C++ class for controlling DC motor with encoder feedback. Dependencies include LS7366LIB, MotCon, and PID.
Dependencies: LS7366LIB MotCon2 PID
Axis.cpp@12:b80cc2e27bdb, 2018-07-11 (annotated)
- Committer:
- jebradshaw
- Date:
- Wed Jul 11 13:47:33 2018 +0000
- Revision:
- 12:b80cc2e27bdb
- Parent:
- 11:93d924320ddc
current derivative evaluated upon current read, max current can be cleared and updated
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jebradshaw | 0:cf7192f9f99a | 1 | |
jebradshaw | 0:cf7192f9f99a | 2 | #include "Axis.h" |
jebradshaw | 0:cf7192f9f99a | 3 | #include "LS7366.h" |
jebradshaw | 0:cf7192f9f99a | 4 | #include "MotCon.h" |
jebradshaw | 0:cf7192f9f99a | 5 | #include "PID.h" |
jebradshaw | 0:cf7192f9f99a | 6 | |
jebradshaw | 10:32faca5a2577 | 7 | Axis::Axis(SPI& spi, PinName cs, PinName pwm, PinName dir, PinName analog, int* limit): _spi(spi), _cs(cs), _pwm(pwm), _dir(dir) , _analog(analog){ |
jebradshaw | 4:4079f92f9c26 | 8 | this->_cs = 1; // Initialize chip select as off (high) |
jebradshaw | 4:4079f92f9c26 | 9 | this->_pwm = 0.0; |
jebradshaw | 4:4079f92f9c26 | 10 | this->_dir = 0; |
jebradshaw | 4:4079f92f9c26 | 11 | this->co = 0.0; |
jebradshaw | 4:4079f92f9c26 | 12 | this->Tdelay = .01; |
jebradshaw | 12:b80cc2e27bdb | 13 | this->Pk = 450.0; //120.0; //rough gains, seem to work well but could use tuning |
jebradshaw | 12:b80cc2e27bdb | 14 | this->Ik = 105.0; //75.0; |
jebradshaw | 4:4079f92f9c26 | 15 | this->Dk = 0.0; |
jebradshaw | 4:4079f92f9c26 | 16 | this->set_point = 0.0; |
jebradshaw | 4:4079f92f9c26 | 17 | this->set_point_last = 0.0; |
jebradshaw | 4:4079f92f9c26 | 18 | this->pos = 0.0; |
jebradshaw | 4:4079f92f9c26 | 19 | this->vel = 0.0; |
jebradshaw | 4:4079f92f9c26 | 20 | this->acc = 0.0; |
jebradshaw | 8:7e399d7c990d | 21 | this->stat = -1; |
jebradshaw | 4:4079f92f9c26 | 22 | this->pos_cmd = 0.0; |
jebradshaw | 4:4079f92f9c26 | 23 | this->vel_cmd = 0.0; |
jebradshaw | 4:4079f92f9c26 | 24 | this->vel_avg_cmd = 0; |
jebradshaw | 4:4079f92f9c26 | 25 | this->acc_cmd = 0.0; |
jebradshaw | 4:4079f92f9c26 | 26 | this->vel_max = 2700.0 * Tdelay; //counts * Tdelay |
jebradshaw | 4:4079f92f9c26 | 27 | this->acc_max = 1200.0 * Tdelay; //counts/sec/sec * Tdelay |
jebradshaw | 4:4079f92f9c26 | 28 | this->p_higher = 0.0; |
jebradshaw | 4:4079f92f9c26 | 29 | this->p_lower = 0.0; |
jebradshaw | 4:4079f92f9c26 | 30 | this->vel_accum = 0.0; |
jebradshaw | 4:4079f92f9c26 | 31 | this->moveTime = 0.0; |
jebradshaw | 4:4079f92f9c26 | 32 | this->enc = 0; |
jebradshaw | 4:4079f92f9c26 | 33 | this->moveStatus = 0; //status flag to indicate state of profile movement |
jebradshaw | 4:4079f92f9c26 | 34 | this->moveState = 0; //used for state machine in movement profiles |
jebradshaw | 4:4079f92f9c26 | 35 | this->debug = 0; |
jebradshaw | 4:4079f92f9c26 | 36 | this->update.attach(this, &Axis::paramUpdate, Tdelay); |
jebradshaw | 5:79dcaa63700c | 37 | this->axisState = 0; |
jebradshaw | 5:79dcaa63700c | 38 | this->mot_I_lim = .35; |
jebradshaw | 12:b80cc2e27bdb | 39 | this->dIdT = 0.0; |
