File content as of revision 0:cf7192f9f99a:

#include "Axis.h"
#include "LS7366.h"
#include "MotCon.h"
#include "PID.h"

Axis::Axis(SPI& spi, PinName cs, PinName pwm, PinName dir, PinName limit): _spi(spi), _cs(cs), _pwm(pwm), _dir(dir), _limit(limit) {
    _cs = 1;           // Initialize chip select as off (high)
    _pwm = 0.0;
    _dir = 0;
    co = 0.0;
    Tdelay = .01;
    Pk = 120.0; //80.0;      //rough gains, seem to work well but could use tuning   
    Ik = 55.0;  //35.0;
    Dk = 0.0;
    set_point = 0.0;
    set_point_last = 0.0;
    pos = 0.0;
    vel = 0.0;
    acc = 0.0;
    pos_cmd = 0.0;
    vel_cmd = 0.0;
    vel_avg_cmd = 0;
    acc_cmd = 0.0;
    vel_max = 2700.0 * Tdelay; //counts * Tdelay
    acc_max = 1200.0 * Tdelay; //counts/sec/sec  * Tdelay
    p_higher = 0.0;
    p_lower = 0.0;
    vel_accum = 0.0;
    moveTime = 0.0;
    countsPerDeg = 0.0;
    enc = 0;
    moveStatus = 0;     //status flag to indicate state of profile movement
    moveState = 0;      //used for state machine in movement profiles
    debug = 0;   
    update.attach(this, &Axis::paramUpdate, Tdelay);    
    
    pid = new PID(0.0,0.0,0.0,Tdelay); //Kc, Ti, Td, interval
    ls7366 = new LS7366(spi, cs);  //LS7366 encoder interface IC
    motcon = new MotCon(pwm, dir);
    
    //start at 0    
    this->ls7366->LS7366_reset_counter();
    this->ls7366->LS7366_quad_mode_x4();       
    this->ls7366->LS7366_write_DTR(0);
    
    this->set_point = 0.0;
    this->pid->setSetPoint(this->set_point);
    this->enc = this->ls7366->LS7366_read_counter();  //update class variable    
}

void Axis::init(float cpd){
    _limit.mode(PullUp);
    this->countsPerDeg = cpd;    //90.0/10680.0;
    //resets the controllers internals
    this->pid->reset();

    //Encoder counts limit
    this->pid->setInputLimits(-20000.0, 20000.0); 
    //Pwm output from 0.0 to 1.0
    this->pid->setOutputLimits(-1.0, 1.0);
    //If there's a bias.
    this->pid->setBias(0.0);
    this->pid->setMode(AUTO_MODE);
    
    this->pid->setInterval(this->Tdelay);
      
    //start at 0    
    this->ls7366->LS7366_reset_counter();
    this->ls7366->LS7366_quad_mode_x4();       
    this->ls7366->LS7366_write_DTR(0);
    
    this->set_point = 0.0;
    this->pid->setSetPoint(this->set_point);
    this->enc = this->ls7366->LS7366_read_counter();  //update class variable
    
        //resets the controllers internals
    this->pid->reset();              
    //start at 0
    this->set_point = 0.0;
    this->pid->setSetPoint(0); 
                                                        
    this->pid->setTunings(this->Pk, this->Ik, this->Dk); //turns on controller    
}
    
void Axis::paramUpdate(void){
    //testOut = 1;    
    this->enc = this->ls7366->LS7366_read_counter();
    this->pos = (float)this->enc; // * this->countsPerDeg * PI/180.0; //times counts/degree and convert to radians
        
    this->vel = (this->pos - this->pos_last) * this->Tdelay;
    this->acc = (this->vel - this->vel_last);

    this->pid->setSetPoint(this->set_point);    
    
