Bas Koster / Mbed 2 deprecated Teleoperations

Bachelor Assignment for delayed teleoperating systems

Dependencies:   EthernetInterface FastPWM mbed-rtos mbed MODSERIAL

main.cpp@9:16044ec419af, 2018-05-30 (annotated)

Committer:
darth_bachious
Date:
Wed May 30 14:52:34 2018 +0000
Revision:
9:16044ec419af
Parent:
8:5c891d5ebe45
Child:
10:694de5b31fd6
Switched to MODSERIAL,; updated the numbers; Pos-force / force-pos functional; ; strange vibration observed in pos-pos;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
darth_bachious 0:2f89dec3e2ab 1 #include "mbed.h"
darth_bachious 0:2f89dec3e2ab 2 #include "EthernetInterface.h"
darth_bachious 0:2f89dec3e2ab 3 #include "rtos.h"
darth_bachious 2:c27b0654cffd 4 #include <vector>
darth_bachious 5:4d5b077b3fe6 5 #include "FastPWM.h"
darth_bachious 6:ccbbf4c77d35 6 #include <cmath>
darth_bachious 9:16044ec419af 7 #include "MODSERIAL.h"
darth_bachious 0:2f89dec3e2ab 8
darth_bachious 1:853939e38acd 9 //Master or Slave? 1=Master, 0=Slave
darth_bachious 7:984f363f5e87 10 static const int identity = 0;
darth_bachious 0:2f89dec3e2ab 11
darth_bachious 0:2f89dec3e2ab 12 //network config
darth_bachious 1:853939e38acd 13 static const char* master_ip = "192.168.1.101";
darth_bachious 1:853939e38acd 14 static const char* slave_ip = "192.168.1.102";
darth_bachious 1:853939e38acd 15 static const char* MASK = "255.255.255.0";
darth_bachious 1:853939e38acd 16 static const char* GATEWAY = "192.168.1.1";
darth_bachious 9:16044ec419af 17 static const char* laptop_IP = "192.168.1.103";
darth_bachious 0:2f89dec3e2ab 18 static const int port = 865;
darth_bachious 0:2f89dec3e2ab 19
darth_bachious 9:16044ec419af 20
darth_bachious 0:2f89dec3e2ab 21 //declaration of interfaces
darth_bachious 0:2f89dec3e2ab 22 DigitalOut led(LED_GREEN);
darth_bachious 0:2f89dec3e2ab 23 DigitalOut led2(LED_RED);
darth_bachious 0:2f89dec3e2ab 24 EthernetInterface eth; //network
darth_bachious 0:2f89dec3e2ab 25 Serial pc(USBTX, USBRX);//create PC interface
darth_bachious 0:2f89dec3e2ab 26 UDPSocket socket; //socket to receive data on
darth_bachious 0:2f89dec3e2ab 27 Endpoint client; //The virtual other side, not to send actual information to
darth_bachious 0:2f89dec3e2ab 28 Endpoint counterpart; //The actual other side, this is where the information should go to
darth_bachious 9:16044ec419af 29 Endpoint laptop;
darth_bachious 6:ccbbf4c77d35 30 InterruptIn Button1(SW2);
darth_bachious 6:ccbbf4c77d35 31 InterruptIn Button2(SW3);
darth_bachious 5:4d5b077b3fe6 32 Ticker controllerloop;
darth_bachious 0:2f89dec3e2ab 33 Ticker mainloop;
darth_bachious 6:ccbbf4c77d35 34 DigitalOut debug(D11);
darth_bachious 0:2f89dec3e2ab 35
darth_bachious 4:610b5051182a 36 //Motor interfaces and variables
darth_bachious 3:376fccdc7cd6 37 InterruptIn EncoderA(D2);
darth_bachious 6:ccbbf4c77d35 38 DigitalIn EncoderB(D3);
darth_bachious 3:376fccdc7cd6 39 DigitalOut M1_DIR(D4);
darth_bachious 5:4d5b077b3fe6 40 FastPWM M1_pwm(D5);
darth_bachious 4:610b5051182a 41 AnalogIn measuredForce(A5);
darth_bachious 4:610b5051182a 42
darth_bachious 4:610b5051182a 43 //Low pass filter filter coeffs, 2nd order, 50 Hz
darth_bachious 4:610b5051182a 44 double b[3] = {0.020083365564211, 0.020083365564211*2, 0.020083365564211};
darth_bachious 4:610b5051182a 45 double a[3] = {1.00000000000000, -1.561018075, 0.64135153805};
darth_bachious 4:610b5051182a 46
darth_bachious 4:610b5051182a 47 //variables related to networking
darth_bachious 7:984f363f5e87 48 char data[25]= {""};
darth_bachious 9:16044ec419af 49 char output[25] = {""};
darth_bachious 9:16044ec419af 50 char status[17] = {""};
darth_bachious 0:2f89dec3e2ab 51 int size;
darth_bachious 7:984f363f5e87 52 unsigned int counter = 1;
darth_bachious 7:984f363f5e87 53 unsigned int counter_received = 1;
darth_bachious 7:984f363f5e87 54 unsigned int check = 1;
darth_bachious 9:16044ec419af 55
