Bas Koster / Mbed 2 deprecated Teleoperations

Bachelor Assignment for delayed teleoperating systems

Dependencies:   EthernetInterface FastPWM mbed-rtos mbed MODSERIAL

main.cpp@13:787cabccb2be, 2018-06-20 (annotated)

Committer:
darth_bachious
Date:
Wed Jun 20 12:24:37 2018 +0000
Revision:
13:787cabccb2be
Parent:
12:5c08ffe8ad1d
Child:
14:e162b5fd0382
Proper comments have been added. ; Removed incorrect force-filter

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 13:787cabccb2be 9
darth_bachious 1:853939e38acd 10 //Master or Slave? 1=Master, 0=Slave
darth_bachious 12:5c08ffe8ad1d 11 static const int identity = 1;
darth_bachious 0:2f89dec3e2ab 12
darth_bachious 0:2f89dec3e2ab 13 //network config
darth_bachious 13:787cabccb2be 14 static const char* master_ip = "192.168.1.101"; //only for direct communication, otherwise set it up using router tables
darth_bachious 13:787cabccb2be 15 static const char* slave_ip = "192.168.1.102"; //only for direct communication, otherwise set it up using router tables
darth_bachious 1:853939e38acd 16 static const char* MASK = "255.255.255.0";
darth_bachious 1:853939e38acd 17 static const char* GATEWAY = "192.168.1.1";
darth_bachious 13:787cabccb2be 18 static const char* laptop_IP = "192.168.1.103"; //only for direct communication, otherwise set it up using router tables
darth_bachious 0:2f89dec3e2ab 19 static const int port = 865;
darth_bachious 0:2f89dec3e2ab 20
darth_bachious 9:16044ec419af 21
darth_bachious 0:2f89dec3e2ab 22 //declaration of interfaces
darth_bachious 12:5c08ffe8ad1d 23 DigitalOut led(LED_GREEN);
darth_bachious 0:2f89dec3e2ab 24 DigitalOut led2(LED_RED);
darth_bachious 10:694de5b31fd6 25 DigitalOut led3(LED_BLUE);
darth_bachious 12:5c08ffe8ad1d 26 EthernetInterface eth; //network
darth_bachious 0:2f89dec3e2ab 27 Serial pc(USBTX, USBRX);//create PC interface
darth_bachious 0:2f89dec3e2ab 28 UDPSocket socket; //socket to receive data on
darth_bachious 0:2f89dec3e2ab 29 Endpoint client; //The virtual other side, not to send actual information to
darth_bachious 0:2f89dec3e2ab 30 Endpoint counterpart; //The actual other side, this is where the information should go to
darth_bachious 13:787cabccb2be 31 Endpoint laptop; //Interface to send information for data-storage
darth_bachious 6:ccbbf4c77d35 32 InterruptIn Button1(SW2);
darth_bachious 6:ccbbf4c77d35 33 InterruptIn Button2(SW3);
darth_bachious 5:4d5b077b3fe6 34 Ticker controllerloop;
darth_bachious 0:2f89dec3e2ab 35 Ticker mainloop;
darth_bachious 6:ccbbf4c77d35 36 DigitalOut debug(D11);
darth_bachious 0:2f89dec3e2ab 37
darth_bachious 4:610b5051182a 38 //Motor interfaces and variables
darth_bachious 3:376fccdc7cd6 39 InterruptIn EncoderA(D2);
darth_bachious 6:ccbbf4c77d35 40 DigitalIn EncoderB(D3);
darth_bachious 3:376fccdc7cd6 41 DigitalOut M1_DIR(D4);
darth_bachious 5:4d5b077b3fe6 42 FastPWM M1_pwm(D5);
darth_bachious 4:610b5051182a 43 AnalogIn measuredForce(A5);
darth_bachious 4:610b5051182a 44
darth_bachious 4:610b5051182a 45 //Low pass filter filter coeffs, 2nd order, 50 Hz
darth_bachious 4:610b5051182a 46 double b[3] = {0.020083365564211, 0.020083365564211*2, 0.020083365564211};
darth_bachious 4:610b5051182a 47 double a[3] = {1.00000000000000, -1.561018075, 0.64135153805};
darth_bachious 4:610b5051182a 48
darth_bachious 4:610b5051182a 49 //variables related to networking
darth_bachious 7:984f363f5e87 50 char data[25]= {""};
darth_bachious 9:16044ec419af 51 char output[25] = {""};
darth_bachious 11:cb9bb3f0635d 52 char status[21] = {""};
darth_bachious 0:2f89dec3e2ab 53 int size;
darth_bachious 7:984f363f5e87 54 unsigned int counter = 1;
darth_bachious 7:984f363f5e87 55 unsigned int counter_received = 1;