    //Update the process variable.
    this->pid->setProcessValue(this->pos);
    //Set the new output.
    this->co = this->pid->compute();

    this->motcon->mot_control(this->co); //send controller output to PWM motor control command
    
    this->pos_last = this->pos;
    this->vel_last = this->vel;
    this->set_point_last = this->set_point;
    //testOut = 0;
}

void Axis::home(long halfcounts){
    this->pid->setInputLimits(-20000.0, 20000.0); 
    while(this->_limit == 1){
       this->set_point += 100;
       this->pid->setSetPoint(this->set_point);
       wait(.05);
       if(this->debug)
            printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f Pk=%.2f Ik=%.2f vel=%.3f acc=%.3f\r\n", t.read(), this->set_point, this->co, this->enc, this->pos, this->Pk, this->Ik, this->vel, this->acc);
    }
    this->set_point -= 1000;
    this->pid->setSetPoint(this->set_point);
    wait(.5);
    while(this->_limit == 1){
       this->set_point += 10;
       this->pid->setSetPoint(this->set_point);
       wait(.02);
       if(this->debug)     
        printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f Pk=%.2f Ik=%.2f vel=%.3f acc=%.3f\r\n", t.read(), this->set_point, this->co, this->enc, this->pos, this->Pk, this->Ik, this->vel, this->acc);
    }

    this->ls7366->LS7366_write_DTR(0);      //zero encoder channel
    this->set_point = 0.0;
    this->pid->setSetPoint(this->set_point);

    this->pid->setInputLimits(-17000.0, 0.0); //reset span limits
    for(int positionCmd = 0;positionCmd > -halfcounts;positionCmd-=30){
        this->set_point = positionCmd;                    //move arm to center
        wait(.01);
        if(this->debug)
            printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f Pk=%.2f Ik=%.2f vel=%.3f acc=%.3f\r\n", t.read(), this->set_point, this->co, this->enc, this->pos, this->Pk, this->Ik, this->vel, this->acc);
    }
    this->set_point = -halfcounts;
    this->pid->setSetPoint(this->set_point);
    
    //let PID settle to set point
    while((this->enc > (this->set_point + 100)) || (this->enc < (this->set_point - 100))){
        //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f Pk=%.2f Ik=%.2f vel=%.3f acc=%.3f\r\n", t.read(), this->set_point, this->co, this->enc, this->pos, this->Pk, this->Ik, this->vel, this->acc);
        wait(.01);
    }
    //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f Pk=%.2f Ik=%.2f vel=%.3f acc=%.3f\r\n", t.read(), this->set_point, this->co, this->enc, this->pos, this->Pk, this->Ik, this->vel, this->acc);
    
    this->ls7366->LS7366_write_DTR(0);      //zero encoder channel
    this->set_point = 0.0;
    this->pid->setSetPoint(this->set_point);

    this->pid->setInputLimits(-6500.0, 6500.0); //reset span limits
    this->pid->setSetPoint(this->set_point);
        
//    pc.printf("Home:T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f Pk=%.2f Ik=%.2f vel=%.3f acc=%.3f\r\n", t.read(), this->set_point, this->co, this->enc, this->pos, this->Pk, this->Ik, this->vel, this->acc);    
//    pc.printf("End Home\r\n\r\n");
}

void Axis::moveUpdate(void){                    
    switch(this->moveState){
        case 0:        
        break;
            
        //accelerate
        case 1:
            //testOut = 1;
            this->vel_accum += this->acc_cmd * this->Tdelay;    //add acceleration to the velocity accumulator
            if(this->vel_avg_cmd > 0.0){                        //check the sign of the movement
                if(this->vel_accum >= this->vel_cmd)            //if the accumulator reaches or exceeds the velocity command
                    this->vel_accum = this->vel_cmd;            // only add the velocity command to the accumulator
            }
            else{                                               //if the sign was negative
                if(this->vel_accum <= this->vel_cmd)
                    this->vel_accum = this->vel_cmd;
            }
            //testOut = 0;
                 
