Luccas Eagles
/
CONTROL_MOTOR_MELODY
added melody to old motorcontol
main.cpp@18:01977903e972, 2020-03-08 (annotated)
- Committer:
- kubitz
- Date:
- Sun Mar 08 11:30:57 2020 +0000
- Revision:
- 18:01977903e972
- Parent:
- 17:baffdedf9590
- Child:
- 19:e95f6004f365
added PID for velocity
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
estott | 0:de4320f74764 | 1 | #include "mbed.h" |
kubitz | 13:58ada64bb664 | 2 | #include "rtos.h" |
estott | 0:de4320f74764 | 3 | //Photointerrupter input pins |
estott | 10:a4b5723b6c9d | 4 | #define I1pin D3 |
estott | 10:a4b5723b6c9d | 5 | #define I2pin D6 |
estott | 10:a4b5723b6c9d | 6 | #define I3pin D5 |
estott | 2:4e88faab6988 | 7 | |
estott | 2:4e88faab6988 | 8 | //Incremental encoder input pins |
estott | 10:a4b5723b6c9d | 9 | #define CHApin D12 |
estott | 10:a4b5723b6c9d | 10 | #define CHBpin D11 |
estott | 0:de4320f74764 | 11 | |
estott | 0:de4320f74764 | 12 | //Motor Drive output pins //Mask in output byte |
estott | 10:a4b5723b6c9d | 13 | #define L1Lpin D1 //0x01 |
estott | 10:a4b5723b6c9d | 14 | #define L1Hpin A3 //0x02 |
estott | 10:a4b5723b6c9d | 15 | #define L2Lpin D0 //0x04 |
estott | 10:a4b5723b6c9d | 16 | #define L2Hpin A6 //0x08 |
estott | 10:a4b5723b6c9d | 17 | #define L3Lpin D10 //0x10 |
estott | 10:a4b5723b6c9d | 18 | #define L3Hpin D2 //0x20 |
estott | 10:a4b5723b6c9d | 19 | |
estott | 10:a4b5723b6c9d | 20 | #define PWMpin D9 |
estott | 5:08f338b5e4d9 | 21 | |
estott | 5:08f338b5e4d9 | 22 | //Motor current sense |
estott | 5:08f338b5e4d9 | 23 | #define MCSPpin A1 |
estott | 5:08f338b5e4d9 | 24 | #define MCSNpin A0 |
estott | 0:de4320f74764 | 25 | |
estott | 11:5ff18183764a | 26 | //Test outputs |
estott | 11:5ff18183764a | 27 | #define TP0pin D4 |
estott | 11:5ff18183764a | 28 | #define TP1pin D13 |
estott | 11:5ff18183764a | 29 | #define TP2pin A2 |
estott | 11:5ff18183764a | 30 | |
kubitz | 14:0146695df1a5 | 31 | Serial pc(SERIAL_TX, SERIAL_RX); |
kubitz | 14:0146695df1a5 | 32 | |
kubitz | 14:0146695df1a5 | 33 | |
kubitz | 14:0146695df1a5 | 34 | // motor controller variables |
kubitz | 17:baffdedf9590 | 35 | float current_position = 0; |
kubitz | 17:baffdedf9590 | 36 | int previous_position = 0; |
kubitz | 14:0146695df1a5 | 37 | float velocity = 0; |
kubitz | 14:0146695df1a5 | 38 | Timer timer_velocity; |
kubitz | 14:0146695df1a5 | 39 | uint32_t last_time_MtrCtlr; |
kubitz | 14:0146695df1a5 | 40 | float pos_error_old; |
kubitz | 14:0146695df1a5 | 41 | int i = 0; |
kubitz | 18:01977903e972 | 42 | |
kubitz | 18:01977903e972 | 43 | float integral=0; |
kubitz | 18:01977903e972 | 44 | float derivative=0; |
kubitz | 18:01977903e972 | 45 | float last_velocity_error = 0; |
estott | 0:de4320f74764 | 46 | //Mapping from sequential drive states to motor phase outputs |
estott | 0:de4320f74764 | 47 | /* |
estott | 0:de4320f74764 | 48 | State L1 L2 L3 |