darth_bachious 7:984f363f5e87 56 unsigned int check = 1;
darth_bachious 11:cb9bb3f0635d 57 unsigned int counter_not_missed = 0;
darth_bachious 11:cb9bb3f0635d 58 float percentage_received = 0.0;
darth_bachious 2:c27b0654cffd 59 float input = 0.0;
darth_bachious 4:610b5051182a 60
darth_bachious 4:610b5051182a 61 //measured variables
darth_bachious 2:c27b0654cffd 62 float angle = 0.0;
darth_bachious 5:4d5b077b3fe6 63 int encoderPos = 0;
darth_bachious 5:4d5b077b3fe6 64 int prev_encoderPos = 0;
darth_bachious 4:610b5051182a 65 float encoder_vel = 0.0;
darth_bachious 4:610b5051182a 66 float motor_vel = 0.0;
darth_bachious 4:610b5051182a 67 float force = 0.0;
darth_bachious 5:4d5b077b3fe6 68 float control_torque = 0.0;
darth_bachious 6:ccbbf4c77d35 69 float force_offset = 0.5;
darth_bachious 3:376fccdc7cd6 70
darth_bachious 4:610b5051182a 71 //Reference, used in admittance
darth_bachious 4:610b5051182a 72 float ref_angle = 0.0;
darth_bachious 4:610b5051182a 73 float ref_vel = 0.0;
darth_bachious 4:610b5051182a 74 float ref_acc = 0.0;
darth_bachious 9:16044ec419af 75 const float virtualInertia = 0.03;
darth_bachious 9:16044ec419af 76 const float virtualDamping = 0.1;
darth_bachious 10:694de5b31fd6 77 const float arm = 0.085;
darth_bachious 9:16044ec419af 78 const float max_velocity = 0.8;
darth_bachious 4:610b5051182a 79
darth_bachious 12:5c08ffe8ad1d 80 //Controller required variables
darth_bachious 5:4d5b077b3fe6 81 bool controller_check = 0;
darth_bachious 11:cb9bb3f0635d 82 const float sample_frequency = 200;
darth_bachious 12:5c08ffe8ad1d 83 float looptime = 1.0/(sample_frequency); //200Hz, for the controller
darth_bachious 12:5c08ffe8ad1d 84 const float ADDMlooptime = 1.0/2500; //2.5KHz, for the admittance controller
darth_bachious 6:ccbbf4c77d35 85 enum States {stateCalibration, stateHoming, stateOperation};
darth_bachious 4:610b5051182a 86 int currentState = stateCalibration;
darth_bachious 6:ccbbf4c77d35 87 int transparancy = 1; // 1=Pos-Pos, 2=Pos-Force, 3=Force-Pos
darth_bachious 6:ccbbf4c77d35 88 int passivity =0; // 0=off, 1=on
darth_bachious 6:ccbbf4c77d35 89 int received_transparancy = 1;
darth_bachious 6:ccbbf4c77d35 90 int received_passivity = 0;
darth_bachious 4:610b5051182a 91
darth_bachious 4:610b5051182a 92 //Controller parameters
darth_bachious 12:5c08ffe8ad1d 93 const float Ktl = 4.5; //high level controller parameters
darth_bachious 3:376fccdc7cd6 94 const float Dtl=0.1;
darth_bachious 12:5c08ffe8ad1d 95 const float Kp = 100; //low level controller parameters
darth_bachious 10:694de5b31fd6 96 const float Dp = 0.5;
darth_bachious 12:5c08ffe8ad1d 97 float u = 0.0; //serves as input variable for the motor;
darth_bachious 4:610b5051182a 98
darth_bachious 6:ccbbf4c77d35 99 //passivity layer constant
darth_bachious 11:cb9bb3f0635d 100 const float beta = 0.2041;
darth_bachious 11:cb9bb3f0635d 101 const float Hd = 0.2778;
darth_bachious 11:cb9bb3f0635d 102 const float alpha = 0.5711;
darth_bachious 6:ccbbf4c77d35 103
darth_bachious 6:ccbbf4c77d35 104 //passivity layer variables
darth_bachious 6:ccbbf4c77d35 105 float tank = 0.0;
darth_bachious 6:ccbbf4c77d35 106 float prev_ref_angle = 0.0;
darth_bachious 6:ccbbf4c77d35 107 float package_out = 0.0;
darth_bachious 6:ccbbf4c77d35 108 float received_package = 0.0;
darth_bachious 6:ccbbf4c77d35 109 float prev_torque = 0.0;
darth_bachious 6:ccbbf4c77d35 110
darth_bachious 4:610b5051182a 111
darth_bachious 4:610b5051182a 112 //Constants
darth_bachious 13:787cabccb2be 113 const float PI = 3.1415926535897932384626433832795028841971693993751058209749445923078164062862089986280348253421170679; //Why so much accuracy? Because why not?
