Luccas Eagles / Mbed OS CONTROL_MOTOR_MELODY

added melody to old motorcontol

main.cpp@21:302d9043cb4b, 2020-03-13 (annotated)

Committer:
kubitz
Date:
Fri Mar 13 17:35:19 2020 +0000
Revision:
21:302d9043cb4b
Parent:
20:4371ed979fbf
Child:
22:af49b9e79d9c
working position controller;

Who changed what in which revision?

UserRevisionLine numberNew 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 20:4371ed979fbf 33 float position_error = 0;
kubitz 20:4371ed979fbf 34 float previous_position_error = 0 ;
kubitz 20:4371ed979fbf 35 float derivative_position = 0;
kubitz 14:0146695df1a5 36
kubitz 14:0146695df1a5 37 // motor controller variables
kubitz 17:baffdedf9590 38 float current_position = 0;
kubitz 17:baffdedf9590 39 int previous_position = 0;
kubitz 14:0146695df1a5 40 float velocity = 0;
kubitz 14:0146695df1a5 41 Timer timer_velocity;
kubitz 14:0146695df1a5 42 uint32_t last_time_MtrCtlr;
kubitz 14:0146695df1a5 43 float pos_error_old;
kubitz 14:0146695df1a5 44 int i = 0;
kubitz 18:01977903e972 45
kubitz 18:01977903e972 46 float integral=0;
kubitz 18:01977903e972 47 float derivative=0;
kubitz 18:01977903e972 48 float last_velocity_error = 0;
estott 0:de4320f74764 49 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 50 /*
estott 0:de4320f74764 51 State L1 L2 L3
estott 0:de4320f74764 52 0 H - L
estott 0:de4320f74764 53 1 - H L
estott 0:de4320f74764 54 2 L H -
estott 0:de4320f74764 55 3 L - H
estott 0:de4320f74764 56 4 - L H
estott 0:de4320f74764 57 5 H L -
estott 0:de4320f74764 58 6 - - -
estott 0:de4320f74764 59 7 - - -
estott 0:de4320f74764 60 */
estott 0:de4320f74764 61 //Drive state to output table
estott 0:de4320f74764 62 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 63
estott 0:de4320f74764 64 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
kubitz 13:58ada64bb664 65 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 66 //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 67
kubitz 13:58ada64bb664 68 // PARAMETERS //
kubitz 20:4371ed979fbf 69 const float kp_vel = 20;
kubitz 20:4371ed979fbf 70 const float ki_vel = 0.00;
kubitz 20:4371ed979fbf 71 const float kd_vel = 0.00;
kubitz 13:58ada64bb664 72
kubitz 13:58ada64bb664 73 const float kp_pos = 0.05;
kubitz 13:58ada64bb664 74 const float kd_pos = 0;
kubitz 13:58ada64bb664 75 const float pwm_period =0.25f;
kubitz 13:58ada64bb664 76
kubitz 20:4371ed979fbf 77 int target_velocity = 30;
kubitz 17:baffdedf9590 78 float target_position = 500;
kubitz 13:58ada64bb664 79
kubitz 13:58ada64bb664 80 // SHARED GLOBAL VARIABLES //
kubitz 13:58ada64bb664 81 Semaphore pos_semaphore(0);
kubitz 13:58ada64bb664 82 int position = 0;
kubitz 13:58ada64bb664 83 bool direction = 1;
kubitz 13:58ada64bb664 84
kubitz 13:58ada64bb664 85 int lead = 2;
kubitz 13:58ada64bb664 86
kubitz 13:58ada64bb664 87 // NON-SHARED GLOBAL VARIABLES //
