Jesse Kaiser / Mbed 2 deprecated Motorcontrol_Gr6

Script voor aansturen motoren

Dependencies:   Encoder HIDScope MODSERIAL mbed-dsp mbed

main.cpp@30:6ace856e0ad7, 2014-10-31 (annotated)

Committer:
jessekaiser
Date:
Fri Oct 31 13:34:40 2014 +0000
Revision:
30:6ace856e0ad7
Parent:
29:4b7f6f15cedf
Child:
31:0309fbf7b71c
En door!!!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 0:d5d3b731340c 1 #include "mbed.h"
jessekaiser 0:d5d3b731340c 2 #include "encoder.h"
jessekaiser 0:d5d3b731340c 3 #include "HIDScope.h"
jessekaiser 19:3e46c457091c 4 #include "PwmOut.h"
jessekaiser 0:d5d3b731340c 5
jessekaiser 6:f260176f704b 6 #define TSAMP 0.005
jessekaiser 25:f45d61cc6dc6 7 #define K_P1 (3.5) //voor motor1 is het 3.5
jessekaiser 25:f45d61cc6dc6 8 #define K_I1 (0.01 *TSAMP) //voor motor1 is het 0.01
jessekaiser 25:f45d61cc6dc6 9 #define K_P2 (1.0)
jessekaiser 25:f45d61cc6dc6 10 #define K_I2 (0.01 *TSAMP)
jessekaiser 0:d5d3b731340c 11 #define I_LIMIT 1.
jessekaiser 18:fb85c58a4106 12 #define PI 3.14159265
jessekaiser 18:fb85c58a4106 13 #define l_arm 0.5
jessekaiser 0:d5d3b731340c 14
jessekaiser 7:697293226e5e 15 #define M1_PWM PTC8
jessekaiser 7:697293226e5e 16 #define M1_DIR PTC9
jessekaiser 7:697293226e5e 17 #define M2_PWM PTA5
jessekaiser 7:697293226e5e 18 #define M2_DIR PTA4
jessekaiser 7:697293226e5e 19
jessekaiser 7:697293226e5e 20 //Groene kabel moet op de GROUND en blauw op de 3.3v aansluiting
jessekaiser 0:d5d3b731340c 21
jessekaiser 3:dcc4cebba0d7 22 Serial pc(USBTX, USBRX);
jessekaiser 4:db3dad7e53e3 23 DigitalOut led1(LED_RED);
jessekaiser 5:e4b9cc904928 24 HIDScope scope(2);
jessekaiser 0:d5d3b731340c 25
jessekaiser 7:697293226e5e 26 //motor 25D
jessekaiser 7:697293226e5e 27 Encoder motor1(PTD3,PTD5); //wit, geel
jessekaiser 7:697293226e5e 28 PwmOut pwm_motor1(M2_PWM);
jessekaiser 7:697293226e5e 29 DigitalOut motordir1(M2_DIR);
jessekaiser 3:dcc4cebba0d7 30
jessekaiser 7:697293226e5e 31 //motor2 37D
jessekaiser 7:697293226e5e 32 Encoder motor2(PTD2, PTD0); //wit, geel
jessekaiser 7:697293226e5e 33 PwmOut pwm_motor2(M1_PWM);
jessekaiser 7:697293226e5e 34 DigitalOut motordir2(M1_DIR);
jessekaiser 28:4f2e15118f13 35
jessekaiser 18:fb85c58a4106 36 float pwm1_percentage = 0;
jessekaiser 18:fb85c58a4106 37 float pwm2_percentage = 0;
jessekaiser 18:fb85c58a4106 38 int cur_pos_motor1;
jessekaiser 18:fb85c58a4106 39 int prev_pos_motor1 = 0;
jessekaiser 18:fb85c58a4106 40 int cur_pos_motor2;
jessekaiser 18:fb85c58a4106 41 int prev_pos_motor2 = 0;
jessekaiser 18:fb85c58a4106 42 float speed1_rad;
jessekaiser 19:3e46c457091c 43 float speed2_rad;
jessekaiser 19:3e46c457091c 44 float pos_motor1_rad;
jessekaiser 19:3e46c457091c 45 float pos_motor2_rad;
jessekaiser 30:6ace856e0ad7 46 int staat1 = 0;
jessekaiser 18:fb85c58a4106 47
jessekaiser 21:c856b7752d7d 48 void clamp(float* in, float min, float max) // "*" is een pointer (verwijst naar het adres waar een variabele instaat). Dus je slaat niet de variabele op
jessekaiser 21:c856b7752d7d 49 // maar de locatie van de variabele.
