Luccas Eagles / Mbed OS CONTROL_MOTOR_MELODY

added melody to old motorcontol

main.cpp@13:58ada64bb664, 2020-03-08 (annotated)

Committer:
kubitz
Date:
Sun Mar 08 10:11:01 2020 +0000
Revision:
13:58ada64bb664
Parent:
12:6ad981ef8cc9
Child:
14:0146695df1a5
intial code;

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
estott 0:de4320f74764 31 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 32 /*
estott 0:de4320f74764 33 State L1 L2 L3
estott 0:de4320f74764 34 0 H - L
estott 0:de4320f74764 35 1 - H L
estott 0:de4320f74764 36 2 L H -
estott 0:de4320f74764 37 3 L - H
estott 0:de4320f74764 38 4 - L H
estott 0:de4320f74764 39 5 H L -
estott 0:de4320f74764 40 6 - - -
estott 0:de4320f74764 41 7 - - -
estott 0:de4320f74764 42 */
estott 0:de4320f74764 43 //Drive state to output table
estott 0:de4320f74764 44 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 45
estott 0:de4320f74764 46 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
kubitz 13:58ada64bb664 47 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 48 //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 49
kubitz 13:58ada64bb664 50 // PARAMETERS //
kubitz 13:58ada64bb664 51 const float kp_rot = 0.08;
kubitz 13:58ada64bb664 52
kubitz 13:58ada64bb664 53 const float kp_pos = 0.05;
kubitz 13:58ada64bb664 54 const float kd_pos = 0;
kubitz 13:58ada64bb664 55 const float pwm_period =0.25f;
kubitz 13:58ada64bb664 56
kubitz 13:58ada64bb664 57 int v_ideal = 30;
kubitz 13:58ada64bb664 58 float pos_goal = 500;
kubitz 13:58ada64bb664 59
kubitz 13:58ada64bb664 60 // SHARED GLOBAL VARIABLES //
kubitz 13:58ada64bb664 61 Semaphore pos_semaphore(0);
kubitz 13:58ada64bb664 62 int position = 0;
kubitz 13:58ada64bb664 63 bool direction = 1;
kubitz 13:58ada64bb664 64
kubitz 13:58ada64bb664 65 int lead = 2;
kubitz 13:58ada64bb664 66
kubitz 13:58ada64bb664 67 // NON-SHARED GLOBAL VARIABLES //
kubitz 13:58ada64bb664 68 int lead_old;
estott 0:de4320f74764 69
estott 0:de4320f74764 70 //Status LED
estott 0:de4320f74764 71 DigitalOut led1(LED1);
estott 0:de4320f74764 72
estott 0:de4320f74764 73 //Photointerrupter inputs
kubitz 13:58ada64bb664 74 InterruptIn I1(I1pin);
kubitz 13:58ada64bb664 75 InterruptIn I2(I2pin);
kubitz 13:58ada64bb664 76 InterruptIn I3(I3pin);
estott 0:de4320f74764 77
estott 0:de4320f74764 78 //Motor Drive outputs
estott 0:de4320f74764 79 DigitalOut L1L(L1Lpin);
estott 0:de4320f74764 80 DigitalOut L1H(L1Hpin);
estott 0:de4320f74764 81 DigitalOut L2L(L2Lpin);
estott 0:de4320f74764 82 DigitalOut L2H(L2Hpin);
estott 0:de4320f74764 83 DigitalOut L3L(L3Lpin);
estott 0:de4320f74764 84 DigitalOut L3H(L3Hpin);
estott 0:de4320f74764 85
estott 11:5ff18183764a 86 DigitalOut TP1(TP1pin);
estott 11:5ff18183764a 87 PwmOut MotorPWM(PWMpin);
estott 11:5ff18183764a 88
kubitz 13:58ada64bb664 89 Ticker motorCtrlTicker;
kubitz 13:58ada64bb664 90 Thread motorCtrlT (osPriorityNormal,1024);
kubitz 13:58ada64bb664 91
kubitz 13:58ada64bb664 92 volatile int8_t orState = 0; //Rotot offset at motor state 0
kubitz 13:58ada64bb664 93 volatile int8_t intState = 0;
kubitz 13:58ada64bb664 94 volatile int8_t intStateOld = 0;