kubitz 13:58ada64bb664 88 int lead_old;
estott 0:de4320f74764 89
estott 0:de4320f74764 90 //Status LED
estott 0:de4320f74764 91 DigitalOut led1(LED1);
estott 0:de4320f74764 92
estott 0:de4320f74764 93 //Photointerrupter inputs
kubitz 13:58ada64bb664 94 InterruptIn I1(I1pin);
kubitz 13:58ada64bb664 95 InterruptIn I2(I2pin);
kubitz 13:58ada64bb664 96 InterruptIn I3(I3pin);
estott 0:de4320f74764 97
estott 0:de4320f74764 98 //Motor Drive outputs
estott 0:de4320f74764 99 DigitalOut L1L(L1Lpin);
estott 0:de4320f74764 100 DigitalOut L1H(L1Hpin);
estott 0:de4320f74764 101 DigitalOut L2L(L2Lpin);
estott 0:de4320f74764 102 DigitalOut L2H(L2Hpin);
estott 0:de4320f74764 103 DigitalOut L3L(L3Lpin);
estott 0:de4320f74764 104 DigitalOut L3H(L3Hpin);
estott 0:de4320f74764 105
estott 11:5ff18183764a 106 DigitalOut TP1(TP1pin);
estott 11:5ff18183764a 107 PwmOut MotorPWM(PWMpin);
estott 11:5ff18183764a 108
kubitz 13:58ada64bb664 109 Ticker motorCtrlTicker;
kubitz 14:0146695df1a5 110 Thread thread_motorCtrl (osPriorityNormal,1024);
kubitz 13:58ada64bb664 111
kubitz 13:58ada64bb664 112 volatile int8_t orState = 0; //Rotot offset at motor state 0
kubitz 13:58ada64bb664 113 volatile int8_t intState = 0;
kubitz 13:58ada64bb664 114 volatile int8_t intStateOld = 0;
kubitz 13:58ada64bb664 115
kubitz 13:58ada64bb664 116
estott 0:de4320f74764 117 //Set a given drive state
kubitz 13:58ada64bb664 118 void motorOut(int8_t driveState)
kubitz 13:58ada64bb664 119 {
kubitz 13:58ada64bb664 120
estott 2:4e88faab6988 121 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 122 int8_t driveOut = driveTable[driveState & 0x07];
kubitz 13:58ada64bb664 123
estott 2:4e88faab6988 124 //Turn off first
estott 2:4e88faab6988 125 if (~driveOut & 0x01) L1L = 0;
estott 2:4e88faab6988 126 if (~driveOut & 0x02) L1H = 1;
estott 2:4e88faab6988 127 if (~driveOut & 0x04) L2L = 0;
estott 2:4e88faab6988 128 if (~driveOut & 0x08) L2H = 1;
estott 2:4e88faab6988 129 if (~driveOut & 0x10) L3L = 0;
estott 2:4e88faab6988 130 if (~driveOut & 0x20) L3H = 1;
kubitz 13:58ada64bb664 131
estott 2:4e88faab6988 132 //Then turn on
estott 2:4e88faab6988 133 if (driveOut & 0x01) L1L = 1;
estott 2:4e88faab6988 134 if (driveOut & 0x02) L1H = 0;
estott 2:4e88faab6988 135 if (driveOut & 0x04) L2L = 1;
estott 2:4e88faab6988 136 if (driveOut & 0x08) L2H = 0;
estott 2:4e88faab6988 137 if (driveOut & 0x10) L3L = 1;
estott 2:4e88faab6988 138 if (driveOut & 0x20) L3H = 0;
kubitz 13:58ada64bb664 139 }
kubitz 13:58ada64bb664 140
kubitz 13:58ada64bb664 141 //Convert photointerrupter inputs to a rotor state
kubitz 13:58ada64bb664 142 inline int8_t readRotorState()
kubitz 13:58ada64bb664 143 {
kubitz 13:58ada64bb664 144 return stateMap[I1 + 2*I2 + 4*I3];
kubitz 13:58ada64bb664 145 }
kubitz 13:58ada64bb664 146
kubitz 13:58ada64bb664 147
kubitz 13:58ada64bb664 148 void move()
kubitz 13:58ada64bb664 149 {
