Bas Koster / Mbed 2 deprecated Teleoperations

Bachelor Assignment for delayed teleoperating systems

Dependencies:   EthernetInterface FastPWM mbed-rtos mbed MODSERIAL

main.cpp@11:cb9bb3f0635d, 2018-06-06 (annotated)

Committer:
darth_bachious
Date:
Wed Jun 06 07:06:14 2018 +0000
Revision:
11:cb9bb3f0635d
Parent:
10:694de5b31fd6
Child:
12:5c08ffe8ad1d
Serial output for debugging;

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 10:694de5b31fd6 24 DigitalOut led3(LED_BLUE);
darth_bachious 0:2f89dec3e2ab 25 EthernetInterface eth; //network
darth_bachious 0:2f89dec3e2ab 26 Serial pc(USBTX, USBRX);//create PC interface
darth_bachious 0:2f89dec3e2ab 27 UDPSocket socket; //socket to receive data on
darth_bachious 0:2f89dec3e2ab 28 Endpoint client; //The virtual other side, not to send actual information to
darth_bachious 0:2f89dec3e2ab 29 Endpoint counterpart; //The actual other side, this is where the information should go to
darth_bachious 9:16044ec419af 30 Endpoint laptop;
darth_bachious 6:ccbbf4c77d35 31 InterruptIn Button1(SW2);
darth_bachious 6:ccbbf4c77d35 32 InterruptIn Button2(SW3);
darth_bachious 5:4d5b077b3fe6 33 Ticker controllerloop;
darth_bachious 0:2f89dec3e2ab 34 Ticker mainloop;
darth_bachious 6:ccbbf4c77d35 35 DigitalOut debug(D11);
darth_bachious 0:2f89dec3e2ab 36
darth_bachious 4:610b5051182a 37 //Motor interfaces and variables
darth_bachious 3:376fccdc7cd6 38 InterruptIn EncoderA(D2);
darth_bachious 6:ccbbf4c77d35 39 DigitalIn EncoderB(D3);
darth_bachious 3:376fccdc7cd6 40 DigitalOut M1_DIR(D4);
darth_bachious 5:4d5b077b3fe6 41 FastPWM M1_pwm(D5);
darth_bachious 4:610b5051182a 42 AnalogIn measuredForce(A5);
darth_bachious 4:610b5051182a 43
darth_bachious 4:610b5051182a 44 //Low pass filter filter coeffs, 2nd order, 50 Hz
darth_bachious 4:610b5051182a 45 double b[3] = {0.020083365564211, 0.020083365564211*2, 0.020083365564211};
darth_bachious 4:610b5051182a 46 double a[3] = {1.00000000000000, -1.561018075, 0.64135153805};
darth_bachious 4:610b5051182a 47
darth_bachious 4:610b5051182a 48 //variables related to networking
darth_bachious 7:984f363f5e87 49 char data[25]= {""};
darth_bachious 9:16044ec419af 50 char output[25] = {""};
darth_bachious 11:cb9bb3f0635d 51 char status[21] = {""};
darth_bachious 0:2f89dec3e2ab 52 int size;
darth_bachious 7:984f363f5e87 53 unsigned int counter = 1;
darth_bachious 7:984f363f5e87 54 unsigned int counter_received = 1;
darth_bachious 7:984f363f5e87 55 unsigned int check = 1;
darth_bachious 11:cb9bb3f0635d 56 unsigned int counter_not_missed = 0;
darth_bachious 11:cb9bb3f0635d 57 float percentage_received = 0.0;
darth_bachious 9:16044ec419af 58
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 6:ccbbf4c77d35 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 11:cb9bb3f0635d 83 float looptime = 1.0/(sample_frequency); //50Hz, for the controller
darth_bachious 11:cb9bb3f0635d 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 9:16044ec419af 93 const float Ktl = 4.5; //high level controller parameters
darth_bachious 3:376fccdc7cd6 94 const float Dtl=0.1;
darth_bachious 9:16044ec419af 95 const float Kp = 100; //low level controller parameters
darth_bachious 10:694de5b31fd6 96 const float Dp = 0.5;