estott | 0:de4320f74764 | 49 | 0 H - L |
estott | 0:de4320f74764 | 50 | 1 - H L |
estott | 0:de4320f74764 | 51 | 2 L H - |
estott | 0:de4320f74764 | 52 | 3 L - H |
estott | 0:de4320f74764 | 53 | 4 - L H |
estott | 0:de4320f74764 | 54 | 5 H L - |
estott | 0:de4320f74764 | 55 | 6 - - - |
estott | 0:de4320f74764 | 56 | 7 - - - |
estott | 0:de4320f74764 | 57 | */ |
estott | 0:de4320f74764 | 58 | //Drive state to output table |
estott | 0:de4320f74764 | 59 | const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; |
estott | 2:4e88faab6988 | 60 | |
estott | 0:de4320f74764 | 61 | //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid |
kubitz | 13:58ada64bb664 | 62 | const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; |
estott | 2:4e88faab6988 | 63 | //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed |
estott | 2:4e88faab6988 | 64 | |
kubitz | 13:58ada64bb664 | 65 | // PARAMETERS // |
kubitz | 18:01977903e972 | 66 | const float kp_vel = 0.08; |
kubitz | 18:01977903e972 | 67 | const float ki_vel = 0.03; |
kubitz | 18:01977903e972 | 68 | const float kd_vel = 0.03; |
kubitz | 13:58ada64bb664 | 69 | |
kubitz | 13:58ada64bb664 | 70 | const float kp_pos = 0.05; |
kubitz | 13:58ada64bb664 | 71 | const float kd_pos = 0; |
kubitz | 13:58ada64bb664 | 72 | const float pwm_period =0.25f; |
kubitz | 13:58ada64bb664 | 73 | |
kubitz | 17:baffdedf9590 | 74 | int target_velocity = 30; |
kubitz | 17:baffdedf9590 | 75 | float target_position = 500; |
kubitz | 13:58ada64bb664 | 76 | |
kubitz | 13:58ada64bb664 | 77 | // SHARED GLOBAL VARIABLES // |
kubitz | 13:58ada64bb664 | 78 | Semaphore pos_semaphore(0); |
kubitz | 13:58ada64bb664 | 79 | int position = 0; |
kubitz | 13:58ada64bb664 | 80 | bool direction = 1; |
kubitz | 13:58ada64bb664 | 81 | |
kubitz | 13:58ada64bb664 | 82 | int lead = 2; |
kubitz | 13:58ada64bb664 | 83 | |
kubitz | 13:58ada64bb664 | 84 | // NON-SHARED GLOBAL VARIABLES // |
kubitz | 13:58ada64bb664 | 85 | int lead_old; |
estott | 0:de4320f74764 | 86 | |
estott | 0:de4320f74764 | 87 | //Status LED |
estott | 0:de4320f74764 | 88 | DigitalOut led1(LED1); |
estott | 0:de4320f74764 | 89 | |
estott | 0:de4320f74764 | 90 | //Photointerrupter inputs |
kubitz | 13:58ada64bb664 | 91 | InterruptIn I1(I1pin); |
kubitz | 13:58ada64bb664 | 92 | InterruptIn I2(I2pin); |
kubitz | 13:58ada64bb664 | 93 | InterruptIn I3(I3pin); |
estott | 0:de4320f74764 | 94 | |
estott | 0:de4320f74764 | 95 | //Motor Drive outputs |
estott | 0:de4320f74764 | 96 | DigitalOut L1L(L1Lpin); |
estott | 0:de4320f74764 | 97 | DigitalOut L1H(L1Hpin); |
estott | 0:de4320f74764 | 98 | DigitalOut L2L(L2Lpin); |
estott | 0:de4320f74764 | 99 | DigitalOut L2H(L2Hpin); |
estott | 0:de4320f74764 | 100 | DigitalOut L3L(L3Lpin); |
estott | 0:de4320f74764 | 101 | DigitalOut L3H(L3Hpin); |
estott | 0:de4320f74764 | 102 | |
estott | 11:5ff18183764a | 103 | DigitalOut TP1(TP1pin); |
