Dima Dudin / Mbed 2 deprecated DD_Robot

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Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

motor.h@10:5bdd3dfd5f59, 2018-09-05 (annotated)

Committer:
dima285
Date:
Wed Sep 05 18:25:54 2018 +0000
Revision:
10:5bdd3dfd5f59
Parent:
9:8f98b1c277a4
Child:
12:721a9ea55e91
Stable 05.09.2018

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dima285 9:8f98b1c277a4 1 float const g= 9.81;//SI
dima285 9:8f98b1c277a4 2 float const r_wheel = 0.038;//SI
dima285 9:8f98b1c277a4 3 float const center_mas = 0.022;//SI (ot osi)
dima285 9:8f98b1c277a4 4 float const mass = 1.3;//SI
dima285 9:8f98b1c277a4 5 float const m_inert = 5e-3;//SI
dima285 9:8f98b1c277a4 6 float const half_axis = 0.08;//SI
dima285 9:8f98b1c277a4 7 float const pi = 3.1415926535;
dima285 9:8f98b1c277a4 8 float const ppr = 3200;//pulses per revolution
Stas285 0:e9488589a8ee 9
dima285 9:8f98b1c277a4 10 float accel = 0.01; //cm/c/50mS - 5 = 1 cm/S^2
dima285 9:8f98b1c277a4 11 float motor_speed[2] = {0,0}; //left, right (real exact current speed of each motor for the next raltime slot) SI
dima285 9:8f98b1c277a4 12 float gy_old;
dima285 9:8f98b1c277a4 13 float k_1 = 0.5;
dima285 9:8f98b1c277a4 14 float k_2 = 0.5;
dima285 9:8f98b1c277a4 15 float vert;//ugol
dima285 9:8f98b1c277a4 16 float max_speed = 2;
dima285 9:8f98b1c277a4 17 //float delta_v_filtered;
dima285 9:8f98b1c277a4 18 //float gy_f;
dima285 9:8f98b1c277a4 19 //float ax_f;
dima285 10:5bdd3dfd5f59 20
Stas285 0:e9488589a8ee 21 DigitalOut dir_left(PC_15);
Stas285 0:e9488589a8ee 22 DigitalOut dir_right(PA_2);
Stas285 0:e9488589a8ee 23 DigitalOut motor_enable(PA_0);//sleep inverted
dima285 8:891e4f54e9e2 24 PwmOut step_left(PB_4);
Stas285 0:e9488589a8ee 25 PwmOut step_right(PA_1);
Stas285 0:e9488589a8ee 26
dima285 10:5bdd3dfd5f59 27 void skorost_1(float linear_acceleration = 0, float angular_acceleration = 0)
dima285 10:5bdd3dfd5f59 28 {
dima285 9:8f98b1c277a4 29 // ax_f = 0*ax_f+1*ax;
dima285 10:5bdd3dfd5f59 30 float tma;
dima285 10:5bdd3dfd5f59 31 if (linear_acceleration < 5) tma = linear_acceleration;
dima285 10:5bdd3dfd5f59 32 else tma = 5;
dima285 10:5bdd3dfd5f59 33 if (linear_acceleration > -5) tma = linear_acceleration;
dima285 10:5bdd3dfd5f59 34 else tma = -5;
dima285 9:8f98b1c277a4 35 float sin_phi = (ax)/g;
dima285 10:5bdd3dfd5f59 36 float a = (g*sin_phi)/(sqrt(1-sin_phi*sin_phi));
dima285 9:8f98b1c277a4 37 // float epsilon = gy - gy_old;
dima285 9:8f98b1c277a4 38 // gy_f = 0*gy_f + 1*gy;
dima285 10:5bdd3dfd5f59 39
dima285 10:5bdd3dfd5f59 40 float delta_v = 2*k_2*a*t_step + k_1*1e-3*gy /*+ accel*/ - tma * t_step; //- 0*1e-3*epsilon - 0*motor_speed[1];
dima285 10:5bdd3dfd5f59 41
dima285 9:8f98b1c277a4 42 // delta_v_filtered = 0*delta_v_filtered + 1*delta_v;
dima285 9:8f98b1c277a4 43 //if (delta_v > 0.01) delta_v = 0.01 ;
dima285 9:8f98b1c277a4 44 //if (delta_v < -0.01) delta_v = -0.01 ;
dima285 10:5bdd3dfd5f59 45 motor_speed[0] += delta_v; //+ rotation_rate*half_axis;
dima285 10:5bdd3dfd5f59 46 motor_speed[1] += delta_v; //- rotation_rate*half_axis;
dima285 10:5bdd3dfd5f59 47
dima285 9:8f98b1c277a4 48 if (motor_speed[0] > max_speed) motor_speed[0] = max_speed;
dima285 9:8f98b1c277a4 49 if (motor_speed[0] < -max_speed) motor_speed[0] = -max_speed;
dima285 9:8f98b1c277a4 50 if (motor_speed[1] > max_speed) motor_speed[1] = max_speed;
dima285 9:8f98b1c277a4 51 if (motor_speed[1] < -max_speed) motor_speed[1] = -max_speed;
dima285 10:5bdd3dfd5f59 52
dima285 10:5bdd3dfd5f59 53
dima285 10:5bdd3dfd5f59 54 if (motor_speed[1] > 0) dir_right = 0;
dima285 10:5bdd3dfd5f59 55 else dir_right = 1;
dima285 10:5bdd3dfd5f59 56 if (motor_speed[0] > 0) dir_left = 1;
dima285 10:5bdd3dfd5f59 57 else dir_left = 0;
