Luccas Eagles
/
CONTROL_MOTOR_MELODY
added melody to old motorcontol
main.cpp@27:f2e43189b0f4, 2020-04-11 (annotated)
- Committer:
- le1917
- Date:
- Sat Apr 11 13:47:01 2020 +0000
- Revision:
- 27:f2e43189b0f4
- Parent:
- 26:7f88907d7c54
fixed;
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" |
le1917 | 25:4b893287d750 | 3 | #include <string> |
le1917 | 25:4b893287d750 | 4 | |
estott | 0:de4320f74764 | 5 | //Photointerrupter input pins |
estott | 10:a4b5723b6c9d | 6 | #define I1pin D3 |
estott | 10:a4b5723b6c9d | 7 | #define I2pin D6 |
estott | 10:a4b5723b6c9d | 8 | #define I3pin D5 |
estott | 2:4e88faab6988 | 9 | |
estott | 2:4e88faab6988 | 10 | //Incremental encoder input pins |
kubitz | 24:6d85dda245e1 | 11 | #define CHApin D12 |
kubitz | 24:6d85dda245e1 | 12 | #define CHBpin D11 |
estott | 0:de4320f74764 | 13 | |
estott | 0:de4320f74764 | 14 | //Motor Drive output pins //Mask in output byte |
kubitz | 24:6d85dda245e1 | 15 | #define L1Lpin D1 //0x01 |
kubitz | 24:6d85dda245e1 | 16 | #define L1Hpin A3 //0x02 |
kubitz | 24:6d85dda245e1 | 17 | #define L2Lpin D0 //0x04 |
kubitz | 24:6d85dda245e1 | 18 | #define L2Hpin A6 //0x08 |
kubitz | 24:6d85dda245e1 | 19 | #define L3Lpin D10 //0x10 |
kubitz | 24:6d85dda245e1 | 20 | #define L3Hpin D2 //0x20 |
estott | 10:a4b5723b6c9d | 21 | |
estott | 10:a4b5723b6c9d | 22 | #define PWMpin D9 |
estott | 5:08f338b5e4d9 | 23 | |
estott | 5:08f338b5e4d9 | 24 | //Motor current sense |
kubitz | 24:6d85dda245e1 | 25 | #define MCSPpin A1 |
kubitz | 24:6d85dda245e1 | 26 | #define MCSNpin A0 |
estott | 0:de4320f74764 | 27 | |
estott | 11:5ff18183764a | 28 | //Test outputs |
estott | 11:5ff18183764a | 29 | #define TP0pin D4 |
estott | 11:5ff18183764a | 30 | #define TP1pin D13 |
estott | 11:5ff18183764a | 31 | #define TP2pin A2 |
estott | 11:5ff18183764a | 32 | |
kubitz | 14:0146695df1a5 | 33 | Serial pc(SERIAL_TX, SERIAL_RX); |
kubitz | 14:0146695df1a5 | 34 | |
le1917 | 25:4b893287d750 | 35 | // Melody Variables |
le1917 | 25:4b893287d750 | 36 | int melody_length = 0; |
le1917 | 25:4b893287d750 | 37 | int melody_index = 0; |
le1917 | 25:4b893287d750 | 38 | int note_count = 1; |
le1917 | 25:4b893287d750 | 39 | float notes[16]; |
le1917 | 25:4b893287d750 | 40 | int note_durations[16]; |
le1917 | 25:4b893287d750 | 41 | |
le1917 | 25:4b893287d750 | 42 | |
kubitz | 22:af49b9e79d9c | 43 | // Controller variables |
kubitz | 14:0146695df1a5 | 44 | Timer timer_velocity; |
kubitz | 14:0146695df1a5 | 45 | uint32_t last_time_MtrCtlr; |
kubitz | 14:0146695df1a5 | 46 | int i = 0; |
kubitz | 18:01977903e972 | 47 | |
kubitz | 22:af49b9e79d9c | 48 | // Velocity Controller Variables |
le1917 | 25:4b893287d750 | 49 | float target_velocity = 40; |
kubitz | 24:6d85dda245e1 | 50 | float integral_vel = 0; |
kubitz | 24:6d85dda245e1 | 51 | float derivative_vel = 0; |
kubitz | 24:6d85dda245e1 | 52 | float last_vel_error = 0; |
kubitz | 22:af49b9e79d9c | 53 | |
kubitz | 22:af49b9e79d9c | 54 | int previous_position = 0; |
kubitz | 24:6d85dda245e1 | 55 | int current_position = 0; |
kubitz | 22:af49b9e79d9c | 56 | |
kubitz | 22:af49b9e79d9c | 57 | float kp_vel = 20; |
kubitz | 24:6d85dda245e1 | 58 | float ki_vel = 0; |
kubitz | 24:6d85dda245e1 | 59 | float kd_vel = 0; |
kubitz | 22:af49b9e79d9c | 60 | |