darth_bachious 6:ccbbf4c77d35 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 0:2f89dec3e2ab 113 const float PI = 3.1415926535897932384626433832795028841971693993751058209749445923078164062862089986280348253421170679;
darth_bachious 2:c27b0654cffd 114 const float RadsPerCount = (2 * PI)/(1024*10);
darth_bachious 4:610b5051182a 115 const float FORCESENSORGAIN = 15.134;
darth_bachious 4:610b5051182a 116 const int MAX_ENCODER_LEFT = 1333;
darth_bachious 4:610b5051182a 117 const int MAX_ENCODER_RIGHT = -1453;
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 11:cb9bb3f0635d 123 float timedelay = 0.2; //SECONDS
darth_bachious 6:ccbbf4c77d35 124 int delaysteps = timedelay/looptime;
darth_bachious 8:5c891d5ebe45 125 std::vector<float> delayArrayINPUT(max(delaysteps,1),0.0);
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 3:376fccdc7cd6 134 {
darth_bachious 3:376fccdc7cd6 135 if ((bool)EncoderA == (bool)EncoderB) { //Increment or decrement encoder position during interrupt
darth_bachious 3:376fccdc7cd6 136 encoderPos++;
darth_bachious 3:376fccdc7cd6 137 } else {
darth_bachious 3:376fccdc7cd6 138 encoderPos--;
darth_bachious 3:376fccdc7cd6 139 }
darth_bachious 3:376fccdc7cd6 140 }
darth_bachious 4:610b5051182a 141 double 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 0:2f89dec3e2ab 158 void inet_eth(){
darth_bachious 1:853939e38acd 159 if(identity==1)
darth_bachious 1:853939e38acd 160 {
darth_bachious 1:853939e38acd 161 eth.init(master_ip, MASK,GATEWAY);
darth_bachious 1:853939e38acd 162 eth.connect();
darth_bachious 0:2f89dec3e2ab 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 1:853939e38acd 167 }
darth_bachious 1:853939e38acd 168 else if(identity==0)
darth_bachious 1:853939e38acd 169 {
darth_bachious 1:853939e38acd 170 eth.init(slave_ip, MASK,GATEWAY);
darth_bachious 1:853939e38acd 171 eth.connect();
darth_bachious 1:853939e38acd 172
darth_bachious 1:853939e38acd 173 socket.bind(port);
darth_bachious 9:16044ec419af 174 counterpart.set_address(master_ip,port);
darth_bachious 9:16044ec419af 175 laptop.set_address(laptop_IP,port+1);
darth_bachious 1:853939e38acd 176 }
darth_bachious 1:853939e38acd 177
darth_bachious 0:2f89dec3e2ab 178 }
darth_bachious 0:2f89dec3e2ab 179
darth_bachious 0:2f89dec3e2ab 180 void inet_USB(){
darth_bachious 2:c27b0654cffd 181 pc.baud(115200);
darth_bachious 0:2f89dec3e2ab 182 }
darth_bachious 0:2f89dec3e2ab 183
darth_bachious 0:2f89dec3e2ab 184
darth_bachious 0:2f89dec3e2ab 185 void end_eth(){
darth_bachious 0:2f89dec3e2ab 186 socket.close();
darth_bachious 0:2f89dec3e2ab 187 eth.disconnect();
darth_bachious 0:2f89dec3e2ab 188 }
darth_bachious 0:2f89dec3e2ab 189
darth_bachious 5:4d5b077b3fe6 190 void controllertrigger()
darth_bachious 0:2f89dec3e2ab 191 {
darth_bachious 5:4d5b077b3fe6 192 controller_check = 1;
darth_bachious 0:2f89dec3e2ab 193 }
darth_bachious 2:c27b0654cffd 194
darth_bachious 4:610b5051182a 195
darth_bachious 2:c27b0654cffd 196 float update_delay(std::vector<float>&array, float new_value)
darth_bachious 2:c27b0654cffd 197 {
darth_bachious 8:5c891d5ebe45 198 float return_value = array[0];
darth_bachious 3:376fccdc7cd6 199 for (int i=0; i<array.size()-1; ++i)
darth_bachious 3:376fccdc7cd6 200 {
darth_bachious 3:376fccdc7cd6 201 array[i]=array[i+1];
