Joao Luiz Almeida de Souza Ramos / Mbed 2 deprecated furutacontroller

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Dependencies:   QEI mbed-rtos mbed

main.cpp@5:d41998e421ed, 2013-12-03 (annotated)

Committer:
jaoramos
Date:
Tue Dec 03 16:16:14 2013 +0000
Revision:
5:d41998e421ed
Parent:
4:8fcaff7801b0
Child:
6:16da0de99a8c
stable control with rattling on x2 encoding and second iteration on the gains

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 5:d41998e421ed 12 #define DATA_COLS 7
jaoramos 5:d41998e421ed 13 #define BUFFER_SIZE 4200
jaoramos 1:5c05e0d08e61 14 #define MAX_VOLTAGE 3.3
jaoramos 1:5c05e0d08e61 15 #define VOLTS_PER_AMP 0.14
jaoramos 1:5c05e0d08e61 16
jaoramos 0:9f2b0ea63eac 17
jaoramos 0:9f2b0ea63eac 18 Serial pc(USBTX, USBRX);
jaoramos 0:9f2b0ea63eac 19
jaoramos 1:5c05e0d08e61 20 QEI encoder(p29, p30, NC, ENCODER_PPR);
jaoramos 1:5c05e0d08e61 21 QEI motor(p25, p26, NC, MOTOR_PPR);
jaoramos 0:9f2b0ea63eac 22 Timer T;
jaoramos 0:9f2b0ea63eac 23
jaoramos 1:5c05e0d08e61 24 //Curent Measurement
jaoramos 1:5c05e0d08e61 25 AnalogIn aIn(p16); //pin 15 set as analog input. Pins 15-20 can be used as analog inputs.
jaoramos 1:5c05e0d08e61 26
jaoramos 2:011e6115c77a 27 //Motor direction and PWM
jaoramos 2:011e6115c77a 28 DigitalOut dOut1(p5);
jaoramos 2:011e6115c77a 29 DigitalOut dOut2(p7);
jaoramos 2:011e6115c77a 30 PwmOut pwmOut(p21);
jaoramos 1:5c05e0d08e61 31
jaoramos 0:9f2b0ea63eac 32 // open a file for data logger
jaoramos 0:9f2b0ea63eac 33 LocalFileSystem local("local");
jaoramos 1:5c05e0d08e61 34 float theta1, theta2, dtheta1, dtheta2;
jaoramos 1:5c05e0d08e61 35 float mCurrent = 0.0;
jaoramos 5:d41998e421ed 36 float inputVoltage = 0.0;
jaoramos 1:5c05e0d08e61 37 //int pulses0 = 0;
jaoramos 1:5c05e0d08e61 38 //int deltaPulses;
jaoramos 0:9f2b0ea63eac 39 float t0 = 0.0;
jaoramos 1:5c05e0d08e61 40 float t = 0.0, dt;
jaoramos 5:d41998e421ed 41
jaoramos 5:d41998e421ed 42 //Controller gains - Full-state Feedback
jaoramos 5:d41998e421ed 43 //float k1 = -0.0316, k2 = 9.7076, k3 = -0.4095, k4 = 1.2340, k5 = 0.0410;
jaoramos 5:d41998e421ed 44 float k1 = -0.3162, k2 = 18.278, k3 = -0.8964, k4 = 2.4441, k5 = 0.1843;
jaoramos 1:5c05e0d08e61 45
jaoramos 1:5c05e0d08e61 46 float encoder_conv = 2*OUR_PI/(float(ENCODER_PPR)*float(QUADRATURE_TYPE));
jaoramos 1:5c05e0d08e61 47 float motor_conv = 2*OUR_PI/(float(MOTOR_PPR)*float(QUADRATURE_TYPE));
jaoramos 1:5c05e0d08e61 48
jaoramos 0:9f2b0ea63eac 49 float* buffer;
jaoramos 2:011e6115c77a 50 float lambda1 = 30, lambda2 = 30, lambda3 = 15;
jaoramos 0:9f2b0ea63eac 51 int index;
jaoramos 4:8fcaff7801b0 52 int pulsesPend, pulsesMot;
jaoramos 0:9f2b0ea63eac 53
jaoramos 0:9f2b0ea63eac 54 void saving(void const *args) {
jaoramos 0:9f2b0ea63eac 55 index = 0;
jaoramos 5:d41998e421ed 56 while (index < BUFFER_SIZE) {
jaoramos 1:5c05e0d08e61 57 buffer[index] = theta1;