kubitz 13:58ada64bb664 150 intState = readRotorState();
kubitz 13:58ada64bb664 151
kubitz 13:58ada64bb664 152 // Updates direction only if statechanges by 1
kubitz 13:58ada64bb664 153 // If state chance is missed then interrupt is unchanged
kubitz 13:58ada64bb664 154 if( intState == 0 && intStateOld == 5) {
kubitz 13:58ada64bb664 155 direction = 1;
kubitz 13:58ada64bb664 156 position++;
kubitz 13:58ada64bb664 157 } else if( intState == 5 && intStateOld == 0) {
kubitz 13:58ada64bb664 158 direction = 0;
kubitz 13:58ada64bb664 159 position--;
kubitz 13:58ada64bb664 160 } else if ( intState == intStateOld + 1 ) {
kubitz 13:58ada64bb664 161 direction = 1;
kubitz 13:58ada64bb664 162 position++;
kubitz 13:58ada64bb664 163 } else if (intState == intStateOld - 1) {
kubitz 13:58ada64bb664 164 direction = 0;
kubitz 13:58ada64bb664 165 position--;
estott 0:de4320f74764 166 }
kubitz 13:58ada64bb664 167
kubitz 13:58ada64bb664 168 pos_semaphore.release();
kubitz 13:58ada64bb664 169
kubitz 13:58ada64bb664 170 intStateOld = intState;
kubitz 13:58ada64bb664 171
kubitz 13:58ada64bb664 172 motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
estott 0:de4320f74764 173 }
estott 0:de4320f74764 174
kubitz 13:58ada64bb664 175
kubitz 13:58ada64bb664 176 void motorCtrlTick()
kubitz 13:58ada64bb664 177 {
kubitz 14:0146695df1a5 178 thread_motorCtrl.signal_set(0x1);
kubitz 14:0146695df1a5 179 //osSignalSet(thread_motorCtrl, 0x1);
kubitz 13:58ada64bb664 180 }
kubitz 13:58ada64bb664 181
kubitz 17:baffdedf9590 182 float get_velocity_out(float velocity_error)
kubitz 18:01977903e972 183 {
kubitz 18:01977903e972 184 integral += velocity_error;
kubitz 18:01977903e972 185 derivative = velocity_error - velocity_error;
kubitz 18:01977903e972 186 float velocity_out = (kp_vel*velocity_error) + (ki_vel*integral) + (kd_vel*derivative);
kubitz 18:01977903e972 187 last_velocity_error = velocity_error;
kubitz 18:01977903e972 188 return velocity_out;
kubitz 13:58ada64bb664 189 }
kubitz 13:58ada64bb664 190
kubitz 13:58ada64bb664 191 float get_y_pos(float e, float change_e)
kubitz 13:58ada64bb664 192 {
kubitz 13:58ada64bb664 193 return kp_pos*e + kd_pos*change_e;
kubitz 13:58ada64bb664 194 }
kubitz 13:58ada64bb664 195
kubitz 17:baffdedf9590 196 float get_motor_out(float velocity_out)
kubitz 13:58ada64bb664 197 {
kubitz 13:58ada64bb664 198 float motor_out;
kubitz 17:baffdedf9590 199 if( velocity_out < 0) {
kubitz 17:baffdedf9590 200 motor_out = velocity_out*-1;
kubitz 13:58ada64bb664 201 } else {
kubitz 17:baffdedf9590 202 motor_out = velocity_out;
kubitz 13:58ada64bb664 203 }
kubitz 17:baffdedf9590 204 if (velocity_out > 1 || velocity_out < -1) {
kubitz 13:58ada64bb664 205 motor_out = 1;
kubitz 13:58ada64bb664 206 }
kubitz 13:58ada64bb664 207 return motor_out;
estott 0:de4320f74764 208 }
kubitz 13:58ada64bb664 209
kubitz 17:baffdedf9590 210 int get_current_position(){