jebradshaw | 12:b80cc2e27bdb | 40 | this->motI = 0.0; |
jebradshaw | 12:b80cc2e27bdb | 41 | this->motI_last = 0.0; |
jebradshaw | 12:b80cc2e27bdb | 42 | this->mot_I_max = 0.0; |
jebradshaw | 12:b80cc2e27bdb | 43 | this->mot_I_max_last = 0.0; |
jebradshaw | 7:d0458137d6e0 | 44 | this->motInvert = 0; |
jebradshaw | 7:d0458137d6e0 | 45 | this->dataFormat = 'r'; //default is radians |
jebradshaw | 8:7e399d7c990d | 46 | // this->ctsPerDeg = cpd; //update counts per degree passed from constructor |
jebradshaw | 0:cf7192f9f99a | 47 | |
jebradshaw | 4:4079f92f9c26 | 48 | this->pid = new PID(0.0,0.0,0.0,Tdelay); //Kc, Ti, Td, interval |
jebradshaw | 4:4079f92f9c26 | 49 | this->ls7366 = new LS7366(spi, cs); //LS7366 encoder interface IC |
jebradshaw | 4:4079f92f9c26 | 50 | this->motcon = new MotCon(pwm, dir); |
jebradshaw | 4:4079f92f9c26 | 51 | this->ptr_limit = limit; |
jebradshaw | 0:cf7192f9f99a | 52 | |
jebradshaw | 0:cf7192f9f99a | 53 | //start at 0 |
jebradshaw | 0:cf7192f9f99a | 54 | this->ls7366->LS7366_reset_counter(); |
jebradshaw | 0:cf7192f9f99a | 55 | this->ls7366->LS7366_quad_mode_x4(); |
jebradshaw | 0:cf7192f9f99a | 56 | this->ls7366->LS7366_write_DTR(0); |
jebradshaw | 0:cf7192f9f99a | 57 | |
jebradshaw | 0:cf7192f9f99a | 58 | this->set_point = 0.0; |
jebradshaw | 0:cf7192f9f99a | 59 | this->pid->setSetPoint(this->set_point); |
jebradshaw | 0:cf7192f9f99a | 60 | this->enc = this->ls7366->LS7366_read_counter(); //update class variable |
jebradshaw | 0:cf7192f9f99a | 61 | } |
jebradshaw | 0:cf7192f9f99a | 62 | |
jebradshaw | 10:32faca5a2577 | 63 | void Axis::init(void){ |
jebradshaw | 0:cf7192f9f99a | 64 | //resets the controllers internals |
jebradshaw | 0:cf7192f9f99a | 65 | this->pid->reset(); |
jebradshaw | 0:cf7192f9f99a | 66 | |
jebradshaw | 0:cf7192f9f99a | 67 | //Encoder counts limit |
jebradshaw | 8:7e399d7c990d | 68 | this->pid->setInputLimits(-55000, 55000); |
jebradshaw | 0:cf7192f9f99a | 69 | //Pwm output from 0.0 to 1.0 |
jebradshaw | 0:cf7192f9f99a | 70 | this->pid->setOutputLimits(-1.0, 1.0); |
jebradshaw | 0:cf7192f9f99a | 71 | //If there's a bias. |
jebradshaw | 0:cf7192f9f99a | 72 | this->pid->setBias(0.0); |
jebradshaw | 0:cf7192f9f99a | 73 | this->pid->setMode(AUTO_MODE); |
jebradshaw | 0:cf7192f9f99a | 74 | |
jebradshaw | 0:cf7192f9f99a | 75 | this->pid->setInterval(this->Tdelay); |
jebradshaw | 0:cf7192f9f99a | 76 | |
jebradshaw | 0:cf7192f9f99a | 77 | //start at 0 |
jebradshaw | 0:cf7192f9f99a | 78 | this->ls7366->LS7366_reset_counter(); |
jebradshaw | 0:cf7192f9f99a | 79 | this->ls7366->LS7366_quad_mode_x4(); |
jebradshaw | 0:cf7192f9f99a | 80 | this->ls7366->LS7366_write_DTR(0); |
jebradshaw | 0:cf7192f9f99a | 81 | |
jebradshaw | 0:cf7192f9f99a | 82 | this->set_point = 0.0; |
jebradshaw | 0:cf7192f9f99a | 83 | this->pid->setSetPoint(this->set_point); |
jebradshaw | 0:cf7192f9f99a | 84 | this->enc = this->ls7366->LS7366_read_counter(); //update class variable |
jebradshaw | 0:cf7192f9f99a | 85 | |