darth_bachious 2:c27b0654cffd 114 const float RadsPerCount = (2 * PI)/(1024*10);
darth_bachious 4:610b5051182a 115 const float FORCESENSORGAIN = 15.134;
darth_bachious 13:787cabccb2be 116 const int MAX_ENCODER_LEFT = 1333; //dependent on setup. PLEASE CHECK
darth_bachious 13:787cabccb2be 117 const int MAX_ENCODER_RIGHT = -1453; //dependent on setup. PLEASE CHECK
darth_bachious 5:4d5b077b3fe6 118 const float WORKSPACEBOUND = PI/6;
darth_bachious 2:c27b0654cffd 119
darth_bachious 6:ccbbf4c77d35 120 const int frequency_pwm = 20000;
darth_bachious 0:2f89dec3e2ab 121
darth_bachious 4:610b5051182a 122 //Time delay related variables
darth_bachious 12:5c08ffe8ad1d 123 float timedelay = 0.1;//SECONDS
darth_bachious 13:787cabccb2be 124 int delaysteps = timedelay/looptime;
darth_bachious 13:787cabccb2be 125 std::vector<float> delayArrayINPUT(max(delaysteps,1),0.0); //creating a array that delays the input by x steps, so that time-delay is properly simulated
darth_bachious 8:5c891d5ebe45 126 std::vector<float> delayArrayMODE(max(delaysteps,1),0.0);
darth_bachious 8:5c891d5ebe45 127 std::vector<float> delayArrayPASS(max(delaysteps,1),0.0);
darth_bachious 8:5c891d5ebe45 128 std::vector<float> delayArrayENERGY(max(delaysteps,1),0.0);
darth_bachious 4:610b5051182a 129 Timer t;
darth_bachious 4:610b5051182a 130
darth_bachious 3:376fccdc7cd6 131 //FUNCTIONS START HERE
darth_bachious 3:376fccdc7cd6 132
darth_bachious 3:376fccdc7cd6 133 void encoderFunctionA()
darth_bachious 12:5c08ffe8ad1d 134 {
darth_bachious 12:5c08ffe8ad1d 135 if ((bool)EncoderA == (bool)EncoderB) { //Increment or decrement encoder position during interrupt
darth_bachious 12:5c08ffe8ad1d 136 encoderPos++;
darth_bachious 12:5c08ffe8ad1d 137 } else {
darth_bachious 12:5c08ffe8ad1d 138 encoderPos--;
darth_bachious 3:376fccdc7cd6 139 }
darth_bachious 12:5c08ffe8ad1d 140 }
darth_bachious 13:787cabccb2be 141 float velocityFilter(float x)
darth_bachious 4:610b5051182a 142 {
darth_bachious 4:610b5051182a 143 double y = 0.0; //Output
darth_bachious 4:610b5051182a 144 static double y_1 = 0.0; //Output last loop
darth_bachious 4:610b5051182a 145 static double y_2 = 0.0; //Output 2 loops ago
darth_bachious 4:610b5051182a 146 static double x_1 = 0.0; //Input last loop
darth_bachious 4:610b5051182a 147 static double x_2 = 0.0; //Input two loops ago
darth_bachious 3:376fccdc7cd6 148
darth_bachious 4:610b5051182a 149 //Finite difference equation for 2nd order Butterworth low-pass
darth_bachious 4:610b5051182a 150 y = -a[1]*y_1 - a[2]*y_2 + x*b[0] + x_1*b[1] + x_2*b[2];
darth_bachious 4:610b5051182a 151 y_2 = y_1;
darth_bachious 4:610b5051182a 152 y_1 = y;
darth_bachious 4:610b5051182a 153 x_2 = x_1;
darth_bachious 4:610b5051182a 154 x_1 = x;
darth_bachious 4:610b5051182a 155 return (float)y;
darth_bachious 4:610b5051182a 156 }
darth_bachious 0:2f89dec3e2ab 157
darth_bachious 13:787cabccb2be 158 void inet_eth() //this function starts the ethernet connection op, including the ipadresses. PLEASE STICK TO STATIC ADDRESSING.
darth_bachious 12:5c08ffe8ad1d 159 {
darth_bachious 12:5c08ffe8ad1d 160 if(identity==1) {
darth_bachious 1:853939e38acd 161 eth.init(master_ip, MASK,GATEWAY);
darth_bachious 1:853939e38acd 162 eth.connect();
darth_bachious 12:5c08ffe8ad1d 163
darth_bachious 1:853939e38acd 164 socket.bind(port);
darth_bachious 1:853939e38acd 165 counterpart.set_address(slave_ip,port);
darth_bachious 9:16044ec419af 166 laptop.set_address(laptop_IP,port);
darth_bachious 12:5c08ffe8ad1d 167 } else if(identity==0) {
darth_bachious 1:853939e38acd 168 eth.init(slave_ip, MASK,GATEWAY);
darth_bachious 1:853939e38acd 169 eth.connect();
darth_bachious 12:5c08ffe8ad1d 170
darth_bachious 1:853939e38acd 171 socket.bind(port);
darth_bachious 9:16044ec419af 172 counterpart.set_address(master_ip,port);
darth_bachious 9:16044ec419af 173 laptop.set_address(laptop_IP,port+1);
darth_bachious 0:2f89dec3e2ab 174 }
darth_bachious 0:2f89dec3e2ab 175
darth_bachious 12:5c08ffe8ad1d 176 }