dima285 9:8f98b1c277a4 58 float nu_l = abs(motor_speed[0]/(2*pi*r_wheel))*ppr; //frequency in herz
dima285 9:8f98b1c277a4 59 float nu_r = abs(motor_speed[1]/(2*pi*r_wheel))*ppr; //frequency in herz
dima285 9:8f98b1c277a4 60 if (nu_l < 1) nu_l = 1;
dima285 9:8f98b1c277a4 61 if (nu_r < 1) nu_r = 1;
dima285 10:5bdd3dfd5f59 62 step_right.period_us (1e6/nu_r);
dima285 10:5bdd3dfd5f59 63 step_right = 0.5;
dima285 10:5bdd3dfd5f59 64 step_left.period_us (1e6/nu_l);
dima285 10:5bdd3dfd5f59 65 step_left = 0.5;
dima285 10:5bdd3dfd5f59 66 //wifi.printf("%.2f %.2f %.2f %.2f;",linear_acceleration,a,ax,delta_v);
dima285 9:8f98b1c277a4 67 //pc.printf("s:%.2f,a:%.2f,ax:%.2f,delta_v:%.2f,nu:%.2f\n",motor_speed[0],a,ax,delta_v,nu_l);
dima285 10:5bdd3dfd5f59 68 }
dima285 10:5bdd3dfd5f59 69
dima285 10:5bdd3dfd5f59 70 void skorost(int right, float motor_target_speed) //(0-left,1-right), cm/s [-400;400]
dima285 10:5bdd3dfd5f59 71 {
dima285 10:5bdd3dfd5f59 72 //nu = 500 Hz => 500/3200 = 0.15625 rps (d = 7.8cm) => V_real = Pi*d*0.15625 = 0.038 m/s = 3.8 cm/s
dima285 9:8f98b1c277a4 73 //float nu_l;
dima285 10:5bdd3dfd5f59 74 //if (abs(-motor_target_speed + motor_speed[right]) <= accel) motor_speed[right] = motor_target_speed; // calculate new curent speed
dima285 9:8f98b1c277a4 75 //if ((motor_target_speed + motor_speed[right]) > accel) motor_speed[right] = motor_speed[right] - accel; // calculate new curent speed at big step
dima285 9:8f98b1c277a4 76 //if ((-motor_speed[right] + motor_target_speed) > accel) motor_speed[right] = motor_speed[right] + accel; // calculate new curent speed at big step
dima285 10:5bdd3dfd5f59 77
dima285 9:8f98b1c277a4 78 vert = 1*(motor_target_speed - motor_speed[right]) - 0.6;
dima285 9:8f98b1c277a4 79 if (vert > 3) vert = 3;
dima285 9:8f98b1c277a4 80 if (vert < -3) vert = -3;
dima285 10:5bdd3dfd5f59 81
dima285 9:8f98b1c277a4 82 //if (right == 1) wifi.printf("a:%.2f,t:%.2f,s:%.2f,v:%.2f",ax,motor_target_speed,motor_speed[right],vert);
dima285 10:5bdd3dfd5f59 83
dima285 9:8f98b1c277a4 84 //float diff = ax - ax_old; //balance feedback
dima285 10:5bdd3dfd5f59 85 //motor_speed[right] -= k_dif*gy + 0*diff + k_prop*ax ;
dima285 10:5bdd3dfd5f59 86 //gz_old = gz;
dima285 9:8f98b1c277a4 87 /*if (motor_speed[right] > 100) motor_speed[right] = 100;
dima285 9:8f98b1c277a4 88 if (motor_speed[right] < -100) motor_speed[right] = -100;
dima285 9:8f98b1c277a4 89 if (right == 1) wifi.printf("s:%.2f",motor_speed[right]);
Stas285 0:e9488589a8ee 90 if (right) {if (motor_speed[right] > 0) dir_right = 1; else dir_right = 0;}
Stas285 0:e9488589a8ee 91 else {if (motor_speed[right] > 0) dir_left = 0; else dir_left = 1;}
Stas285 6:6e89cdc3db92 92 nu_l = abs(motor_speed[right])*(500.0/3.8); //frequency in herz !!!!(cm)
Stas285 0:e9488589a8ee 93 if (nu_l < 1) nu_l = 1;
dima285 9:8f98b1c277a4 94 if(right) {step_right.period_us (1e6/nu_l);step_right = 0.5;} else {step_left.period_us (1e6/nu_l);step_left = 0.5;}
dima285 10:5bdd3dfd5f59 95 // pc.printf("%u \n", nu_l);
dima285 9:8f98b1c277a4 96 //wifi.printf("ay:%.2f, ",ay);*/
dima285 10:5bdd3dfd5f59 97 }
Stas285 6:6e89cdc3db92 98
dima285 10:5bdd3dfd5f59 99 void set_motors(float speed_left, float speed_right) //sets target speed for both motors, but the result will take into account accel and ay
dima285 10:5bdd3dfd5f59 100 {
Stas285 6:6e89cdc3db92 101 skorost(0,speed_left);
Stas285 6:6e89cdc3db92 102 skorost(1,speed_right);
dima285 10:5bdd3dfd5f59 103 }
dima285 10:5bdd3dfd5f59 104
dima285 10:5bdd3dfd5f59 105 void motor_init()
dima285 10:5bdd3dfd5f59 106 {
dima285 10:5bdd3dfd5f59 107 step_left = 0.5;
dima285 10:5bdd3dfd5f59 108 step_right = 0.5;
Stas285 0:e9488589a8ee 109 motor_enable = 1;
dima285 9:8f98b1c277a4 110 //skorost(0,0.01); skorost(1,0.01);
dima285 10:5bdd3dfd5f59 111 }