Luccas Eagles
/
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?
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 | |
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 |