Joao Luiz Almeida de Souza Ramos / Mbed 2 deprecated furutacontroller

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Dependencies:   QEI mbed-rtos mbed

main.cpp@3:967aee5fed5b, 2013-12-02 (annotated)

Committer:
jaoramos
Date:
Mon Dec 02 02:22:37 2013 +0000
Revision:
3:967aee5fed5b
Parent:
2:011e6115c77a
Child:
4:8fcaff7801b0
added currents direction and a voltage function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jaoramos 0:9f2b0ea63eac 1 #include "mbed.h"
jaoramos 0:9f2b0ea63eac 2 #include "rtos.h"
jaoramos 0:9f2b0ea63eac 3 #include "QEI.h"
jaoramos 2:011e6115c77a 4 #include <fstream>
jaoramos 2:011e6115c77a 5 #include <iomanip>
jaoramos 1:5c05e0d08e61 6
jaoramos 1:5c05e0d08e61 7 #define MOTOR_PPR 1200
jaoramos 1:5c05e0d08e61 8 #define ENCODER_PPR 1024
jaoramos 1:5c05e0d08e61 9
jaoramos 1:5c05e0d08e61 10 #define QUADRATURE_TYPE 2
jaoramos 1:5c05e0d08e61 11 #define OUR_PI 3.141592653589793
jaoramos 1:5c05e0d08e61 12 #define DATA_COLS 6
jaoramos 1:5c05e0d08e61 13 #define NR_SAMPLES 1500
jaoramos 1:5c05e0d08e61 14 #define buffer_size 3500
jaoramos 1:5c05e0d08e61 15 #define MAX_VOLTAGE 3.3
jaoramos 1:5c05e0d08e61 16 #define VOLTS_PER_AMP 0.14
jaoramos 1:5c05e0d08e61 17
jaoramos 0:9f2b0ea63eac 18
jaoramos 0:9f2b0ea63eac 19 Serial pc(USBTX, USBRX);
jaoramos 0:9f2b0ea63eac 20
jaoramos 1:5c05e0d08e61 21 QEI encoder(p29, p30, NC, ENCODER_PPR);
jaoramos 1:5c05e0d08e61 22 QEI motor(p25, p26, NC, MOTOR_PPR);
jaoramos 0:9f2b0ea63eac 23 Timer T;
jaoramos 0:9f2b0ea63eac 24
jaoramos 1:5c05e0d08e61 25 //Curent Measurement
jaoramos 1:5c05e0d08e61 26 AnalogIn aIn(p16); //pin 15 set as analog input. Pins 15-20 can be used as analog inputs.
jaoramos 1:5c05e0d08e61 27
jaoramos 2:011e6115c77a 28 //Motor direction and PWM
jaoramos 2:011e6115c77a 29 DigitalOut dOut1(p5);
jaoramos 2:011e6115c77a 30 DigitalOut dOut2(p7);
jaoramos 2:011e6115c77a 31 PwmOut pwmOut(p21);
jaoramos 1:5c05e0d08e61 32
jaoramos 0:9f2b0ea63eac 33 // open a file for data logger
jaoramos 0:9f2b0ea63eac 34 LocalFileSystem local("local");
jaoramos 1:5c05e0d08e61 35 //const int buffer_size = DATA_COLS * NR_SAMPLES;
jaoramos 1:5c05e0d08e61 36 float theta1, theta2, dtheta1, dtheta2;
jaoramos 1:5c05e0d08e61 37 float mCurrent = 0.0;
jaoramos 1:5c05e0d08e61 38 //int pulses0 = 0;
jaoramos 1:5c05e0d08e61 39 //int deltaPulses;
jaoramos 0:9f2b0ea63eac 40 float t0 = 0.0;
jaoramos 1:5c05e0d08e61 41 float t = 0.0, dt;
jaoramos 1:5c05e0d08e61 42
jaoramos 1:5c05e0d08e61 43 float encoder_conv = 2*OUR_PI/(float(ENCODER_PPR)*float(QUADRATURE_TYPE));
jaoramos 1:5c05e0d08e61 44 float motor_conv = 2*OUR_PI/(float(MOTOR_PPR)*float(QUADRATURE_TYPE));
jaoramos 1:5c05e0d08e61 45
jaoramos 0:9f2b0ea63eac 46 float* buffer;
jaoramos 2:011e6115c77a 47 float lambda1 = 30, lambda2 = 30, lambda3 = 15;
jaoramos 0:9f2b0ea63eac 48 int index;
jaoramos 0:9f2b0ea63eac 49