jessekaiser 21:c856b7752d7d 50 {
jessekaiser 21:c856b7752d7d 51 *in > min ? /*(*/*in < max? /*niets doen*/ : *in = max/*)*/: *in = min; // a ? b : c --> als a waar is, dan doe je b, en anders c
jessekaiser 21:c856b7752d7d 52 // *in = het getal dat staat op locatie van in --> waarde van new_pwm
jessekaiser 7:697293226e5e 53 }
jessekaiser 3:dcc4cebba0d7 54
jessekaiser 25:f45d61cc6dc6 55 float pid1(float setpoint1, float measurement1)
jessekaiser 21:c856b7752d7d 56 {
jessekaiser 25:f45d61cc6dc6 57 float error1;
jessekaiser 25:f45d61cc6dc6 58 float out_p1 = 0;
jessekaiser 25:f45d61cc6dc6 59 static float out_i1 = 0;
jessekaiser 25:f45d61cc6dc6 60 error1 = (setpoint1 - measurement1);
jessekaiser 25:f45d61cc6dc6 61 out_p1 = error1*K_P1;
jessekaiser 25:f45d61cc6dc6 62 out_i1 += error1*K_I1;
jessekaiser 25:f45d61cc6dc6 63 clamp(&out_i1,-I_LIMIT,I_LIMIT);
jessekaiser 25:f45d61cc6dc6 64 return out_p1 + out_i1;
jessekaiser 24:7fbd904d191c 65 }
jessekaiser 24:7fbd904d191c 66
jessekaiser 28:4f2e15118f13 67 float pid2(float setpoint2, float measurement2)
jessekaiser 28:4f2e15118f13 68 {
jessekaiser 28:4f2e15118f13 69 float error2;
jessekaiser 28:4f2e15118f13 70 float out_p2 = 0;
jessekaiser 28:4f2e15118f13 71 static float out_i2 = 0;
jessekaiser 28:4f2e15118f13 72 error2 = (setpoint2 - measurement2);
jessekaiser 28:4f2e15118f13 73 out_p2 = error2*K_P2;
jessekaiser 28:4f2e15118f13 74 out_i2 += error2*K_I2;
jessekaiser 28:4f2e15118f13 75 clamp(&out_i2,-I_LIMIT,I_LIMIT);
jessekaiser 28:4f2e15118f13 76 return out_p2 + out_i2;
jessekaiser 28:4f2e15118f13 77 }
jessekaiser 25:f45d61cc6dc6 78 float prev_setpoint1 = 0;
jessekaiser 25:f45d61cc6dc6 79 float setpoint1 = 0;
jessekaiser 25:f45d61cc6dc6 80 float prev_setpoint2 = 0;
jessekaiser 25:f45d61cc6dc6 81 float setpoint2 = 0;
jessekaiser 25:f45d61cc6dc6 82
jessekaiser 25:f45d61cc6dc6 83 void batje_links ()
jessekaiser 24:7fbd904d191c 84 {
jessekaiser 25:f45d61cc6dc6 85 speed1_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht)
jessekaiser 25:f45d61cc6dc6 86 cur_pos_motor1 = motor1.getPosition();
jessekaiser 25:f45d61cc6dc6 87 pos_motor1_rad = (float)cur_pos_motor1/(3600.0/(2.0*PI));
jessekaiser 25:f45d61cc6dc6 88 setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
jessekaiser 30:6ace856e0ad7 89 if(setpoint1 > (180*2.3*2.0*PI/360)) { //setpoint in graden
jessekaiser 30:6ace856e0ad7 90 setpoint1 = (180*2.3*2.0*PI/360);
jessekaiser 25:f45d61cc6dc6 91 }
jessekaiser 30:6ace856e0ad7 92 if(setpoint1 < -(180*2.3*2.0*PI/360)) {
jessekaiser 30:6ace856e0ad7 93 setpoint1 = -(180*2.3*2.0*PI/360);
jessekaiser 25:f45d61cc6dc6 94 }
jessekaiser 25:f45d61cc6dc6 95