            this->set_point += this->vel_accum;
            //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f vel=%.3f acc=%.3f vel_accum=%.2f accelCnt=%.2f     \r\n", t.read(), con0.set_point, con0.co, con0.enc, con0.pos, con0.vel, con0.acc, vel_accum, accelCnt); 
            //pc.printf("acc_up,%.2f,%.3f,%.1f,%.3f,%.3f,%.2f,%.2f\r\n", this->t.read(), this->set_point, this->pos, this->vel, this->acc, this->vel_accum, this->acc_cmd); 

            if(this->t.read()>=(this->moveTime/3.0) || (abs(this->vel_accum) > abs(this->vel_cmd)))
                this->moveState = 2;
        break;
        
        //constant velocity
        case 2:        
            //testOut = 1;
            //this->vel_accum += this->vel_cmd * this->Tdelay;
            this->set_point += this->vel_cmd;
            //testOut = 0;
            //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f vel=%.3f acc=%.3f vel_accum=%.2f accelCnt=%.2f     \r\n", t.read(), con0.set_point, con0.co, con0.enc, con0.pos, con0.vel, con0.acc, vel_accum, accelCnt); 
            //pc.printf("vel_cn,%.2f,%.3f,%.1f,%.3f,%.3f,%.2f,%.2f\r\n", this->t.read(), this->set_point, this->pos, this->vel, this->acc, this->vel_accum, this->acc_cmd); 
            
            if(this->t.read()>=(2.0/3.0 * this->moveTime))
                this->moveState = 3;
        break;
     
        //decelerate
        case 3:                       
            this->vel_accum -= this->acc_cmd * this->Tdelay;
        
            this->set_point += this->vel_accum;             //ramp down velocity by acceleration       
            //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f vel=%.3f acc=%.3f vel_accum=%.2f accelCnt=%.2f     \r\n", t.read(), con0.set_point, con0.co, con0.enc, con0.pos, con0.vel, con0.acc, vel_accum, accelCnt); 
            //pc.printf("acc_dn,%.2f,%.3f,%.1f,%.3f,%.3f,%.2f,%.2f\r\n", this->t.read(), this->set_point, this->pos, this->vel, this->acc, this->vel_accum, this->acc_cmd); 
        
            if(this->vel_avg_cmd > 0.0){
                if(this->pos_cmd <= this->pos)
                    this->moveState = 4;
            }
            else{
                if(this->pos_cmd >= this->pos)
                    this->moveState = 4;                
            }
        
            if(this->t.read()>=this->moveTime){
                this->moveState = 4;    
            }
        break;
        
        case 4:        
            //finish with position command
            this->set_point = this->pos_cmd;
            this->moveProfile.detach();   //turn off the trapazoidal update ticker
            this->t.stop();
            this->moveState = 0;     
        break;
    }//switch moveStatus
    return;
}

// position - encoder position to move to
// time - duration of the movement
void Axis::moveTrapezoid(float positionCmd, float time){
    this->pos_cmd = positionCmd;
    this->moveTime = time;
    float enc_distance = pos_cmd - (float)this->enc;// * 1.0/con0.countsPerDeg * 180.0/PI;
       
    this->vel_avg_cmd = enc_distance / time;    
    this->vel_cmd = 1.5 * this->vel_avg_cmd * this->Tdelay;
    this->acc_cmd = 4.5 * (enc_distance / (this->moveTime * this->moveTime)) * this->Tdelay;
    
    //pc.printf("tx=%f encdist=%.3f vAvg=%.3f vMax=%.3f  Acc=%.3f  \r\n", this->moveTime, enc_distance,this->vel_avg_cmd,this->vel_cmd,this->acc_cmd);
    
    //establish encoder velocities and accelerations for position control per Tdelay
    this->vel_accum = 0.0;
    
//  this->set_point = this->pos;
    this->moveState = 1;
    this->t.reset();
    this->t.start();
    this->moveProfile.attach(this, &Axis::moveUpdate, this->Tdelay);
}