kubitz | 22:af49b9e79d9c | 61 | // Position Controller Variables |
kubitz | 22:af49b9e79d9c | 62 | float target_position = 500; |
kubitz | 24:6d85dda245e1 | 63 | float integral_pos = 0; |
kubitz | 24:6d85dda245e1 | 64 | float derivative_pos = 0; |
kubitz | 24:6d85dda245e1 | 65 | float last_pos_error = 0; |
kubitz | 22:af49b9e79d9c | 66 | |
kubitz | 22:af49b9e79d9c | 67 | float kp_pos = 20; |
kubitz | 24:6d85dda245e1 | 68 | float ki_pos = 0; |
kubitz | 24:6d85dda245e1 | 69 | float kd_pos = 10; |
kubitz | 22:af49b9e79d9c | 70 | |
estott | 0:de4320f74764 | 71 | //Mapping from sequential drive states to motor phase outputs |
estott | 0:de4320f74764 | 72 | /* |
estott | 0:de4320f74764 | 73 | State L1 L2 L3 |
estott | 0:de4320f74764 | 74 | 0 H - L |
estott | 0:de4320f74764 | 75 | 1 - H L |
estott | 0:de4320f74764 | 76 | 2 L H - |
estott | 0:de4320f74764 | 77 | 3 L - H |
estott | 0:de4320f74764 | 78 | 4 - L H |
estott | 0:de4320f74764 | 79 | 5 H L - |
estott | 0:de4320f74764 | 80 | 6 - - - |
estott | 0:de4320f74764 | 81 | 7 - - - |
estott | 0:de4320f74764 | 82 | */ |
estott | 0:de4320f74764 | 83 | //Drive state to output table |
kubitz | 24:6d85dda245e1 | 84 | const int8_t driveTable[] = {0x12, 0x18, 0x09, 0x21, 0x24, 0x06, 0x00, 0x00}; |
estott | 2:4e88faab6988 | 85 | |
estott | 0:de4320f74764 | 86 | //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid |
kubitz | 24:6d85dda245e1 | 87 | const int8_t stateMap[] = {0x07, 0x05, 0x03, 0x04, 0x01, 0x00, 0x02, 0x07}; |
estott | 2:4e88faab6988 | 88 | //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 | 89 | |
kubitz | 13:58ada64bb664 | 90 | |
kubitz | 13:58ada64bb664 | 91 | // SHARED GLOBAL VARIABLES // |
kubitz | 13:58ada64bb664 | 92 | Semaphore pos_semaphore(0); |
kubitz | 22:af49b9e79d9c | 93 | float position = 0; |
kubitz | 13:58ada64bb664 | 94 | bool direction = 1; |
le1917 | 25:4b893287d750 | 95 | float pwm_period = 0.25f; |
kubitz | 13:58ada64bb664 | 96 | int lead = 2; |
kubitz | 13:58ada64bb664 | 97 | |
kubitz | 13:58ada64bb664 | 98 | // NON-SHARED GLOBAL VARIABLES // |
kubitz | 13:58ada64bb664 | 99 | int lead_old; |
estott | 0:de4320f74764 | 100 | |
le1917 | 25:4b893287d750 | 101 | |
estott | 0:de4320f74764 | 102 | //Status LED |
estott | 0:de4320f74764 | 103 | DigitalOut led1(LED1); |
estott | 0:de4320f74764 | 104 | |
estott | 0:de4320f74764 | 105 | //Photointerrupter inputs |
kubitz | 13:58ada64bb664 | 106 | InterruptIn I1(I1pin); |
kubitz | 13:58ada64bb664 | 107 | InterruptIn I2(I2pin); |
kubitz | 13:58ada64bb664 | 108 | InterruptIn I3(I3pin); |
estott | 0:de4320f74764 | 109 | |
estott | 0:de4320f74764 | 110 | //Motor Drive outputs |
estott | 0:de4320f74764 | 111 | DigitalOut L1L(L1Lpin); |
estott | 0:de4320f74764 | 112 | DigitalOut L1H(L1Hpin); |
estott | 0:de4320f74764 | 113 | DigitalOut L2L(L2Lpin); |
estott | 0:de4320f74764 | 114 | DigitalOut L2H(L2Hpin); |
estott | 0:de4320f74764 | 115 | DigitalOut L3L(L3Lpin); |
estott | 0:de4320f74764 | 116 | DigitalOut L3H(L3Hpin); |
estott | 0:de4320f74764 | 117 | |
estott | 11:5ff18183764a | 118 | DigitalOut TP1(TP1pin); |
estott | 11:5ff18183764a | 119 | PwmOut MotorPWM(PWMpin); |
estott | 11:5ff18183764a | 120 | |
kubitz | 13:58ada64bb664 | 121 | Ticker motorCtrlTicker; |
kubitz | 24:6d85dda245e1 | 122 | Thread thread_motorCtrl(osPriorityNormal, 1024); |