darth_bachious 12:5c08ffe8ad1d 177
darth_bachious 12:5c08ffe8ad1d 178 void inet_USB()
darth_bachious 12:5c08ffe8ad1d 179 {
darth_bachious 2:c27b0654cffd 180 pc.baud(115200);
darth_bachious 12:5c08ffe8ad1d 181 }
darth_bachious 12:5c08ffe8ad1d 182
darth_bachious 0:2f89dec3e2ab 183
darth_bachious 12:5c08ffe8ad1d 184 void end_eth()
darth_bachious 12:5c08ffe8ad1d 185 {
darth_bachious 0:2f89dec3e2ab 186 socket.close();
darth_bachious 0:2f89dec3e2ab 187 eth.disconnect();
darth_bachious 12:5c08ffe8ad1d 188 }
darth_bachious 0:2f89dec3e2ab 189
darth_bachious 5:4d5b077b3fe6 190 void controllertrigger()
darth_bachious 12:5c08ffe8ad1d 191 {
darth_bachious 12:5c08ffe8ad1d 192 controller_check = 1;
darth_bachious 12:5c08ffe8ad1d 193 }
darth_bachious 12:5c08ffe8ad1d 194
darth_bachious 12:5c08ffe8ad1d 195
darth_bachious 2:c27b0654cffd 196 float update_delay(std::vector<float>&array, float new_value)
darth_bachious 12:5c08ffe8ad1d 197 {
darth_bachious 8:5c891d5ebe45 198 float return_value = array[0];
darth_bachious 12:5c08ffe8ad1d 199 for (int i=0; i<array.size()-1; ++i) {
darth_bachious 3:376fccdc7cd6 200 array[i]=array[i+1];
darth_bachious 3:376fccdc7cd6 201 }
darth_bachious 3:376fccdc7cd6 202 array.back() = new_value;
darth_bachious 3:376fccdc7cd6 203 return return_value;
darth_bachious 12:5c08ffe8ad1d 204 }
darth_bachious 12:5c08ffe8ad1d 205
darth_bachious 3:376fccdc7cd6 206 void limit(float &x, float lower, float upper)
darth_bachious 3:376fccdc7cd6 207 {
darth_bachious 3:376fccdc7cd6 208 if (x > upper)
darth_bachious 3:376fccdc7cd6 209 x = upper;
darth_bachious 3:376fccdc7cd6 210 if (x < lower)
darth_bachious 12:5c08ffe8ad1d 211 x = lower;
darth_bachious 3:376fccdc7cd6 212 }
darth_bachious 3:376fccdc7cd6 213
darth_bachious 13:787cabccb2be 214 void motor_update(float PWM)//motor function
darth_bachious 4:610b5051182a 215 {
darth_bachious 4:610b5051182a 216 limit(PWM,-1.0f,1.0f);
darth_bachious 12:5c08ffe8ad1d 217 if(PWM >= 0.0f) {
darth_bachious 4:610b5051182a 218 M1_DIR = false;
darth_bachious 4:610b5051182a 219 M1_pwm = PWM;
darth_bachious 4:610b5051182a 220 } else {
darth_bachious 4:610b5051182a 221 M1_DIR = true;
darth_bachious 12:5c08ffe8ad1d 222 M1_pwm = -PWM;
darth_bachious 4:610b5051182a 223 }
darth_bachious 4:610b5051182a 224 }
darth_bachious 4:610b5051182a 225
darth_bachious 13:787cabccb2be 226 void sensorUpdate()
darth_bachious 4:610b5051182a 227 {
darth_bachious 4:610b5051182a 228 angle = encoderPos * RadsPerCount;
darth_bachious 11:cb9bb3f0635d 229 encoder_vel = (encoderPos - prev_encoderPos)/ADDMlooptime; //careful, this function should be called every 1/2500 seconds
darth_bachious 4:610b5051182a 230 motor_vel = velocityFilter(encoder_vel * RadsPerCount);
darth_bachious 4:610b5051182a 231 prev_encoderPos = encoderPos;
darth_bachious 13:787cabccb2be 232 force = (-FORCESENSORGAIN*2.0f*(measuredForce - force_offset)); //Measured force
darth_bachious 12:5c08ffe8ad1d 233 }
darth_bachious 12:5c08ffe8ad1d 234
darth_bachious 13:787cabccb2be 235 void doCalibration() //first state. Move maximally left, until the stops are hit.
darth_bachious 4:610b5051182a 236 {
darth_bachious 8:5c891d5ebe45 237 u = -0.15;
darth_bachious 4:610b5051182a 238 motor_update(u);
darth_bachious 6:ccbbf4c77d35 239 led2=0;
darth_bachious 6:ccbbf4c77d35 240 led=1;
darth_bachious 4:610b5051182a 241 //switching states
darth_bachious 12:5c08ffe8ad1d 242 if((abs(motor_vel)<0.001f)&& t.read()>3.0f) {
darth_bachious 13:787cabccb2be 243 encoderPos = MAX_ENCODER_RIGHT - (1-identity)*180; //to make up for the difference in setups. Make a better way then this.
darth_bachious 4:610b5051182a 244 ref_angle = encoderPos * RadsPerCount;
darth_bachious 4:610b5051182a 245 currentState = stateHoming;
darth_bachious 4:610b5051182a 246 t.stop();
darth_bachious 12:5c08ffe8ad1d 247 }
darth_bachious 4:610b5051182a 248 }
darth_bachious 4:610b5051182a 249
darth_bachious 13:787cabccb2be 250 void doHoming() //second state. Move to up.