darth_bachious 3:376fccdc7cd6 202 }
darth_bachious 3:376fccdc7cd6 203 array.back() = new_value;
darth_bachious 3:376fccdc7cd6 204 return return_value;
darth_bachious 3:376fccdc7cd6 205 }
darth_bachious 3:376fccdc7cd6 206
darth_bachious 3:376fccdc7cd6 207 void limit(float &x, float lower, float upper)
darth_bachious 3:376fccdc7cd6 208 {
darth_bachious 3:376fccdc7cd6 209 if (x > upper)
darth_bachious 3:376fccdc7cd6 210 x = upper;
darth_bachious 3:376fccdc7cd6 211 if (x < lower)
darth_bachious 3:376fccdc7cd6 212 x = lower;
darth_bachious 3:376fccdc7cd6 213 }
darth_bachious 3:376fccdc7cd6 214
darth_bachious 4:610b5051182a 215 void motor_update(float PWM) //angle required to safeguard it from crashing into its stops
darth_bachious 4:610b5051182a 216 {
darth_bachious 4:610b5051182a 217 limit(PWM,-1.0f,1.0f);
darth_bachious 4:610b5051182a 218 if(PWM >= 0.0f)
darth_bachious 4:610b5051182a 219 {
darth_bachious 4:610b5051182a 220 M1_DIR = false;
darth_bachious 4:610b5051182a 221 M1_pwm = PWM;
darth_bachious 4:610b5051182a 222 } else {
darth_bachious 4:610b5051182a 223 M1_DIR = true;
darth_bachious 4:610b5051182a 224 M1_pwm = -PWM;
darth_bachious 4:610b5051182a 225 }
darth_bachious 4:610b5051182a 226 }
darth_bachious 4:610b5051182a 227
darth_bachious 4:610b5051182a 228 void sensorUpdate()
darth_bachious 4:610b5051182a 229 {
darth_bachious 4:610b5051182a 230 angle = encoderPos * RadsPerCount;
darth_bachious 11:cb9bb3f0635d 231 encoder_vel = (encoderPos - prev_encoderPos)/ADDMlooptime; //careful, this function should be called every 1/2500 seconds
darth_bachious 4:610b5051182a 232 motor_vel = velocityFilter(encoder_vel * RadsPerCount);
darth_bachious 4:610b5051182a 233 prev_encoderPos = encoderPos;
darth_bachious 6:ccbbf4c77d35 234 force = -FORCESENSORGAIN*2.0f*(measuredForce - force_offset); //Measured force
darth_bachious 4:610b5051182a 235 }
darth_bachious 4:610b5051182a 236
darth_bachious 4:610b5051182a 237 void doCalibration()
darth_bachious 4:610b5051182a 238 {
darth_bachious 8:5c891d5ebe45 239 u = -0.15;
darth_bachious 4:610b5051182a 240 motor_update(u);
darth_bachious 6:ccbbf4c77d35 241 led2=0;
darth_bachious 6:ccbbf4c77d35 242 led=1;
darth_bachious 4:610b5051182a 243 //switching states
darth_bachious 6:ccbbf4c77d35 244 if((abs(motor_vel)<0.001f)&& t.read()>3.0f)
darth_bachious 3:376fccdc7cd6 245 {
darth_bachious 8:5c891d5ebe45 246 encoderPos = MAX_ENCODER_RIGHT;
darth_bachious 4:610b5051182a 247 ref_angle = encoderPos * RadsPerCount;
darth_bachious 4:610b5051182a 248 currentState = stateHoming;
darth_bachious 4:610b5051182a 249 t.stop();
darth_bachious 4:610b5051182a 250 }
darth_bachious 4:610b5051182a 251 }
darth_bachious 4:610b5051182a 252
darth_bachious 4:610b5051182a 253 void doHoming()
darth_bachious 4:610b5051182a 254 {
darth_bachious 4:610b5051182a 255 led2=0;
darth_bachious 4:610b5051182a 256 led=0;
darth_bachious 8:5c891d5ebe45 257 ref_vel = 0.2;
darth_bachious 8:5c891d5ebe45 258 if(ref_angle < 0.0f)
darth_bachious 4:610b5051182a 259 {
darth_bachious 5:4d5b077b3fe6 260 ref_angle += ref_vel*ADDMlooptime; //careful, this function should be called every 1/50 seconds
darth_bachious 4:610b5051182a 261 }
darth_bachious 4:610b5051182a 262 else
darth_bachious 4:610b5051182a 263 {
darth_bachious 4:610b5051182a 264 ref_angle = 0.0;
darth_bachious 4:610b5051182a 265 ref_vel = 0.0;
darth_bachious 4:610b5051182a 266 }
darth_bachious 4:610b5051182a 267 u = Kp*(ref_angle - angle) + Dp*(ref_vel - motor_vel);
darth_bachious 4:610b5051182a 268 motor_update(u);
darth_bachious 4:610b5051182a 269
darth_bachious 4:610b5051182a 270 //switching states
darth_bachious 6:ccbbf4c77d35 271 if ((abs(encoderPos)<20)&&abs((ref_vel - motor_vel)<0.02f))
darth_bachious 4:610b5051182a 272 {
darth_bachious 4:610b5051182a 273 currentState = stateOperation;
darth_bachious 6:ccbbf4c77d35 274 force_offset = measuredForce;
darth_bachious 4:610b5051182a 275 motor_update(0.0);
darth_bachious 5:4d5b077b3fe6 276 led2=1;
darth_bachious 6:ccbbf4c77d35 277 led=1;
darth_bachious 4:610b5051182a 278 }
darth_bachious 3:376fccdc7cd6 279
darth_bachious 4:610b5051182a 280 }
darth_bachious 4:610b5051182a 281
darth_bachious 4:610b5051182a 282 void doOperation()
darth_bachious 4:610b5051182a 283 {
darth_bachious 9:16044ec419af 284 ref_acc = (force*arm + control_torque- virtualDamping*ref_vel)/virtualInertia;
darth_bachious 5:4d5b077b3fe6 285 ref_vel += ref_acc*ADDMlooptime;
darth_bachious 9:16044ec419af 286 if(ref_vel>max_velocity)
darth_bachious 9:16044ec419af 287 ref_vel=max_velocity;
darth_bachious 9:16044ec419af 288 else if(ref_vel<-max_velocity)
darth_bachious 9:16044ec419af 289 ref_vel=-max_velocity;
darth_bachious 9:16044ec419af 290
darth_bachious 9:16044ec419af 291
darth_bachious 5:4d5b077b3fe6 292 ref_angle += ref_vel*ADDMlooptime;
darth_bachious 5:4d5b077b3fe6 293 if(ref_angle > WORKSPACEBOUND)
darth_bachious 5:4d5b077b3fe6 294 {
darth_bachious 5:4d5b077b3fe6 295 ref_vel = 0.0;
darth_bachious 5:4d5b077b3fe6 296 ref_acc = 0.0;
darth_bachious 5:4d5b077b3fe6 297 ref_angle = WORKSPACEBOUND;
darth_bachious 5:4d5b077b3fe6 298 } else if(ref_angle < -WORKSPACEBOUND)
darth_bachious 5:4d5b077b3fe6 299 {
darth_bachious 5:4d5b077b3fe6 300 ref_vel = 0.0;
darth_bachious 5:4d5b077b3fe6 301 ref_acc = 0.0;
darth_bachious 5:4d5b077b3fe6 302 ref_angle = -WORKSPACEBOUND;
darth_bachious 5:4d5b077b3fe6 303 }
darth_bachious 5:4d5b077b3fe6 304 u = Kp*(ref_angle - angle) + Dp*(ref_vel - motor_vel);
darth_bachious 4:610b5051182a 305 motor_update(u);
darth_bachious 6:ccbbf4c77d35 306
darth_bachious 6:ccbbf4c77d35 307 //no switching states for now
darth_bachious 5:4d5b077b3fe6 308 }
darth_bachious 5:4d5b077b3fe6 309
darth_bachious 5:4d5b077b3fe6 310 void loopfunction()
darth_bachious 5:4d5b077b3fe6 311 {
darth_bachious 5:4d5b077b3fe6 312 sensorUpdate();
darth_bachious 5:4d5b077b3fe6 313 switch(currentState)
darth_bachious 5:4d5b077b3fe6 314 {
darth_bachious 5:4d5b077b3fe6 315 case stateCalibration:
darth_bachious 5:4d5b077b3fe6 316 doCalibration();
darth_bachious 5:4d5b077b3fe6 317 break;
darth_bachious 5:4d5b077b3fe6 318 case stateHoming:
darth_bachious 5:4d5b077b3fe6 319 doHoming();
darth_bachious 5:4d5b077b3fe6 320 break;
darth_bachious 5:4d5b077b3fe6 321 case stateOperation:
darth_bachious 5:4d5b077b3fe6 322 doOperation();
darth_bachious 5:4d5b077b3fe6 323 break;
darth_bachious 5:4d5b077b3fe6 324 }
darth_bachious 4:610b5051182a 325 }
darth_bachious 0:2f89dec3e2ab 326
darth_bachious 6:ccbbf4c77d35 327 void updateTransparency()
darth_bachious 6:ccbbf4c77d35 328 {