kubitz | 13:58ada64bb664 | 123 | |
kubitz | 24:6d85dda245e1 | 124 | volatile int8_t orState = 0; //Rotot offset at motor state 0 |
kubitz | 13:58ada64bb664 | 125 | volatile int8_t intState = 0; |
kubitz | 13:58ada64bb664 | 126 | volatile int8_t intStateOld = 0; |
kubitz | 13:58ada64bb664 | 127 | |
estott | 0:de4320f74764 | 128 | //Set a given drive state |
kubitz | 13:58ada64bb664 | 129 | void motorOut(int8_t driveState) |
kubitz | 13:58ada64bb664 | 130 | { |
kubitz | 13:58ada64bb664 | 131 | |
estott | 2:4e88faab6988 | 132 | //Lookup the output byte from the drive state. |
estott | 2:4e88faab6988 | 133 | int8_t driveOut = driveTable[driveState & 0x07]; |
kubitz | 13:58ada64bb664 | 134 | |
estott | 2:4e88faab6988 | 135 | //Turn off first |
kubitz | 24:6d85dda245e1 | 136 | if (~driveOut & 0x01) |
kubitz | 24:6d85dda245e1 | 137 | L1L = 0; |
kubitz | 24:6d85dda245e1 | 138 | if (~driveOut & 0x02) |
kubitz | 24:6d85dda245e1 | 139 | L1H = 1; |
kubitz | 24:6d85dda245e1 | 140 | if (~driveOut & 0x04) |
kubitz | 24:6d85dda245e1 | 141 | L2L = 0; |
kubitz | 24:6d85dda245e1 | 142 | if (~driveOut & 0x08) |
kubitz | 24:6d85dda245e1 | 143 | L2H = 1; |
kubitz | 24:6d85dda245e1 | 144 | if (~driveOut & 0x10) |
kubitz | 24:6d85dda245e1 | 145 | L3L = 0; |
kubitz | 24:6d85dda245e1 | 146 | if (~driveOut & 0x20) |
kubitz | 24:6d85dda245e1 | 147 | L3H = 1; |
kubitz | 13:58ada64bb664 | 148 | |
estott | 2:4e88faab6988 | 149 | //Then turn on |
kubitz | 24:6d85dda245e1 | 150 | if (driveOut & 0x01) |
kubitz | 24:6d85dda245e1 | 151 | L1L = 1; |
kubitz | 24:6d85dda245e1 | 152 | if (driveOut & 0x02) |
kubitz | 24:6d85dda245e1 | 153 | L1H = 0; |
kubitz | 24:6d85dda245e1 | 154 | if (driveOut & 0x04) |
kubitz | 24:6d85dda245e1 | 155 | L2L = 1; |
kubitz | 24:6d85dda245e1 | 156 | if (driveOut & 0x08) |
kubitz | 24:6d85dda245e1 | 157 | L2H = 0; |
kubitz | 24:6d85dda245e1 | 158 | if (driveOut & 0x10) |
kubitz | 24:6d85dda245e1 | 159 | L3L = 1; |
kubitz | 24:6d85dda245e1 | 160 | if (driveOut & 0x20) |
kubitz | 24:6d85dda245e1 | 161 | L3H = 0; |
kubitz | 13:58ada64bb664 | 162 | } |
kubitz | 13:58ada64bb664 | 163 | |
kubitz | 13:58ada64bb664 | 164 | //Convert photointerrupter inputs to a rotor state |
kubitz | 13:58ada64bb664 | 165 | inline int8_t readRotorState() |
kubitz | 13:58ada64bb664 | 166 | { |
kubitz | 24:6d85dda245e1 | 167 | return stateMap[I1 + 2 * I2 + 4 * I3]; |
kubitz | 13:58ada64bb664 | 168 | } |
kubitz | 13:58ada64bb664 | 169 | |
kubitz | 13:58ada64bb664 | 170 | void move() |
kubitz | 13:58ada64bb664 | 171 | { |
kubitz | 13:58ada64bb664 | 172 | intState = readRotorState(); |
kubitz | 13:58ada64bb664 | 173 | |
kubitz | 13:58ada64bb664 | 174 | // Updates direction only if statechanges by 1 |
kubitz | 13:58ada64bb664 | 175 | // If state chance is missed then interrupt is unchanged |
kubitz | 24:6d85dda245e1 | 176 | if (intState == 0 && intStateOld == 5) |
kubitz | 24:6d85dda245e1 | 177 | { |
kubitz | 13:58ada64bb664 | 178 | direction = 1; |
kubitz | 13:58ada64bb664 | 179 | position++; |
kubitz | 24:6d85dda245e1 | 180 | } |
kubitz | 24:6d85dda245e1 | 181 | else if (intState == 5 && intStateOld == 0) |
kubitz | 24:6d85dda245e1 | 182 | { |
kubitz | 13:58ada64bb664 | 183 | direction = 0; |
kubitz | 13:58ada64bb664 | 184 | position--; |