darth_bachious 2:c27b0654cffd 56 float input = 0.0;
darth_bachious 4:610b5051182a 57
darth_bachious 4:610b5051182a 58 //measured variables
darth_bachious 2:c27b0654cffd 59 float angle = 0.0;
darth_bachious 5:4d5b077b3fe6 60 int encoderPos = 0;
darth_bachious 5:4d5b077b3fe6 61 int prev_encoderPos = 0;
darth_bachious 4:610b5051182a 62 float encoder_vel = 0.0;
darth_bachious 4:610b5051182a 63 float motor_vel = 0.0;
darth_bachious 4:610b5051182a 64 float force = 0.0;
darth_bachious 5:4d5b077b3fe6 65 float control_torque = 0.0;
darth_bachious 6:ccbbf4c77d35 66 float force_offset = 0.5;
darth_bachious 3:376fccdc7cd6 67
darth_bachious 4:610b5051182a 68 //Reference, used in admittance
darth_bachious 4:610b5051182a 69 float ref_angle = 0.0;
darth_bachious 4:610b5051182a 70 float ref_vel = 0.0;
darth_bachious 4:610b5051182a 71 float ref_acc = 0.0;
darth_bachious 9:16044ec419af 72 const float virtualInertia = 0.03;
darth_bachious 9:16044ec419af 73 const float virtualDamping = 0.1;
darth_bachious 9:16044ec419af 74 const float arm = 0.08;
darth_bachious 9:16044ec419af 75 const float max_velocity = 0.8;
darth_bachious 4:610b5051182a 76
darth_bachious 6:ccbbf4c77d35 77 //Controller required variables
darth_bachious 5:4d5b077b3fe6 78 bool controller_check = 0;
darth_bachious 7:984f363f5e87 79 const float looptime = 1.0/50.0; //50Hz, for the controller
darth_bachious 9:16044ec419af 80 const float ADDMlooptime = 1.0/2000; //2KHz, for the admittance controller
darth_bachious 6:ccbbf4c77d35 81 enum States {stateCalibration, stateHoming, stateOperation};
darth_bachious 4:610b5051182a 82 int currentState = stateCalibration;
darth_bachious 6:ccbbf4c77d35 83 int transparancy = 1; // 1=Pos-Pos, 2=Pos-Force, 3=Force-Pos
darth_bachious 6:ccbbf4c77d35 84 int passivity =0; // 0=off, 1=on
darth_bachious 6:ccbbf4c77d35 85 int received_transparancy = 1;
darth_bachious 6:ccbbf4c77d35 86 int received_passivity = 0;
darth_bachious 4:610b5051182a 87
darth_bachious 4:610b5051182a 88 //Controller parameters
darth_bachious 9:16044ec419af 89 const float Ktl = 4.5; //high level controller parameters
darth_bachious 3:376fccdc7cd6 90 const float Dtl=0.1;
darth_bachious 9:16044ec419af 91 const float Kp = 100; //low level controller parameters
darth_bachious 9:16044ec419af 92 const float Dp = 0.3;
darth_bachious 6:ccbbf4c77d35 93 float u = 0.0; //serves as input variable for the motor;
darth_bachious 4:610b5051182a 94
darth_bachious 6:ccbbf4c77d35 95 //passivity layer constant
darth_bachious 9:16044ec419af 96 const float beta = 0.2218;
darth_bachious 9:16044ec419af 97 const float Hd = 0.0309;
darth_bachious 9:16044ec419af 98 const float alpha = 5.6705;
darth_bachious 6:ccbbf4c77d35 99
darth_bachious 6:ccbbf4c77d35 100 //passivity layer variables
darth_bachious 6:ccbbf4c77d35 101 float tank = 0.0;
darth_bachious 6:ccbbf4c77d35 102 float prev_ref_angle = 0.0;
darth_bachious 6:ccbbf4c77d35 103 float package_out = 0.0;
darth_bachious 6:ccbbf4c77d35 104 float received_package = 0.0;
darth_bachious 6:ccbbf4c77d35 105 float prev_torque = 0.0;
darth_bachious 6:ccbbf4c77d35 106
darth_bachious 4:610b5051182a 107
darth_bachious 4:610b5051182a 108 //Constants
darth_bachious 0:2f89dec3e2ab 109 const float PI = 3.1415926535897932384626433832795028841971693993751058209749445923078164062862089986280348253421170679;
darth_bachious 2:c27b0654cffd 110 const float RadsPerCount = (2 * PI)/(1024*10);
darth_bachious 4:610b5051182a 111 const float FORCESENSORGAIN = 15.134;
darth_bachious 4:610b5051182a 112 const int MAX_ENCODER_LEFT = 1333;
darth_bachious 4:610b5051182a 113 const int MAX_ENCODER_RIGHT = -1453;
darth_bachious 5:4d5b077b3fe6 114 const float WORKSPACEBOUND = PI/6;
darth_bachious 2:c27b0654cffd 115
darth_bachious 6:ccbbf4c77d35 116 const int frequency_pwm = 20000;
darth_bachious 0:2f89dec3e2ab 117
darth_bachious 4:610b5051182a 118 //Time delay related variables