jaoramos 0:9f2b0ea63eac 50 void saving(void const *args) {
jaoramos 0:9f2b0ea63eac 51 index = 0;
jaoramos 0:9f2b0ea63eac 52 while (true) {
jaoramos 1:5c05e0d08e61 53 buffer[index] = theta1;
jaoramos 1:5c05e0d08e61 54 buffer[index+1] = theta2;
jaoramos 1:5c05e0d08e61 55 buffer[index+2] = dtheta1;
jaoramos 1:5c05e0d08e61 56 buffer[index+3] = dtheta2;
jaoramos 1:5c05e0d08e61 57 buffer[index+4] = mCurrent;
jaoramos 1:5c05e0d08e61 58 buffer[index+5] = t;
jaoramos 1:5c05e0d08e61 59
jaoramos 1:5c05e0d08e61 60 index = index+DATA_COLS;
jaoramos 1:5c05e0d08e61 61 Thread::wait(20);
jaoramos 0:9f2b0ea63eac 62 }
jaoramos 0:9f2b0ea63eac 63 }
jaoramos 0:9f2b0ea63eac 64
jaoramos 3:967aee5fed5b 65 void setVoltage(float inputVoltage)
jaoramos 3:967aee5fed5b 66 {
jaoramos 3:967aee5fed5b 67 if(inputVoltage<0.0) {
jaoramos 3:967aee5fed5b 68 inputVoltage = -inputVoltage;
jaoramos 3:967aee5fed5b 69 dOut1=0;
jaoramos 3:967aee5fed5b 70 dOut2=1;
jaoramos 3:967aee5fed5b 71 } else {
jaoramos 3:967aee5fed5b 72 dOut1=1;
jaoramos 3:967aee5fed5b 73 dOut2=0;
jaoramos 3:967aee5fed5b 74 }
jaoramos 3:967aee5fed5b 75 float dutyCycle = inputVoltage/MAX_VOLTAGE;
jaoramos 3:967aee5fed5b 76 dutyCycle = (dutyCycle > 1.0)? 1.0 : dutyCycle;
jaoramos 3:967aee5fed5b 77 pwmOut.write(dutyCycle);
jaoramos 3:967aee5fed5b 78 }
jaoramos 3:967aee5fed5b 79
jaoramos 0:9f2b0ea63eac 80 void computing(void const *args) {
jaoramos 2:011e6115c77a 81 float z1 = 0.0, z2 = 0.0, dz1 = 0.0, dz2 = 0.0, z3 = 0.0, dz3 = 0.0;
jaoramos 3:967aee5fed5b 82 float freq = 2.0, inputVoltage;
jaoramos 1:5c05e0d08e61 83 int pulsesPend, pulsesMot;
jaoramos 0:9f2b0ea63eac 84 while (true) {
jaoramos 0:9f2b0ea63eac 85 t = T.read();
jaoramos 1:5c05e0d08e61 86
jaoramos 2:011e6115c77a 87 //set pwm
jaoramos 3:967aee5fed5b 88 inputVoltage = MAX_VOLTAGE * (sin(freq*t));
jaoramos 2:011e6115c77a 89 //pc.printf("Duty%f\n\r",dutyCycle);
jaoramos 3:967aee5fed5b 90 setVoltage(inputVoltage);
jaoramos 2:011e6115c77a 91
jaoramos 2:011e6115c77a 92 //read current
jaoramos 1:5c05e0d08e61 93 mCurrent = aIn.read()*MAX_VOLTAGE/VOLTS_PER_AMP;
jaoramos 3:967aee5fed5b 94 if(dOut1 == 0)
jaoramos 3:967aee5fed5b 95 mCurrent = -mCurrent;
jaoramos 1:5c05e0d08e61 96 pulsesPend = -encoder.getPulses();
jaoramos 1:5c05e0d08e61 97 pulsesMot = motor.getPulses();
jaoramos 1:5c05e0d08e61 98
jaoramos 1:5c05e0d08e61 99 dt = t - t0; //time difference
jaoramos 1:5c05e0d08e61 100 theta2 = float(pulsesPend)*encoder_conv;
jaoramos 1:5c05e0d08e61 101 theta1 = float(pulsesMot)*motor_conv;
jaoramos 0:9f2b0ea63eac 102
jaoramos 1:5c05e0d08e61 103 //calculate dtheta1
jaoramos 2:011e6115c77a 104 dz1 = - lambda1 * z1 + lambda1 * theta1;
jaoramos 1:5c05e0d08e61 105 z1 = z1 + dz1 * dt;
jaoramos 1:5c05e0d08e61 106 dtheta1 = dz1;
jaoramos 0:9f2b0ea63eac 107
jaoramos 1:5c05e0d08e61 108 //calculate dtheta2
jaoramos 2:011e6115c77a 109 dz2 = - lambda2 * z2 + lambda2 * theta2;