kubitz 13:58ada64bb664 211 pos_semaphore.wait();
kubitz 13:58ada64bb664 212 return position;
kubitz 13:58ada64bb664 213 }
kubitz 13:58ada64bb664 214
kubitz 13:58ada64bb664 215 void attach_ISR(){
kubitz 13:58ada64bb664 216 I1.rise(&move);
kubitz 13:58ada64bb664 217 I1.fall(&move);
kubitz 13:58ada64bb664 218 I2.rise(&move);
kubitz 13:58ada64bb664 219 I2.fall(&move);
kubitz 13:58ada64bb664 220 I3.rise(&move);
kubitz 13:58ada64bb664 221 I3.fall(&move);
kubitz 13:58ada64bb664 222 }
kubitz 13:58ada64bb664 223
kubitz 13:58ada64bb664 224
kubitz 17:baffdedf9590 225 float combine_speed(float y_pos, float velocity_out, float velocity_error)
kubitz 13:58ada64bb664 226 {
kubitz 17:baffdedf9590 227 if(velocity_error >= 0) {
kubitz 17:baffdedf9590 228 if(y_pos < velocity_out) {
kubitz 13:58ada64bb664 229 return y_pos;
kubitz 13:58ada64bb664 230 } else {
kubitz 17:baffdedf9590 231 return velocity_out;
kubitz 13:58ada64bb664 232 }
kubitz 13:58ada64bb664 233 }
kubitz 13:58ada64bb664 234 else {
kubitz 17:baffdedf9590 235 if(y_pos > velocity_out){
kubitz 13:58ada64bb664 236 return y_pos;
kubitz 13:58ada64bb664 237 }
kubitz 13:58ada64bb664 238 else{
kubitz 17:baffdedf9590 239 return velocity_out;
estott 0:de4320f74764 240 }
estott 2:4e88faab6988 241 }
kubitz 13:58ada64bb664 242 return y_pos;
kubitz 13:58ada64bb664 243 }
kubitz 13:58ada64bb664 244
kubitz 13:58ada64bb664 245
kubitz 17:baffdedf9590 246 void update_lead(float velocity_out){
kubitz 13:58ada64bb664 247 // No functionality for breaking
kubitz 17:baffdedf9590 248 if(velocity_out >= 0){
kubitz 13:58ada64bb664 249 lead = 2;
kubitz 13:58ada64bb664 250 }
kubitz 13:58ada64bb664 251 else {
kubitz 13:58ada64bb664 252 lead = -2;
kubitz 13:58ada64bb664 253 }
kubitz 13:58ada64bb664 254
estott 0:de4320f74764 255 }
kubitz 14:0146695df1a5 256 void motorInitSequence()
kubitz 13:58ada64bb664 257 {
kubitz 13:58ada64bb664 258 motorCtrlTicker.attach_us(&motorCtrlTick,100000);
kubitz 17:baffdedf9590 259 pos_error_old = target_position;
kubitz 15:2c9b3251c383 260 last_time_MtrCtlr = 0;
kubitz 15:2c9b3251c383 261
kubitz 13:58ada64bb664 262 MotorPWM.write(1);
kubitz 13:58ada64bb664 263 MotorPWM.period(pwm_period);
kubitz 13:58ada64bb664 264
kubitz 13:58ada64bb664 265 motorOut(0);
kubitz 13:58ada64bb664 266 wait(3.0);
kubitz 13:58ada64bb664 267 orState = readRotorState();
kubitz 19:e95f6004f365 268 attach_ISR();
kubitz 19:e95f6004f365 269
kubitz 17:baffdedf9590 270 if(target_velocity > 0){
kubitz 13:58ada64bb664 271 lead = 2;
kubitz 13:58ada64bb664 272 motorOut(1);
kubitz 19:e95f6004f365 273 wait(0.1);
kubitz 19:e95f6004f365 274 motorOut(2);
kubitz 19:e95f6004f365 275 wait(0.1);
kubitz 19:e95f6004f365 276 motorOut(3);
kubitz 13:58ada64bb664 277 }
kubitz 13:58ada64bb664 278 else{
kubitz 13:58ada64bb664 279 lead = -2;
kubitz 19:e95f6004f365 280 motorOut(5);