darth_bachious 9:16044ec419af 119 float timedelay = 0.10; //SECONDS
darth_bachious 6:ccbbf4c77d35 120 int delaysteps = timedelay/looptime;
darth_bachious 8:5c891d5ebe45 121 std::vector<float> delayArrayINPUT(max(delaysteps,1),0.0);
darth_bachious 8:5c891d5ebe45 122 std::vector<float> delayArrayMODE(max(delaysteps,1),0.0);
darth_bachious 8:5c891d5ebe45 123 std::vector<float> delayArrayPASS(max(delaysteps,1),0.0);
darth_bachious 8:5c891d5ebe45 124 std::vector<float> delayArrayENERGY(max(delaysteps,1),0.0);
darth_bachious 4:610b5051182a 125 Timer t;
darth_bachious 4:610b5051182a 126
darth_bachious 3:376fccdc7cd6 127 //FUNCTIONS START HERE
darth_bachious 3:376fccdc7cd6 128
darth_bachious 3:376fccdc7cd6 129 void encoderFunctionA()
darth_bachious 3:376fccdc7cd6 130 {
darth_bachious 3:376fccdc7cd6 131 if ((bool)EncoderA == (bool)EncoderB) { //Increment or decrement encoder position during interrupt
darth_bachious 3:376fccdc7cd6 132 encoderPos++;
darth_bachious 3:376fccdc7cd6 133 } else {
darth_bachious 3:376fccdc7cd6 134 encoderPos--;
darth_bachious 3:376fccdc7cd6 135 }
darth_bachious 3:376fccdc7cd6 136 }
darth_bachious 4:610b5051182a 137 double velocityFilter(float x)
darth_bachious 4:610b5051182a 138 {
darth_bachious 4:610b5051182a 139 double y = 0.0; //Output
darth_bachious 4:610b5051182a 140 static double y_1 = 0.0; //Output last loop
darth_bachious 4:610b5051182a 141 static double y_2 = 0.0; //Output 2 loops ago
darth_bachious 4:610b5051182a 142 static double x_1 = 0.0; //Input last loop
darth_bachious 4:610b5051182a 143 static double x_2 = 0.0; //Input two loops ago
darth_bachious 3:376fccdc7cd6 144
darth_bachious 4:610b5051182a 145 //Finite difference equation for 2nd order Butterworth low-pass
darth_bachious 4:610b5051182a 146 y = -a[1]*y_1 - a[2]*y_2 + x*b[0] + x_1*b[1] + x_2*b[2];
darth_bachious 4:610b5051182a 147 y_2 = y_1;
darth_bachious 4:610b5051182a 148 y_1 = y;
darth_bachious 4:610b5051182a 149 x_2 = x_1;
darth_bachious 4:610b5051182a 150 x_1 = x;
darth_bachious 4:610b5051182a 151 return (float)y;
darth_bachious 4:610b5051182a 152 }
darth_bachious 0:2f89dec3e2ab 153
darth_bachious 0:2f89dec3e2ab 154 void inet_eth(){
darth_bachious 1:853939e38acd 155 if(identity==1)
darth_bachious 1:853939e38acd 156 {
darth_bachious 1:853939e38acd 157 eth.init(master_ip, MASK,GATEWAY);
darth_bachious 1:853939e38acd 158 eth.connect();
darth_bachious 0:2f89dec3e2ab 159
darth_bachious 1:853939e38acd 160 socket.bind(port);
darth_bachious 1:853939e38acd 161 counterpart.set_address(slave_ip,port);
darth_bachious 9:16044ec419af 162 laptop.set_address(laptop_IP,port);
darth_bachious 1:853939e38acd 163 }
darth_bachious 1:853939e38acd 164 else if(identity==0)
darth_bachious 1:853939e38acd 165 {
darth_bachious 1:853939e38acd 166 eth.init(slave_ip, MASK,GATEWAY);
darth_bachious 1:853939e38acd 167 eth.connect();
darth_bachious 1:853939e38acd 168
darth_bachious 1:853939e38acd 169 socket.bind(port);
darth_bachious 9:16044ec419af 170 counterpart.set_address(master_ip,port);
darth_bachious 9:16044ec419af 171 laptop.set_address(laptop_IP,port+1);
darth_bachious 1:853939e38acd 172 }
darth_bachious 1:853939e38acd 173
darth_bachious 0:2f89dec3e2ab 174 }
darth_bachious 0:2f89dec3e2ab 175
darth_bachious 0:2f89dec3e2ab 176 void inet_USB(){
darth_bachious 2:c27b0654cffd 177 pc.baud(115200);
darth_bachious 0:2f89dec3e2ab 178 }
darth_bachious 0:2f89dec3e2ab 179
darth_bachious 0:2f89dec3e2ab 180
darth_bachious 0:2f89dec3e2ab 181 void end_eth(){
darth_bachious 0:2f89dec3e2ab 182 socket.close();
darth_bachious 0:2f89dec3e2ab 183 eth.disconnect();
darth_bachious 0:2f89dec3e2ab 184 }
darth_bachious 0:2f89dec3e2ab 185
darth_bachious 5:4d5b077b3fe6 186 void controllertrigger()
darth_bachious 0:2f89dec3e2ab 187 {
darth_bachious 5:4d5b077b3fe6 188 controller_check = 1;
darth_bachious 0:2f89dec3e2ab 189 }
darth_bachious 2:c27b0654cffd 190