jaoramos 1:5c05e0d08e61 58 buffer[index+1] = theta2;
jaoramos 1:5c05e0d08e61 59 buffer[index+2] = dtheta1;
jaoramos 1:5c05e0d08e61 60 buffer[index+3] = dtheta2;
jaoramos 1:5c05e0d08e61 61 buffer[index+4] = mCurrent;
jaoramos 5:d41998e421ed 62 buffer[index+5] = inputVoltage;
jaoramos 5:d41998e421ed 63 buffer[index+6] = t;
jaoramos 4:8fcaff7801b0 64 index = index + DATA_COLS;
jaoramos 1:5c05e0d08e61 65 Thread::wait(20);
jaoramos 0:9f2b0ea63eac 66 }
jaoramos 0:9f2b0ea63eac 67 }
jaoramos 0:9f2b0ea63eac 68
jaoramos 3:967aee5fed5b 69 void setVoltage(float inputVoltage)
jaoramos 3:967aee5fed5b 70 {
jaoramos 3:967aee5fed5b 71 if(inputVoltage<0.0) {
jaoramos 3:967aee5fed5b 72 inputVoltage = -inputVoltage;
jaoramos 3:967aee5fed5b 73 dOut1=0;
jaoramos 3:967aee5fed5b 74 dOut2=1;
jaoramos 3:967aee5fed5b 75 } else {
jaoramos 3:967aee5fed5b 76 dOut1=1;
jaoramos 3:967aee5fed5b 77 dOut2=0;
jaoramos 3:967aee5fed5b 78 }
jaoramos 3:967aee5fed5b 79 float dutyCycle = inputVoltage/MAX_VOLTAGE;
jaoramos 3:967aee5fed5b 80 dutyCycle = (dutyCycle > 1.0)? 1.0 : dutyCycle;
jaoramos 3:967aee5fed5b 81 pwmOut.write(dutyCycle);
jaoramos 3:967aee5fed5b 82 }
jaoramos 3:967aee5fed5b 83
jaoramos 0:9f2b0ea63eac 84 void computing(void const *args) {
jaoramos 5:d41998e421ed 85 float z1 = 0.0, z2 = 0.0, dz1 = 0.0, dz2 = 0.0, z3 = 0.0, dz3 = 0.0;
jaoramos 4:8fcaff7801b0 86
jaoramos 0:9f2b0ea63eac 87 while (true) {
jaoramos 0:9f2b0ea63eac 88 t = T.read();
jaoramos 1:5c05e0d08e61 89
jaoramos 2:011e6115c77a 90 //set pwm
jaoramos 4:8fcaff7801b0 91 // ADD A SANITY CHECK ON THETA
jaoramos 4:8fcaff7801b0 92 inputVoltage = -(k1*theta1 + k2*theta2 + k3*dtheta1 + k4*dtheta2 + k5*mCurrent);
jaoramos 4:8fcaff7801b0 93 if (cos(theta2) < 0.98)
jaoramos 4:8fcaff7801b0 94 inputVoltage = 0.0;
jaoramos 3:967aee5fed5b 95 setVoltage(inputVoltage);
jaoramos 2:011e6115c77a 96
jaoramos 2:011e6115c77a 97 //read current
jaoramos 1:5c05e0d08e61 98 mCurrent = aIn.read()*MAX_VOLTAGE/VOLTS_PER_AMP;
jaoramos 3:967aee5fed5b 99 if(dOut1 == 0)
jaoramos 3:967aee5fed5b 100 mCurrent = -mCurrent;
jaoramos 1:5c05e0d08e61 101 pulsesPend = -encoder.getPulses();
jaoramos 1:5c05e0d08e61 102 pulsesMot = motor.getPulses();
jaoramos 1:5c05e0d08e61 103
jaoramos 1:5c05e0d08e61 104 dt = t - t0; //time difference
jaoramos 4:8fcaff7801b0 105 theta2 = float(pulsesPend)*encoder_conv + OUR_PI;
jaoramos 1:5c05e0d08e61 106 theta1 = float(pulsesMot)*motor_conv;
jaoramos 0:9f2b0ea63eac 107
jaoramos 1:5c05e0d08e61 108 //calculate dtheta1
jaoramos 2:011e6115c77a 109 dz1 = - lambda1 * z1 + lambda1 * theta1;
jaoramos 1:5c05e0d08e61 110 z1 = z1 + dz1 * dt;
jaoramos 1:5c05e0d08e61 111 dtheta1 = dz1;
jaoramos 0:9f2b0ea63eac 112
jaoramos 1:5c05e0d08e61 113 //calculate dtheta2
jaoramos 2:011e6115c77a 114 dz2 = - lambda2 * z2 + lambda2 * theta2;
jaoramos 1:5c05e0d08e61 115 z2 = z2 + dz2 * dt;