kubitz 19:e95f6004f365 281 wait(0.3);
kubitz 19:e95f6004f365 282 motorOut(4);
kubitz 19:e95f6004f365 283 wait(0.3);
kubitz 19:e95f6004f365 284 motorOut(3);
kubitz 19:e95f6004f365 285 wait(0.3);
kubitz 19:e95f6004f365 286 motorOut(4);
kubitz 19:e95f6004f365 287
kubitz 13:58ada64bb664 288 }
kubitz 17:baffdedf9590 289 current_position = get_current_position();
kubitz 17:baffdedf9590 290 previous_position = current_position;
kubitz 15:2c9b3251c383 291 timer_velocity.start();
kubitz 14:0146695df1a5 292 }
kubitz 14:0146695df1a5 293
kubitz 14:0146695df1a5 294 void motorCtrlFn()
kubitz 14:0146695df1a5 295 {
kubitz 13:58ada64bb664 296 while(1) {
kubitz 16:53d3445dcf6b 297 thread_motorCtrl.signal_wait(0x1);
kubitz 17:baffdedf9590 298 current_position = get_current_position();
kubitz 15:2c9b3251c383 299 float velocity_factor = (1000/(timer_velocity.read_ms()-last_time_MtrCtlr));
kubitz 17:baffdedf9590 300 velocity = ((current_position - previous_position)/6)*velocity_factor;
kubitz 15:2c9b3251c383 301 last_time_MtrCtlr = timer_velocity.read_ms();
kubitz 17:baffdedf9590 302 previous_position = current_position;
kubitz 20:4371ed979fbf 303 float velocity_error = target_velocity - velocity;
kubitz 20:4371ed979fbf 304
kubitz 20:4371ed979fbf 305
kubitz 20:4371ed979fbf 306
kubitz 21:302d9043cb4b 307 position_error = target_position - (current_position/6);
kubitz 13:58ada64bb664 308
kubitz 20:4371ed979fbf 309 float velocity_out = get_velocity_out(position_error);
kubitz 21:302d9043cb4b 310 float position_out = (6*position_error) + (40*derivative_position);
kubitz 21:302d9043cb4b 311 derivative_position = position_error - previous_position_error;
kubitz 21:302d9043cb4b 312 previous_position_error = position_error;
kubitz 21:302d9043cb4b 313
kubitz 20:4371ed979fbf 314 float motor_out = get_motor_out(velocity_out);
kubitz 20:4371ed979fbf 315
kubitz 20:4371ed979fbf 316
kubitz 20:4371ed979fbf 317
kubitz 13:58ada64bb664 318
kubitz 21:302d9043cb4b 319 update_lead(position_out);
kubitz 13:58ada64bb664 320
kubitz 13:58ada64bb664 321 MotorPWM.period(pwm_period);
kubitz 13:58ada64bb664 322 MotorPWM.write(motor_out);
kubitz 13:58ada64bb664 323
kubitz 13:58ada64bb664 324 if(i > 10) {
kubitz 21:302d9043cb4b 325 pc.printf("Velocity = %f, Position = %f, MotorOut = %f, y = %f, lead = %d\r\n", velocity, (current_position/6), motor_out, derivative_position, lead);
kubitz 13:58ada64bb664 326 i = 0;
kubitz 13:58ada64bb664 327 }
kubitz 13:58ada64bb664 328 i++;
kubitz 13:58ada64bb664 329 }
kubitz 13:58ada64bb664 330 }
kubitz 13:58ada64bb664 331
kubitz 13:58ada64bb664 332
kubitz 13:58ada64bb664 333 //Main
kubitz 13:58ada64bb664 334 int main()
kubitz 13:58ada64bb664 335 {
kubitz 14:0146695df1a5 336 motorInitSequence();
kubitz 14:0146695df1a5 337 thread_motorCtrl.start(motorCtrlFn);
kubitz 14:0146695df1a5 338
kubitz 13:58ada64bb664 339 }
kubitz 13:58ada64bb664 340