darth_bachious 6:ccbbf4c77d35 329 transparancy++;
darth_bachious 6:ccbbf4c77d35 330 if(transparancy>3)
darth_bachious 6:ccbbf4c77d35 331 transparancy = 1;
darth_bachious 6:ccbbf4c77d35 332 }
darth_bachious 6:ccbbf4c77d35 333
darth_bachious 6:ccbbf4c77d35 334 void updatePassivity()
darth_bachious 6:ccbbf4c77d35 335 {
darth_bachious 6:ccbbf4c77d35 336 passivity++;
darth_bachious 6:ccbbf4c77d35 337 if(passivity>1)
darth_bachious 6:ccbbf4c77d35 338 passivity = 0;
darth_bachious 6:ccbbf4c77d35 339 }
darth_bachious 6:ccbbf4c77d35 340
darth_bachious 6:ccbbf4c77d35 341 float passivityLayer(float Ftl, float E_in)
darth_bachious 6:ccbbf4c77d35 342 {
darth_bachious 6:ccbbf4c77d35 343 tank = tank + E_in - prev_torque*(ref_angle-prev_ref_angle);
darth_bachious 6:ccbbf4c77d35 344 if(tank>0.0f)
darth_bachious 6:ccbbf4c77d35 345 {
darth_bachious 6:ccbbf4c77d35 346 package_out = tank*beta;
darth_bachious 6:ccbbf4c77d35 347 tank = tank - package_out;
darth_bachious 6:ccbbf4c77d35 348 } else
darth_bachious 6:ccbbf4c77d35 349 package_out = 0.0;
darth_bachious 6:ccbbf4c77d35 350
darth_bachious 6:ccbbf4c77d35 351 float FMAX1 = 0.0;
darth_bachious 6:ccbbf4c77d35 352 if(tank>0.0f)
darth_bachious 6:ccbbf4c77d35 353 {
darth_bachious 8:5c891d5ebe45 354 FMAX1 = abs(Ftl);
darth_bachious 6:ccbbf4c77d35 355 }
darth_bachious 6:ccbbf4c77d35 356 float FMAX2 = abs(tank/(ref_vel*looptime));
darth_bachious 9:16044ec419af 357 float FMAX3 = 20.0;
darth_bachious 9:16044ec419af 358 if(identity==0)
darth_bachious 9:16044ec419af 359 {
darth_bachious 9:16044ec419af 360 FMAX3 = 0.7;
darth_bachious 9:16044ec419af 361 }
darth_bachious 6:ccbbf4c77d35 362 prev_ref_angle = ref_angle;
darth_bachious 6:ccbbf4c77d35 363
darth_bachious 6:ccbbf4c77d35 364 float Ftlc = 0.0;
darth_bachious 6:ccbbf4c77d35 365
darth_bachious 6:ccbbf4c77d35 366 if((tank<Hd)&&(identity==1))
darth_bachious 6:ccbbf4c77d35 367 {
darth_bachious 6:ccbbf4c77d35 368 Ftlc = - alpha*(Hd-tank)*ref_vel;
darth_bachious 6:ccbbf4c77d35 369 }
darth_bachious 9:16044ec419af 370 //pc.printf("%f,%f,%f,%f\r\n",tank,Ftl,min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3)),Ftlc);
darth_bachious 6:ccbbf4c77d35 371 //pc.printf("Ftlc: %f\r\n",Ftlc);
darth_bachious 6:ccbbf4c77d35 372 //pc.printf("tank: %f\r\n",tank);
darth_bachious 6:ccbbf4c77d35 373 if(Ftl>=0.0f)
darth_bachious 6:ccbbf4c77d35 374 {
darth_bachious 6:ccbbf4c77d35 375 prev_torque = min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3))+Ftlc;
darth_bachious 6:ccbbf4c77d35 376 return min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3))+Ftlc; //min() only takes to arguments, so nested min()'s
darth_bachious 8:5c891d5ebe45 377 //return 0.0;
darth_bachious 8:5c891d5ebe45 378 }
darth_bachious 6:ccbbf4c77d35 379 else
darth_bachious 6:ccbbf4c77d35 380 {
darth_bachious 9:16044ec419af 381 prev_torque = -min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3))+Ftlc;
darth_bachious 8:5c891d5ebe45 382 //return 0.0;
darth_bachious 9:16044ec419af 383 return -min(min(abs(Ftl),FMAX1),min(FMAX2,FMAX3))+Ftlc;
darth_bachious 6:ccbbf4c77d35 384 }
darth_bachious 6:ccbbf4c77d35 385
darth_bachious 6:ccbbf4c77d35 386 }
darth_bachious 6:ccbbf4c77d35 387
darth_bachious 7:984f363f5e87 388 void generateOutput(float variable)
