Joao Luiz Almeida de Souza Ramos / Mbed 2 deprecated furutacontroller

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Dependencies:   QEI mbed-rtos mbed

main.cpp@4:8fcaff7801b0, 2013-12-02 (annotated)

Committer:
jaoramos
Date:
Mon Dec 02 04:38:30 2013 +0000
Revision:
4:8fcaff7801b0
Parent:
3:967aee5fed5b
Child:
5:d41998e421ed
first run on system

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 4:8fcaff7801b0 7 #define MOTOR_PPR 300
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 4:8fcaff7801b0 42 float k1 = -0.0316, k2 = 9.7076, k3 = -0.4095, k4 = 1.2340, k5 = 0.0410;
jaoramos 1:5c05e0d08e61 43
jaoramos 1:5c05e0d08e61 44 float encoder_conv = 2*OUR_PI/(float(ENCODER_PPR)*float(QUADRATURE_TYPE));
jaoramos 1:5c05e0d08e61 45 float motor_conv = 2*OUR_PI/(float(MOTOR_PPR)*float(QUADRATURE_TYPE));
jaoramos 1:5c05e0d08e61 46
jaoramos 0:9f2b0ea63eac 47 float* buffer;
jaoramos 2:011e6115c77a 48 float lambda1 = 30, lambda2 = 30, lambda3 = 15;
jaoramos 0:9f2b0ea63eac 49 int index;
jaoramos 4:8fcaff7801b0 50 int pulsesPend, pulsesMot;
jaoramos 0:9f2b0ea63eac 51
jaoramos 0:9f2b0ea63eac 52 void saving(void const *args) {
jaoramos 0:9f2b0ea63eac 53 index = 0;
jaoramos 4:8fcaff7801b0 54 while (index < buffer_size) {
jaoramos 1:5c05e0d08e61 55 buffer[index] = theta1;
jaoramos 1:5c05e0d08e61 56 buffer[index+1] = theta2;
jaoramos 1:5c05e0d08e61 57 buffer[index+2] = dtheta1;
jaoramos 1:5c05e0d08e61 58 buffer[index+3] = dtheta2;
jaoramos 1:5c05e0d08e61 59 buffer[index+4] = mCurrent;
jaoramos 1:5c05e0d08e61 60 buffer[index+5] = t;
jaoramos 4:8fcaff7801b0 61 index = index + DATA_COLS;
jaoramos 1:5c05e0d08e61 62 Thread::wait(20);
jaoramos 0:9f2b0ea63eac 63 }
jaoramos 0:9f2b0ea63eac 64 }
jaoramos 0:9f2b0ea63eac 65
jaoramos 3:967aee5fed5b 66 void setVoltage(float inputVoltage)
jaoramos 3:967aee5fed5b 67 {
jaoramos 3:967aee5fed5b 68 if(inputVoltage<0.0) {
jaoramos 3:967aee5fed5b 69 inputVoltage = -inputVoltage;
jaoramos 3:967aee5fed5b 70 dOut1=0;
jaoramos 3:967aee5fed5b 71 dOut2=1;
jaoramos 3:967aee5fed5b 72 } else {
jaoramos 3:967aee5fed5b 73 dOut1=1;
jaoramos 3:967aee5fed5b 74 dOut2=0;
jaoramos 3:967aee5fed5b 75 }
jaoramos 3:967aee5fed5b 76 float dutyCycle = inputVoltage/MAX_VOLTAGE;
jaoramos 3:967aee5fed5b 77 dutyCycle = (dutyCycle > 1.0)? 1.0 : dutyCycle;
jaoramos 3:967aee5fed5b 78 pwmOut.write(dutyCycle);
jaoramos 3:967aee5fed5b 79 }
jaoramos 3:967aee5fed5b 80
jaoramos 0:9f2b0ea63eac 81 void computing(void const *args) {
jaoramos 2:011e6115c77a 82 float z1 = 0.0, z2 = 0.0, dz1 = 0.0, dz2 = 0.0, z3 = 0.0, dz3 = 0.0;
jaoramos 4:8fcaff7801b0 83 float inputVoltage;
jaoramos 4:8fcaff7801b0 84
jaoramos 0:9f2b0ea63eac 85 while (true) {
jaoramos 0:9f2b0ea63eac 86 t = T.read();
jaoramos 1:5c05e0d08e61 87
jaoramos 2:011e6115c77a 88 //set pwm
jaoramos 4:8fcaff7801b0 89 // ADD A SANITY CHECK ON THETA
jaoramos 4:8fcaff7801b0 90 inputVoltage = -(k1*theta1 + k2*theta2 + k3*dtheta1 + k4*dtheta2 + k5*mCurrent);
jaoramos 4:8fcaff7801b0 91 if (cos(theta2) < 0.98)
jaoramos 4:8fcaff7801b0 92 inputVoltage = 0.0;
jaoramos 3:967aee5fed5b 93 setVoltage(inputVoltage);
jaoramos 2:011e6115c77a 94
jaoramos 2:011e6115c77a 95 //read current
jaoramos 1:5c05e0d08e61 96 mCurrent = aIn.read()*MAX_VOLTAGE/VOLTS_PER_AMP;
jaoramos 3:967aee5fed5b 97 if(dOut1 == 0)
jaoramos 3:967aee5fed5b 98 mCurrent = -mCurrent;
jaoramos 1:5c05e0d08e61 99 pulsesPend = -encoder.getPulses();
jaoramos 1:5c05e0d08e61 100 pulsesMot = motor.getPulses();