darth_bachious 4:610b5051182a 191
darth_bachious 2:c27b0654cffd 192 float update_delay(std::vector<float>&array, float new_value)
darth_bachious 2:c27b0654cffd 193 {
darth_bachious 8:5c891d5ebe45 194 float return_value = array[0];
darth_bachious 3:376fccdc7cd6 195 for (int i=0; i<array.size()-1; ++i)
darth_bachious 3:376fccdc7cd6 196 {
darth_bachious 3:376fccdc7cd6 197 array[i]=array[i+1];
darth_bachious 3:376fccdc7cd6 198 }
darth_bachious 3:376fccdc7cd6 199 array.back() = new_value;
darth_bachious 3:376fccdc7cd6 200 return return_value;
darth_bachious 3:376fccdc7cd6 201 }
darth_bachious 3:376fccdc7cd6 202
darth_bachious 3:376fccdc7cd6 203 void limit(float &x, float lower, float upper)
darth_bachious 3:376fccdc7cd6 204 {
darth_bachious 3:376fccdc7cd6 205 if (x > upper)
darth_bachious 3:376fccdc7cd6 206 x = upper;
darth_bachious 3:376fccdc7cd6 207 if (x < lower)
darth_bachious 3:376fccdc7cd6 208 x = lower;
darth_bachious 3:376fccdc7cd6 209 }
darth_bachious 3:376fccdc7cd6 210
darth_bachious 4:610b5051182a 211 void motor_update(float PWM) //angle required to safeguard it from crashing into its stops
darth_bachious 4:610b5051182a 212 {
darth_bachious 4:610b5051182a 213 limit(PWM,-1.0f,1.0f);
darth_bachious 4:610b5051182a 214 if(PWM >= 0.0f)
darth_bachious 4:610b5051182a 215 {
darth_bachious 4:610b5051182a 216 M1_DIR = false;
darth_bachious 4:610b5051182a 217 M1_pwm = PWM;
darth_bachious 4:610b5051182a 218 } else {
darth_bachious 4:610b5051182a 219 M1_DIR = true;
darth_bachious 4:610b5051182a 220 M1_pwm = -PWM;
darth_bachious 4:610b5051182a 221 }
darth_bachious 4:610b5051182a 222 }
darth_bachious 4:610b5051182a 223
darth_bachious 4:610b5051182a 224 void sensorUpdate()
darth_bachious 4:610b5051182a 225 {
darth_bachious 4:610b5051182a 226 angle = encoderPos * RadsPerCount;
darth_bachious 5:4d5b077b3fe6 227 encoder_vel = (encoderPos - prev_encoderPos)/ADDMlooptime; //careful, this function should be called every 1/5000 seconds
darth_bachious 4:610b5051182a 228 motor_vel = velocityFilter(encoder_vel * RadsPerCount);
darth_bachious 4:610b5051182a 229 prev_encoderPos = encoderPos;
darth_bachious 6:ccbbf4c77d35 230 force = -FORCESENSORGAIN*2.0f*(measuredForce - force_offset); //Measured force
darth_bachious 4:610b5051182a 231 }
darth_bachious 4:610b5051182a 232
darth_bachious 4:610b5051182a 233 void doCalibration()
darth_bachious 4:610b5051182a 234 {
darth_bachious 8:5c891d5ebe45 235 u = -0.15;
darth_bachious 4:610b5051182a 236 motor_update(u);
darth_bachious 6:ccbbf4c77d35 237 led2=0;
darth_bachious 6:ccbbf4c77d35 238 led=1;
darth_bachious 4:610b5051182a 239 //switching states
darth_bachious 6:ccbbf4c77d35 240 if((abs(motor_vel)<0.001f)&& t.read()>3.0f)
darth_bachious 3:376fccdc7cd6 241 {
darth_bachious 8:5c891d5ebe45 242 encoderPos = MAX_ENCODER_RIGHT;
darth_bachious 4:610b5051182a 243 ref_angle = encoderPos * RadsPerCount;
darth_bachious 4:610b5051182a 244 currentState = stateHoming;
darth_bachious 4:610b5051182a 245 t.stop();
darth_bachious 4:610b5051182a 246 }
darth_bachious 4:610b5051182a 247 }
darth_bachious 4:610b5051182a 248
darth_bachious 4:610b5051182a 249 void doHoming()
darth_bachious 4:610b5051182a 250 {
darth_bachious 4:610b5051182a 251 led2=0;
darth_bachious 4:610b5051182a 252 led=0;
darth_bachious 8:5c891d5ebe45 253 ref_vel = 0.2;
darth_bachious 8:5c891d5ebe45 254 if(ref_angle < 0.0f)
darth_bachious 4:610b5051182a 255 {
darth_bachious 5:4d5b077b3fe6 256 ref_angle += ref_vel*ADDMlooptime; //careful, this function should be called every 1/50 seconds
darth_bachious 4:610b5051182a 257 }
darth_bachious 4:610b5051182a 258 else
darth_bachious 4:610b5051182a 259 {
darth_bachious 4:610b5051182a 260 ref_angle = 0.0;
darth_bachious 4:610b5051182a 261 ref_vel = 0.0;
darth_bachious 4:610b5051182a 262 }
darth_bachious 4:610b5051182a 263 u = Kp*(ref_angle - angle) + Dp*(ref_vel - motor_vel);
