Jesse Kaiser / Mbed 2 deprecated Motorcontrol_Gr6

Script voor aansturen motoren

Dependencies:   Encoder HIDScope MODSERIAL mbed-dsp mbed

main.cpp@12:795657e66960, 2014-10-28 (annotated)

Committer:
jessekaiser
Date:
Tue Oct 28 00:52:08 2014 +0000
Revision:
12:795657e66960
Parent:
11:ba0a33e6ff0d
Child:
13:7fe679538649
Draaiing motor batje en draaien van robot arm. Beide geen regelaar ingesteld.;

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 9:18e7a0273106 4 #include "MODSERIAL.h"
jessekaiser 0:d5d3b731340c 5
jessekaiser 9:18e7a0273106 6
jessekaiser 9:18e7a0273106 7 #define TSAMP 0.01
jessekaiser 0:d5d3b731340c 8 #define K_P (0.1)
jessekaiser 0:d5d3b731340c 9 #define K_I (0.03 *TSAMP)
jessekaiser 0:d5d3b731340c 10 #define K_D (0.001 /TSAMP)
jessekaiser 0:d5d3b731340c 11 #define I_LIMIT 1.
jessekaiser 0:d5d3b731340c 12
jessekaiser 7:697293226e5e 13 #define M1_PWM PTC8
jessekaiser 7:697293226e5e 14 #define M1_DIR PTC9
jessekaiser 7:697293226e5e 15 #define M2_PWM PTA5
jessekaiser 7:697293226e5e 16 #define M2_DIR PTA4
jessekaiser 7:697293226e5e 17
jessekaiser 7:697293226e5e 18 //Groene kabel moet op de GROUND en blauw op de 3.3v aansluiting
jessekaiser 0:d5d3b731340c 19
jessekaiser 3:dcc4cebba0d7 20 Serial pc(USBTX, USBRX);
jessekaiser 4:db3dad7e53e3 21 DigitalOut led1(LED_RED);
jessekaiser 9:18e7a0273106 22 HIDScope scope(4);
jessekaiser 0:d5d3b731340c 23
jessekaiser 7:697293226e5e 24 //motor 25D
jessekaiser 9:18e7a0273106 25 Encoder motor1(PTD3,PTD5,true); //wit, geel
jessekaiser 7:697293226e5e 26 PwmOut pwm_motor1(M2_PWM);
jessekaiser 7:697293226e5e 27 DigitalOut motordir1(M2_DIR);
jessekaiser 3:dcc4cebba0d7 28
jessekaiser 7:697293226e5e 29 //motor2 37D
jessekaiser 9:18e7a0273106 30 Encoder motor2(PTD2, PTD0,true); //wit, geel
jessekaiser 7:697293226e5e 31 PwmOut pwm_motor2(M1_PWM);
jessekaiser 7:697293226e5e 32 DigitalOut motordir2(M1_DIR);
jessekaiser 7:697293226e5e 33
jessekaiser 11:ba0a33e6ff0d 34 float speed1;
jessekaiser 12:795657e66960 35 float hoek1;
jessekaiser 12:795657e66960 36 float speed2;
jessekaiser 12:795657e66960 37 float hoek2;
jessekaiser 11:ba0a33e6ff0d 38
jessekaiser 7:697293226e5e 39 bool flip=false;
jessekaiser 7:697293226e5e 40
jessekaiser 7:697293226e5e 41 void attime()
jessekaiser 0:d5d3b731340c 42 {
jessekaiser 7:697293226e5e 43 flip = !flip;
jessekaiser 0:d5d3b731340c 44 }
jessekaiser 0:d5d3b731340c 45
jessekaiser 7:697293226e5e 46 void looper()
jessekaiser 7:697293226e5e 47 {
jessekaiser 10:a2a2e7bfdc86 48 /*motordir1=0;
jessekaiser 10:a2a2e7bfdc86 49 pwm_motor1.write(0.06);
jessekaiser 7:697293226e5e 50 scope.set(0, motor1.getPosition());
jessekaiser 8:0bbbe93bd1c4 51 scope.set(1, motor1.getSpeed());
jessekaiser 8:0bbbe93bd1c4 52 scope.set(2, motor2.getPosition());
jessekaiser 10:a2a2e7bfdc86 53 scope.set(3, motor2.getSpeed());
jessekaiser 10:a2a2e7bfdc86 54 scope.send();*/
jessekaiser 7:697293226e5e 55 }
jessekaiser 3:dcc4cebba0d7 56
jessekaiser 12:795657e66960 57 void clamp(float * in, float min, float max)
jessekaiser 8:0bbbe93bd1c4 58 {
jessekaiser 8:0bbbe93bd1c4 59 *in > min ? *in < max? : *in = max: *in = min;
jessekaiser 8:0bbbe93bd1c4 60 }
jessekaiser 8:0bbbe93bd1c4 61
jessekaiser 8:0bbbe93bd1c4 62 float pi(float setpoint, float measurement)
jessekaiser 8:0bbbe93bd1c4 63 {
jessekaiser 8:0bbbe93bd1c4 64 float error;
jessekaiser 8:0bbbe93bd1c4 65 float out_p = 0;
jessekaiser 8:0bbbe93bd1c4 66 static float out_i = 0;