jaoramos 1:5c05e0d08e61 101
jaoramos 1:5c05e0d08e61 102 dt = t - t0; //time difference
jaoramos 4:8fcaff7801b0 103 theta2 = float(pulsesPend)*encoder_conv + OUR_PI;
jaoramos 1:5c05e0d08e61 104 theta1 = float(pulsesMot)*motor_conv;
jaoramos 0:9f2b0ea63eac 105
jaoramos 1:5c05e0d08e61 106 //calculate dtheta1
jaoramos 2:011e6115c77a 107 dz1 = - lambda1 * z1 + lambda1 * theta1;
jaoramos 1:5c05e0d08e61 108 z1 = z1 + dz1 * dt;
jaoramos 1:5c05e0d08e61 109 dtheta1 = dz1;
jaoramos 0:9f2b0ea63eac 110
jaoramos 1:5c05e0d08e61 111 //calculate dtheta2
jaoramos 2:011e6115c77a 112 dz2 = - lambda2 * z2 + lambda2 * theta2;
jaoramos 1:5c05e0d08e61 113 z2 = z2 + dz2 * dt;
jaoramos 1:5c05e0d08e61 114 dtheta2 = dz2;
jaoramos 2:011e6115c77a 115
jaoramos 2:011e6115c77a 116 //filter current
jaoramos 2:011e6115c77a 117 dz3 = -lambda3 * z3 + lambda3 * mCurrent;
jaoramos 2:011e6115c77a 118 z3 = z3 + dz3 * dt;
jaoramos 2:011e6115c77a 119 mCurrent = z3;
jaoramos 2:011e6115c77a 120
jaoramos 0:9f2b0ea63eac 121 t0 = t;
jaoramos 0:9f2b0ea63eac 122 Thread::wait(1);
jaoramos 0:9f2b0ea63eac 123 }
jaoramos 0:9f2b0ea63eac 124 }
jaoramos 0:9f2b0ea63eac 125
jaoramos 0:9f2b0ea63eac 126 void saveToFile ()
jaoramos 0:9f2b0ea63eac 127 {
jaoramos 0:9f2b0ea63eac 128 FILE *fp = fopen("/local/data.csv", "w");
jaoramos 0:9f2b0ea63eac 129 if (!fp) {
jaoramos 0:9f2b0ea63eac 130 fprintf(stderr, "File could not be openend \n\r");
jaoramos 0:9f2b0ea63eac 131 exit(1);
jaoramos 0:9f2b0ea63eac 132 }
jaoramos 0:9f2b0ea63eac 133
jaoramos 0:9f2b0ea63eac 134 wait(2.0);
jaoramos 0:9f2b0ea63eac 135
jaoramos 1:5c05e0d08e61 136 for (int i=0; i < index; i=i+DATA_COLS)
jaoramos 1:5c05e0d08e61 137 {
jaoramos 1:5c05e0d08e61 138 for (int j = 0; j< DATA_COLS; j++)
jaoramos 1:5c05e0d08e61 139 {
jaoramos 1:5c05e0d08e61 140 fprintf(fp,"%f,", buffer[i+j]);
jaoramos 1:5c05e0d08e61 141 }
jaoramos 1:5c05e0d08e61 142 fprintf(fp,"\n");
jaoramos 0:9f2b0ea63eac 143 }
jaoramos 0:9f2b0ea63eac 144 pc.printf("closing file\n\r");
jaoramos 0:9f2b0ea63eac 145 fclose(fp);
jaoramos 0:9f2b0ea63eac 146 wait(2.0);;
jaoramos 0:9f2b0ea63eac 147 }
jaoramos 0:9f2b0ea63eac 148
jaoramos 0:9f2b0ea63eac 149 int main() {
jaoramos 0:9f2b0ea63eac 150 //allocate memory for the buffer
jaoramos 1:5c05e0d08e61 151 pc.printf("creating buffer!\r\n");
jaoramos 1:5c05e0d08e61 152 buffer = new float[buffer_size];
jaoramos 1:5c05e0d08e61 153 pc.printf("done creating buffer!\r\n");
jaoramos 0:9f2b0ea63eac 154 T.start();
jaoramos 0:9f2b0ea63eac 155 Thread thrd2(computing,NULL,osPriorityRealtime);
jaoramos 0:9f2b0ea63eac 156 Thread thrd3(saving,NULL,osPriorityNormal);
jaoramos 0:9f2b0ea63eac 157
jaoramos 2:011e6115c77a 158 //Run forward
jaoramos 2:011e6115c77a 159 pwmOut.period(0.0001);
jaoramos 2:011e6115c77a 160 dOut1=1;
jaoramos 2:011e6115c77a 161 dOut2=0;
jaoramos 2:011e6115c77a 162
jaoramos 0:9f2b0ea63eac 163 pc.printf("Start!\r\n");
jaoramos 0:9f2b0ea63eac 164 pc.printf("Time: %f\r\n", t);
jaoramos 0:9f2b0ea63eac 165 while (t < 10.0)
jaoramos 0:9f2b0ea63eac 166 {
jaoramos 4:8fcaff7801b0 167 //pc.printf("Time: %f\r\n", t);
jaoramos 0:9f2b0ea63eac 168 Thread::wait(1000);
jaoramos 0:9f2b0ea63eac 169 }
jaoramos 2:011e6115c77a 170 pc.printf("Done at Index: %d\r\n",index);
jaoramos 2:011e6115c77a 171 pwmOut.write(0.0);
jaoramos 0:9f2b0ea63eac 172 thrd2.terminate();
jaoramos 0:9f2b0ea63eac 173 thrd3.terminate();
jaoramos 0:9f2b0ea63eac 174 saveToFile();
jaoramos 0:9f2b0ea63eac 175 }