darth_bachious 4:610b5051182a 264 motor_update(u);
darth_bachious 4:610b5051182a 265
darth_bachious 4:610b5051182a 266 //switching states
darth_bachious 6:ccbbf4c77d35 267 if ((abs(encoderPos)<20)&&abs((ref_vel - motor_vel)<0.02f))
darth_bachious 4:610b5051182a 268 {
darth_bachious 4:610b5051182a 269 currentState = stateOperation;
darth_bachious 6:ccbbf4c77d35 270 force_offset = measuredForce;
darth_bachious 4:610b5051182a 271 motor_update(0.0);
darth_bachious 5:4d5b077b3fe6 272 led2=1;
darth_bachious 6:ccbbf4c77d35 273 led=1;
darth_bachious 4:610b5051182a 274 }
darth_bachious 3:376fccdc7cd6 275
darth_bachious 4:610b5051182a 276 }
darth_bachious 4:610b5051182a 277
darth_bachious 4:610b5051182a 278 void doOperation()
darth_bachious 4:610b5051182a 279 {
darth_bachious 9:16044ec419af 280 ref_acc = (force*arm + control_torque- virtualDamping*ref_vel)/virtualInertia;
darth_bachious 5:4d5b077b3fe6 281 ref_vel += ref_acc*ADDMlooptime;
darth_bachious 9:16044ec419af 282 if(ref_vel>max_velocity)
darth_bachious 9:16044ec419af 283 ref_vel=max_velocity;
darth_bachious 9:16044ec419af 284 else if(ref_vel<-max_velocity)
darth_bachious 9:16044ec419af 285 ref_vel=-max_velocity;
darth_bachious 9:16044ec419af 286
darth_bachious 9:16044ec419af 287
darth_bachious 5:4d5b077b3fe6 288 ref_angle += ref_vel*ADDMlooptime;
darth_bachious 5:4d5b077b3fe6 289 if(ref_angle > WORKSPACEBOUND)
darth_bachious 5:4d5b077b3fe6 290 {
darth_bachious 5:4d5b077b3fe6 291 ref_vel = 0.0;
darth_bachious 5:4d5b077b3fe6 292 ref_acc = 0.0;
darth_bachious 5:4d5b077b3fe6 293 ref_angle = WORKSPACEBOUND;
darth_bachious 5:4d5b077b3fe6 294 } else if(ref_angle < -WORKSPACEBOUND)
darth_bachious 5:4d5b077b3fe6 295 {
darth_bachious 5:4d5b077b3fe6 296 ref_vel = 0.0;
darth_bachious 5:4d5b077b3fe6 297 ref_acc = 0.0;
darth_bachious 5:4d5b077b3fe6 298 ref_angle = -WORKSPACEBOUND;
darth_bachious 5:4d5b077b3fe6 299 }
darth_bachious 5:4d5b077b3fe6 300 u = Kp*(ref_angle - angle) + Dp*(ref_vel - motor_vel);
darth_bachious 4:610b5051182a 301 motor_update(u);
darth_bachious 6:ccbbf4c77d35 302
darth_bachious 6:ccbbf4c77d35 303 //no switching states for now
darth_bachious 5:4d5b077b3fe6 304 }
darth_bachious 5:4d5b077b3fe6 305
darth_bachious 5:4d5b077b3fe6 306 void loopfunction()
darth_bachious 5:4d5b077b3fe6 307 {
darth_bachious 5:4d5b077b3fe6 308 sensorUpdate();
darth_bachious 5:4d5b077b3fe6 309 switch(currentState)
darth_bachious 5:4d5b077b3fe6 310 {
darth_bachious 5:4d5b077b3fe6 311 case stateCalibration:
darth_bachious 5:4d5b077b3fe6 312 doCalibration();
darth_bachious 5:4d5b077b3fe6 313 break;
darth_bachious 5:4d5b077b3fe6 314 case stateHoming:
darth_bachious 5:4d5b077b3fe6 315 doHoming();
darth_bachious 5:4d5b077b3fe6 316 break;
darth_bachious 5:4d5b077b3fe6 317 case stateOperation:
darth_bachious 5:4d5b077b3fe6 318 doOperation();
darth_bachious 5:4d5b077b3fe6 319 break;
darth_bachious 5:4d5b077b3fe6 320 }
darth_bachious 4:610b5051182a 321 }
darth_bachious 0:2f89dec3e2ab 322
darth_bachious 6:ccbbf4c77d35 323 void updateTransparency()
darth_bachious 6:ccbbf4c77d35 324 {
darth_bachious 6:ccbbf4c77d35 325 transparancy++;
darth_bachious 6:ccbbf4c77d35 326 if(transparancy>3)
darth_bachious 6:ccbbf4c77d35 327 transparancy = 1;
darth_bachious 6:ccbbf4c77d35 328 }
darth_bachious 6:ccbbf4c77d35 329
darth_bachious 6:ccbbf4c77d35 330 void updatePassivity()
darth_bachious 6:ccbbf4c77d35 331 {
darth_bachious 6:ccbbf4c77d35 332 passivity++;
darth_bachious 6:ccbbf4c77d35 333 if(passivity>1)
darth_bachious 6:ccbbf4c77d35 334 passivity = 0;
darth_bachious 6:ccbbf4c77d35 335 }
darth_bachious 6:ccbbf4c77d35 336
darth_bachious 6:ccbbf4c77d35 337 float passivityLayer(float Ftl, float E_in)
darth_bachious 6:ccbbf4c77d35 338 {
darth_bachious 6:ccbbf4c77d35 339 tank = tank + E_in - prev_torque*(ref_angle-prev_ref_angle);
darth_bachious 6:ccbbf4c77d35 340 if(tank>0.0f)