jebradshaw | 0:cf7192f9f99a | 86 | //resets the controllers internals |
jebradshaw | 0:cf7192f9f99a | 87 | this->pid->reset(); |
jebradshaw | 0:cf7192f9f99a | 88 | //start at 0 |
jebradshaw | 0:cf7192f9f99a | 89 | this->set_point = 0.0; |
jebradshaw | 0:cf7192f9f99a | 90 | this->pid->setSetPoint(0); |
jebradshaw | 0:cf7192f9f99a | 91 | |
jebradshaw | 0:cf7192f9f99a | 92 | this->pid->setTunings(this->Pk, this->Ik, this->Dk); //turns on controller |
jebradshaw | 0:cf7192f9f99a | 93 | } |
jebradshaw | 12:b80cc2e27bdb | 94 | |
jebradshaw | 12:b80cc2e27bdb | 95 | void Axis::updatePIDgains(float P, float I, float D){ |
jebradshaw | 12:b80cc2e27bdb | 96 | this->Pk = P; //120.0; //rough gains, seem to work well but could use tuning |
jebradshaw | 12:b80cc2e27bdb | 97 | this->Ik = I; //75.0; |
jebradshaw | 12:b80cc2e27bdb | 98 | this->Dk = D; |
jebradshaw | 12:b80cc2e27bdb | 99 | this->pid->setTunings(this->Pk, this->Ik, this->Dk); |
jebradshaw | 12:b80cc2e27bdb | 100 | } |
jebradshaw | 12:b80cc2e27bdb | 101 | |
jebradshaw | 9:7bc59203ce98 | 102 | void Axis::paramUpdate(void){ |
jebradshaw | 0:cf7192f9f99a | 103 | //testOut = 1; |
jebradshaw | 0:cf7192f9f99a | 104 | this->enc = this->ls7366->LS7366_read_counter(); |
jebradshaw | 0:cf7192f9f99a | 105 | this->pos = (float)this->enc; // * this->countsPerDeg * PI/180.0; //times counts/degree and convert to radians |
jebradshaw | 0:cf7192f9f99a | 106 | |
jebradshaw | 0:cf7192f9f99a | 107 | this->vel = (this->pos - this->pos_last) * this->Tdelay; |
jebradshaw | 0:cf7192f9f99a | 108 | this->acc = (this->vel - this->vel_last); |
jebradshaw | 0:cf7192f9f99a | 109 | |
jebradshaw | 0:cf7192f9f99a | 110 | this->pid->setSetPoint(this->set_point); |
jebradshaw | 0:cf7192f9f99a | 111 | |
jebradshaw | 0:cf7192f9f99a | 112 | //Update the process variable. |
jebradshaw | 0:cf7192f9f99a | 113 | this->pid->setProcessValue(this->pos); |
jebradshaw | 0:cf7192f9f99a | 114 | //Set the new output. |
jebradshaw | 0:cf7192f9f99a | 115 | this->co = this->pid->compute(); |
jebradshaw | 0:cf7192f9f99a | 116 | |
jebradshaw | 7:d0458137d6e0 | 117 | if(this->axisState){ |
jebradshaw | 7:d0458137d6e0 | 118 | if(this->motInvert==0){ |
jebradshaw | 7:d0458137d6e0 | 119 | this->motcon->mot_control(this->co); //send controller output to PWM motor control command |
jebradshaw | 7:d0458137d6e0 | 120 | } |
jebradshaw | 7:d0458137d6e0 | 121 | else{ |
jebradshaw | 7:d0458137d6e0 | 122 | this->motcon->mot_control(this->co, 1); //send controller output to PWM motor control command |
jebradshaw | 7:d0458137d6e0 | 123 | } |
jebradshaw | 7:d0458137d6e0 | 124 | } |
jebradshaw | 4:4079f92f9c26 | 125 | else{ |
jebradshaw | 4:4079f92f9c26 | 126 | this->co = 0.0; |
jebradshaw | 4:4079f92f9c26 | 127 | this->motcon->mot_control(0.0); //turn off motor command |
jebradshaw | 4:4079f92f9c26 | 128 | } |
jebradshaw | 4:4079f92f9c26 | 129 | |
jebradshaw | 0:cf7192f9f99a | 130 | this->pos_last = this->pos; |
jebradshaw | 0:cf7192f9f99a | 131 | this->vel_last = this->vel; |
jebradshaw | 0:cf7192f9f99a | 132 | this->set_point_last = this->set_point; |