estott | 11:5ff18183764a | 104 | PwmOut MotorPWM(PWMpin); |
estott | 11:5ff18183764a | 105 | |
kubitz | 13:58ada64bb664 | 106 | Ticker motorCtrlTicker; |
kubitz | 14:0146695df1a5 | 107 | Thread thread_motorCtrl (osPriorityNormal,1024); |
kubitz | 13:58ada64bb664 | 108 | |
kubitz | 13:58ada64bb664 | 109 | volatile int8_t orState = 0; //Rotot offset at motor state 0 |
kubitz | 13:58ada64bb664 | 110 | volatile int8_t intState = 0; |
kubitz | 13:58ada64bb664 | 111 | volatile int8_t intStateOld = 0; |
kubitz | 13:58ada64bb664 | 112 | |
kubitz | 13:58ada64bb664 | 113 | |
estott | 0:de4320f74764 | 114 | //Set a given drive state |
kubitz | 13:58ada64bb664 | 115 | void motorOut(int8_t driveState) |
kubitz | 13:58ada64bb664 | 116 | { |
kubitz | 13:58ada64bb664 | 117 | |
estott | 2:4e88faab6988 | 118 | //Lookup the output byte from the drive state. |
estott | 2:4e88faab6988 | 119 | int8_t driveOut = driveTable[driveState & 0x07]; |
kubitz | 13:58ada64bb664 | 120 | |
estott | 2:4e88faab6988 | 121 | //Turn off first |
estott | 2:4e88faab6988 | 122 | if (~driveOut & 0x01) L1L = 0; |
estott | 2:4e88faab6988 | 123 | if (~driveOut & 0x02) L1H = 1; |
estott | 2:4e88faab6988 | 124 | if (~driveOut & 0x04) L2L = 0; |
estott | 2:4e88faab6988 | 125 | if (~driveOut & 0x08) L2H = 1; |
estott | 2:4e88faab6988 | 126 | if (~driveOut & 0x10) L3L = 0; |
estott | 2:4e88faab6988 | 127 | if (~driveOut & 0x20) L3H = 1; |
kubitz | 13:58ada64bb664 | 128 | |
estott | 2:4e88faab6988 | 129 | //Then turn on |
estott | 2:4e88faab6988 | 130 | if (driveOut & 0x01) L1L = 1; |
estott | 2:4e88faab6988 | 131 | if (driveOut & 0x02) L1H = 0; |
estott | 2:4e88faab6988 | 132 | if (driveOut & 0x04) L2L = 1; |
estott | 2:4e88faab6988 | 133 | if (driveOut & 0x08) L2H = 0; |
estott | 2:4e88faab6988 | 134 | if (driveOut & 0x10) L3L = 1; |
estott | 2:4e88faab6988 | 135 | if (driveOut & 0x20) L3H = 0; |
kubitz | 13:58ada64bb664 | 136 | } |
kubitz | 13:58ada64bb664 | 137 | |
kubitz | 13:58ada64bb664 | 138 | //Convert photointerrupter inputs to a rotor state |
kubitz | 13:58ada64bb664 | 139 | inline int8_t readRotorState() |
kubitz | 13:58ada64bb664 | 140 | { |
kubitz | 13:58ada64bb664 | 141 | return stateMap[I1 + 2*I2 + 4*I3]; |
kubitz | 13:58ada64bb664 | 142 | } |
kubitz | 13:58ada64bb664 | 143 | |
kubitz | 13:58ada64bb664 | 144 | |
kubitz | 13:58ada64bb664 | 145 | void move() |
kubitz | 13:58ada64bb664 | 146 | { |
kubitz | 13:58ada64bb664 | 147 | intState = readRotorState(); |
kubitz | 13:58ada64bb664 | 148 | |
kubitz | 13:58ada64bb664 | 149 | // Updates direction only if statechanges by 1 |
kubitz | 13:58ada64bb664 | 150 | // If state chance is missed then interrupt is unchanged |
kubitz | 13:58ada64bb664 | 151 | if( intState == 0 && intStateOld == 5) { |
kubitz | 13:58ada64bb664 | 152 | direction = 1; |
kubitz | 13:58ada64bb664 | 153 | position++; |