darth_bachious 6:ccbbf4c77d35 341 {
darth_bachious 6:ccbbf4c77d35 342 package_out = tank*beta;
darth_bachious 6:ccbbf4c77d35 343 tank = tank - package_out;
darth_bachious 6:ccbbf4c77d35 344 } else
darth_bachious 6:ccbbf4c77d35 345 package_out = 0.0;
darth_bachious 6:ccbbf4c77d35 346
darth_bachious 6:ccbbf4c77d35 347 float FMAX1 = 0.0;
darth_bachious 6:ccbbf4c77d35 348 if(tank>0.0f)
darth_bachious 6:ccbbf4c77d35 349 {
darth_bachious 8:5c891d5ebe45 350 FMAX1 = abs(Ftl);
darth_bachious 6:ccbbf4c77d35 351 }
darth_bachious 6:ccbbf4c77d35 352 float FMAX2 = abs(tank/(ref_vel*looptime));
darth_bachious 9:16044ec419af 353 float FMAX3 = 20.0;
darth_bachious 9:16044ec419af 354 if(identity==0)
darth_bachious 9:16044ec419af 355 {
darth_bachious 9:16044ec419af 356 FMAX3 = 0.7;
darth_bachious 9:16044ec419af 357 }
darth_bachious 6:ccbbf4c77d35 358 prev_ref_angle = ref_angle;
darth_bachious 6:ccbbf4c77d35 359
darth_bachious 6:ccbbf4c77d35 360 float Ftlc = 0.0;
darth_bachious 6:ccbbf4c77d35 361
darth_bachious 6:ccbbf4c77d35 362 if((tank<Hd)&&(identity==1))
darth_bachious 6:ccbbf4c77d35 363 {
darth_bachious 6:ccbbf4c77d35 364 Ftlc = - alpha*(Hd-tank)*ref_vel;
darth_bachious 6:ccbbf4c77d35 365 }
darth_bachious 9:16044ec419af 366 //pc.printf("%f,%f,%f,%f\r\n",tank,Ftl,min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3)),Ftlc);
darth_bachious 6:ccbbf4c77d35 367 //pc.printf("Ftlc: %f\r\n",Ftlc);
darth_bachious 6:ccbbf4c77d35 368 //pc.printf("tank: %f\r\n",tank);
darth_bachious 6:ccbbf4c77d35 369 if(Ftl>=0.0f)
darth_bachious 6:ccbbf4c77d35 370 {
darth_bachious 6:ccbbf4c77d35 371 prev_torque = min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3))+Ftlc;
darth_bachious 6:ccbbf4c77d35 372 return min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3))+Ftlc; //min() only takes to arguments, so nested min()'s
darth_bachious 8:5c891d5ebe45 373 //return 0.0;
darth_bachious 8:5c891d5ebe45 374 }
darth_bachious 6:ccbbf4c77d35 375 else
darth_bachious 6:ccbbf4c77d35 376 {
darth_bachious 9:16044ec419af 377 prev_torque = -min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3))+Ftlc;
darth_bachious 8:5c891d5ebe45 378 //return 0.0;
darth_bachious 9:16044ec419af 379 return -min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3))+Ftlc;
darth_bachious 6:ccbbf4c77d35 380 }
darth_bachious 6:ccbbf4c77d35 381
darth_bachious 6:ccbbf4c77d35 382 }
darth_bachious 6:ccbbf4c77d35 383
darth_bachious 7:984f363f5e87 384 void generateOutput(float variable)
darth_bachious 7:984f363f5e87 385 {
darth_bachious 7:984f363f5e87 386 memcpy(&output[0],&counter,4);
darth_bachious 7:984f363f5e87 387 memcpy(&output[4],&transparancy,4);
darth_bachious 7:984f363f5e87 388 memcpy(&output[8],&passivity,4);
darth_bachious 7:984f363f5e87 389 memcpy(&output[12],&variable,4);
darth_bachious 7:984f363f5e87 390 memcpy(&output[16],&package_out,4);
darth_bachious 7:984f363f5e87 391 //pc.printf("output:%i,%i,%i,%f,%f\r\n",counter,transparancy,passivity,variable,package_out);
darth_bachious 7:984f363f5e87 392
darth_bachious 7:984f363f5e87 393 }
darth_bachious 9:16044ec419af 394 void generateStatus()
darth_bachious 9:16044ec419af 395 {
darth_bachious 9:16044ec419af 396 memcpy(&status[0],&counter,4);
darth_bachious 9:16044ec419af 397 memcpy(&status[4],&ref_angle,4);
darth_bachious 9:16044ec419af 398 memcpy(&status[8],&force,4);
darth_bachious 9:16044ec419af 399 memcpy(&status[12],&tank,4);
darth_bachious 9:16044ec419af 400 }
darth_bachious 7:984f363f5e87 401
darth_bachious 0:2f89dec3e2ab 402 void receiveUDP(void const *argument){
darth_bachious 4:610b5051182a 403 while(true)
darth_bachious 4:610b5051182a 404 {
darth_bachious 0:2f89dec3e2ab 405 size = socket.receiveFrom(client, data, sizeof(data));
darth_bachious 4:610b5051182a 406 if(size > 0)
darth_bachious 4:610b5051182a 407 {
darth_bachious 0:2f89dec3e2ab 408 data[size] = '\0';
