DC motor control program using TA7291P type driver and rotary encoder with A, B phase.
Dependencies: QEI mbed-rtos mbed
Diff: main.cpp
- Revision:
- 13:4116d4b6c2a5
- Parent:
- 12:9747752435d1
- Child:
- 14:1196c2d455ae
--- a/main.cpp Thu Nov 29 09:25:56 2012 +0000 +++ b/main.cpp Sun Dec 02 07:28:39 2012 +0000 @@ -1,5 +1,5 @@ // DC motor control program using H-bridge driver (ex. TA7291P) and 360 resolution rotary encoder with A, B phase. -// ver. 121129a by Kosaka lab. +// ver. 121202a by Kosaka lab. #include "mbed.h" #include "rtos.h" #include "QEI.h" @@ -278,61 +278,76 @@ debug_p17 = 0; // for debug: processing time check } -void main1() { - RtosTimer timer_controller(th_controller); - FILE *fp; // save data to PC -#ifdef GOOD_DATA - int i; - - count3=0; -#endif +void init_controller(){ // initialize controller parameters and signals u2Hbridge(0); // initialize H bridge to stop mode _count=0; _time = 0; // time _eI = _eiI = 0; // reset integrater encoder.reset(); // set encoder counter zero _th = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder +#ifdef USE_PWM + FIN.period( 1.0 / PWM_FREQ ); // PWM period [s]. Common to all PWM +#endif +} +void moror_control() { // motor control ON for TMAX seconds. + RtosTimer timer_controller(th_controller); + FILE *fp; // save data to PC + float t=0; +#ifdef GOOD_DATA + int i; + + count3=0; +#endif + init_controller(); // initialize controller parameters and signals _r = _r + _th; // if( _r>2*PI ) _r -= _r-2*PI; - pc.printf("Control start!!\r\n"); if ( NULL == (fp = fopen( "/local/data.csv", "w" )) ){ error( "" );} // save data to PC -#ifdef USE_PWM - FIN.period( 1.0 / PWM_FREQ ); // PWM period [s]. Common to all PWM -#endif + + // start control (ON) controller_ticker.attach(&i_controller, iTS ); // Sampling period[s] of i_controller timer_controller.start((unsigned int)(thTS*1000.)); // Sampling period[ms] of th controller -// for ( i = 0; i < (unsigned int)(TMAX/iTS2); i++ ) { while ( _time <= TMAX ) { // BUG!! Dangerous if TS2<0.1 because multi interrupt by fprintf is not prohibited! 1st aug of fprintf will be destroyed. // fprintf returns before process completed. //BUG fprintf( fp, "%8.2f, %8.4f,\t%8.1f,\t%8.2f\r\n", disp[3], disp[1], disp[0], tmp); // save data to PC (para, y, time, u) -//OK? fprintf( fp, "%f, %f, %f, %f, %f\r\n", _time, debug[0], debug[3], (_y/(2*PI)*360.0),_u); // save data to PC (para, y, time, u) #ifndef GOOD_DATA fprintf( fp, "%f, %f, %f, %f, %f\r\n", _r, debug[0], _th, _time, _u); // save data to PC (para, y, time, u) #endif - Thread::wait((unsigned int)(TS2*1000.)); //[ms] + Thread::wait((unsigned int)((TS2-(_time-t))*1000.)); //[ms] + t = _time; } + // stop control (OFF) controller_ticker.detach(); // timer interrupt stop timer_controller.stop(); // rtos timer stop - u2Hbridge(0); // initialize H bridge to stop mode - _eI = _eiI = 0; // reset integrater + + init_controller(); // initialize controller parameters and signals #ifdef GOOD_DATA for(i=0;i<1000;i++){ fprintf( fp, "%f, %f, %f, %f, %f\r\n", data[i][0],data[i][1],data[i][2],data[i][3],data[i][4]);} // save data to PC (para, y, time, u) #endif fclose( fp ); // release mbed USB drive - pc.printf("Control completed!!\r\n\r\n"); } -void thread_print2PC(void const *argument) { +void thread_print2PC(void const *argument) { // print to PC (tera term) while (true) { pc.printf("%8.1f[s]\t%8.5f[V]\t%4d [deg]\t%8.2f\r\n", _time, _u, (int)(_th/(2*PI)*360.0), _r);//debug[0]*3.3/R_SHUNT); // print to tera term - Thread::wait(200); + Thread::wait(1); } } -void main2(void const *argument) { +int main() { + Thread print2PC(thread_print2PC,NULL,osPriorityBelowNormal); +// osStatus set_priority(osPriority osPriorityBelowNormal ); +// Priority of Thread (RtosTimer has no priority?) +// osPriorityIdle = -3, ///< priority: idle (lowest)--> then, mbed ERROR!! +// osPriorityLow = -2, ///< priority: low +// osPriorityBelowNormal = -1, ///< priority: below normal +// osPriorityNormal = 0, ///< priority: normal (default) +// osPriorityAboveNormal = +1, ///< priority: above normal +// osPriorityHigh = +2, ///< priority: high +// osPriorityRealtime = +3, ///< priority: realtime (highest) +// osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority #if CONTROL_MODE==0 // PID control char f; float val; @@ -360,8 +375,11 @@ data[i][4] = (data[i][4]/max_u+3)/4*UMAX; } #endif - main1(); + pc.printf("Control start!!\r\n"); + moror_control(); // motor control ON for TMAX seconds. + pc.printf("Control completed!!\r\n\r\n"); + // Change parameters using tera term #if CONTROL_MODE>=1 // frequency response, or Step response pc.printf("Input u(t) Frequency[Hz]? (if 9, reset mbed)..."); pc.scanf("%f",&_freq_u); @@ -379,7 +397,7 @@ f=pc.getc()-48; //int = char-48 pc.printf("\r\n Value?... "); if(f>=1&&f<=8){ pc.scanf("%f",&val);} - pc.printf("%8.3f\r\n", val); // print to tera term + pc.printf("%8.3f\r\n", val); if(f==1){ _Kp4th = val;} if(f==2){ _Ki4th = val;} if(f==3){ _Kd4th = val;} @@ -394,19 +412,3 @@ #endif } } -int main() { -// void main1(); - Thread save2PC(main2,NULL,osPriorityBelowNormal); - Thread print2PC(thread_print2PC,NULL,osPriorityLow); - -// osStatus set_priority(osPriority osPriorityBelowNormal ); -// Priority of Thread (RtosTimer has no priority?) -// osPriorityIdle = -3, ///< priority: idle (lowest)--> then, mbed ERROR!! -// osPriorityLow = -2, ///< priority: low -// osPriorityBelowNormal = -1, ///< priority: below normal -// osPriorityNormal = 0, ///< priority: normal (default) -// osPriorityAboveNormal = +1, ///< priority: above normal -// osPriorityHigh = +2, ///< priority: high -// osPriorityRealtime = +3, ///< priority: realtime (highest) -// osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority -}