1 == 3 )
{
encoderClickCount_1++;
}
break;
case 2:
if( currentEncoderState_1 == 3 )
{
encoderClickCount_1--;
}
else if( currentEncoderState_1 == 0 )
{
encoderClickCount_1++;
}
break;
case 3:
if( currentEncoderState_1 == 1 )
{
encoderClickCount_1--;
}
else if( currentEncoderState_1 == 2 )
{
encoderClickCount_1++;
}
break;
default:
break;
}
previousEncoderState_1 = currentEncoderState_1;
}
void quadratureDecoder_2( void )
{
int currentEncoderState_2 = (phaseB_2.read() << 1) + phaseA_2.read();
//**************************** 2 ************************************//
if( currentEncoderState_2 == previousEncoderState_2 )
{
return;
}
switch( previousEncoderState_2 )
{
case 0:
if( currentEncoderState_2 == 2 )
{
encoderClickCount_2--;
}
else if( currentEncoderState_2 == 1 )
{
encoderClickCount_2++;
}
break;
case 1:
if( currentEncoderState_2 == 0 )
{
encoderClickCount_2--;
}
else if( currentEncoderState_2 == 3 )
{
encoderClickCount_2++;
}
break;
case 2:
if( currentEncoderState_2 == 3 )
{
encoderClickCount_2--;
}
else if( currentEncoderState_2 == 0 )
{
encoderClickCount_2++;
}
break;
case 3:
if( currentEncoderState_2 == 1 )
{
encoderClickCount_2--;
}
else if( currentEncoderState_2 == 2 )
{
encoderClickCount_2++;
}
break;
default:
break;
}
previousEncoderState_2 = currentEncoderState_2;
}
void quadratureDecoder_3( void )
{
int currentEncoderState_3 = (phaseB_3.read() << 1) + phaseA_3.read();
//**************************** 3 ************************************//
if( currentEncoderState_3 == previousEncoderState_3 )
{
return;
}
switch( previousEncoderState_3 )
{
case 0:
if( currentEncoderState_3 == 2 )
{
encoderClickCount_3--;
}
else if( currentEncoderState_3 == 1 )
{
encoderClickCount_3++;
}
break;
case 1:
if( currentEncoderState_3 == 0 )
{
encoderClickCount_3--;
}
else if( currentEncoderState_3 == 3 )
{
encoderClickCount_3++;
}
break;
case 2:
if( currentEncoderState_3 == 3 )
{
encoderClickCount_3--;
}
else if( currentEncoderState_3 == 0 )
{
encoderClickCount_3++;
}
break;
case 3:
if( currentEncoderState_3 == 1 )
{
encoderClickCount_3--;
}
else if( currentEncoderState_3 == 2 )
{
encoderClickCount_3++;
}
break;
default:
break;
}
previousEncoderState_3 = currentEncoderState_3;
}
//****************************getAngular************************************//
//****************************getAngular************************************//
//****************************getAngular************************************//
//****************************getAngular************************************//
//****************************getAngular************************************//
void getAngular( void )
{
Angle_1 = (encoderClickCount_1*0.1499)/5;
Angle_2 = (encoderClickCount_2*0.1499)/5;
Angle_3 = (encoderClickCount_3*0.1499)/5;
_1_SectionAngle = Angle_1 - LastAngle_1;
_2_SectionAngle = Angle_2 - LastAngle_2;
_3_SectionAngle = Angle_3 - LastAngle_3;
Average_SectionAngle_1 = (_1_SectionAngle*0.3 + _1_LastSectionAngle*0.3 + _1_LastSectionAngle_1*0.1 + _1_LastSectionAngle_2*0.1 + _1_LastSectionAngle_3*0.1 + _1_LastSectionAngle_4*0.1)/1;
Average_SectionAngle_2 = (_2_SectionAngle*0.3 + _2_LastSectionAngle*0.3 + _2_LastSectionAngle_1*0.1 + _2_LastSectionAngle_2*0.1 + _2_LastSectionAngle_3*0.1 + _2_LastSectionAngle_4*0.1)/1;
Average_SectionAngle_3 = (_3_SectionAngle*0.3 + _3_LastSectionAngle*0.3 + _3_LastSectionAngle_1*0.1 + _3_LastSectionAngle_2*0.1 + _3_LastSectionAngle_3*0.1 + _3_LastSectionAngle_4*0.1)/1;
NowTime_measureVelocity = NowTime.read();
SectionTime = NowTime_measureVelocity - LastTime_measureVelocity;
Now_angularVelocity_1 = abs(Average_SectionAngle_1/(SectionTime));
Now_angularVelocity_2 = abs(Average_SectionAngle_2/(SectionTime));
Now_angularVelocity_3 = abs(Average_SectionAngle_3/(SectionTime));
LastTime_measureVelocity = NowTime_measureVelocity;
LastAngle_1 = Angle_1;
_1_LastSectionAngle_4 = _1_LastSectionAngle_3;
_1_LastSectionAngle_3 = _1_LastSectionAngle_2;
_1_LastSectionAngle_2 = _1_LastSectionAngle_1;
_1_LastSectionAngle_1 = _1_LastSectionAngle;
_1_LastSectionAngle = _1_SectionAngle;
LastAngle_2 = Angle_2;
_2_LastSectionAngle_4 = _2_LastSectionAngle_3;
_2_LastSectionAngle_3 = _2_LastSectionAngle_2;
_2_LastSectionAngle_2 = _2_LastSectionAngle_1;
_2_LastSectionAngle_1 = _2_LastSectionAngle;
_2_LastSectionAngle = _2_SectionAngle;
LastAngle_3 = Angle_3;
_3_LastSectionAngle_4 = _3_LastSectionAngle_3;
_3_LastSectionAngle_3 = _3_LastSectionAngle_2;
_3_LastSectionAngle_2 = _3_LastSectionAngle_1;
_3_LastSectionAngle_1 = _3_LastSectionAngle;
_3_LastSectionAngle = _3_SectionAngle;
}
//****************************PWM_commmand_transformation************************************//
//****************************PWM_commmand_transformation************************************//
//****************************PWM_commmand_transformation************************************//
//****************************PWM_commmand_transformation************************************//
//****************************PWM_commmand_transformation************************************//
double PWM_commmand_transformation( double Control_AngVel_Value ){
double Control_PWM_Value = 0;
//double control_CW_CCW = 0;
//printf("*********************Control_AngVel_Value:%.3f\n",Control_AngVel_Value);
if( Control_AngVel_Value > 0 ){
Control_AngVel_Value = Control_AngVel_Value;
//control_CW_CCW = 0;
}else if( Control_AngVel_Value < 0 ){
Control_AngVel_Value = -Control_AngVel_Value;
//control_CW_CCW = 1;
}
if( Control_AngVel_Value > 325){
if( Control_AngVel_Value < 466 ){
if( Control_AngVel_Value < 393 ){
Control_PWM_Value = Control_AngVel_Value/651.6 ; //0.5~0.6
}else {
Control_PWM_Value = Control_AngVel_Value/658.8; //0.6~0.7
}
}else{
if( Control_AngVel_Value < 523 ){
Control_PWM_Value = Control_AngVel_Value/658.39; //0.7~0.8
}else{
if( Control_AngVel_Value < 588 ){
Control_PWM_Value = Control_AngVel_Value/652.36; //0.8~0.9
}else{
Control_PWM_Value = Control_AngVel_Value/655.11; //0.9~1
}
}
}
}else if( Control_AngVel_Value < 325){
if( Control_AngVel_Value < 40 ){
Control_PWM_Value = Control_AngVel_Value/533.3; //0~0.075
}else{
if( Control_AngVel_Value < 59 ){
Control_PWM_Value = Control_AngVel_Value/560.65; //0.1~0.15
}else{
if( Control_AngVel_Value < 131 ){
Control_PWM_Value = Control_AngVel_Value/638.3; //0.15~0.2
}else{
if( Control_AngVel_Value < 197 ){
Control_PWM_Value = Control_AngVel_Value/651.6; //0.2~0.3
}else{
if( Control_AngVel_Value < 263 ){
Control_PWM_Value = Control_AngVel_Value/654.16; //0.3~0.4
}else{
Control_PWM_Value = Control_AngVel_Value/652.5; //0.4~0.5
}
}
}
}
}
}
return Control_PWM_Value;
}