kubitz | 13:58ada64bb664 | 154 | } else if( intState == 5 && intStateOld == 0) { |
kubitz | 13:58ada64bb664 | 155 | direction = 0; |
kubitz | 13:58ada64bb664 | 156 | position--; |
kubitz | 13:58ada64bb664 | 157 | } else if ( intState == intStateOld + 1 ) { |
kubitz | 13:58ada64bb664 | 158 | direction = 1; |
kubitz | 13:58ada64bb664 | 159 | position++; |
kubitz | 13:58ada64bb664 | 160 | } else if (intState == intStateOld - 1) { |
kubitz | 13:58ada64bb664 | 161 | direction = 0; |
kubitz | 13:58ada64bb664 | 162 | position--; |
estott | 0:de4320f74764 | 163 | } |
kubitz | 13:58ada64bb664 | 164 | |
kubitz | 13:58ada64bb664 | 165 | pos_semaphore.release(); |
kubitz | 13:58ada64bb664 | 166 | |
kubitz | 13:58ada64bb664 | 167 | intStateOld = intState; |
kubitz | 13:58ada64bb664 | 168 | |
kubitz | 13:58ada64bb664 | 169 | motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive |
estott | 0:de4320f74764 | 170 | } |
estott | 0:de4320f74764 | 171 | |
kubitz | 13:58ada64bb664 | 172 | |
kubitz | 13:58ada64bb664 | 173 | void motorCtrlTick() |
kubitz | 13:58ada64bb664 | 174 | { |
kubitz | 14:0146695df1a5 | 175 | thread_motorCtrl.signal_set(0x1); |
kubitz | 14:0146695df1a5 | 176 | //osSignalSet(thread_motorCtrl, 0x1); |
kubitz | 13:58ada64bb664 | 177 | } |
kubitz | 13:58ada64bb664 | 178 | |
kubitz | 17:baffdedf9590 | 179 | float get_velocity_out(float velocity_error) |
kubitz | 18:01977903e972 | 180 | { |
kubitz | 18:01977903e972 | 181 | integral += velocity_error; |
kubitz | 18:01977903e972 | 182 | derivative = velocity_error - velocity_error; |
kubitz | 18:01977903e972 | 183 | float velocity_out = (kp_vel*velocity_error) + (ki_vel*integral) + (kd_vel*derivative); |
kubitz | 18:01977903e972 | 184 | last_velocity_error = velocity_error; |
kubitz | 18:01977903e972 | 185 | return velocity_out; |
kubitz | 13:58ada64bb664 | 186 | } |
kubitz | 13:58ada64bb664 | 187 | |
kubitz | 13:58ada64bb664 | 188 | float get_y_pos(float e, float change_e) |
kubitz | 13:58ada64bb664 | 189 | { |
kubitz | 13:58ada64bb664 | 190 | return kp_pos*e + kd_pos*change_e; |
kubitz | 13:58ada64bb664 | 191 | } |
kubitz | 13:58ada64bb664 | 192 | |
kubitz | 17:baffdedf9590 | 193 | float get_motor_out(float velocity_out) |
kubitz | 13:58ada64bb664 | 194 | { |
kubitz | 13:58ada64bb664 | 195 | float motor_out; |
kubitz | 17:baffdedf9590 | 196 | if( velocity_out < 0) { |
kubitz | 17:baffdedf9590 | 197 | motor_out = velocity_out*-1; |
kubitz | 13:58ada64bb664 | 198 | } else { |
kubitz | 17:baffdedf9590 | 199 | motor_out = velocity_out; |
kubitz | 13:58ada64bb664 | 200 | } |
kubitz | 17:baffdedf9590 | 201 | if (velocity_out > 1 || velocity_out < -1) { |
kubitz | 13:58ada64bb664 | 202 | motor_out = 1; |
kubitz | 13:58ada64bb664 | 203 | } |
kubitz | 13:58ada64bb664 | 204 | return motor_out; |
estott | 0:de4320f74764 | 205 | } |
kubitz | 13:58ada64bb664 | 206 | |
