Luccas Eagles / Mbed OS CONTROL_MOTOR_MELODY

added melody to old motorcontol

main.cpp@23:e5a2e8cef243, 2020-03-13 (annotated)

Committer:
kubitz
Date:
Fri Mar 13 20:26:17 2020 +0000
Revision:
23:e5a2e8cef243
Parent:
22:af49b9e79d9c
Child:
24:6d85dda245e1
cleaned-up startup routine

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 22:af49b9e79d9c 33
kubitz 14:0146695df1a5 34
kubitz 22:af49b9e79d9c 35 // Controller variables
kubitz 14:0146695df1a5 36 Timer timer_velocity;
kubitz 14:0146695df1a5 37 uint32_t last_time_MtrCtlr;
kubitz 14:0146695df1a5 38 int i = 0;
kubitz 18:01977903e972 39
kubitz 22:af49b9e79d9c 40 // Velocity Controller Variables
kubitz 22:af49b9e79d9c 41 float target_velocity = 30;
kubitz 22:af49b9e79d9c 42 float integral_vel = 0;
kubitz 22:af49b9e79d9c 43 float derivative_vel = 0;
kubitz 22:af49b9e79d9c 44 float last_vel_error = 0;
kubitz 22:af49b9e79d9c 45
kubitz 22:af49b9e79d9c 46 int previous_position = 0;
kubitz 22:af49b9e79d9c 47 int current_position = 0;
kubitz 22:af49b9e79d9c 48
kubitz 22:af49b9e79d9c 49 float kp_vel = 20;
kubitz 22:af49b9e79d9c 50 float ki_vel = 0;
kubitz 22:af49b9e79d9c 51 float kd_vel = 0;
kubitz 22:af49b9e79d9c 52
kubitz 22:af49b9e79d9c 53 // Position Controller Variables
kubitz 22:af49b9e79d9c 54 float target_position = 500;
kubitz 22:af49b9e79d9c 55 float integral_pos = 0;
kubitz 22:af49b9e79d9c 56 float derivative_pos = 0;
kubitz 22:af49b9e79d9c 57 float last_pos_error = 0;
kubitz 22:af49b9e79d9c 58
kubitz 22:af49b9e79d9c 59 float kp_pos = 20;
kubitz 22:af49b9e79d9c 60 float ki_pos = 0;
kubitz 22:af49b9e79d9c 61 float kd_pos = 10;
kubitz 22:af49b9e79d9c 62
kubitz 22:af49b9e79d9c 63
estott 0:de4320f74764 64 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 65 /*
estott 0:de4320f74764 66 State L1 L2 L3
estott 0:de4320f74764 67 0 H - L
estott 0:de4320f74764 68 1 - H L
estott 0:de4320f74764 69 2 L H -
estott 0:de4320f74764 70 3 L - H
estott 0:de4320f74764 71 4 - L H
estott 0:de4320f74764 72 5 H L -
estott 0:de4320f74764 73 6 - - -
estott 0:de4320f74764 74 7 - - -
estott 0:de4320f74764 75 */
estott 0:de4320f74764 76 //Drive state to output table
estott 0:de4320f74764 77 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 78
estott 0:de4320f74764 79 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
kubitz 13:58ada64bb664 80 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 81 //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 82
kubitz 13:58ada64bb664 83 const float pwm_period =0.25f;
kubitz 13:58ada64bb664 84
kubitz 22:af49b9e79d9c 85
kubitz 13:58ada64bb664 86
kubitz 13:58ada64bb664 87 // SHARED GLOBAL VARIABLES //
kubitz 13:58ada64bb664 88 Semaphore pos_semaphore(0);
kubitz 22:af49b9e79d9c 89 float position = 0;
kubitz 13:58ada64bb664 90 bool direction = 1;
kubitz 13:58ada64bb664 91
kubitz 13:58ada64bb664 92 int lead = 2;
kubitz 13:58ada64bb664 93
kubitz 13:58ada64bb664 94 // NON-SHARED GLOBAL VARIABLES //
kubitz 13:58ada64bb664 95 int lead_old;