darth_bachious 4:610b5051182a 251 {
darth_bachious 4:610b5051182a 252 led2=0;
darth_bachious 4:610b5051182a 253 led=0;
darth_bachious 8:5c891d5ebe45 254 ref_vel = 0.2;
darth_bachious 12:5c08ffe8ad1d 255 if(ref_angle < 0.0f) {
darth_bachious 13:787cabccb2be 256 ref_angle += ref_vel*ADDMlooptime;
darth_bachious 12:5c08ffe8ad1d 257 } else {
darth_bachious 4:610b5051182a 258 ref_angle = 0.0;
darth_bachious 4:610b5051182a 259 ref_vel = 0.0;
darth_bachious 4:610b5051182a 260 }
darth_bachious 4:610b5051182a 261 u = Kp*(ref_angle - angle) + Dp*(ref_vel - motor_vel);
darth_bachious 4:610b5051182a 262 motor_update(u);
darth_bachious 12:5c08ffe8ad1d 263
darth_bachious 4:610b5051182a 264 //switching states
darth_bachious 12:5c08ffe8ad1d 265 if ((abs(encoderPos)<20)&&abs((ref_vel - motor_vel)<0.02f)) {
darth_bachious 4:610b5051182a 266 currentState = stateOperation;
darth_bachious 6:ccbbf4c77d35 267 force_offset = measuredForce;
darth_bachious 4:610b5051182a 268 motor_update(0.0);
darth_bachious 5:4d5b077b3fe6 269 led2=1;
darth_bachious 6:ccbbf4c77d35 270 led=1;
darth_bachious 4:610b5051182a 271 }
darth_bachious 12:5c08ffe8ad1d 272
darth_bachious 4:610b5051182a 273 }
darth_bachious 4:610b5051182a 274
darth_bachious 13:787cabccb2be 275 void doOperation() //final, and infinite state. Do the teleoperation.
darth_bachious 4:610b5051182a 276 {
darth_bachious 9:16044ec419af 277 ref_acc = (force*arm + control_torque- virtualDamping*ref_vel)/virtualInertia;
darth_bachious 5:4d5b077b3fe6 278 ref_vel += ref_acc*ADDMlooptime;
darth_bachious 9:16044ec419af 279 if(ref_vel>max_velocity)
darth_bachious 9:16044ec419af 280 ref_vel=max_velocity;
darth_bachious 9:16044ec419af 281 else if(ref_vel<-max_velocity)
darth_bachious 9:16044ec419af 282 ref_vel=-max_velocity;
darth_bachious 9:16044ec419af 283
darth_bachious 12:5c08ffe8ad1d 284
darth_bachious 5:4d5b077b3fe6 285 ref_angle += ref_vel*ADDMlooptime;
darth_bachious 12:5c08ffe8ad1d 286 if(ref_angle > WORKSPACEBOUND) {
darth_bachious 5:4d5b077b3fe6 287 ref_vel = 0.0;
darth_bachious 5:4d5b077b3fe6 288 ref_acc = 0.0;
darth_bachious 5:4d5b077b3fe6 289 ref_angle = WORKSPACEBOUND;
darth_bachious 12:5c08ffe8ad1d 290 } else if(ref_angle < -WORKSPACEBOUND) {
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 }
darth_bachious 12:5c08ffe8ad1d 295 u = Kp*(ref_angle - angle) + Dp*(ref_vel - motor_vel);
darth_bachious 4:610b5051182a 296 motor_update(u);
darth_bachious 12:5c08ffe8ad1d 297
darth_bachious 6:ccbbf4c77d35 298 //no switching states for now
darth_bachious 5:4d5b077b3fe6 299 }
darth_bachious 5:4d5b077b3fe6 300
darth_bachious 13:787cabccb2be 301 void loopfunction() //state control
darth_bachious 5:4d5b077b3fe6 302 {
darth_bachious 5:4d5b077b3fe6 303 sensorUpdate();
darth_bachious 12:5c08ffe8ad1d 304 switch(currentState) {
darth_bachious 5:4d5b077b3fe6 305 case stateCalibration:
darth_bachious 12:5c08ffe8ad1d 306 doCalibration();
darth_bachious 12:5c08ffe8ad1d 307 break;
darth_bachious 5:4d5b077b3fe6 308 case stateHoming:
darth_bachious 12:5c08ffe8ad1d 309 doHoming();
darth_bachious 12:5c08ffe8ad1d 310 break;
darth_bachious 5:4d5b077b3fe6 311 case stateOperation:
darth_bachious 12:5c08ffe8ad1d 312 doOperation();
darth_bachious 12:5c08ffe8ad1d 313 break;
darth_bachious 5:4d5b077b3fe6 314 }
darth_bachious 4:610b5051182a 315 }
darth_bachious 0:2f89dec3e2ab 316
darth_bachious 13:787cabccb2be 317 void updateTransparency() //determining the transparency layer to use.