darth_bachious 7:984f363f5e87 389 {
darth_bachious 7:984f363f5e87 390 memcpy(&output[0],&counter,4);
darth_bachious 7:984f363f5e87 391 memcpy(&output[4],&transparancy,4);
darth_bachious 7:984f363f5e87 392 memcpy(&output[8],&passivity,4);
darth_bachious 7:984f363f5e87 393 memcpy(&output[12],&variable,4);
darth_bachious 7:984f363f5e87 394 memcpy(&output[16],&package_out,4);
darth_bachious 7:984f363f5e87 395 //pc.printf("output:%i,%i,%i,%f,%f\r\n",counter,transparancy,passivity,variable,package_out);
darth_bachious 7:984f363f5e87 396
darth_bachious 7:984f363f5e87 397 }
darth_bachious 9:16044ec419af 398 void generateStatus()
darth_bachious 9:16044ec419af 399 {
darth_bachious 9:16044ec419af 400 memcpy(&status[0],&counter,4);
darth_bachious 9:16044ec419af 401 memcpy(&status[4],&ref_angle,4);
darth_bachious 9:16044ec419af 402 memcpy(&status[8],&force,4);
darth_bachious 9:16044ec419af 403 memcpy(&status[12],&tank,4);
darth_bachious 11:cb9bb3f0635d 404 memcpy(&status[16],&percentage_received,4);
darth_bachious 9:16044ec419af 405 }
darth_bachious 7:984f363f5e87 406
darth_bachious 0:2f89dec3e2ab 407 void receiveUDP(void const *argument){
darth_bachious 4:610b5051182a 408 while(true)
darth_bachious 4:610b5051182a 409 {
darth_bachious 0:2f89dec3e2ab 410 size = socket.receiveFrom(client, data, sizeof(data));
darth_bachious 4:610b5051182a 411 if(size > 0)
darth_bachious 4:610b5051182a 412 {
darth_bachious 0:2f89dec3e2ab 413 data[size] = '\0';
darth_bachious 7:984f363f5e87 414 if(size>18) //first check, an minimum amount of data must have arrived
darth_bachious 4:610b5051182a 415 {
darth_bachious 7:984f363f5e87 416 memcpy(&check,&data[0],4);
darth_bachious 7:984f363f5e87 417 if(counter_received < check) //second check, data must be newer
darth_bachious 4:610b5051182a 418 {
darth_bachious 7:984f363f5e87 419 counter_received=check;
darth_bachious 7:984f363f5e87 420 memcpy(&received_transparancy,&data[4],4);
darth_bachious 7:984f363f5e87 421 memcpy(&received_passivity,&data[8],4);
darth_bachious 7:984f363f5e87 422 memcpy(&input,&data[12],4);
darth_bachious 10:694de5b31fd6 423 memcpy(&received_package,&data[16],4);
darth_bachious 10:694de5b31fd6 424 led3=!led3;
darth_bachious 11:cb9bb3f0635d 425 counter_not_missed ++;
darth_bachious 11:cb9bb3f0635d 426 percentage_received = (float) counter_not_missed/counter_received;
darth_bachious 11:cb9bb3f0635d 427
darth_bachious 7:984f363f5e87 428 //pc.printf("data:%i,%i,%i,%f,%f\r\n",counter_received,received_transparancy,received_passivity,input,received_package);
darth_bachious 4:610b5051182a 429 }
darth_bachious 0:2f89dec3e2ab 430 }
darth_bachious 0:2f89dec3e2ab 431 }
darth_bachious 0:2f89dec3e2ab 432 }
darth_bachious 4:610b5051182a 433 }
darth_bachious 0:2f89dec3e2ab 434
darth_bachious 0:2f89dec3e2ab 435 osThreadDef(receiveUDP, osPriorityNormal, DEFAULT_STACK_SIZE);
darth_bachious 0:2f89dec3e2ab 436
darth_bachious 0:2f89dec3e2ab 437 int main(){
darth_bachious 10:694de5b31fd6 438 osThreadCreate(osThread(receiveUDP), NULL);
darth_bachious 10:694de5b31fd6 439
darth_bachious 1:853939e38acd 440 inet_eth();
darth_bachious 0:2f89dec3e2ab 441 inet_USB();
darth_bachious 0:2f89dec3e2ab 442
darth_bachious 0:2f89dec3e2ab 443 led2=1;
darth_bachious 0:2f89dec3e2ab 444 led=1;