kubitz 13:58ada64bb664 95
kubitz 13:58ada64bb664 96 osThreadId mainThreadID;
kubitz 13:58ada64bb664 97
estott 0:de4320f74764 98 //Set a given drive state
kubitz 13:58ada64bb664 99 void motorOut(int8_t driveState)
kubitz 13:58ada64bb664 100 {
kubitz 13:58ada64bb664 101
estott 2:4e88faab6988 102 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 103 int8_t driveOut = driveTable[driveState & 0x07];
kubitz 13:58ada64bb664 104
estott 2:4e88faab6988 105 //Turn off first
estott 2:4e88faab6988 106 if (~driveOut & 0x01) L1L = 0;
estott 2:4e88faab6988 107 if (~driveOut & 0x02) L1H = 1;
estott 2:4e88faab6988 108 if (~driveOut & 0x04) L2L = 0;
estott 2:4e88faab6988 109 if (~driveOut & 0x08) L2H = 1;
estott 2:4e88faab6988 110 if (~driveOut & 0x10) L3L = 0;
estott 2:4e88faab6988 111 if (~driveOut & 0x20) L3H = 1;
kubitz 13:58ada64bb664 112
estott 2:4e88faab6988 113 //Then turn on
estott 2:4e88faab6988 114 if (driveOut & 0x01) L1L = 1;
estott 2:4e88faab6988 115 if (driveOut & 0x02) L1H = 0;
estott 2:4e88faab6988 116 if (driveOut & 0x04) L2L = 1;
estott 2:4e88faab6988 117 if (driveOut & 0x08) L2H = 0;
estott 2:4e88faab6988 118 if (driveOut & 0x10) L3L = 1;
estott 2:4e88faab6988 119 if (driveOut & 0x20) L3H = 0;
kubitz 13:58ada64bb664 120 }
kubitz 13:58ada64bb664 121
kubitz 13:58ada64bb664 122 //Convert photointerrupter inputs to a rotor state
kubitz 13:58ada64bb664 123 inline int8_t readRotorState()
kubitz 13:58ada64bb664 124 {
kubitz 13:58ada64bb664 125 return stateMap[I1 + 2*I2 + 4*I3];
kubitz 13:58ada64bb664 126 }
kubitz 13:58ada64bb664 127
kubitz 13:58ada64bb664 128
kubitz 13:58ada64bb664 129 void move()
kubitz 13:58ada64bb664 130 {
kubitz 13:58ada64bb664 131 intState = readRotorState();
kubitz 13:58ada64bb664 132
kubitz 13:58ada64bb664 133 // Updates direction only if statechanges by 1
kubitz 13:58ada64bb664 134 // If state chance is missed then interrupt is unchanged
kubitz 13:58ada64bb664 135 if( intState == 0 && intStateOld == 5) {
kubitz 13:58ada64bb664 136 direction = 1;
kubitz 13:58ada64bb664 137 position++;
kubitz 13:58ada64bb664 138 } else if( intState == 5 && intStateOld == 0) {
kubitz 13:58ada64bb664 139 direction = 0;
kubitz 13:58ada64bb664 140 position--;
kubitz 13:58ada64bb664 141 } else if ( intState == intStateOld + 1 ) {
kubitz 13:58ada64bb664 142 direction = 1;
kubitz 13:58ada64bb664 143 position++;
kubitz 13:58ada64bb664 144 } else if (intState == intStateOld - 1) {
kubitz 13:58ada64bb664 145 direction = 0;
kubitz 13:58ada64bb664 146 position--;
estott 0:de4320f74764 147 }
kubitz 13:58ada64bb664 148
kubitz 13:58ada64bb664 149 pos_semaphore.release();
kubitz 13:58ada64bb664 150
kubitz 13:58ada64bb664 151 intStateOld = intState;
kubitz 13:58ada64bb664 152
kubitz 13:58ada64bb664 153 motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
estott 0:de4320f74764 154 }
estott 0:de4320f74764 155
kubitz 13:58ada64bb664 156
kubitz 13:58ada64bb664 157 void motorCtrlTick()
kubitz 13:58ada64bb664 158 {
kubitz 13:58ada64bb664 159 //motorCtrlT.signal_set(0x1);
kubitz 13:58ada64bb664 160 osSignalSet(mainThreadID, 0x1);
kubitz 13:58ada64bb664 161 }