darth_bachious 6:ccbbf4c77d35 318 {
darth_bachious 6:ccbbf4c77d35 319 transparancy++;
darth_bachious 6:ccbbf4c77d35 320 if(transparancy>3)
darth_bachious 6:ccbbf4c77d35 321 transparancy = 1;
darth_bachious 6:ccbbf4c77d35 322 }
darth_bachious 6:ccbbf4c77d35 323
darth_bachious 13:787cabccb2be 324 void updatePassivity() //determining wether or not to use the passivity layer
darth_bachious 6:ccbbf4c77d35 325 {
darth_bachious 6:ccbbf4c77d35 326 passivity++;
darth_bachious 6:ccbbf4c77d35 327 if(passivity>1)
darth_bachious 12:5c08ffe8ad1d 328 passivity = 0;
darth_bachious 6:ccbbf4c77d35 329 }
darth_bachious 6:ccbbf4c77d35 330
darth_bachious 13:787cabccb2be 331 float passivityLayer(float Ftl, float E_in) //just see the report on this topic. Too much stuff to explain.
darth_bachious 6:ccbbf4c77d35 332 {
darth_bachious 6:ccbbf4c77d35 333 tank = tank + E_in - prev_torque*(ref_angle-prev_ref_angle);
darth_bachious 12:5c08ffe8ad1d 334 if(tank>0.0f) {
darth_bachious 6:ccbbf4c77d35 335 package_out = tank*beta;
darth_bachious 6:ccbbf4c77d35 336 tank = tank - package_out;
darth_bachious 6:ccbbf4c77d35 337 } else
darth_bachious 6:ccbbf4c77d35 338 package_out = 0.0;
darth_bachious 12:5c08ffe8ad1d 339
darth_bachious 6:ccbbf4c77d35 340 float FMAX1 = 0.0;
darth_bachious 12:5c08ffe8ad1d 341 if(tank>0.0f) {
darth_bachious 8:5c891d5ebe45 342 FMAX1 = abs(Ftl);
darth_bachious 6:ccbbf4c77d35 343 }
darth_bachious 6:ccbbf4c77d35 344 float FMAX2 = abs(tank/(ref_vel*looptime));
darth_bachious 9:16044ec419af 345 float FMAX3 = 20.0;
darth_bachious 12:5c08ffe8ad1d 346 if(identity==0) {
darth_bachious 9:16044ec419af 347 FMAX3 = 0.7;
darth_bachious 9:16044ec419af 348 }
darth_bachious 12:5c08ffe8ad1d 349 prev_ref_angle = ref_angle;
darth_bachious 12:5c08ffe8ad1d 350
darth_bachious 6:ccbbf4c77d35 351 float Ftlc = 0.0;
darth_bachious 12:5c08ffe8ad1d 352
darth_bachious 12:5c08ffe8ad1d 353 if((tank<Hd)&&(identity==1)) {
darth_bachious 6:ccbbf4c77d35 354 Ftlc = - alpha*(Hd-tank)*ref_vel;
darth_bachious 12:5c08ffe8ad1d 355 }
darth_bachious 12:5c08ffe8ad1d 356 if(Ftl>=0.0f) {
darth_bachious 12:5c08ffe8ad1d 357 prev_torque = min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3))+Ftlc;
darth_bachious 13:787cabccb2be 358 return min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3))+Ftlc; //min() only takes two arguments, so nested min()'s
darth_bachious 12:5c08ffe8ad1d 359 } else {
darth_bachious 9:16044ec419af 360 prev_torque = -min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3))+Ftlc;
darth_bachious 12:5c08ffe8ad1d 361 return -min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3))+Ftlc;
darth_bachious 6:ccbbf4c77d35 362 }
darth_bachious 12:5c08ffe8ad1d 363
darth_bachious 6:ccbbf4c77d35 364 }
darth_bachious 6:ccbbf4c77d35 365
darth_bachious 13:787cabccb2be 366 void generateOutput(float variable) //generate packet to send to counterpart
darth_bachious 7:984f363f5e87 367 {
darth_bachious 7:984f363f5e87 368 memcpy(&output[0],&counter,4);
darth_bachious 7:984f363f5e87 369 memcpy(&output[4],&transparancy,4);
darth_bachious 7:984f363f5e87 370 memcpy(&output[8],&passivity,4);
darth_bachious 7:984f363f5e87 371 memcpy(&output[12],&variable,4);
darth_bachious 7:984f363f5e87 372 memcpy(&output[16],&package_out,4);
darth_bachious 7:984f363f5e87 373 }
darth_bachious 13:787cabccb2be 374 void generateStatus() //generate packet to send to data-storage
darth_bachious 9:16044ec419af 375 {
darth_bachious 9:16044ec419af 376 memcpy(&status[0],&counter,4);
darth_bachious 9:16044ec419af 377 memcpy(&status[4],&ref_angle,4);
darth_bachious 9:16044ec419af 378 memcpy(&status[8],&force,4);
darth_bachious 9:16044ec419af 379 memcpy(&status[12],&tank,4);
darth_bachious 11:cb9bb3f0635d 380 memcpy(&status[16],&percentage_received,4);
darth_bachious 9:16044ec419af 381 }
darth_bachious 7:984f363f5e87 382
darth_bachious 13:787cabccb2be 383 void receiveUDP(void const *argument) //This is what it is doing, if no trigger is called.