kubitz | 17:baffdedf9590 | 207 | int get_current_position(){ |
kubitz | 13:58ada64bb664 | 208 | pos_semaphore.wait(); |
kubitz | 13:58ada64bb664 | 209 | return position; |
kubitz | 13:58ada64bb664 | 210 | } |
kubitz | 13:58ada64bb664 | 211 | |
kubitz | 13:58ada64bb664 | 212 | void attach_ISR(){ |
kubitz | 13:58ada64bb664 | 213 | I1.rise(&move); |
kubitz | 13:58ada64bb664 | 214 | I1.fall(&move); |
kubitz | 13:58ada64bb664 | 215 | I2.rise(&move); |
kubitz | 13:58ada64bb664 | 216 | I2.fall(&move); |
kubitz | 13:58ada64bb664 | 217 | I3.rise(&move); |
kubitz | 13:58ada64bb664 | 218 | I3.fall(&move); |
kubitz | 13:58ada64bb664 | 219 | } |
kubitz | 13:58ada64bb664 | 220 | |
kubitz | 13:58ada64bb664 | 221 | |
kubitz | 17:baffdedf9590 | 222 | float combine_speed(float y_pos, float velocity_out, float velocity_error) |
kubitz | 13:58ada64bb664 | 223 | { |
kubitz | 17:baffdedf9590 | 224 | if(velocity_error >= 0) { |
kubitz | 17:baffdedf9590 | 225 | if(y_pos < velocity_out) { |
kubitz | 13:58ada64bb664 | 226 | return y_pos; |
kubitz | 13:58ada64bb664 | 227 | } else { |
kubitz | 17:baffdedf9590 | 228 | return velocity_out; |
kubitz | 13:58ada64bb664 | 229 | } |
kubitz | 13:58ada64bb664 | 230 | } |
kubitz | 13:58ada64bb664 | 231 | else { |
kubitz | 17:baffdedf9590 | 232 | if(y_pos > velocity_out){ |
kubitz | 13:58ada64bb664 | 233 | return y_pos; |
kubitz | 13:58ada64bb664 | 234 | } |
kubitz | 13:58ada64bb664 | 235 | else{ |
kubitz | 17:baffdedf9590 | 236 | return velocity_out; |
estott | 0:de4320f74764 | 237 | } |
estott | 2:4e88faab6988 | 238 | } |
kubitz | 13:58ada64bb664 | 239 | return y_pos; |
kubitz | 13:58ada64bb664 | 240 | } |
kubitz | 13:58ada64bb664 | 241 | |
kubitz | 13:58ada64bb664 | 242 | |
kubitz | 17:baffdedf9590 | 243 | void update_lead(float velocity_out){ |
kubitz | 13:58ada64bb664 | 244 | // No functionality for breaking |
kubitz | 17:baffdedf9590 | 245 | if(velocity_out >= 0){ |
kubitz | 13:58ada64bb664 | 246 | lead = 2; |
kubitz | 13:58ada64bb664 | 247 | } |
kubitz | 13:58ada64bb664 | 248 | else { |
kubitz | 13:58ada64bb664 | 249 | lead = -2; |
kubitz | 13:58ada64bb664 | 250 | } |
kubitz | 13:58ada64bb664 | 251 | |
estott | 0:de4320f74764 | 252 | } |
kubitz | 14:0146695df1a5 | 253 | void motorInitSequence() |
kubitz | 13:58ada64bb664 | 254 | { |
kubitz | 13:58ada64bb664 | 255 | motorCtrlTicker.attach_us(&motorCtrlTick,100000); |
kubitz | 17:baffdedf9590 | 256 | pos_error_old = target_position; |
kubitz | 15:2c9b3251c383 | 257 | last_time_MtrCtlr = 0; |
kubitz | 15:2c9b3251c383 | 258 | |
kubitz | 13:58ada64bb664 | 259 | MotorPWM.write(1); |
kubitz | 13:58ada64bb664 | 260 | MotorPWM.period(pwm_period); |
kubitz | 13:58ada64bb664 | 261 | |
kubitz | 13:58ada64bb664 | 262 | motorOut(0); |
kubitz | 13:58ada64bb664 | 263 | wait(3.0); |
kubitz | 13:58ada64bb664 | 264 | orState = readRotorState(); |
kubitz | 13:58ada64bb664 | 265 | |