kubitz 13:58ada64bb664 162
kubitz 13:58ada64bb664 163 float get_y_rot(float rot_error)
kubitz 13:58ada64bb664 164 {
kubitz 13:58ada64bb664 165 return kp_rot*(rot_error);
kubitz 13:58ada64bb664 166 }
kubitz 13:58ada64bb664 167
kubitz 13:58ada64bb664 168 float get_y_pos(float e, float change_e)
kubitz 13:58ada64bb664 169 {
kubitz 13:58ada64bb664 170 return kp_pos*e + kd_pos*change_e;
kubitz 13:58ada64bb664 171 }
kubitz 13:58ada64bb664 172
kubitz 13:58ada64bb664 173 float get_motor_out(float y)
kubitz 13:58ada64bb664 174 {
kubitz 13:58ada64bb664 175 float motor_out;
kubitz 13:58ada64bb664 176 if( y < 0) {
kubitz 13:58ada64bb664 177 motor_out = y*-1;
kubitz 13:58ada64bb664 178 } else {
kubitz 13:58ada64bb664 179 motor_out = y;
kubitz 13:58ada64bb664 180 }
kubitz 13:58ada64bb664 181 if (y > 1 || y < -1) {
kubitz 13:58ada64bb664 182 motor_out = 1;
kubitz 13:58ada64bb664 183 }
kubitz 13:58ada64bb664 184 return motor_out;
estott 0:de4320f74764 185 }
kubitz 13:58ada64bb664 186
kubitz 13:58ada64bb664 187 int get_position_local(){
kubitz 13:58ada64bb664 188 pos_semaphore.wait();
kubitz 13:58ada64bb664 189 return position;
kubitz 13:58ada64bb664 190 }
kubitz 13:58ada64bb664 191
kubitz 13:58ada64bb664 192 void attach_ISR(){
kubitz 13:58ada64bb664 193 I1.rise(&move);
kubitz 13:58ada64bb664 194 I1.fall(&move);
kubitz 13:58ada64bb664 195 I2.rise(&move);
kubitz 13:58ada64bb664 196 I2.fall(&move);
kubitz 13:58ada64bb664 197 I3.rise(&move);
kubitz 13:58ada64bb664 198 I3.fall(&move);
kubitz 13:58ada64bb664 199 }
kubitz 13:58ada64bb664 200
kubitz 13:58ada64bb664 201
kubitz 13:58ada64bb664 202 float combine_speed(float y_pos, float y_rot, float error_rot)
kubitz 13:58ada64bb664 203 {
kubitz 13:58ada64bb664 204 if(error_rot >= 0) {
kubitz 13:58ada64bb664 205 if(y_pos < y_rot) {
kubitz 13:58ada64bb664 206 return y_pos;
kubitz 13:58ada64bb664 207 } else {
kubitz 13:58ada64bb664 208 return y_rot;
kubitz 13:58ada64bb664 209 }
kubitz 13:58ada64bb664 210 }
kubitz 13:58ada64bb664 211 else {
kubitz 13:58ada64bb664 212 if(y_pos > y_rot){
kubitz 13:58ada64bb664 213 return y_pos;
kubitz 13:58ada64bb664 214 }
kubitz 13:58ada64bb664 215 else{
kubitz 13:58ada64bb664 216 return y_rot;
estott 0:de4320f74764 217 }
estott 2:4e88faab6988 218 }
kubitz 13:58ada64bb664 219 return y_pos;
kubitz 13:58ada64bb664 220 }
kubitz 13:58ada64bb664 221
kubitz 13:58ada64bb664 222
kubitz 13:58ada64bb664 223 void update_lead(float y){
kubitz 13:58ada64bb664 224 // No functionality for breaking
kubitz 13:58ada64bb664 225 if(y >= 0){
kubitz 13:58ada64bb664 226 lead = 2;
kubitz 13:58ada64bb664 227 }
kubitz 13:58ada64bb664 228 else {
kubitz 13:58ada64bb664 229 lead = -2;
kubitz 13:58ada64bb664 230 }
kubitz 13:58ada64bb664 231
estott 0:de4320f74764 232 }
estott 0:de4320f74764 233
kubitz 13:58ada64bb664 234
kubitz 13:58ada64bb664 235 void motorCtrlFn()
kubitz 13:58ada64bb664 236 {
kubitz 13:58ada64bb664 237 Serial pc(SERIAL_TX, SERIAL_RX);
kubitz 13:58ada64bb664 238
kubitz 13:58ada64bb664 239 mainThreadID = osThreadGetId();
kubitz 13:58ada64bb664 240 motorCtrlTicker.attach_us(&motorCtrlTick,100000);
kubitz 13:58ada64bb664 241