darth_bachious 5:4d5b077b3fe6 445
darth_bachious 6:ccbbf4c77d35 446 //Set all interrupt requests to 2nd place priority
darth_bachious 5:4d5b077b3fe6 447 for(int n = 0; n < 86; n++) {
darth_bachious 5:4d5b077b3fe6 448 NVIC_SetPriority((IRQn)n,1);
darth_bachious 5:4d5b077b3fe6 449 }
darth_bachious 5:4d5b077b3fe6 450 //Set out motor encoder interrupt to 1st place priority
darth_bachious 5:4d5b077b3fe6 451 NVIC_SetPriority(PORTB_IRQn,0);
darth_bachious 6:ccbbf4c77d35 452
darth_bachious 5:4d5b077b3fe6 453 controllerloop.attach(&controllertrigger,looptime);
darth_bachious 5:4d5b077b3fe6 454 mainloop.attach(&loopfunction,ADDMlooptime);
darth_bachious 5:4d5b077b3fe6 455
darth_bachious 4:610b5051182a 456 M1_pwm.period(1.0/frequency_pwm);
darth_bachious 4:610b5051182a 457 EncoderA.rise(&encoderFunctionA);
darth_bachious 7:984f363f5e87 458
darth_bachious 7:984f363f5e87 459 Button1.rise(&updateTransparency);
darth_bachious 7:984f363f5e87 460 Button2.rise(&updatePassivity);
darth_bachious 6:ccbbf4c77d35 461
darth_bachious 4:610b5051182a 462 t.start();
darth_bachious 3:376fccdc7cd6 463
darth_bachious 0:2f89dec3e2ab 464 while(true){
darth_bachious 5:4d5b077b3fe6 465 if(controller_check==1){
darth_bachious 6:ccbbf4c77d35 466 debug = 1;
darth_bachious 6:ccbbf4c77d35 467 float received_input = update_delay(delayArrayINPUT,input);
darth_bachious 6:ccbbf4c77d35 468 float current_transparancy = update_delay(delayArrayMODE,received_transparancy);
darth_bachious 6:ccbbf4c77d35 469 float current_passivity = update_delay(delayArrayPASS,received_passivity);
darth_bachious 6:ccbbf4c77d35 470 float package_in = update_delay(delayArrayENERGY,received_package);
darth_bachious 6:ccbbf4c77d35 471 received_package = 0; //IMPORTANT, WILL EXPLODE OTHERWISE
darth_bachious 3:376fccdc7cd6 472
darth_bachious 6:ccbbf4c77d35 473 if(identity==0)
darth_bachious 6:ccbbf4c77d35 474 {
darth_bachious 6:ccbbf4c77d35 475 transparancy = current_transparancy;
darth_bachious 6:ccbbf4c77d35 476 passivity = current_passivity;
darth_bachious 6:ccbbf4c77d35 477 if(transparancy==1)
darth_bachious 6:ccbbf4c77d35 478 {
darth_bachious 6:ccbbf4c77d35 479 float torque_tlc = Ktl*(received_input-ref_angle) - Dtl*ref_vel;
darth_bachious 6:ccbbf4c77d35 480 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 481 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 482 else
darth_bachious 6:ccbbf4c77d35 483 control_torque = torque_tlc;
darth_bachious 7:984f363f5e87 484 generateOutput(ref_angle);
darth_bachious 6:ccbbf4c77d35 485 }
darth_bachious 6:ccbbf4c77d35 486 else if(transparancy==2)
darth_bachious 6:ccbbf4c77d35 487 {
darth_bachious 6:ccbbf4c77d35 488 float torque_tlc = Ktl*(received_input-ref_angle) - Dtl*ref_vel;
darth_bachious 6:ccbbf4c77d35 489 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 490 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 491 else
darth_bachious 7:984f363f5e87 492 control_torque = torque_tlc;
darth_bachious 7:984f363f5e87 493 generateOutput(force);
darth_bachious 6:ccbbf4c77d35 494 }
darth_bachious 6:ccbbf4c77d35 495 else if(transparancy==3)
darth_bachious 6:ccbbf4c77d35 496 {
darth_bachious 6:ccbbf4c77d35 497 float torque_tlc = received_input*arm;