kubitz | 24:6d85dda245e1 | 185 | } |
kubitz | 24:6d85dda245e1 | 186 | else if (intState == intStateOld + 1) |
kubitz | 24:6d85dda245e1 | 187 | { |
kubitz | 13:58ada64bb664 | 188 | direction = 1; |
kubitz | 13:58ada64bb664 | 189 | position++; |
kubitz | 24:6d85dda245e1 | 190 | } |
kubitz | 24:6d85dda245e1 | 191 | else if (intState == intStateOld - 1) |
kubitz | 24:6d85dda245e1 | 192 | { |
kubitz | 13:58ada64bb664 | 193 | direction = 0; |
kubitz | 13:58ada64bb664 | 194 | position--; |
estott | 0:de4320f74764 | 195 | } |
kubitz | 13:58ada64bb664 | 196 | |
kubitz | 13:58ada64bb664 | 197 | pos_semaphore.release(); |
kubitz | 13:58ada64bb664 | 198 | |
kubitz | 13:58ada64bb664 | 199 | intStateOld = intState; |
kubitz | 13:58ada64bb664 | 200 | |
kubitz | 24:6d85dda245e1 | 201 | motorOut((intState - orState + lead + 6) % 6); //+6 to make sure the remainder is positive |
kubitz | 24:6d85dda245e1 | 202 | } |
kubitz | 13:58ada64bb664 | 203 | |
kubitz | 13:58ada64bb664 | 204 | void motorCtrlTick() |
kubitz | 13:58ada64bb664 | 205 | { |
kubitz | 14:0146695df1a5 | 206 | thread_motorCtrl.signal_set(0x1); |
kubitz | 14:0146695df1a5 | 207 | //osSignalSet(thread_motorCtrl, 0x1); |
kubitz | 13:58ada64bb664 | 208 | } |
kubitz | 13:58ada64bb664 | 209 | |
kubitz | 22:af49b9e79d9c | 210 | float get_vel_control_out(float velocity_error) |
kubitz | 24:6d85dda245e1 | 211 | { |
kubitz | 24:6d85dda245e1 | 212 | integral_vel += velocity_error; |
kubitz | 24:6d85dda245e1 | 213 | derivative_vel = velocity_error - last_vel_error; |
kubitz | 24:6d85dda245e1 | 214 | float velocity_out = (kp_vel * velocity_error) + (ki_vel * integral_vel) + (kd_vel * derivative_vel); |
kubitz | 24:6d85dda245e1 | 215 | last_vel_error = velocity_error; |
kubitz | 18:01977903e972 | 216 | return velocity_out; |
kubitz | 13:58ada64bb664 | 217 | } |
kubitz | 13:58ada64bb664 | 218 | |
kubitz | 24:6d85dda245e1 | 219 | float get_pos_control_out(float position_error) |
kubitz | 24:6d85dda245e1 | 220 | { |
kubitz | 24:6d85dda245e1 | 221 | integral_pos += position_error; |
kubitz | 24:6d85dda245e1 | 222 | derivative_pos = position_error - last_pos_error; |
kubitz | 24:6d85dda245e1 | 223 | float velocity_out = (kp_pos * position_error) + (ki_pos * integral_pos) + (kd_pos * derivative_pos); |
kubitz | 24:6d85dda245e1 | 224 | last_pos_error = position_error; |
kubitz | 24:6d85dda245e1 | 225 | return velocity_out; |
kubitz | 13:58ada64bb664 | 226 | } |
kubitz | 13:58ada64bb664 | 227 | |
kubitz | 17:baffdedf9590 | 228 | float get_motor_out(float velocity_out) |
kubitz | 13:58ada64bb664 | 229 | { |
kubitz | 13:58ada64bb664 | 230 | float motor_out; |
kubitz | 24:6d85dda245e1 | 231 | if (velocity_out < 0) |
kubitz | 24:6d85dda245e1 | 232 | { |
kubitz | 24:6d85dda245e1 | 233 | motor_out = velocity_out * -1; |
kubitz | 24:6d85dda245e1 | 234 | } |
kubitz | 24:6d85dda245e1 | 235 | else |
kubitz | 24:6d85dda245e1 | 236 | { |
kubitz | 17:baffdedf9590 | 237 | motor_out = velocity_out; |
kubitz | 13:58ada64bb664 | 238 | } |
kubitz | 24:6d85dda245e1 | 239 | if (velocity_out > 1 || velocity_out < -1) |
kubitz | 24:6d85dda245e1 | 240 | { |
kubitz | 13:58ada64bb664 | 241 | motor_out = 1; |
kubitz | 13:58ada64bb664 | 242 | } |
kubitz | 13:58ada64bb664 | 243 | return motor_out; |
estott | 0:de4320f74764 | 244 | } |
