David Pasztor / Mbed 2 deprecated Motor_control

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Dependencies:   mbed-rtos mbed

main.cpp@13:deb1e793f125, 2017-03-14 (annotated)

Committer:
dkp14
Date:
Tue Mar 14 21:58:29 2017 +0000
Revision:
13:deb1e793f125
Parent:
11:043a63c952a0
Child:
15:b6025338e0eb
control loop uncommented

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dkp14 0:74a5723d604a 1 #include "mbed.h"
dkp14 0:74a5723d604a 2 #include "rtos.h"
dkp14 0:74a5723d604a 3 #include "definitions.h"
dkp14 0:74a5723d604a 4 #include "motorControl.h"
dkp14 0:74a5723d604a 5
dkp14 10:25d8696cb2c6 6 #define kp 0.75f
dkp14 10:25d8696cb2c6 7 #define ki 0.5f
dkp14 10:25d8696cb2c6 8 #define kd 1.0f
dkp14 10:25d8696cb2c6 9 #define dt 0.02f //given in ms, used to call a ticker
dkp14 4:dc705df93090 10
dkp14 0:74a5723d604a 11 volatile uint8_t state = 0;
dkp14 11:043a63c952a0 12 //volatile uint8_t orState = 0; //Motor rotor offset.
dkp14 11:043a63c952a0 13 volatile float w3 = 0; //Angular velocity
dkp14 11:043a63c952a0 14 volatile float duty = 0.40;
dkp14 4:dc705df93090 15 volatile int count_i3 = 0;
dkp14 10:25d8696cb2c6 16 const float angularVelocities[17] = {0, 112.355598, 164.975998, 218.721725,
dkp14 10:25d8696cb2c6 17 260.672943, 291.491364, 308.479126, 316.805908, 321.183929, 324.010712,
dkp14 10:25d8696cb2c6 18 326.146759, 336.187103, 351.175629, 364.887604, 377.856659, 387.58432,
dkp14 10:25d8696cb2c6 19 392.540314};
dkp14 11:043a63c952a0 20 const float dutyCycles [17] = {0, 0.28, 0.33, 0.38, 0.42, 0.47, 0.52, 0.57,
dkp14 11:043a63c952a0 21 0.63, 0.68, 0.73, 0.78, 0.83, 0.88, 0.93, 0.98, 1};
dkp14 0:74a5723d604a 22
dkp14 10:25d8696cb2c6 23 const float angle = 6.283; //2*pi for 1 revolution
dkp14 0:74a5723d604a 24 Timer dt_I3;
dkp14 0:74a5723d604a 25 Timer motorTimer;
dkp14 4:dc705df93090 26 Ticker controlTicker;
dkp14 4:dc705df93090 27
dkp14 4:dc705df93090 28 volatile float fi0 = 0; //number of revs done
dkp14 11:043a63c952a0 29 volatile int goalRevs = 50;
dkp14 4:dc705df93090 30 volatile float fi = 2*3.1415*goalRevs;
dkp14 4:dc705df93090 31 volatile float goalW = 0; //desired angular velocity
dkp14 10:25d8696cb2c6 32 volatile float accError = 0;
dkp14 10:25d8696cb2c6 33 volatile float prevError = 0;
dkp14 4:dc705df93090 34
dkp14 11:043a63c952a0 35 float getDuty(float w){
dkp14 11:043a63c952a0 36 for (int i=0;i<16;i++) { //iterate through the angular velocities
dkp14 11:043a63c952a0 37 if (w > angularVelocities[i] && w <= angularVelocities[i+1]) {
dkp14 11:043a63c952a0 38 if (w-angularVelocities[i] < angularVelocities[i+1]-w ) {
dkp14 11:043a63c952a0 39 return dutyCycles[i];
dkp14 11:043a63c952a0 40 }
dkp14 11:043a63c952a0 41 else {
dkp14 11:043a63c952a0 42 return dutyCycles[i+1];
dkp14 11:043a63c952a0 43 }
dkp14 11:043a63c952a0 44 }
dkp14 11:043a63c952a0 45 }
dkp14 11:043a63c952a0 46 return 0;
dkp14 11:043a63c952a0 47 }
dkp14 11:043a63c952a0 48
dkp14 4:dc705df93090 49 void control(){
dkp14 4:dc705df93090 50 fi0 = 6.283 * count_i3; //fi0 = 2*pi*revs
dkp14 10:25d8696cb2c6 51 float error = fi - fi0;