jessekaiser 8:0bbbe93bd1c4 67 error = setpoint - motor1.getPosition();
jessekaiser 8:0bbbe93bd1c4 68 out_p = error*K_P;
jessekaiser 8:0bbbe93bd1c4 69 out_i += error*K_I;
jessekaiser 8:0bbbe93bd1c4 70 clamp(&out_i,-I_LIMIT,I_LIMIT);
jessekaiser 8:0bbbe93bd1c4 71
jessekaiser 8:0bbbe93bd1c4 72 return out_p + out_i;
jessekaiser 12:795657e66960 73 }
jessekaiser 3:dcc4cebba0d7 74
jessekaiser 0:d5d3b731340c 75 int main()
jessekaiser 12:795657e66960 76 {
jessekaiser 12:795657e66960 77 /*//motor1
jessekaiser 12:795657e66960 78 speed1 = 0.7;
jessekaiser 11:ba0a33e6ff0d 79 hoek1 = 0.09; //in seconde
jessekaiser 10:a2a2e7bfdc86 80 wait(1);
jessekaiser 8:0bbbe93bd1c4 81 pwm_motor1.period_us(100);
jessekaiser 11:ba0a33e6ff0d 82 motordir1=0; //aangeven van directie
jessekaiser 11:ba0a33e6ff0d 83 pwm_motor1.write(speed1); //snelheid van de motor
jessekaiser 11:ba0a33e6ff0d 84 wait(hoek1); //Hierdoor kun je het aantal graden bepalen die de as draait
jessekaiser 8:0bbbe93bd1c4 85 pwm_motor1.write(0);
jessekaiser 8:0bbbe93bd1c4 86 wait(1);
jessekaiser 8:0bbbe93bd1c4 87 motordir1=1;
jessekaiser 11:ba0a33e6ff0d 88 pwm_motor1.write(speed1);
jessekaiser 11:ba0a33e6ff0d 89 wait(hoek1);
jessekaiser 10:a2a2e7bfdc86 90 pwm_motor1.write(0);
jessekaiser 10:a2a2e7bfdc86 91 wait(1);
jessekaiser 10:a2a2e7bfdc86 92 motordir1=1;
jessekaiser 11:ba0a33e6ff0d 93 pwm_motor1.write(speed1);
jessekaiser 11:ba0a33e6ff0d 94 wait(hoek1);
jessekaiser 11:ba0a33e6ff0d 95 pwm_motor1.write(0);
jessekaiser 11:ba0a33e6ff0d 96 wait(1);
jessekaiser 11:ba0a33e6ff0d 97 motordir1=0;
jessekaiser 11:ba0a33e6ff0d 98 pwm_motor1.write(speed1);
jessekaiser 12:795657e66960 99 wait(hoek1);
jessekaiser 12:795657e66960 100 pwm_motor1.write(0);
jessekaiser 12:795657e66960 101 */
jessekaiser 12:795657e66960 102
jessekaiser 12:795657e66960 103 //motor2
jessekaiser 12:795657e66960 104 wait(1);
jessekaiser 12:795657e66960 105 speed2 = 1;
jessekaiser 12:795657e66960 106 motordir1=1;
jessekaiser 12:795657e66960 107 pwm_motor1.write(speed2); //Deze snelheid kan lager worden ingesteld om accurator te zijn.
jessekaiser 12:795657e66960 108 wait(0.11); //naar 90 graden
jessekaiser 11:ba0a33e6ff0d 109 pwm_motor1.write(0);
jessekaiser 12:795657e66960 110 wait(1);
jessekaiser 12:795657e66960 111 motordir1=0;
jessekaiser 12:795657e66960 112 pwm_motor1.write(speed2); //Deze snelheid moet maximaal om het balletje te slaan.
jessekaiser 12:795657e66960 113 wait(0.19); //balletje slaan
jessekaiser 12:795657e66960 114 pwm_motor1.write(0);
jessekaiser 12:795657e66960 115 wait(1);
jessekaiser 12:795657e66960 116 motordir1=1;
jessekaiser 12:795657e66960 117 pwm_motor1.write(speed2); //Deze kan lager worden ingesteld om accurater terug te gaan.
jessekaiser 12:795657e66960 118 wait(0.06); //terug naar begin positie
jessekaiser 12:795657e66960 119 pwm_motor1.write(0);
jessekaiser 9:18e7a0273106 120
jessekaiser 7:697293226e5e 121 Ticker log_timer;
jessekaiser 7:697293226e5e 122 Ticker timer;
jessekaiser 7:697293226e5e 123 log_timer.attach(looper, TSAMP);
jessekaiser 7:697293226e5e 124 timer.attach(&attime, 7);
jessekaiser 8:0bbbe93bd1c4 125
jessekaiser 9:18e7a0273106 126 pc.baud(115200);
jessekaiser 0:d5d3b731340c 127 while(1) {
jessekaiser 12:795657e66960 128 wait(1);
jessekaiser 10:a2a2e7bfdc86 129 pc.printf("%d, %f \r\n", motor1.getPosition(), motor1.getSpeed());
jessekaiser 6:f260176f704b 130 }
jessekaiser 0:d5d3b731340c 131 }