darth_bachious 6:ccbbf4c77d35 498 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 499 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 500 else
darth_bachious 7:984f363f5e87 501 control_torque = torque_tlc;
darth_bachious 7:984f363f5e87 502 generateOutput(ref_angle);
darth_bachious 6:ccbbf4c77d35 503 }
darth_bachious 6:ccbbf4c77d35 504 }
darth_bachious 6:ccbbf4c77d35 505 else if(identity == 1)
darth_bachious 6:ccbbf4c77d35 506 {
darth_bachious 6:ccbbf4c77d35 507 if(transparancy==1)
darth_bachious 6:ccbbf4c77d35 508 {
darth_bachious 6:ccbbf4c77d35 509 float torque_tlc = Ktl*(received_input-ref_angle) - Dtl*ref_vel;
darth_bachious 6:ccbbf4c77d35 510 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 511 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 512 else
darth_bachious 7:984f363f5e87 513 control_torque = torque_tlc;
darth_bachious 7:984f363f5e87 514 generateOutput(ref_angle);
darth_bachious 6:ccbbf4c77d35 515 }
darth_bachious 6:ccbbf4c77d35 516 else if(transparancy==2)
darth_bachious 6:ccbbf4c77d35 517 {
darth_bachious 6:ccbbf4c77d35 518 float torque_tlc = received_input*arm;
darth_bachious 6:ccbbf4c77d35 519 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 520 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 521 else
darth_bachious 7:984f363f5e87 522 control_torque = torque_tlc;
darth_bachious 7:984f363f5e87 523 generateOutput(ref_angle);
darth_bachious 6:ccbbf4c77d35 524 }
darth_bachious 6:ccbbf4c77d35 525 else if(transparancy==3)
darth_bachious 6:ccbbf4c77d35 526 {
darth_bachious 6:ccbbf4c77d35 527 float torque_tlc = Ktl*(received_input-ref_angle) - Dtl*ref_vel;
darth_bachious 6:ccbbf4c77d35 528 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 529 control_torque = passivityLayer(torque_tlc,package_in);
darth_bachious 6:ccbbf4c77d35 530 else
darth_bachious 7:984f363f5e87 531 control_torque = torque_tlc;
darth_bachious 7:984f363f5e87 532 generateOutput(force);
darth_bachious 6:ccbbf4c77d35 533 }
darth_bachious 6:ccbbf4c77d35 534 }
darth_bachious 10:694de5b31fd6 535 if(counter%2 >0)
darth_bachious 10:694de5b31fd6 536
darth_bachious 10:694de5b31fd6 537 //pc.printf("force:%f, refpos:%f, pos:%f, tank:%f\r\n",force, ref_angle, angle, tank);
darth_bachious 7:984f363f5e87 538 //pc.printf("received input: %i\r\n",received_input);
darth_bachious 11:cb9bb3f0635d 539 pc.printf("ticks: %i\r\n",encoderPos);
darth_bachious 5:4d5b077b3fe6 540 socket.sendTo(counterpart, output, sizeof(output));
darth_bachious 11:cb9bb3f0635d 541 socket.sendTo(counterpart, output, sizeof(output));
darth_bachious 11:cb9bb3f0635d 542 counter ++;
darth_bachious 9:16044ec419af 543 generateStatus();
darth_bachious 9:16044ec419af 544 socket.sendTo(laptop,status,sizeof(status));
darth_bachious 10:694de5b31fd6 545 led=0;
darth_bachious 6:ccbbf4c77d35 546 if(current_passivity==1)
darth_bachious 6:ccbbf4c77d35 547 led2=0;
darth_bachious 6:ccbbf4c77d35 548 else
darth_bachious 10:694de5b31fd6 549 led2=1;
darth_bachious 10:694de5b31fd6 550
darth_bachious 5:4d5b077b3fe6 551 controller_check = 0;
darth_bachious 6:ccbbf4c77d35 552 debug = 0;
darth_bachious 0:2f89dec3e2ab 553 }
darth_bachious 4:610b5051182a 554 osDelay(0.1); //this might be the most ugliest piece of code that somehow still works. BK
darth_bachious 0:2f89dec3e2ab 555 }
darth_bachious 0:2f89dec3e2ab 556 }