jebradshaw | 0:cf7192f9f99a | 133 | } |
jebradshaw | 0:cf7192f9f99a | 134 | |
jebradshaw | 8:7e399d7c990d | 135 | void Axis::center(void){ |
jebradshaw | 5:79dcaa63700c | 136 | while((*this->ptr_limit == 1) && (this->readCurrent() < mot_I_lim)){ //limit switch not pressed and mot current not exceeded |
jebradshaw | 0:cf7192f9f99a | 137 | this->set_point += 100; |
jebradshaw | 7:d0458137d6e0 | 138 | wait(.05); |
jebradshaw | 0:cf7192f9f99a | 139 | if(this->debug) |
jebradshaw | 2:653433f4ee72 | 140 | printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read()); |
jebradshaw | 0:cf7192f9f99a | 141 | } |
jebradshaw | 5:79dcaa63700c | 142 | wait(.5); |
jebradshaw | 5:79dcaa63700c | 143 | while((*this->ptr_limit == 0)){ //limit switch is pressed |
jebradshaw | 5:79dcaa63700c | 144 | this->set_point -= 10; |
jebradshaw | 5:79dcaa63700c | 145 | wait(.1); |
jebradshaw | 5:79dcaa63700c | 146 | if(this->debug) |
jebradshaw | 2:653433f4ee72 | 147 | printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read()); |
jebradshaw | 0:cf7192f9f99a | 148 | } |
jebradshaw | 5:79dcaa63700c | 149 | this->zero(); //zero channel |
jebradshaw | 0:cf7192f9f99a | 150 | |
jebradshaw | 8:7e399d7c990d | 151 | // this->set_point = -(totalCounts/2.0); |
jebradshaw | 0:cf7192f9f99a | 152 | |
jebradshaw | 2:653433f4ee72 | 153 | if(this->debug) |
jebradshaw | 2:653433f4ee72 | 154 | printf("HOME END:T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read()); |
jebradshaw | 0:cf7192f9f99a | 155 | // pc.printf("End Home\r\n\r\n"); |
jebradshaw | 0:cf7192f9f99a | 156 | } |
jebradshaw | 0:cf7192f9f99a | 157 | |
jebradshaw | 2:653433f4ee72 | 158 | void Axis::moveUpdate(void){ |
jebradshaw | 2:653433f4ee72 | 159 | |
jebradshaw | 5:79dcaa63700c | 160 | /* if(*this->ptr_limit == 0){ |
jebradshaw | 2:653433f4ee72 | 161 | this->moveState = 4; //terminate the move |
jebradshaw | 2:653433f4ee72 | 162 | printf("\r\nLimit reached on axis!\r\n"); |
jebradshaw | 2:653433f4ee72 | 163 | } |
jebradshaw | 5:79dcaa63700c | 164 | */ |
jebradshaw | 2:653433f4ee72 | 165 | if(this->debug) |
jebradshaw | 2:653433f4ee72 | 166 | printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read()); |
jebradshaw | 2:653433f4ee72 | 167 | |
jebradshaw | 0:cf7192f9f99a | 168 | switch(this->moveState){ |
jebradshaw | 0:cf7192f9f99a | 169 | case 0: |
jebradshaw | 0:cf7192f9f99a | 170 | break; |
jebradshaw | 0:cf7192f9f99a | 171 | |
jebradshaw | 0:cf7192f9f99a | 172 | //accelerate |
jebradshaw | 0:cf7192f9f99a | 173 | case 1: |
jebradshaw | 0:cf7192f9f99a | 174 | //testOut = 1; |
jebradshaw | 0:cf7192f9f99a | 175 | this->vel_accum += this->acc_cmd * this->Tdelay; //add acceleration to the velocity accumulator |
jebradshaw | 0:cf7192f9f99a | 176 | if(this->vel_avg_cmd > 0.0){ //check the sign of the movement |
jebradshaw | 0:cf7192f9f99a | 177 | if(this->vel_accum >= this->vel_cmd) //if the accumulator reaches or exceeds the velocity command |
jebradshaw | 0:cf7192f9f99a | 178 | this->vel_accum = this->vel_cmd; // only add the velocity command to the accumulator |