kubitz 13:58ada64bb664 242 float position_local = 0;
kubitz 13:58ada64bb664 243 int position_old = 0;
kubitz 13:58ada64bb664 244 float velocity = 0;
kubitz 13:58ada64bb664 245
kubitz 13:58ada64bb664 246 float pos_error_old = pos_goal;
kubitz 13:58ada64bb664 247 int i = 0;
kubitz 13:58ada64bb664 248
kubitz 13:58ada64bb664 249 MotorPWM.write(1);
kubitz 13:58ada64bb664 250 MotorPWM.period(pwm_period);
kubitz 13:58ada64bb664 251
kubitz 13:58ada64bb664 252 motorOut(0);
kubitz 13:58ada64bb664 253 wait(3.0);
kubitz 13:58ada64bb664 254 orState = readRotorState();
kubitz 13:58ada64bb664 255
kubitz 13:58ada64bb664 256 if(v_ideal > 0){
kubitz 13:58ada64bb664 257 lead = 2;
kubitz 13:58ada64bb664 258 motorOut(1);
kubitz 13:58ada64bb664 259 }
kubitz 13:58ada64bb664 260 else{
kubitz 13:58ada64bb664 261 lead = -2;
kubitz 13:58ada64bb664 262 motorOut(5);
kubitz 13:58ada64bb664 263 }
kubitz 13:58ada64bb664 264 attach_ISR();
kubitz 13:58ada64bb664 265
kubitz 13:58ada64bb664 266 position_local = get_position_local();
kubitz 13:58ada64bb664 267 position_old = position_local;
kubitz 13:58ada64bb664 268
kubitz 13:58ada64bb664 269
kubitz 13:58ada64bb664 270 while(1) {
kubitz 13:58ada64bb664 271 //motorCtrlT.signal_wait(0x1);
kubitz 13:58ada64bb664 272 osSignalWait(0x1, osWaitForever);
kubitz 13:58ada64bb664 273
kubitz 13:58ada64bb664 274 position_local = get_position_local();
kubitz 13:58ada64bb664 275
kubitz 13:58ada64bb664 276
kubitz 13:58ada64bb664 277 velocity = (position_local - position_old);
kubitz 13:58ada64bb664 278 position_old = position_local;
kubitz 13:58ada64bb664 279
kubitz 13:58ada64bb664 280 float error_rot = v_ideal - velocity;
kubitz 13:58ada64bb664 281 float y_rot = get_y_rot(error_rot);
kubitz 13:58ada64bb664 282 float motor_out = get_motor_out(y_rot);
kubitz 13:58ada64bb664 283
kubitz 13:58ada64bb664 284 update_lead(y_rot);
kubitz 13:58ada64bb664 285
kubitz 13:58ada64bb664 286 MotorPWM.period(pwm_period);
kubitz 13:58ada64bb664 287 MotorPWM.write(motor_out);
kubitz 13:58ada64bb664 288
kubitz 13:58ada64bb664 289 if(i > 10) {
kubitz 13:58ada64bb664 290 pc.printf("Velocity = %f, Position = %d, MotorOut = %f, y = %f, lead = %d\r\n", velocity, position_local, motor_out, y_rot, lead);
kubitz 13:58ada64bb664 291 i = 0;
kubitz 13:58ada64bb664 292 }
kubitz 13:58ada64bb664 293 i++;
kubitz 13:58ada64bb664 294 }
kubitz 13:58ada64bb664 295 }
kubitz 13:58ada64bb664 296
kubitz 13:58ada64bb664 297
kubitz 13:58ada64bb664 298 //float pos_error = position_local - pos_goal;
kubitz 13:58ada64bb664 299 //float change_pos_error = pos_error - pos_error_old;
kubitz 13:58ada64bb664 300 //pos_error_old = pos_error;
kubitz 13:58ada64bb664 301
kubitz 13:58ada64bb664 302 //float y_pos = get_y_pos(pos_error, change_pos_error);
kubitz 13:58ada64bb664 303
kubitz 13:58ada64bb664 304 //update_lead(y_rot);
kubitz 13:58ada64bb664 305
kubitz 13:58ada64bb664 306
kubitz 13:58ada64bb664 307
kubitz 13:58ada64bb664 308 //Main
kubitz 13:58ada64bb664 309 int main()
kubitz 13:58ada64bb664 310 {
kubitz 13:58ada64bb664 311 motorCtrlFn();
kubitz 13:58ada64bb664 312 }
kubitz 13:58ada64bb664 313