jaoramos 1:5c05e0d08e61 116 dtheta2 = dz2;
jaoramos 2:011e6115c77a 117
jaoramos 2:011e6115c77a 118 //filter current
jaoramos 2:011e6115c77a 119 dz3 = -lambda3 * z3 + lambda3 * mCurrent;
jaoramos 2:011e6115c77a 120 z3 = z3 + dz3 * dt;
jaoramos 2:011e6115c77a 121 mCurrent = z3;
jaoramos 2:011e6115c77a 122
jaoramos 0:9f2b0ea63eac 123 t0 = t;
jaoramos 0:9f2b0ea63eac 124 Thread::wait(1);
jaoramos 0:9f2b0ea63eac 125 }
jaoramos 0:9f2b0ea63eac 126 }
jaoramos 0:9f2b0ea63eac 127
jaoramos 0:9f2b0ea63eac 128 void saveToFile ()
jaoramos 0:9f2b0ea63eac 129 {
jaoramos 0:9f2b0ea63eac 130 FILE *fp = fopen("/local/data.csv", "w");
jaoramos 0:9f2b0ea63eac 131 if (!fp) {
jaoramos 0:9f2b0ea63eac 132 fprintf(stderr, "File could not be openend \n\r");
jaoramos 0:9f2b0ea63eac 133 exit(1);
jaoramos 0:9f2b0ea63eac 134 }
jaoramos 0:9f2b0ea63eac 135
jaoramos 0:9f2b0ea63eac 136 wait(2.0);
jaoramos 0:9f2b0ea63eac 137
jaoramos 5:d41998e421ed 138 for (int i=0; i < index; i = i + DATA_COLS)
jaoramos 1:5c05e0d08e61 139 {
jaoramos 5:d41998e421ed 140 for (int j = 0; j < DATA_COLS; j++)
jaoramos 1:5c05e0d08e61 141 {
jaoramos 1:5c05e0d08e61 142 fprintf(fp,"%f,", buffer[i+j]);
jaoramos 1:5c05e0d08e61 143 }
jaoramos 1:5c05e0d08e61 144 fprintf(fp,"\n");
jaoramos 0:9f2b0ea63eac 145 }
jaoramos 0:9f2b0ea63eac 146 pc.printf("closing file\n\r");
jaoramos 0:9f2b0ea63eac 147 fclose(fp);
jaoramos 0:9f2b0ea63eac 148 wait(2.0);;
jaoramos 0:9f2b0ea63eac 149 }
jaoramos 0:9f2b0ea63eac 150
jaoramos 0:9f2b0ea63eac 151 int main() {
jaoramos 0:9f2b0ea63eac 152 //allocate memory for the buffer
jaoramos 1:5c05e0d08e61 153 pc.printf("creating buffer!\r\n");
jaoramos 5:d41998e421ed 154 buffer = new float[BUFFER_SIZE];
jaoramos 1:5c05e0d08e61 155 pc.printf("done creating buffer!\r\n");
jaoramos 0:9f2b0ea63eac 156 T.start();
jaoramos 5:d41998e421ed 157 pwmOut.period(0.0001);
jaoramos 0:9f2b0ea63eac 158
jaoramos 5:d41998e421ed 159 Thread thrd2(computing,NULL,osPriorityRealtime);
jaoramos 5:d41998e421ed 160 pc.printf("started computing thread!\r\n");
jaoramos 5:d41998e421ed 161 Thread thrd3(saving,NULL,osPriorityNormal);
jaoramos 5:d41998e421ed 162 pc.printf("started saving thread!\r\n");
jaoramos 5:d41998e421ed 163
jaoramos 2:011e6115c77a 164
jaoramos 0:9f2b0ea63eac 165 pc.printf("Start!\r\n");
jaoramos 0:9f2b0ea63eac 166 pc.printf("Time: %f\r\n", t);
jaoramos 0:9f2b0ea63eac 167 while (t < 10.0)
jaoramos 0:9f2b0ea63eac 168 {
jaoramos 4:8fcaff7801b0 169 //pc.printf("Time: %f\r\n", t);
jaoramos 0:9f2b0ea63eac 170 Thread::wait(1000);
jaoramos 0:9f2b0ea63eac 171 }
jaoramos 2:011e6115c77a 172 pc.printf("Done at Index: %d\r\n",index);
jaoramos 2:011e6115c77a 173 pwmOut.write(0.0);
jaoramos 0:9f2b0ea63eac 174 thrd2.terminate();
jaoramos 0:9f2b0ea63eac 175 thrd3.terminate();
jaoramos 0:9f2b0ea63eac 176 saveToFile();
jaoramos 0:9f2b0ea63eac 177 }