jaoramos 1:5c05e0d08e61 110 z2 = z2 + dz2 * dt;
jaoramos 1:5c05e0d08e61 111 dtheta2 = dz2;
jaoramos 2:011e6115c77a 112
jaoramos 2:011e6115c77a 113 //filter current
jaoramos 2:011e6115c77a 114 dz3 = -lambda3 * z3 + lambda3 * mCurrent;
jaoramos 2:011e6115c77a 115 z3 = z3 + dz3 * dt;
jaoramos 2:011e6115c77a 116 mCurrent = z3;
jaoramos 2:011e6115c77a 117
jaoramos 0:9f2b0ea63eac 118 t0 = t;
jaoramos 0:9f2b0ea63eac 119 Thread::wait(1);
jaoramos 0:9f2b0ea63eac 120 }
jaoramos 0:9f2b0ea63eac 121 }
jaoramos 0:9f2b0ea63eac 122
jaoramos 0:9f2b0ea63eac 123 void saveToFile ()
jaoramos 0:9f2b0ea63eac 124 {
jaoramos 0:9f2b0ea63eac 125 FILE *fp = fopen("/local/data.csv", "w");
jaoramos 0:9f2b0ea63eac 126 if (!fp) {
jaoramos 0:9f2b0ea63eac 127 fprintf(stderr, "File could not be openend \n\r");
jaoramos 0:9f2b0ea63eac 128 exit(1);
jaoramos 0:9f2b0ea63eac 129 }
jaoramos 0:9f2b0ea63eac 130
jaoramos 0:9f2b0ea63eac 131 wait(2.0);
jaoramos 0:9f2b0ea63eac 132
jaoramos 1:5c05e0d08e61 133 for (int i=0; i < index; i=i+DATA_COLS)
jaoramos 1:5c05e0d08e61 134 {
jaoramos 1:5c05e0d08e61 135 for (int j = 0; j< DATA_COLS; j++)
jaoramos 1:5c05e0d08e61 136 {
jaoramos 1:5c05e0d08e61 137 fprintf(fp,"%f,", buffer[i+j]);
jaoramos 1:5c05e0d08e61 138 }
jaoramos 1:5c05e0d08e61 139 fprintf(fp,"\n");
jaoramos 0:9f2b0ea63eac 140 }
jaoramos 0:9f2b0ea63eac 141 pc.printf("closing file\n\r");
jaoramos 0:9f2b0ea63eac 142 fclose(fp);
jaoramos 0:9f2b0ea63eac 143 wait(2.0);;
jaoramos 0:9f2b0ea63eac 144 }
jaoramos 0:9f2b0ea63eac 145
jaoramos 0:9f2b0ea63eac 146 int main() {
jaoramos 0:9f2b0ea63eac 147 //allocate memory for the buffer
jaoramos 1:5c05e0d08e61 148 pc.printf("creating buffer!\r\n");
jaoramos 1:5c05e0d08e61 149 buffer = new float[buffer_size];
jaoramos 1:5c05e0d08e61 150 pc.printf("done creating buffer!\r\n");
jaoramos 0:9f2b0ea63eac 151 T.start();
jaoramos 0:9f2b0ea63eac 152 Thread thrd2(computing,NULL,osPriorityRealtime);
jaoramos 0:9f2b0ea63eac 153 Thread thrd3(saving,NULL,osPriorityNormal);
jaoramos 0:9f2b0ea63eac 154
jaoramos 2:011e6115c77a 155 //Run forward
jaoramos 2:011e6115c77a 156 pwmOut.period(0.0001);
jaoramos 2:011e6115c77a 157 dOut1=1;
jaoramos 2:011e6115c77a 158 dOut2=0;
jaoramos 2:011e6115c77a 159
jaoramos 2:011e6115c77a 160
jaoramos 0:9f2b0ea63eac 161 pc.printf("Start!\r\n");
jaoramos 0:9f2b0ea63eac 162 pc.printf("Time: %f\r\n", t);
jaoramos 0:9f2b0ea63eac 163 while (t < 10.0)
jaoramos 0:9f2b0ea63eac 164 {
jaoramos 0:9f2b0ea63eac 165 pc.printf("Time: %f\r\n", t);
jaoramos 0:9f2b0ea63eac 166 Thread::wait(1000);
jaoramos 0:9f2b0ea63eac 167 }
jaoramos 2:011e6115c77a 168 pc.printf("Done at Index: %d\r\n",index);
jaoramos 2:011e6115c77a 169 pwmOut.write(0.0);
jaoramos 0:9f2b0ea63eac 170 thrd2.terminate();
jaoramos 0:9f2b0ea63eac 171 thrd3.terminate();
jaoramos 0:9f2b0ea63eac 172 saveToFile();
jaoramos 0:9f2b0ea63eac 173 }