dkp14 10:25d8696cb2c6 52 accError += error*dt;
dkp14 10:25d8696cb2c6 53 float dError = (prevError - error)/dt;
dkp14 4:dc705df93090 54 goalW = kp*error + ki*accError + kd*dError;
dkp14 10:25d8696cb2c6 55 prevError = error;
dkp14 11:043a63c952a0 56 duty = getDuty(goalW);
dkp14 0:74a5723d604a 57 }
dkp14 0:74a5723d604a 58
dkp14 0:74a5723d604a 59 void i3rise(){
dkp14 0:74a5723d604a 60 state = updateState();
davidanderle 2:fe637a5f3387 61 motorOut((state-orState+lead+6)%6, duty);
dkp14 0:74a5723d604a 62
dkp14 11:043a63c952a0 63 w3 = angle/dt_I3.read(); //Calc angular velocity
dkp14 0:74a5723d604a 64
dkp14 0:74a5723d604a 65 dt_I3.reset();
dkp14 4:dc705df93090 66 count_i3++;
dkp14 0:74a5723d604a 67 }
dkp14 0:74a5723d604a 68
dkp14 11:043a63c952a0 69 void i_edge(){
dkp14 0:74a5723d604a 70 state = updateState();
davidanderle 2:fe637a5f3387 71 motorOut((state-orState+lead+6)%6, duty);
dkp14 0:74a5723d604a 72 }
dkp14 0:74a5723d604a 73
dkp14 0:74a5723d604a 74 void CHA_rise(){
dkp14 0:74a5723d604a 75 }
dkp14 0:74a5723d604a 76 void CHA_fall(){
dkp14 0:74a5723d604a 77 }
dkp14 0:74a5723d604a 78 void CHB_rise(){
dkp14 0:74a5723d604a 79 }
dkp14 0:74a5723d604a 80 void CHB_fall(){
dkp14 0:74a5723d604a 81 }
dkp14 0:74a5723d604a 82
dkp14 0:74a5723d604a 83 int main() {
dkp14 11:043a63c952a0 84 motorHome(); //Initialise motor before any interrupt
dkp14 0:74a5723d604a 85
dkp14 11:043a63c952a0 86 dt_I3.start(); //Start the time counters for velocity
dkp14 11:043a63c952a0 87
dkp14 13:deb1e793f125 88 controlTicker.attach(&control, dt);
dkp14 0:74a5723d604a 89
dkp14 11:043a63c952a0 90 I1.rise(&i_edge); //Assign interrupt handlers for LEDs
dkp14 11:043a63c952a0 91 I1.fall(&i_edge);
dkp14 11:043a63c952a0 92 I2.rise(&i_edge);
dkp14 11:043a63c952a0 93 I2.fall(&i_edge);
dkp14 0:74a5723d604a 94 I3.rise(&i3rise);
dkp14 11:043a63c952a0 95 I3.fall(&i_edge);
dkp14 0:74a5723d604a 96 // CHA.rise(&CHA_rise);
dkp14 0:74a5723d604a 97 // CHA.fall(&CHA_fall);
dkp14 0:74a5723d604a 98 // CHB.rise(&CHB_rise);
dkp14 0:74a5723d604a 99 // CHB.fall(&CHB_fall);
dkp14 11:043a63c952a0 100
dkp14 10:25d8696cb2c6 101 state = updateState();
dkp14 11:043a63c952a0 102 motorTimer.start();
dkp14 10:25d8696cb2c6 103 motorOut((state-orState+lead+6)%6, 0.5f); //Kickstart the motor
dkp14 11:043a63c952a0 104 wait(60);
dkp14 10:25d8696cb2c6 105
dkp14 13:deb1e793f125 106 while (count_i3<=goalRevs) {
dkp14 11:043a63c952a0 107 pc.printf("Speed: %f, duty cycle: %f, revs done: %d \n\r",w3, duty, count_i3);
dkp14 11:043a63c952a0 108 /*
dkp14 11:043a63c952a0 109 if(duty < 0.00f) {
dkp14 4:dc705df93090 110 stopMotor();
dkp14 10:25d8696cb2c6 111 return 0;
dkp14 4:dc705df93090 112 }
dkp14 11:043a63c952a0 113 */
dkp14 7:6bf4a61cf7c7 114 /*
dkp14 10:25d8696cb2c6 115 if(motorTimer.read() >= 30) {
dkp14 0:74a5723d604a 116 stopMotor();
dkp14 0:74a5723d604a 117 return 0;
dkp14 0:74a5723d604a 118 }
dkp14 4:dc705df93090 119 */
dkp14 0:74a5723d604a 120 }
dkp14 13:deb1e793f125 121 stopMotor();
dkp14 13:deb1e793f125 122 return 0;
dkp14 0:74a5723d604a 123 }