kubitz | 13:58ada64bb664 | 245 | |
kubitz | 24:6d85dda245e1 | 246 | int get_current_position() |
kubitz | 24:6d85dda245e1 | 247 | { |
kubitz | 13:58ada64bb664 | 248 | pos_semaphore.wait(); |
kubitz | 13:58ada64bb664 | 249 | return position; |
kubitz | 13:58ada64bb664 | 250 | } |
kubitz | 13:58ada64bb664 | 251 | |
kubitz | 24:6d85dda245e1 | 252 | void attach_ISR() |
kubitz | 24:6d85dda245e1 | 253 | { |
kubitz | 13:58ada64bb664 | 254 | I1.rise(&move); |
kubitz | 13:58ada64bb664 | 255 | I1.fall(&move); |
kubitz | 13:58ada64bb664 | 256 | I2.rise(&move); |
kubitz | 13:58ada64bb664 | 257 | I2.fall(&move); |
kubitz | 13:58ada64bb664 | 258 | I3.rise(&move); |
kubitz | 13:58ada64bb664 | 259 | I3.fall(&move); |
kubitz | 13:58ada64bb664 | 260 | } |
kubitz | 13:58ada64bb664 | 261 | |
kubitz | 22:af49b9e79d9c | 262 | float combine_control_out(float position_control_out, float velocity_control_out, float current_velocity) |
kubitz | 13:58ada64bb664 | 263 | { |
kubitz | 24:6d85dda245e1 | 264 | float velocity_out = 0; |
kubitz | 24:6d85dda245e1 | 265 | if (current_velocity <= 0) |
kubitz | 24:6d85dda245e1 | 266 | { |
kubitz | 24:6d85dda245e1 | 267 | velocity_out = std::max(position_control_out, velocity_control_out); |
kubitz | 24:6d85dda245e1 | 268 | } |
kubitz | 24:6d85dda245e1 | 269 | else |
kubitz | 24:6d85dda245e1 | 270 | { |
kubitz | 24:6d85dda245e1 | 271 | velocity_out = std::min(position_control_out, velocity_control_out); |
estott | 2:4e88faab6988 | 272 | } |
kubitz | 22:af49b9e79d9c | 273 | return velocity_out; |
kubitz | 13:58ada64bb664 | 274 | } |
kubitz | 13:58ada64bb664 | 275 | |
kubitz | 24:6d85dda245e1 | 276 | float get_current_velocity(float current_position) |
kubitz | 24:6d85dda245e1 | 277 | { |
kubitz | 24:6d85dda245e1 | 278 | float velocity_factor = (1000 / (timer_velocity.read_ms() - last_time_MtrCtlr)); |
kubitz | 24:6d85dda245e1 | 279 | float velocity = ((current_position - previous_position) / 6) * velocity_factor; |
kubitz | 24:6d85dda245e1 | 280 | last_time_MtrCtlr = timer_velocity.read_ms(); |
kubitz | 24:6d85dda245e1 | 281 | previous_position = current_position; |
kubitz | 24:6d85dda245e1 | 282 | return velocity; |
kubitz | 22:af49b9e79d9c | 283 | } |
kubitz | 13:58ada64bb664 | 284 | |
kubitz | 24:6d85dda245e1 | 285 | void update_lead(float velocity_out) |
kubitz | 24:6d85dda245e1 | 286 | { |
kubitz | 13:58ada64bb664 | 287 | // No functionality for breaking |
kubitz | 24:6d85dda245e1 | 288 | if (velocity_out >= 0) |
kubitz | 24:6d85dda245e1 | 289 | { |
kubitz | 13:58ada64bb664 | 290 | lead = 2; |
kubitz | 13:58ada64bb664 | 291 | } |
kubitz | 24:6d85dda245e1 | 292 | else |
kubitz | 24:6d85dda245e1 | 293 | { |
kubitz | 13:58ada64bb664 | 294 | lead = -2; |
kubitz | 13:58ada64bb664 | 295 | } |
estott | 0:de4320f74764 | 296 | } |
le1917 | 25:4b893287d750 | 297 | |
le1917 | 25:4b893287d750 | 298 | void process_melody(std::string input){ |
le1917 | 25:4b893287d750 | 299 | |
le1917 | 26:7f88907d7c54 | 300 | melody_length = 0; |
le1917 | 25:4b893287d750 | 301 | |
le1917 | 25:4b893287d750 | 302 | for(int i = 0; i < 16; i++){ |
le1917 | 25:4b893287d750 | 303 | notes[i] = 0; |
le1917 | 25:4b893287d750 | 304 | note_durations[i] = 0; |
le1917 | 25:4b893287d750 | 305 | } |
le1917 | 25:4b893287d750 | 306 | |