jessekaiser 25:f45d61cc6dc6 96 pwm_motor1.write(abs(pwm1_percentage));
jessekaiser 25:f45d61cc6dc6 97 prev_setpoint1 = setpoint1;
jessekaiser 25:f45d61cc6dc6 98 wait(TSAMP);
jessekaiser 25:f45d61cc6dc6 99
jessekaiser 24:7fbd904d191c 100 }
jessekaiser 24:7fbd904d191c 101
jessekaiser 24:7fbd904d191c 102 void batje_rechts ()
jessekaiser 24:7fbd904d191c 103 {
jessekaiser 25:f45d61cc6dc6 104 speed1_rad = 2.0; //positief is CCW, negatief CW (boven aanzicht)
jessekaiser 25:f45d61cc6dc6 105 setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
jessekaiser 30:6ace856e0ad7 106 if(setpoint1 > (360*2.3*2.0*PI/360)) { //setpoint in graden
jessekaiser 30:6ace856e0ad7 107 setpoint1 = (360*2.3*2.0*PI/360);
jessekaiser 25:f45d61cc6dc6 108 }
jessekaiser 30:6ace856e0ad7 109 if(setpoint1 < -(360*2.3*2.0*PI/360)) {
jessekaiser 30:6ace856e0ad7 110 setpoint1 = -(360*2.3*2.0*PI/360);
jessekaiser 25:f45d61cc6dc6 111 }
jessekaiser 25:f45d61cc6dc6 112 pwm_motor1.write(abs(pwm1_percentage));
jessekaiser 25:f45d61cc6dc6 113 prev_setpoint1 = setpoint1;
jessekaiser 30:6ace856e0ad7 114 if(setpoint1 > (360*2.3*2.0*PI/360)) {
jessekaiser 30:6ace856e0ad7 115 staat1 = 1;
jessekaiser 25:f45d61cc6dc6 116 }
jessekaiser 30:6ace856e0ad7 117
jessekaiser 25:f45d61cc6dc6 118
jessekaiser 25:f45d61cc6dc6 119
jessekaiser 25:f45d61cc6dc6 120 }
jessekaiser 25:f45d61cc6dc6 121
jessekaiser 25:f45d61cc6dc6 122 void arm_hoog () //LET OP, PAS VARIABELE NOG AAN DIT IS VOOR TESTEN
jessekaiser 25:f45d61cc6dc6 123 {
jessekaiser 25:f45d61cc6dc6 124 speed1_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht)
jessekaiser 25:f45d61cc6dc6 125 setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
jessekaiser 25:f45d61cc6dc6 126 if(setpoint1 > (155.0*2.0*PI/360)) { //setpoint in graden
jessekaiser 25:f45d61cc6dc6 127 setpoint1 = (155.0*2.0*PI/360);
jessekaiser 25:f45d61cc6dc6 128 }
jessekaiser 25:f45d61cc6dc6 129 if(setpoint1 < -(155.0*2.0*PI/360)) {
jessekaiser 25:f45d61cc6dc6 130 setpoint1 = -(155.0*2.0*PI/360);
jessekaiser 25:f45d61cc6dc6 131 }
jessekaiser 25:f45d61cc6dc6 132 pwm_motor1.write(abs(pwm1_percentage));
jessekaiser 25:f45d61cc6dc6 133 prev_setpoint1 = setpoint1;
jessekaiser 26:5981d4b1144e 134 if(setpoint1 >= (155.0*2.0*PI/360)-0.1) {
jessekaiser 30:6ace856e0ad7 135 staat1 = 1;
jessekaiser 26:5981d4b1144e 136 }
jessekaiser 26:5981d4b1144e 137
jessekaiser 25:f45d61cc6dc6 138
jessekaiser 25:f45d61cc6dc6 139 }
jessekaiser 25:f45d61cc6dc6 140
jessekaiser 25:f45d61cc6dc6 141 void arm_mid ()
jessekaiser 25:f45d61cc6dc6 142 {
jessekaiser 28:4f2e15118f13 143 speed1_rad = -2.0; //positief is CCW, negatief CW (boven aanzicht)