darth_bachious 12:5c08ffe8ad1d 384 {
darth_bachious 12:5c08ffe8ad1d 385 while(true) {
darth_bachious 0:2f89dec3e2ab 386 size = socket.receiveFrom(client, data, sizeof(data));
darth_bachious 12:5c08ffe8ad1d 387 if(size > 0) {
darth_bachious 0:2f89dec3e2ab 388 data[size] = '\0';
darth_bachious 12:5c08ffe8ad1d 389 if(size>18) { //first check, an minimum amount of data must have arrived
darth_bachious 7:984f363f5e87 390 memcpy(&check,&data[0],4);
darth_bachious 12:5c08ffe8ad1d 391 if(counter_received < check) { //second check, data must be newer
darth_bachious 12:5c08ffe8ad1d 392 if((counter_received == check-1)&&(counter_not_missed<100)) {
darth_bachious 12:5c08ffe8ad1d 393 counter_not_missed++;
darth_bachious 12:5c08ffe8ad1d 394 } else if((counter_not_missed)>10){
darth_bachious 12:5c08ffe8ad1d 395 counter_not_missed = counter_not_missed + counter_received-check + 1;
darth_bachious 12:5c08ffe8ad1d 396 }
darth_bachious 7:984f363f5e87 397 counter_received=check;
darth_bachious 7:984f363f5e87 398 memcpy(&received_transparancy,&data[4],4);
darth_bachious 7:984f363f5e87 399 memcpy(&received_passivity,&data[8],4);
darth_bachious 7:984f363f5e87 400 memcpy(&input,&data[12],4);
darth_bachious 10:694de5b31fd6 401 memcpy(&received_package,&data[16],4);
darth_bachious 12:5c08ffe8ad1d 402 percentage_received = (float) counter_not_missed/100;
darth_bachious 12:5c08ffe8ad1d 403 if(percentage_received<0.90) {
darth_bachious 12:5c08ffe8ad1d 404 led3=1;
darth_bachious 12:5c08ffe8ad1d 405 } else {
darth_bachious 12:5c08ffe8ad1d 406 led3=0;
darth_bachious 4:610b5051182a 407 }
darth_bachious 12:5c08ffe8ad1d 408 }
darth_bachious 0:2f89dec3e2ab 409 }
darth_bachious 0:2f89dec3e2ab 410 }
darth_bachious 0:2f89dec3e2ab 411 }
darth_bachious 4:610b5051182a 412 }
darth_bachious 0:2f89dec3e2ab 413
darth_bachious 0:2f89dec3e2ab 414 osThreadDef(receiveUDP, osPriorityNormal, DEFAULT_STACK_SIZE);
darth_bachious 0:2f89dec3e2ab 415
darth_bachious 12:5c08ffe8ad1d 416 int main()
darth_bachious 12:5c08ffe8ad1d 417 {
darth_bachious 10:694de5b31fd6 418 osThreadCreate(osThread(receiveUDP), NULL);
darth_bachious 12:5c08ffe8ad1d 419
darth_bachious 1:853939e38acd 420 inet_eth();
darth_bachious 0:2f89dec3e2ab 421 inet_USB();
darth_bachious 12:5c08ffe8ad1d 422
darth_bachious 0:2f89dec3e2ab 423 led2=1;
darth_bachious 0:2f89dec3e2ab 424 led=1;
darth_bachious 12:5c08ffe8ad1d 425
darth_bachious 12:5c08ffe8ad1d 426 //Set all interrupt requests to 2nd place priority
darth_bachious 5:4d5b077b3fe6 427 for(int n = 0; n < 86; n++) {
darth_bachious 5:4d5b077b3fe6 428 NVIC_SetPriority((IRQn)n,1);
darth_bachious 5:4d5b077b3fe6 429 }
darth_bachious 5:4d5b077b3fe6 430 //Set out motor encoder interrupt to 1st place priority
darth_bachious 5:4d5b077b3fe6 431 NVIC_SetPriority(PORTB_IRQn,0);
darth_bachious 12:5c08ffe8ad1d 432
darth_bachious 5:4d5b077b3fe6 433 controllerloop.attach(&controllertrigger,looptime);
darth_bachious 5:4d5b077b3fe6 434 mainloop.attach(&loopfunction,ADDMlooptime);
darth_bachious 12:5c08ffe8ad1d 435
darth_bachious 4:610b5051182a 436 M1_pwm.period(1.0/frequency_pwm);
darth_bachious 4:610b5051182a 437 EncoderA.rise(&encoderFunctionA);
darth_bachious 12:5c08ffe8ad1d 438
darth_bachious 7:984f363f5e87 439 Button1.rise(&updateTransparency);
darth_bachious 7:984f363f5e87 440 Button2.rise(&updatePassivity);
darth_bachious 12:5c08ffe8ad1d 441
darth_bachious 4:610b5051182a 442 t.start();
darth_bachious 12:5c08ffe8ad1d 443
darth_bachious 12:5c08ffe8ad1d 444 while(true) {
darth_bachious 12:5c08ffe8ad1d 445 if(controller_check==1) {
darth_bachious 6:ccbbf4c77d35 446 debug = 1;
darth_bachious 6:ccbbf4c77d35 447 float received_input = update_delay(delayArrayINPUT,input);
darth_bachious 6:ccbbf4c77d35 448 float current_transparancy = update_delay(delayArrayMODE,received_transparancy);
darth_bachious 6:ccbbf4c77d35 449 float current_passivity = update_delay(delayArrayPASS,received_passivity);
darth_bachious 6:ccbbf4c77d35 450 float package_in = update_delay(delayArrayENERGY,received_package);
darth_bachious 6:ccbbf4c77d35 451 received_package = 0; //IMPORTANT, WILL EXPLODE OTHERWISE