le1917 | 25:4b893287d750 | 307 | int note_index = 0; |
le1917 | 25:4b893287d750 | 308 | for(int i = 0; i < input.length(); i++){ |
le1917 | 25:4b893287d750 | 309 | switch(input[i]){ |
le1917 | 25:4b893287d750 | 310 | case 'C': |
le1917 | 25:4b893287d750 | 311 | if(input[i+1] == '#'){ |
le1917 | 25:4b893287d750 | 312 | notes[note_index] = 0.003607764; |
le1917 | 25:4b893287d750 | 313 | i++; |
le1917 | 25:4b893287d750 | 314 | } |
le1917 | 25:4b893287d750 | 315 | else{ |
le1917 | 25:4b893287d750 | 316 | notes[note_index] = 0.003822192; |
le1917 | 25:4b893287d750 | 317 | } |
le1917 | 25:4b893287d750 | 318 | break; |
le1917 | 25:4b893287d750 | 319 | case 'D': |
le1917 | 25:4b893287d750 | 320 | if(input[i+1] == '^'){ |
le1917 | 25:4b893287d750 | 321 | notes[note_index] = 0.003607764; |
le1917 | 25:4b893287d750 | 322 | i++; |
le1917 | 25:4b893287d750 | 323 | } |
le1917 | 25:4b893287d750 | 324 | else if(input[i+1] == '#'){ |
le1917 | 25:4b893287d750 | 325 | notes[note_index] = 0.003214091; |
le1917 | 25:4b893287d750 | 326 | i++; |
le1917 | 25:4b893287d750 | 327 | } |
le1917 | 25:4b893287d750 | 328 | else{ |
le1917 | 25:4b893287d750 | 329 | notes[note_index] = 0.003405299; |
le1917 | 25:4b893287d750 | 330 | } |
le1917 | 25:4b893287d750 | 331 | break; |
le1917 | 25:4b893287d750 | 332 | case 'E': |
le1917 | 25:4b893287d750 | 333 | if(input[i+1] == '^'){ |
le1917 | 25:4b893287d750 | 334 | notes[note_index] =0.003214091; |
le1917 | 25:4b893287d750 | 335 | i++; |
le1917 | 25:4b893287d750 | 336 | } |
le1917 | 25:4b893287d750 | 337 | else{ |
le1917 | 25:4b893287d750 | 338 | notes[note_index] =0.003033704; |
le1917 | 25:4b893287d750 | 339 | } |
le1917 | 25:4b893287d750 | 340 | break; |
le1917 | 25:4b893287d750 | 341 | case 'F': |
le1917 | 25:4b893287d750 | 342 | if(input[i+1] == '#'){ |
le1917 | 25:4b893287d750 | 343 | notes[note_index] =0.002702776; |
le1917 | 25:4b893287d750 | 344 | i++; |
le1917 | 25:4b893287d750 | 345 | } |
le1917 | 25:4b893287d750 | 346 | else{ |
le1917 | 25:4b893287d750 | 347 | notes[note_index] = 0.002863442; |
le1917 | 25:4b893287d750 | 348 | } |
le1917 | 25:4b893287d750 | 349 | break; |
le1917 | 25:4b893287d750 | 350 | case 'G': |
le1917 | 25:4b893287d750 | 351 | if(input[i+1] == '^'){ |
le1917 | 25:4b893287d750 | 352 | notes[note_index] = 0.002702776; |
le1917 | 25:4b893287d750 | 353 | i++; |
le1917 | 25:4b893287d750 | 354 | } |
le1917 | 25:4b893287d750 | 355 | else if(input[i+1] == '#'){ |
le1917 | 25:4b893287d750 | 356 | notes[note_index] = 0.002407898; |
le1917 | 25:4b893287d750 | 357 | i++; |
le1917 | 25:4b893287d750 | 358 | } |
le1917 | 25:4b893287d750 | 359 | else{ |
le1917 | 25:4b893287d750 | 360 | notes[note_index] =0.00255102; |
le1917 | 25:4b893287d750 | 361 | } |
le1917 | 25:4b893287d750 | 362 | break; |
le1917 | 25:4b893287d750 | 363 | case 'A': |
le1917 | 25:4b893287d750 | 364 | if(input[i+1] == '^'){ |
le1917 | 25:4b893287d750 | 365 | notes[note_index] =0.002407898; |
le1917 | 25:4b893287d750 | 366 | i++; |
le1917 | 25:4b893287d750 | 367 | } |
le1917 | 25:4b893287d750 | 368 | else if(input[i+1] == '#'){ |
le1917 | 25:4b893287d750 | 369 | notes[note_index] = 0.002145186; |
le1917 | 25:4b893287d750 | 370 | i++; |
le1917 | 25:4b893287d750 | 371 | } |
le1917 | 25:4b893287d750 | 372 | else{ |
le1917 | 25:4b893287d750 | 373 | notes[note_index] =0.002272727; |