jebradshaw | 0:cf7192f9f99a | 179 | } |
jebradshaw | 0:cf7192f9f99a | 180 | else{ //if the sign was negative |
jebradshaw | 0:cf7192f9f99a | 181 | if(this->vel_accum <= this->vel_cmd) |
jebradshaw | 0:cf7192f9f99a | 182 | this->vel_accum = this->vel_cmd; |
jebradshaw | 0:cf7192f9f99a | 183 | } |
jebradshaw | 0:cf7192f9f99a | 184 | //testOut = 0; |
jebradshaw | 0:cf7192f9f99a | 185 | |
jebradshaw | 0:cf7192f9f99a | 186 | this->set_point += this->vel_accum; |
jebradshaw | 0:cf7192f9f99a | 187 | //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); |
jebradshaw | 0:cf7192f9f99a | 188 | //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); |
jebradshaw | 0:cf7192f9f99a | 189 | |
jebradshaw | 0:cf7192f9f99a | 190 | if(this->t.read()>=(this->moveTime/3.0) || (abs(this->vel_accum) > abs(this->vel_cmd))) |
jebradshaw | 0:cf7192f9f99a | 191 | this->moveState = 2; |
jebradshaw | 0:cf7192f9f99a | 192 | break; |
jebradshaw | 0:cf7192f9f99a | 193 | |
jebradshaw | 0:cf7192f9f99a | 194 | //constant velocity |
jebradshaw | 0:cf7192f9f99a | 195 | case 2: |
jebradshaw | 0:cf7192f9f99a | 196 | //testOut = 1; |
jebradshaw | 0:cf7192f9f99a | 197 | //this->vel_accum += this->vel_cmd * this->Tdelay; |
jebradshaw | 0:cf7192f9f99a | 198 | this->set_point += this->vel_cmd; |
jebradshaw | 0:cf7192f9f99a | 199 | //testOut = 0; |
jebradshaw | 0:cf7192f9f99a | 200 | //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); |
jebradshaw | 0:cf7192f9f99a | 201 | //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); |
jebradshaw | 0:cf7192f9f99a | 202 | |
jebradshaw | 0:cf7192f9f99a | 203 | if(this->t.read()>=(2.0/3.0 * this->moveTime)) |
jebradshaw | 0:cf7192f9f99a | 204 | this->moveState = 3; |
jebradshaw | 0:cf7192f9f99a | 205 | break; |
jebradshaw | 0:cf7192f9f99a | 206 | |
jebradshaw | 0:cf7192f9f99a | 207 | //decelerate |
jebradshaw | 0:cf7192f9f99a | 208 | case 3: |
jebradshaw | 0:cf7192f9f99a | 209 | this->vel_accum -= this->acc_cmd * this->Tdelay; |
jebradshaw | 0:cf7192f9f99a | 210 | |
jebradshaw | 0:cf7192f9f99a | 211 | this->set_point += this->vel_accum; //ramp down velocity by acceleration |
jebradshaw | 0:cf7192f9f99a | 212 | //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); |
jebradshaw | 0:cf7192f9f99a | 213 | //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); |
jebradshaw | 0:cf7192f9f99a | 214 | |
jebradshaw | 0:cf7192f9f99a | 215 | if(this->vel_avg_cmd > 0.0){ |
jebradshaw | 1:cd249816dba8 | 216 | if(this->pos_cmd <= this->pos){ |
jebradshaw | 1:cd249816dba8 | 217 | //finish with position command |
jebradshaw | 1:cd249816dba8 | 218 | this->set_point = this->pos_cmd; |
jebradshaw | 0:cf7192f9f99a | 219 | this->moveState = 4; |
jebradshaw | 1:cd249816dba8 | 220 | } |
jebradshaw | 0:cf7192f9f99a | 221 | } |
jebradshaw | 0:cf7192f9f99a | 222 | else{ |
jebradshaw | 1:cd249816dba8 | 223 | if(this->pos_cmd >= this->pos){ |
jebradshaw | 1:cd249816dba8 | 224 | //finish with position command |