darth_bachious 7:984f363f5e87 409 if(size>18) //first check, an minimum amount of data must have arrived
darth_bachious 4:610b5051182a 410 {
darth_bachious 7:984f363f5e87 411 memcpy(&check,&data[0],4);
darth_bachious 7:984f363f5e87 412 if(counter_received < check) //second check, data must be newer
darth_bachious 4:610b5051182a 413 {
darth_bachious 7:984f363f5e87 414 counter_received=check;
darth_bachious 7:984f363f5e87 415 memcpy(&received_transparancy,&data[4],4);
darth_bachious 7:984f363f5e87 416 memcpy(&received_passivity,&data[8],4);
darth_bachious 7:984f363f5e87 417 memcpy(&input,&data[12],4);
darth_bachious 7:984f363f5e87 418 memcpy(&received_package,&data[16],4);
darth_bachious 7:984f363f5e87 419 //pc.printf("data:%i,%i,%i,%f,%f\r\n",counter_received,received_transparancy,received_passivity,input,received_package);
darth_bachious 4:610b5051182a 420 }
darth_bachious 0:2f89dec3e2ab 421 }
darth_bachious 0:2f89dec3e2ab 422 }
darth_bachious 0:2f89dec3e2ab 423 }
darth_bachious 4:610b5051182a 424 }
darth_bachious 0:2f89dec3e2ab 425
darth_bachious 0:2f89dec3e2ab 426 osThreadDef(receiveUDP, osPriorityNormal, DEFAULT_STACK_SIZE);
darth_bachious 0:2f89dec3e2ab 427
darth_bachious 0:2f89dec3e2ab 428 int main(){
darth_bachious 1:853939e38acd 429 inet_eth();
darth_bachious 0:2f89dec3e2ab 430 inet_USB();
darth_bachious 0:2f89dec3e2ab 431
darth_bachious 0:2f89dec3e2ab 432 osThreadCreate(osThread(receiveUDP), NULL);
darth_bachious 0:2f89dec3e2ab 433 led2=1;
darth_bachious 0:2f89dec3e2ab 434 led=1;
darth_bachious 5:4d5b077b3fe6 435
darth_bachious 6:ccbbf4c77d35 436 //Set all interrupt requests to 2nd place priority
darth_bachious 5:4d5b077b3fe6 437 for(int n = 0; n < 86; n++) {
darth_bachious 5:4d5b077b3fe6 438 NVIC_SetPriority((IRQn)n,1);
darth_bachious 5:4d5b077b3fe6 439 }
darth_bachious 5:4d5b077b3fe6 440 //Set out motor encoder interrupt to 1st place priority
darth_bachious 5:4d5b077b3fe6 441 NVIC_SetPriority(PORTB_IRQn,0);
darth_bachious 6:ccbbf4c77d35 442
darth_bachious 5:4d5b077b3fe6 443 controllerloop.attach(&controllertrigger,looptime);
darth_bachious 5:4d5b077b3fe6 444 mainloop.attach(&loopfunction,ADDMlooptime);
darth_bachious 5:4d5b077b3fe6 445
darth_bachious 4:610b5051182a 446 M1_pwm.period(1.0/frequency_pwm);
darth_bachious 4:610b5051182a 447 EncoderA.rise(&encoderFunctionA);
darth_bachious 7:984f363f5e87 448
darth_bachious 7:984f363f5e87 449 Button1.rise(&updateTransparency);
darth_bachious 7:984f363f5e87 450 Button2.rise(&updatePassivity);
darth_bachious 6:ccbbf4c77d35 451
darth_bachious 4:610b5051182a 452 t.start();
darth_bachious 3:376fccdc7cd6 453
darth_bachious 0:2f89dec3e2ab 454 while(true){
darth_bachious 5:4d5b077b3fe6 455 if(controller_check==1){
darth_bachious 6:ccbbf4c77d35 456 debug = 1;
darth_bachious 6:ccbbf4c77d35 457 float received_input = update_delay(delayArrayINPUT,input);
darth_bachious 6:ccbbf4c77d35 458 float current_transparancy = update_delay(delayArrayMODE,received_transparancy);
darth_bachious 6:ccbbf4c77d35 459 float current_passivity = update_delay(delayArrayPASS,received_passivity);
darth_bachious 6:ccbbf4c77d35 460 float package_in = update_delay(delayArrayENERGY,received_package);
darth_bachious 6:ccbbf4c77d35 461 received_package = 0; //IMPORTANT, WILL EXPLODE OTHERWISE
darth_bachious 3:376fccdc7cd6 462
darth_bachious 6:ccbbf4c77d35 463 if(identity==0)
darth_bachious 6:ccbbf4c77d35 464 {
darth_bachious 6:ccbbf4c77d35 465 transparancy = current_transparancy;
darth_bachious 6:ccbbf4c77d35 466 passivity = current_passivity;
darth_bachious 6:ccbbf4c77d35 467 if(transparancy==1)
darth_bachious 6:ccbbf4c77d35 468 {
darth_bachious 6:ccbbf4c77d35 469 float torque_tlc = Ktl*(received_input-ref_angle) - Dtl*ref_vel;
darth_bachious 6:ccbbf4c77d35 470 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 471 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 472 else
darth_bachious 6:ccbbf4c77d35 473 control_torque = torque_tlc;