//****************************PIDcontrol_compute_velocity************************************//
//****************************PIDcontrol_compute_velocity************************************//
//****************************PIDcontrol_compute_velocity************************************//
//****************************PIDcontrol_compute_velocity************************************//
//****************************PIDcontrol_compute_velocity************************************//
void PIDcontrol_compute_velocity(void){
if(command_AngularVel_1 >= 0){
cw_ccw_1 = 0;
Command_AngularVel_1 = command_AngularVel_1;
}else{
cw_ccw_1 = 1;
Command_AngularVel_1 = -command_AngularVel_1;
}
if(command_AngularVel_2 >= 0){
cw_ccw_2 = 0;
Command_AngularVel_2 = command_AngularVel_2;
}else{
cw_ccw_2 = 1;
Command_AngularVel_2 = -command_AngularVel_2;
}
if(command_AngularVel_3 >= 0){
cw_ccw_3 = 0;
Command_AngularVel_3 = command_AngularVel_3;
}else{
cw_ccw_3 = 1;
Command_AngularVel_3 = -command_AngularVel_3;
}
Now_time_PID=NowTime.read();
Motor_1.Compute(&Now_time_PID);
Motor_2.Compute(&Now_time_PID);
Motor_3.Compute(&Now_time_PID);
Control_Motor_PWM_1 = PWM_commmand_transformation(Control_motor_1);
Control_Motor_PWM_2 = PWM_commmand_transformation(Control_motor_2);
Control_Motor_PWM_3 = PWM_commmand_transformation(Control_motor_3);
//Control_Motor_PWM_1 = PWM_commmand_transformation(Command_AngularVel_1);
//Control_Motor_PWM_2 = PWM_commmand_transformation(Command_AngularVel_2);
//Control_Motor_PWM_3 = PWM_commmand_transformation(Command_AngularVel_3);
//printf("Command_AngularVel_2: %f\n",Command_AngularVel_2);
//printf("Control_motor_2: %f\n",Control_motor_2);
}
//****************************Compute_point************************************//
//****************************Compute_point************************************//
//****************************Compute_point************************************//
//****************************Compute_point************************************//
//****************************Compute_point************************************//
void LQR_control_compute(void){
//Now_point_x = (angle/57.295)*3;
//Now_point_x = Angle_1;
/*if( Roll > 0.5 ){
d_x = Roll*0.01745*radius_ball;
Vx = d_x/0.001;
}else{
Vx = 0;
}
if(Pitch > 0.5){
d_y = Pitch*0.01745*radius_ball;
Vy = d_y/0.001;
}else{
Vy = 0;
}
if( Yaw > 0 ){
Wz = 0;
}else{
Wz = 0;
}*/
Diff_Roll = (Roll - Roll_last);
Diff_Pitch = (Pitch - Pitch_last);
Integ_Roll += Roll;
//printf("Diff_Roll:%.3f\n",Diff_Roll);
Integ_Pitch += Pitch;
Roll_last = Roll;
Pitch_last = Pitch;
//Diff_Roll =0;
//Roll -= 2.45;
//Pitch -=2.5;
Diff_x = x_now - x_trajectory;
Diff_y = y_now - y_trajectory;
dot_diff_x = Diff_x - Diff_x_pre;
dot_diff_y = Diff_y - Diff_y_pre;
Integ_x += Diff_x;
Integ_y += Diff_y;
//x_pre_1 = x_now;
//y_pre_1 = y_now;
Diff_x_pre = Diff_x;
Diff_y_pre = Diff_y;
u_x = Ka*(Roll)+(Integ_Roll*Kii) + Kav*Diff_Roll + Kt*Diff_x + Kv*dot_diff_x + KI_xy*Integ_x;
//u_x = Ka*(Roll)+(Integ_Roll*Kii) + Kav*Diff_Roll - Kt*(10) - Kv*0;
u_y = Ka*(Pitch)+(Integ_Pitch*Kii) + Kav*Diff_Pitch + Kt_y*Diff_y + Kv_y*dot_diff_y + KI_xy_y*Integ_y;
//u_y = Ka*(Pitch)+(Integ_Pitch*Kii) + Kav*Diff_Pitch - Kt*0 - Kv*0;
if(u_x > 100 ){u_x = 100;}else if(u_x < -100){u_x = -100;}
if(u_y > 100 ){u_y = 100;}else if(u_y < -100){u_y = -100;}
Vx = u_x;
Vy = u_y;
Wz = -Yaw;
command_AngularVel_1 = (1/radius_ball)*(-Vy*(-0.5)+Kz*Wz);
command_AngularVel_2 = (1/radius_ball)*((0.866*Vx+0.5*Vy)*(-0.5)+Kz*Wz);
command_AngularVel_3 = (1/radius_ball)*((-0.866*Vx+0.5*Vy)*(-0.5)+Kz*Wz);
//printf("Command_AngularVel_2: %f\n",Command_AngularVel_2);
//printf("Command_AngularVel_3: %f\n",Command_AngularVel_3);
/*ax_now = Vx - Vx_pre_1;
ay_now = Vy - Vy_pre_1;
ax_pre_2 = ax_pre_1;
ax_pre_1 = ax_now;
ay_pre_2 = ay_pre_1;
ay_pre_1 = ay_now;
Vx_pre_1 = Vx;
Vy_pre_1 = Vy;*/
}
void MeasureRobotAttitudeAngle(void){
dt = t_MeasureRobotAttitudeAngle;
imu.read_all();
Mag_Complentary_Filter(dt,imu.Magnetometer);
Filter_compute(dt, imu.gyroscope_data, imu.accelerometer_data, imu.Magnetometer);
/*x_now = x_pre_1 + (1/(dt*dt))*(ax_now-2*ax_pre_1+ax_pre_2);
y_now = y_pre_1 + (1/(dt*dt))*(ay_now-2*ay_pre_1+ay_pre_2);
x_pre_1 = x_now;
y_pre_1 = y_now;*/
x_now = -((2*r_wheel)/3)*(-1.732*(-Angle_2+Angle_3));
y_now = ((2*r_wheel)/3)*((-2*Angle_1+Angle_2+Angle_3)/(-1));
do_measure_index++;
}
void Trajectory_generator(void){
double t_trajectory = NowTime.read();
if( RunTime>=0 &&( RunTime<=10) ){
//x_trajectory = t_trajectory * (0.5);
x_trajectory = 0;
y_trajectory = 0;
Arm_enable_index = 0;
}else if( RunTime>=10 ){
x_trajectory = 0;
y_trajectory = 0;
Arm_enable_index = 1;
}
}
void Check_Arm_interrupt( double x_Now, double y_Now, double X_trajectory, double Y_trajectory){
if( sqrt((x_Now-X_trajectory)*(x_Now-X_trajectory)+(y_Now-Y_trajectory)*(y_Now-Y_trajectory)) < 5 ){
if( Arm_enable_index == 1 ){
Arm_interrupt = 1;
//Roll_offset = 2.0;
//Pitch_offset = 2.5;
}
}
}
//****************************main function************************************//
int main() {
Serial pc( USBTX, USBRX );
pc.baud(460800);
//****************************Angle Sensor initialization************************************//
if(imu.init(1,BITS_DLPF_CFG_188HZ)){ //INIT the mpu9250
//pc.printf("\nCouldn't initialize MPU9250 via SPI!");
}
//pc.printf("\nWHOAMI=0x%2x\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
imu.whoami();
//wait(1);
//pc.printf("Gyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS)); //Set full scale range for gyros
imu.set_gyro_scale(BITS_FS_2000DPS);
//wait(1);
//pc.printf("Acc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G)); //Set full scale range for accs
imu.set_acc_scale(BITS_FS_16G);
//wait(1);
//pc.printf("AK8963 WHIAM=0x%2x\n",imu.AK8963_whoami());
imu.AK8963_whoami();
//wait(0.1);
imu.AK8963_calib_Magnetometer();
//****************************Motor driver declare************************************//
//ExtInt = 0; //number high, voltage high.
AR_1 = 1;
AR_2 = 1;
AR_3 = 1;
control_Brake = 1; //1:Run 0:Stop
//**************************** PWM ************************************//
PWM_Motor_1.calibrate(0.02, 0*0.02, 1*0.02);
PWM_Motor_2.calibrate(0.02, 0*0.02, 1*0.02);
PWM_Motor_3.calibrate(0.02, 0*0.02, 1*0.02);
//**************************** Encoder ************************************//
phaseA_1.mode( PullUp );
phaseB_1.mode( PullUp );
phaseA_2.mode( PullUp );
phaseB_2.mode( PullUp );
phaseA_3.mode( PullUp );
phaseB_3.mode( PullUp );
//**************************** Ticker ************************************//
Ticker Sample_Motor_encoder_1; // create a timer to sample the encoder.