jebradshaw | 5:79dcaa63700c | 225 | //this->set_point = this->pos_cmd; //May be causing jerk after multi-axis movements J Bradshaw 20151124 |
jebradshaw | 1:cd249816dba8 | 226 | this->moveState = 4; |
jebradshaw | 1:cd249816dba8 | 227 | } |
jebradshaw | 0:cf7192f9f99a | 228 | } |
jebradshaw | 0:cf7192f9f99a | 229 | |
jebradshaw | 0:cf7192f9f99a | 230 | if(this->t.read()>=this->moveTime){ |
jebradshaw | 1:cd249816dba8 | 231 | //finish with position command |
jebradshaw | 5:79dcaa63700c | 232 | //this->set_point = this->pos_cmd; //May be causing jerk after multi-axis movements J Bradshaw 20151124 |
jebradshaw | 0:cf7192f9f99a | 233 | this->moveState = 4; |
jebradshaw | 0:cf7192f9f99a | 234 | } |
jebradshaw | 0:cf7192f9f99a | 235 | break; |
jebradshaw | 0:cf7192f9f99a | 236 | |
jebradshaw | 0:cf7192f9f99a | 237 | case 4: |
jebradshaw | 0:cf7192f9f99a | 238 | this->moveProfile.detach(); //turn off the trapazoidal update ticker |
jebradshaw | 0:cf7192f9f99a | 239 | this->t.stop(); |
jebradshaw | 0:cf7192f9f99a | 240 | this->moveState = 0; |
jebradshaw | 0:cf7192f9f99a | 241 | break; |
jebradshaw | 0:cf7192f9f99a | 242 | }//switch moveStatus |
jebradshaw | 0:cf7192f9f99a | 243 | return; |
jebradshaw | 0:cf7192f9f99a | 244 | } |
jebradshaw | 0:cf7192f9f99a | 245 | |
jebradshaw | 0:cf7192f9f99a | 246 | // position - encoder position to move to |
jebradshaw | 0:cf7192f9f99a | 247 | // time - duration of the movement |
jebradshaw | 0:cf7192f9f99a | 248 | void Axis::moveTrapezoid(float positionCmd, float time){ |
jebradshaw | 0:cf7192f9f99a | 249 | this->pos_cmd = positionCmd; |
jebradshaw | 0:cf7192f9f99a | 250 | this->moveTime = time; |
jebradshaw | 4:4079f92f9c26 | 251 | float enc_distance = this->pos_cmd - (float)this->enc;// * 1.0/con0.countsPerDeg * 180.0/PI; |
jebradshaw | 0:cf7192f9f99a | 252 | |
jebradshaw | 0:cf7192f9f99a | 253 | this->vel_avg_cmd = enc_distance / time; |
jebradshaw | 0:cf7192f9f99a | 254 | this->vel_cmd = 1.5 * this->vel_avg_cmd * this->Tdelay; |
jebradshaw | 0:cf7192f9f99a | 255 | this->acc_cmd = 4.5 * (enc_distance / (this->moveTime * this->moveTime)) * this->Tdelay; |
jebradshaw | 0:cf7192f9f99a | 256 | |
jebradshaw | 0:cf7192f9f99a | 257 | //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); |
jebradshaw | 0:cf7192f9f99a | 258 | |
jebradshaw | 0:cf7192f9f99a | 259 | //establish encoder velocities and accelerations for position control per Tdelay |
jebradshaw | 0:cf7192f9f99a | 260 | this->vel_accum = 0.0; |
jebradshaw | 0:cf7192f9f99a | 261 | |
jebradshaw | 0:cf7192f9f99a | 262 | // this->set_point = this->pos; |
jebradshaw | 0:cf7192f9f99a | 263 | this->moveState = 1; |
jebradshaw | 0:cf7192f9f99a | 264 | this->t.reset(); |
jebradshaw | 0:cf7192f9f99a | 265 | this->t.start(); |
jebradshaw | 0:cf7192f9f99a | 266 | this->moveProfile.attach(this, &Axis::moveUpdate, this->Tdelay); |
jebradshaw | 0:cf7192f9f99a | 267 | } |
jebradshaw | 2:653433f4ee72 | 268 | |
jebradshaw | 4:4079f92f9c26 | 269 | float Axis::readCurrent(void){ |
jebradshaw | 12:b80cc2e27bdb | 270 | this->motI = (this->_analog.read() * 3.3) / .525; //525mV per amp |