kubitz | 17:baffdedf9590 | 266 | if(target_velocity > 0){ |
kubitz | 13:58ada64bb664 | 267 | lead = 2; |
kubitz | 13:58ada64bb664 | 268 | motorOut(1); |
kubitz | 13:58ada64bb664 | 269 | } |
kubitz | 13:58ada64bb664 | 270 | else{ |
kubitz | 13:58ada64bb664 | 271 | lead = -2; |
kubitz | 13:58ada64bb664 | 272 | motorOut(5); |
kubitz | 13:58ada64bb664 | 273 | } |
kubitz | 13:58ada64bb664 | 274 | attach_ISR(); |
kubitz | 13:58ada64bb664 | 275 | |
kubitz | 17:baffdedf9590 | 276 | current_position = get_current_position(); |
kubitz | 17:baffdedf9590 | 277 | previous_position = current_position; |
kubitz | 15:2c9b3251c383 | 278 | timer_velocity.start(); |
kubitz | 14:0146695df1a5 | 279 | } |
kubitz | 14:0146695df1a5 | 280 | |
kubitz | 14:0146695df1a5 | 281 | void motorCtrlFn() |
kubitz | 14:0146695df1a5 | 282 | { |
kubitz | 13:58ada64bb664 | 283 | while(1) { |
kubitz | 16:53d3445dcf6b | 284 | thread_motorCtrl.signal_wait(0x1); |
kubitz | 13:58ada64bb664 | 285 | |
kubitz | 17:baffdedf9590 | 286 | current_position = get_current_position(); |
kubitz | 15:2c9b3251c383 | 287 | float velocity_factor = (1000/(timer_velocity.read_ms()-last_time_MtrCtlr)); |
kubitz | 17:baffdedf9590 | 288 | velocity = ((current_position - previous_position)/6)*velocity_factor; |
kubitz | 15:2c9b3251c383 | 289 | last_time_MtrCtlr = timer_velocity.read_ms(); |
kubitz | 17:baffdedf9590 | 290 | previous_position = current_position; |
kubitz | 13:58ada64bb664 | 291 | |
kubitz | 17:baffdedf9590 | 292 | float velocity_error = target_velocity - velocity; |
kubitz | 17:baffdedf9590 | 293 | float velocity_out = get_velocity_out(velocity_error); |
kubitz | 17:baffdedf9590 | 294 | float motor_out = get_motor_out(velocity_out); |
kubitz | 13:58ada64bb664 | 295 | |
kubitz | 17:baffdedf9590 | 296 | update_lead(velocity_out); |
kubitz | 13:58ada64bb664 | 297 | |
kubitz | 13:58ada64bb664 | 298 | MotorPWM.period(pwm_period); |
kubitz | 13:58ada64bb664 | 299 | MotorPWM.write(motor_out); |
kubitz | 13:58ada64bb664 | 300 | |
kubitz | 13:58ada64bb664 | 301 | if(i > 10) { |
kubitz | 17:baffdedf9590 | 302 | pc.printf("Velocity = %f, Position = %f, MotorOut = %f, y = %f, lead = %d\r\n", velocity, current_position, motor_out, velocity_out, lead); |
kubitz | 13:58ada64bb664 | 303 | i = 0; |
kubitz | 13:58ada64bb664 | 304 | } |
kubitz | 13:58ada64bb664 | 305 | i++; |
kubitz | 13:58ada64bb664 | 306 | } |
kubitz | 13:58ada64bb664 | 307 | } |
kubitz | 13:58ada64bb664 | 308 | |
kubitz | 13:58ada64bb664 | 309 | |
kubitz | 13:58ada64bb664 | 310 | //Main |
kubitz | 13:58ada64bb664 | 311 | int main() |
kubitz | 13:58ada64bb664 | 312 | { |
kubitz | 14:0146695df1a5 | 313 | motorInitSequence(); |
kubitz | 14:0146695df1a5 | 314 | thread_motorCtrl.start(motorCtrlFn); |
kubitz | 14:0146695df1a5 | 315 | |
kubitz | 13:58ada64bb664 | 316 | } |
kubitz | 13:58ada64bb664 | 317 |