Ticker Sample_Motor_encoder_2; // create a timer to sample the encoder.
Ticker Sample_Motor_encoder_3; // create a timer to sample the encoder.
Ticker Sample_robotAngleSonsor; // create a timer to sample the robot attitude.
Ticker MeasureAngularVelocity; // create a timer to measure the motor angular velocity.
Ticker PIDcontrol_velocity; // create a timer to do the motor angular velocity PID control.
Ticker LQR_control; // create a timer to do the position control.
Ticker TrajectoryTracking_control; // create a timer to do the TrajectoryTracking_control.
//**************************** Create the motor encoder sampler. ************************************//
Sample_Motor_encoder_1.attach_us( &quadratureDecoder_1, t_quadratureDecoder );
Sample_Motor_encoder_2.attach_us( &quadratureDecoder_2, t_quadratureDecoder );
Sample_Motor_encoder_3.attach_us( &quadratureDecoder_3, t_quadratureDecoder );
//**************************** Create the motor encoder sampler. ************************************//
Sample_robotAngleSonsor.attach( &MeasureRobotAttitudeAngle, t_MeasureRobotAttitudeAngle );
//**************************** Create the motor angular velocity measurement. ************************************//
MeasureAngularVelocity.attach( &getAngular, t_MeasureAngularVelocity );
//**************************** Create the motor angular velocity PID control. ************************************//
PIDcontrol_velocity.attach( &PIDcontrol_compute_velocity, t_PIDcontrol_velocity );
//**************************** Create the robot LQR control. ************************************//
LQR_control.attach( &LQR_control_compute, t_LQR_control );
//**************************** Create the motor posistion control. ************************************//
TrajectoryTracking_control.attach( &Trajectory_generator, t_TrajectoryTracking_control );
//**************************** Motor settlement ************************************//
Motor_1.SetMode(AUTOMATIC);
Motor_2.SetMode(AUTOMATIC);
Motor_3.SetMode(AUTOMATIC);
Command_AngularVel_1 = 0;
Command_AngularVel_2 = 0;
Command_AngularVel_3 = 0;
//**************************** Timers start ************************************//
NowTime.start();
while( 1 ){
RunTime = NowTime.read();
if( (RunTime-lastTime) > 0.1 ){
index_times++;
lastTime = RunTime;
}
if( index_times >= 0.1 ){
/* pc.printf(" Now_angularVelocity_1 : %.3f ",Now_angularVelocity_1);
pc.printf(" Now_angularVelocity_2 : %.3f ",Now_angularVelocity_2);
pc.printf(" Now_angularVelocity_3 : %.3f\n ",Now_angularVelocity_3);
pc.printf(" Vx : %.3f ",Vx);
pc.printf(" Vy : %.3f ",Vy);
//pc.printf(", Vy : %.3f ",Vy);
pc.printf(", Command_AngularVel_1 : %.3f ",Command_AngularVel_1);
pc.printf(", Command_AngularVel_2 : %.3f ",Command_AngularVel_2);
pc.printf(", Command_AngularVel_3 : %.3f \n",Command_AngularVel_3);*/
/*pc.printf("x_now: %.3f , y_now: %.3f , x_trajectory: %f , u_y: %f ",x_now,y_now,x_trajectory,u_y);
pc.printf(" Roll : %10.3f, Pitch : %10.3f, Yaw : %10.3f \n",
Roll,
Pitch,
Yaw
);*/
pc.printf(" %.3f , %.3f , %.3f , %.3f ",x_now,y_now,x_trajectory,y_trajectory);
pc.printf(", %10.3f, %10.3f, %10.3f , %10.3f \n",
Roll,
Pitch,
Yaw,
RunTime
);
//pc.printf(",Control_motor_1 : %.3f ",Control_motor_1);
//pc.printf(", %.3f ", Command_gularVel_1);
/*pc.printf(", %.3f ",Control_motor_1);*/
//pc.printf(", %.3f\n ",Now_angularVelocity_1);
index_times = 0;
}
Motor_run(Control_Motor_PWM_1,Control_Motor_PWM_2,Control_Motor_PWM_3,cw_ccw_1,cw_ccw_2,cw_ccw_3,control_Brake,control_StopRun);
Check_Arm_interrupt(x_now,y_now,x_trajectory,y_trajectory);
//wait(0.1);
}
}