jessekaiser 26:5981d4b1144e 144 setpoint1 = prev_setpoint1 + (TSAMP * speed1_rad);
jessekaiser 25:f45d61cc6dc6 145 if(setpoint1 > (155*2.0*PI/360)) { //setpoint in graden
jessekaiser 25:f45d61cc6dc6 146 setpoint1 = (155*2.0*PI/360);
jessekaiser 25:f45d61cc6dc6 147 }
jessekaiser 28:4f2e15118f13 148 if(setpoint1 < -(0.0*2.0*PI/360)) {
jessekaiser 28:4f2e15118f13 149 setpoint1 = -(0.0*2.0*PI/360);
jessekaiser 25:f45d61cc6dc6 150 }
jessekaiser 25:f45d61cc6dc6 151 prev_setpoint1 = setpoint1;
jessekaiser 25:f45d61cc6dc6 152
jessekaiser 26:5981d4b1144e 153 //wait(TSAMP);
jessekaiser 25:f45d61cc6dc6 154 }
jessekaiser 25:f45d61cc6dc6 155
jessekaiser 25:f45d61cc6dc6 156 void arm_laag ()
jessekaiser 25:f45d61cc6dc6 157 {
jessekaiser 28:4f2e15118f13 158 speed1_rad = -2.0; //positief is CCW, negatief CW (boven aanzicht)
jessekaiser 28:4f2e15118f13 159 setpoint1 = prev_setpoint1 + (TSAMP * speed1_rad);
jessekaiser 28:4f2e15118f13 160 if(setpoint1 > (155*2.0*PI/360)) { //setpoint in graden
jessekaiser 28:4f2e15118f13 161 setpoint1 = (155*2.0*PI/360);
jessekaiser 28:4f2e15118f13 162 }
jessekaiser 28:4f2e15118f13 163 if(setpoint1 < -(0.0*2.0*PI/360)) {
jessekaiser 28:4f2e15118f13 164 setpoint1 = -(0.0*2.0*PI/360);
jessekaiser 25:f45d61cc6dc6 165 }
jessekaiser 28:4f2e15118f13 166 prev_setpoint1 = setpoint1;
jessekaiser 28:4f2e15118f13 167 }
jessekaiser 25:f45d61cc6dc6 168
jessekaiser 28:4f2e15118f13 169 void arm_begin ()
jessekaiser 28:4f2e15118f13 170 {
jessekaiser 28:4f2e15118f13 171 speed1_rad = -2.0; //positief is CCW, negatief CW (boven aanzicht)
jessekaiser 28:4f2e15118f13 172 setpoint1 = prev_setpoint1 + (TSAMP * speed1_rad);
jessekaiser 28:4f2e15118f13 173 if(setpoint1 > (155*2.0*PI/360)) { //setpoint in graden
jessekaiser 28:4f2e15118f13 174 setpoint1 = (155*2.0*PI/360);
jessekaiser 28:4f2e15118f13 175 }
jessekaiser 28:4f2e15118f13 176 if(setpoint1 < -(0.0*2.0*PI/360)) {
jessekaiser 28:4f2e15118f13 177 setpoint1 = -(0.0*2.0*PI/360);
jessekaiser 28:4f2e15118f13 178 }
jessekaiser 28:4f2e15118f13 179 prev_setpoint1 = setpoint1;
jessekaiser 25:f45d61cc6dc6 180 }
jessekaiser 25:f45d61cc6dc6 181
jessekaiser 0:d5d3b731340c 182 int main()
jessekaiser 3:dcc4cebba0d7 183 {
jessekaiser 26:5981d4b1144e 184 int wait_iterator = 0;
jessekaiser 25:f45d61cc6dc6 185 pwm_motor1.period_us(100);
jessekaiser 25:f45d61cc6dc6 186 motor1.setPosition(0);
jessekaiser 25:f45d61cc6dc6 187 pwm_motor2.period_us(100);
jessekaiser 25:f45d61cc6dc6 188 motor2.setPosition(0);
jessekaiser 25:f45d61cc6dc6 189 pc.baud(115200);
jessekaiser 25:f45d61cc6dc6 190
jessekaiser 0:d5d3b731340c 191 while(1) {
jessekaiser 26:5981d4b1144e 192 //MOTOR1