jebradshaw | 12:b80cc2e27bdb | 271 | if(abs(this->motI) > this->mot_I_max){ //update the max motor current measured |
jebradshaw | 12:b80cc2e27bdb | 272 | this->mot_I_max = this->motI; |
jebradshaw | 12:b80cc2e27bdb | 273 | } |
jebradshaw | 12:b80cc2e27bdb | 274 | this->dIdT = motI - motI_last; |
jebradshaw | 12:b80cc2e27bdb | 275 | this->motI_last = motI; |
jebradshaw | 12:b80cc2e27bdb | 276 | return this->motI; |
jebradshaw | 2:653433f4ee72 | 277 | } |
jebradshaw | 2:653433f4ee72 | 278 | |
jebradshaw | 2:653433f4ee72 | 279 | void Axis::axisOff(void){ |
jebradshaw | 4:4079f92f9c26 | 280 | this->co = 0; |
jebradshaw | 2:653433f4ee72 | 281 | this->axisState = 0; |
jebradshaw | 9:7bc59203ce98 | 282 | this->update.detach(); |
jebradshaw | 2:653433f4ee72 | 283 | } |
jebradshaw | 2:653433f4ee72 | 284 | |
jebradshaw | 9:7bc59203ce98 | 285 | void Axis::axisOn(void){ |
jebradshaw | 4:4079f92f9c26 | 286 | this->co = 0.0; |
jebradshaw | 12:b80cc2e27bdb | 287 | this->pid->reset(); |
jebradshaw | 12:b80cc2e27bdb | 288 | //start at 0 if not already homed |
jebradshaw | 12:b80cc2e27bdb | 289 | if(this->stat != 0){ |
jebradshaw | 12:b80cc2e27bdb | 290 | this->set_point = 0.0; |
jebradshaw | 12:b80cc2e27bdb | 291 | this->pid->setSetPoint(0); |
jebradshaw | 12:b80cc2e27bdb | 292 | } |
jebradshaw | 4:4079f92f9c26 | 293 | |
jebradshaw | 4:4079f92f9c26 | 294 | this->pid->setTunings(this->Pk, this->Ik, this->Dk); //turns on controller |
jebradshaw | 2:653433f4ee72 | 295 | this->axisState = 1; |
jebradshaw | 9:7bc59203ce98 | 296 | this->update.attach(this, &Axis::paramUpdate, this->Tdelay); |
jebradshaw | 5:79dcaa63700c | 297 | } |
jebradshaw | 5:79dcaa63700c | 298 | |
jebradshaw | 10:32faca5a2577 | 299 | void Axis::zero(void){ |
jebradshaw | 9:7bc59203ce98 | 300 | |
jebradshaw | 5:79dcaa63700c | 301 | this->ls7366->LS7366_reset_counter(); |
jebradshaw | 5:79dcaa63700c | 302 | this->ls7366->LS7366_quad_mode_x4(); |
jebradshaw | 5:79dcaa63700c | 303 | this->ls7366->LS7366_write_DTR(0); |
jebradshaw | 5:79dcaa63700c | 304 | |
jebradshaw | 9:7bc59203ce98 | 305 | this->enc = this->ls7366->LS7366_read_counter(); |
jebradshaw | 9:7bc59203ce98 | 306 | |
jebradshaw | 9:7bc59203ce98 | 307 | this->pos = 0.0; |
jebradshaw | 12:b80cc2e27bdb | 308 | this->pid->reset(); //added to avoid possible itegral windup effects on instant position change 20170616 |
jebradshaw | 5:79dcaa63700c | 309 | this->set_point = 0.0; |
jebradshaw | 5:79dcaa63700c | 310 | this->pid->setSetPoint(0); |
jebradshaw | 9:7bc59203ce98 | 311 | |
jebradshaw | 8:7e399d7c990d | 312 | } |
jebradshaw | 8:7e399d7c990d | 313 | |
jebradshaw | 8:7e399d7c990d | 314 | void Axis::writeEncoderValue(long value){ |
jebradshaw | 9:7bc59203ce98 | 315 | |
jebradshaw | 8:7e399d7c990d | 316 | this->ls7366->LS7366_write_DTR(value); |
jebradshaw | 9:7bc59203ce98 | 317 | |
jebradshaw | 8:7e399d7c990d | 318 | this->set_point = (float)value; |
jebradshaw | 9:7bc59203ce98 | 319 | this->pid->setSetPoint(this->set_point); |
jebradshaw | 2:653433f4ee72 | 320 | } |