Luccas Eagles / Mbed OS 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?

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 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