jessekaiser 25:f45d61cc6dc6 193 pc.printf("%d \r\n", motor1.getPosition());
jessekaiser 26:5981d4b1144e 194 cur_pos_motor1 = motor1.getPosition();
jessekaiser 26:5981d4b1144e 195 pos_motor1_rad = (float)cur_pos_motor1/(3200.0/(2.0*PI)); //moet 4128
jessekaiser 25:f45d61cc6dc6 196 pwm1_percentage = pid1(setpoint1, pos_motor1_rad);
jessekaiser 22:22cb158bcea4 197 if (pwm1_percentage < -1.0) {
jessekaiser 22:22cb158bcea4 198 pwm1_percentage = -1.0;
jessekaiser 24:7fbd904d191c 199 }
jessekaiser 24:7fbd904d191c 200 if (pwm1_percentage > 1.0) {
jessekaiser 24:7fbd904d191c 201 pwm1_percentage = 1.0;
jessekaiser 22:22cb158bcea4 202 }
jessekaiser 26:5981d4b1144e 203 pwm_motor1.write(abs(pwm1_percentage));
jessekaiser 24:7fbd904d191c 204 if(pwm1_percentage > 0) {
jessekaiser 24:7fbd904d191c 205 motordir1 = 0;
jessekaiser 24:7fbd904d191c 206 } else {
jessekaiser 22:22cb158bcea4 207 motordir1 = 1;
jessekaiser 24:7fbd904d191c 208 }
jessekaiser 29:4b7f6f15cedf 209
jessekaiser 29:4b7f6f15cedf 210 //MOTOR2
jessekaiser 29:4b7f6f15cedf 211 cur_pos_motor2 = motor2.getPosition();
jessekaiser 29:4b7f6f15cedf 212 pos_motor2_rad = (float)cur_pos_motor2/(3200.0/(2.0*PI)); //moet 4128
jessekaiser 29:4b7f6f15cedf 213 pwm2_percentage = pid1(setpoint2, pos_motor2_rad);
jessekaiser 29:4b7f6f15cedf 214 if (pwm2_percentage < -1.0) {
jessekaiser 29:4b7f6f15cedf 215 pwm2_percentage = -1.0;
jessekaiser 29:4b7f6f15cedf 216 }
jessekaiser 29:4b7f6f15cedf 217 if (pwm2_percentage > 1.0) {
jessekaiser 29:4b7f6f15cedf 218 pwm2_percentage = 1.0;
jessekaiser 29:4b7f6f15cedf 219 }
jessekaiser 29:4b7f6f15cedf 220 pwm_motor2.write(abs(pwm2_percentage));
jessekaiser 29:4b7f6f15cedf 221 if(pwm2_percentage > 0) {
jessekaiser 29:4b7f6f15cedf 222 motordir2 = 0;
jessekaiser 29:4b7f6f15cedf 223 } else {
jessekaiser 29:4b7f6f15cedf 224 motordir2 = 1;
jessekaiser 29:4b7f6f15cedf 225 }
jessekaiser 26:5981d4b1144e 226 wait(TSAMP);
jessekaiser 26:5981d4b1144e 227 //STATES
jessekaiser 30:6ace856e0ad7 228 if(staat1 == 0) {
jessekaiser 25:f45d61cc6dc6 229 arm_hoog();
jessekaiser 26:5981d4b1144e 230 wait_iterator = 0;
jessekaiser 25:f45d61cc6dc6 231 }
jessekaiser 30:6ace856e0ad7 232 else if(staat1 ==1)
jessekaiser 26:5981d4b1144e 233 {
jessekaiser 26:5981d4b1144e 234 wait_iterator++;
jessekaiser 26:5981d4b1144e 235 if(wait_iterator > 200)
jessekaiser 30:6ace856e0ad7 236 staat1 = 2;
jessekaiser 26:5981d4b1144e 237 }
jessekaiser 26:5981d4b1144e 238 else
jessekaiser 25:f45d61cc6dc6 239 {
jessekaiser 28:4f2e15118f13 240 arm_begin();
jessekaiser 24:7fbd904d191c 241 }
jessekaiser 25:f45d61cc6dc6 242 }
jessekaiser 0:d5d3b731340c 243 }
jessekaiser 18:fb85c58a4106 244
jessekaiser 18:fb85c58a4106 245