le1917 | 25:4b893287d750 | 374 | } |
le1917 | 25:4b893287d750 | 375 | break; |
le1917 | 25:4b893287d750 | 376 | case 'B': |
le1917 | 25:4b893287d750 | 377 | if(input[i+1] == '^'){ |
le1917 | 25:4b893287d750 | 378 | notes[note_index] = 0.002145186; |
le1917 | 25:4b893287d750 | 379 | i++; |
le1917 | 25:4b893287d750 | 380 | } |
le1917 | 25:4b893287d750 | 381 | else{ |
le1917 | 25:4b893287d750 | 382 | notes[note_index] = 0.002024783; |
le1917 | 25:4b893287d750 | 383 | } |
le1917 | 25:4b893287d750 | 384 | break; |
le1917 | 25:4b893287d750 | 385 | } |
le1917 | 25:4b893287d750 | 386 | |
le1917 | 25:4b893287d750 | 387 | |
le1917 | 25:4b893287d750 | 388 | i++; |
le1917 | 25:4b893287d750 | 389 | // convert -'0' to convert char to int |
le1917 | 25:4b893287d750 | 390 | note_durations[note_index] = input[i] - '0'; |
le1917 | 25:4b893287d750 | 391 | |
le1917 | 25:4b893287d750 | 392 | note_index++; |
le1917 | 25:4b893287d750 | 393 | melody_length ++; |
le1917 | 25:4b893287d750 | 394 | |
le1917 | 25:4b893287d750 | 395 | } |
le1917 | 25:4b893287d750 | 396 | |
le1917 | 25:4b893287d750 | 397 | } |
le1917 | 25:4b893287d750 | 398 | |
le1917 | 25:4b893287d750 | 399 | |
le1917 | 25:4b893287d750 | 400 | |
le1917 | 25:4b893287d750 | 401 | float get_period(){ |
le1917 | 25:4b893287d750 | 402 | |
le1917 | 26:7f88907d7c54 | 403 | |
le1917 | 25:4b893287d750 | 404 | int curr_note_length = note_durations[melody_index]; |
le1917 | 25:4b893287d750 | 405 | float curr_note_period = notes[melody_index]; |
le1917 | 26:7f88907d7c54 | 406 | |
le1917 | 25:4b893287d750 | 407 | |
le1917 | 25:4b893287d750 | 408 | if( note_count >= curr_note_length ){ |
le1917 | 25:4b893287d750 | 409 | |
le1917 | 25:4b893287d750 | 410 | melody_index = (melody_index + 1)%melody_length; |
le1917 | 25:4b893287d750 | 411 | note_count = 1; |
le1917 | 25:4b893287d750 | 412 | } |
le1917 | 25:4b893287d750 | 413 | else{ |
le1917 | 25:4b893287d750 | 414 | note_count = note_count + 1; |
le1917 | 25:4b893287d750 | 415 | } |
le1917 | 26:7f88907d7c54 | 416 | |
le1917 | 27:f2e43189b0f4 | 417 | |
le1917 | 25:4b893287d750 | 418 | return curr_note_period; |
le1917 | 25:4b893287d750 | 419 | } |
le1917 | 25:4b893287d750 | 420 | |
le1917 | 25:4b893287d750 | 421 | |
kubitz | 14:0146695df1a5 | 422 | void motorInitSequence() |
kubitz | 13:58ada64bb664 | 423 | { |
le1917 | 25:4b893287d750 | 424 | motorCtrlTicker.attach_us(&motorCtrlTick, 125000); |
kubitz | 22:af49b9e79d9c | 425 | last_pos_error = target_position; |
kubitz | 15:2c9b3251c383 | 426 | last_time_MtrCtlr = 0; |
kubitz | 24:6d85dda245e1 | 427 | |
kubitz | 13:58ada64bb664 | 428 | MotorPWM.write(1); |
kubitz | 13:58ada64bb664 | 429 | MotorPWM.period(pwm_period); |
kubitz | 13:58ada64bb664 | 430 | |
kubitz | 13:58ada64bb664 | 431 | motorOut(0); |
kubitz | 13:58ada64bb664 | 432 | wait(3.0); |
kubitz | 13:58ada64bb664 | 433 | orState = readRotorState(); |
kubitz | 19:e95f6004f365 | 434 | attach_ISR(); |
kubitz | 19:e95f6004f365 | 435 | |
kubitz | 24:6d85dda245e1 | 436 | if (target_velocity > 0) |
kubitz | 24:6d85dda245e1 | 437 | { |
kubitz | 13:58ada64bb664 | 438 | lead = 2; |
kubitz | 24:6d85dda245e1 | 439 | for (int i = 1; i < 4; i++) |
kubitz | 24:6d85dda245e1 | 440 | { |
kubitz | 23:e5a2e8cef243 | 441 | motorOut(i); |