darth_bachious 12:5c08ffe8ad1d 452
darth_bachious 12:5c08ffe8ad1d 453 if(identity==0) {
darth_bachious 6:ccbbf4c77d35 454 transparancy = current_transparancy;
darth_bachious 6:ccbbf4c77d35 455 passivity = current_passivity;
darth_bachious 12:5c08ffe8ad1d 456 if(transparancy==1) {
darth_bachious 6:ccbbf4c77d35 457 float torque_tlc = Ktl*(received_input-ref_angle) - Dtl*ref_vel;
darth_bachious 6:ccbbf4c77d35 458 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 459 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 460 else
darth_bachious 6:ccbbf4c77d35 461 control_torque = torque_tlc;
darth_bachious 12:5c08ffe8ad1d 462 generateOutput(ref_angle);
darth_bachious 12:5c08ffe8ad1d 463 } else if(transparancy==2) {
darth_bachious 6:ccbbf4c77d35 464 float torque_tlc = Ktl*(received_input-ref_angle) - Dtl*ref_vel;
darth_bachious 6:ccbbf4c77d35 465 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 466 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 467 else
darth_bachious 7:984f363f5e87 468 control_torque = torque_tlc;
darth_bachious 12:5c08ffe8ad1d 469 generateOutput(force);
darth_bachious 12:5c08ffe8ad1d 470 } else if(transparancy==3) {
darth_bachious 6:ccbbf4c77d35 471 float torque_tlc = received_input*arm;
darth_bachious 6:ccbbf4c77d35 472 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 473 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 474 else
darth_bachious 7:984f363f5e87 475 control_torque = torque_tlc;
darth_bachious 12:5c08ffe8ad1d 476 generateOutput(ref_angle);
darth_bachious 12:5c08ffe8ad1d 477 }
darth_bachious 12:5c08ffe8ad1d 478 } else if(identity == 1) {
darth_bachious 12:5c08ffe8ad1d 479 if(transparancy==1) {
darth_bachious 6:ccbbf4c77d35 480 float torque_tlc = Ktl*(received_input-ref_angle) - Dtl*ref_vel;
darth_bachious 6:ccbbf4c77d35 481 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 482 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 483 else
darth_bachious 7:984f363f5e87 484 control_torque = torque_tlc;
darth_bachious 12:5c08ffe8ad1d 485 generateOutput(ref_angle);
darth_bachious 12:5c08ffe8ad1d 486 } else if(transparancy==2) {
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 12:5c08ffe8ad1d 491 control_torque = torque_tlc;
darth_bachious 12:5c08ffe8ad1d 492 generateOutput(ref_angle);
darth_bachious 12:5c08ffe8ad1d 493 } else if(transparancy==3) {
darth_bachious 6:ccbbf4c77d35 494 float torque_tlc = Ktl*(received_input-ref_angle) - Dtl*ref_vel;
darth_bachious 6:ccbbf4c77d35 495 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 496 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 497 else
darth_bachious 12:5c08ffe8ad1d 498 control_torque = torque_tlc;
darth_bachious 12:5c08ffe8ad1d 499 generateOutput(force);
darth_bachious 6:ccbbf4c77d35 500 }
darth_bachious 6:ccbbf4c77d35 501 }
darth_bachious 5:4d5b077b3fe6 502 socket.sendTo(counterpart, output, sizeof(output));
darth_bachious 11:cb9bb3f0635d 503 socket.sendTo(counterpart, output, sizeof(output));
darth_bachious 11:cb9bb3f0635d 504 counter ++;
darth_bachious 9:16044ec419af 505 generateStatus();
darth_bachious 9:16044ec419af 506 socket.sendTo(laptop,status,sizeof(status));
darth_bachious 10:694de5b31fd6 507 led=0;
darth_bachious 6:ccbbf4c77d35 508 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 509 led2=0;
darth_bachious 6:ccbbf4c77d35 510 else
darth_bachious 10:694de5b31fd6 511 led2=1;
darth_bachious 12:5c08ffe8ad1d 512
darth_bachious 5:4d5b077b3fe6 513 controller_check = 0;
darth_bachious 6:ccbbf4c77d35 514 debug = 0;
darth_bachious 12:5c08ffe8ad1d 515 }
darth_bachious 13:787cabccb2be 516 osDelay(0.1); // This line is key, otherwise the MBED will not switch to the receive() thread.
darth_bachious 12:5c08ffe8ad1d 517 }
darth_bachious 13:787cabccb2be 518 }
darth_bachious 13:787cabccb2be 519
darth_bachious 13:787cabccb2be 520 // Also, parts of this code is questionable. As in I don't know why it works. It can be advised to find a library that can have a interrupt on the UPD receive. Or just don't use UDP. although internet.
darth_bachious 13:787cabccb2be 521