darth_bachious 7:984f363f5e87 474 generateOutput(ref_angle);
darth_bachious 6:ccbbf4c77d35 475 }
darth_bachious 6:ccbbf4c77d35 476 else if(transparancy==2)
darth_bachious 6:ccbbf4c77d35 477 {
darth_bachious 6:ccbbf4c77d35 478 float torque_tlc = Ktl*(received_input-ref_angle) - Dtl*ref_vel;
darth_bachious 6:ccbbf4c77d35 479 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 480 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 481 else
darth_bachious 7:984f363f5e87 482 control_torque = torque_tlc;
darth_bachious 7:984f363f5e87 483 generateOutput(force);
darth_bachious 6:ccbbf4c77d35 484 }
darth_bachious 6:ccbbf4c77d35 485 else if(transparancy==3)
darth_bachious 6:ccbbf4c77d35 486 {
darth_bachious 6:ccbbf4c77d35 487 float torque_tlc = received_input*arm;
darth_bachious 6:ccbbf4c77d35 488 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 489 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 490 else
darth_bachious 7:984f363f5e87 491 control_torque = torque_tlc;
darth_bachious 7:984f363f5e87 492 generateOutput(ref_angle);
darth_bachious 6:ccbbf4c77d35 493 }
darth_bachious 6:ccbbf4c77d35 494 }
darth_bachious 6:ccbbf4c77d35 495 else if(identity == 1)
darth_bachious 6:ccbbf4c77d35 496 {
darth_bachious 6:ccbbf4c77d35 497 if(transparancy==1)
darth_bachious 6:ccbbf4c77d35 498 {
darth_bachious 6:ccbbf4c77d35 499 float torque_tlc = Ktl*(received_input-ref_angle) - Dtl*ref_vel;
darth_bachious 6:ccbbf4c77d35 500 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 501 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 502 else
darth_bachious 7:984f363f5e87 503 control_torque = torque_tlc;
darth_bachious 7:984f363f5e87 504 generateOutput(ref_angle);
darth_bachious 6:ccbbf4c77d35 505 }
darth_bachious 6:ccbbf4c77d35 506 else if(transparancy==2)
darth_bachious 6:ccbbf4c77d35 507 {
darth_bachious 6:ccbbf4c77d35 508 float torque_tlc = received_input*arm;
darth_bachious 6:ccbbf4c77d35 509 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 510 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 511 else
darth_bachious 7:984f363f5e87 512 control_torque = torque_tlc;
darth_bachious 7:984f363f5e87 513 generateOutput(ref_angle);
darth_bachious 6:ccbbf4c77d35 514 }
darth_bachious 6:ccbbf4c77d35 515 else if(transparancy==3)
darth_bachious 6:ccbbf4c77d35 516 {
darth_bachious 6:ccbbf4c77d35 517 float torque_tlc = Ktl*(received_input-ref_angle) - Dtl*ref_vel;
darth_bachious 6:ccbbf4c77d35 518 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 519 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 520 else
darth_bachious 7:984f363f5e87 521 control_torque = torque_tlc;
darth_bachious 7:984f363f5e87 522 generateOutput(force);
darth_bachious 6:ccbbf4c77d35 523 }
darth_bachious 6:ccbbf4c77d35 524 }
darth_bachious 9:16044ec419af 525 pc.printf("force:%f, refpos:%f, pos:%f, tank:%f\r\n",force, ref_angle, angle, tank);
darth_bachious 7:984f363f5e87 526 //pc.printf("received input: %i\r\n",received_input);
darth_bachious 9:16044ec419af 527 //pc.printf("ticks: %i\r\n",encoderPos);
darth_bachious 5:4d5b077b3fe6 528 socket.sendTo(counterpart, output, sizeof(output));
darth_bachious 9:16044ec419af 529 generateStatus();
darth_bachious 9:16044ec419af 530 socket.sendTo(laptop,status,sizeof(status));
darth_bachious 5:4d5b077b3fe6 531 counter ++;
darth_bachious 6:ccbbf4c77d35 532 led=!led;
darth_bachious 6:ccbbf4c77d35 533 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 534 led2=0;
darth_bachious 6:ccbbf4c77d35 535 else
darth_bachious 6:ccbbf4c77d35 536 led2=1;
darth_bachious 5:4d5b077b3fe6 537 controller_check = 0;
darth_bachious 6:ccbbf4c77d35 538 debug = 0;
darth_bachious 0:2f89dec3e2ab 539 }
darth_bachious 4:610b5051182a 540 osDelay(0.1); //this might be the most ugliest piece of code that somehow still works. BK
darth_bachious 0:2f89dec3e2ab 541 }
darth_bachious 0:2f89dec3e2ab 542 }