kubitz | 24:6d85dda245e1 | 442 | wait(0.2); |
kubitz | 23:e5a2e8cef243 | 443 | } |
kubitz | 13:58ada64bb664 | 444 | } |
kubitz | 24:6d85dda245e1 | 445 | else |
kubitz | 24:6d85dda245e1 | 446 | { |
kubitz | 13:58ada64bb664 | 447 | lead = -2; |
kubitz | 24:6d85dda245e1 | 448 | for (int i = 5; i > 2; i--) |
kubitz | 24:6d85dda245e1 | 449 | { |
kubitz | 23:e5a2e8cef243 | 450 | motorOut(i); |
kubitz | 24:6d85dda245e1 | 451 | wait(0.2); |
kubitz | 23:e5a2e8cef243 | 452 | } |
kubitz | 13:58ada64bb664 | 453 | } |
kubitz | 17:baffdedf9590 | 454 | current_position = get_current_position(); |
kubitz | 17:baffdedf9590 | 455 | previous_position = current_position; |
kubitz | 15:2c9b3251c383 | 456 | timer_velocity.start(); |
kubitz | 14:0146695df1a5 | 457 | } |
kubitz | 14:0146695df1a5 | 458 | |
le1917 | 25:4b893287d750 | 459 | |
kubitz | 14:0146695df1a5 | 460 | void motorCtrlFn() |
kubitz | 24:6d85dda245e1 | 461 | { |
kubitz | 24:6d85dda245e1 | 462 | while (1) |
kubitz | 24:6d85dda245e1 | 463 | { |
kubitz | 16:53d3445dcf6b | 464 | thread_motorCtrl.signal_wait(0x1); |
kubitz | 22:af49b9e79d9c | 465 | |
kubitz | 17:baffdedf9590 | 466 | current_position = get_current_position(); |
le1917 | 26:7f88907d7c54 | 467 | pwm_period = get_period(); |
kubitz | 24:6d85dda245e1 | 468 | float current_velocity = get_current_velocity(current_position); |
kubitz | 20:4371ed979fbf | 469 | |
kubitz | 24:6d85dda245e1 | 470 | float velocity_error = target_velocity - current_velocity; |
kubitz | 24:6d85dda245e1 | 471 | float velocity_control_out = get_vel_control_out(velocity_error); |
kubitz | 24:6d85dda245e1 | 472 | |
kubitz | 24:6d85dda245e1 | 473 | float position_error = target_position - (current_position / 6); |
kubitz | 22:af49b9e79d9c | 474 | float position_control_out = get_pos_control_out(position_error); |
kubitz | 21:302d9043cb4b | 475 | |
kubitz | 24:6d85dda245e1 | 476 | float velocity_out = combine_control_out(position_control_out, velocity_control_out, current_velocity); |
kubitz | 24:6d85dda245e1 | 477 | float motor_out = get_motor_out(position_control_out); |
le1917 | 25:4b893287d750 | 478 | |
kubitz | 22:af49b9e79d9c | 479 | update_lead(velocity_out); |
kubitz | 13:58ada64bb664 | 480 | MotorPWM.period(pwm_period); |
le1917 | 26:7f88907d7c54 | 481 | MotorPWM.write(0.6f); |
le1917 | 25:4b893287d750 | 482 | |
le1917 | 26:7f88907d7c54 | 483 | |
kubitz | 13:58ada64bb664 | 484 | } |
kubitz | 24:6d85dda245e1 | 485 | } |
kubitz | 13:58ada64bb664 | 486 | |
kubitz | 13:58ada64bb664 | 487 | //Main |
kubitz | 13:58ada64bb664 | 488 | int main() |
kubitz | 13:58ada64bb664 | 489 | { |
le1917 | 25:4b893287d750 | 490 | process_melody("A4C8G4F#8"); |
le1917 | 25:4b893287d750 | 491 | |
le1917 | 25:4b893287d750 | 492 | /* |
le1917 | 25:4b893287d750 | 493 | pc.printf("A = %f, C = %f, G = %f, F# = %f\r\n", notes[0], notes[1], notes[2], notes[3]); |
le1917 | 25:4b893287d750 | 494 | pc.printf("length A = %d, length C = %d, length G = %d, length F# = %d\r\n", note_durations[0], note_durations[1], note_durations[2], note_durations[3]); |
le1917 | 25:4b893287d750 | 495 | */ |
le1917 | 25:4b893287d750 | 496 | |
kubitz | 14:0146695df1a5 | 497 | motorInitSequence(); |
kubitz | 14:0146695df1a5 | 498 | thread_motorCtrl.start(motorCtrlFn); |
kubitz | 13:58ada64bb664 | 499 | } |