estott 0:de4320f74764 96
estott 0:de4320f74764 97 //Status LED
estott 0:de4320f74764 98 DigitalOut led1(LED1);
estott 0:de4320f74764 99
estott 0:de4320f74764 100 //Photointerrupter inputs
kubitz 13:58ada64bb664 101 InterruptIn I1(I1pin);
kubitz 13:58ada64bb664 102 InterruptIn I2(I2pin);
kubitz 13:58ada64bb664 103 InterruptIn I3(I3pin);
estott 0:de4320f74764 104
estott 0:de4320f74764 105 //Motor Drive outputs
estott 0:de4320f74764 106 DigitalOut L1L(L1Lpin);
estott 0:de4320f74764 107 DigitalOut L1H(L1Hpin);
estott 0:de4320f74764 108 DigitalOut L2L(L2Lpin);
estott 0:de4320f74764 109 DigitalOut L2H(L2Hpin);
estott 0:de4320f74764 110 DigitalOut L3L(L3Lpin);
estott 0:de4320f74764 111 DigitalOut L3H(L3Hpin);
estott 0:de4320f74764 112
estott 11:5ff18183764a 113 DigitalOut TP1(TP1pin);
estott 11:5ff18183764a 114 PwmOut MotorPWM(PWMpin);
estott 11:5ff18183764a 115
kubitz 13:58ada64bb664 116 Ticker motorCtrlTicker;
kubitz 14:0146695df1a5 117 Thread thread_motorCtrl (osPriorityNormal,1024);
kubitz 13:58ada64bb664 118
kubitz 13:58ada64bb664 119 volatile int8_t orState = 0; //Rotot offset at motor state 0
kubitz 13:58ada64bb664 120 volatile int8_t intState = 0;
kubitz 13:58ada64bb664 121 volatile int8_t intStateOld = 0;
kubitz 13:58ada64bb664 122
kubitz 13:58ada64bb664 123
estott 0:de4320f74764 124 //Set a given drive state
kubitz 13:58ada64bb664 125 void motorOut(int8_t driveState)
kubitz 13:58ada64bb664 126 {
kubitz 13:58ada64bb664 127
estott 2:4e88faab6988 128 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 129 int8_t driveOut = driveTable[driveState & 0x07];
kubitz 13:58ada64bb664 130
estott 2:4e88faab6988 131 //Turn off first
estott 2:4e88faab6988 132 if (~driveOut & 0x01) L1L = 0;
estott 2:4e88faab6988 133 if (~driveOut & 0x02) L1H = 1;
estott 2:4e88faab6988 134 if (~driveOut & 0x04) L2L = 0;
estott 2:4e88faab6988 135 if (~driveOut & 0x08) L2H = 1;
estott 2:4e88faab6988 136 if (~driveOut & 0x10) L3L = 0;
estott 2:4e88faab6988 137 if (~driveOut & 0x20) L3H = 1;
kubitz 13:58ada64bb664 138
estott 2:4e88faab6988 139 //Then turn on
estott 2:4e88faab6988 140 if (driveOut & 0x01) L1L = 1;
estott 2:4e88faab6988 141 if (driveOut & 0x02) L1H = 0;
estott 2:4e88faab6988 142 if (driveOut & 0x04) L2L = 1;
estott 2:4e88faab6988 143 if (driveOut & 0x08) L2H = 0;
estott 2:4e88faab6988 144 if (driveOut & 0x10) L3L = 1;
estott 2:4e88faab6988 145 if (driveOut & 0x20) L3H = 0;
kubitz 13:58ada64bb664 146 }
kubitz 13:58ada64bb664 147
kubitz 13:58ada64bb664 148 //Convert photointerrupter inputs to a rotor state
kubitz 13:58ada64bb664 149 inline int8_t readRotorState()
kubitz 13:58ada64bb664 150 {
kubitz 13:58ada64bb664 151 return stateMap[I1 + 2*I2 + 4*I3];
kubitz 13:58ada64bb664 152 }
kubitz 13:58ada64bb664 153
kubitz 13:58ada64bb664 154
kubitz 13:58ada64bb664 155 void move()
kubitz 13:58ada64bb664 156 {
kubitz 13:58ada64bb664 157 intState = readRotorState();
kubitz 13:58ada64bb664 158
kubitz 13:58ada64bb664 159 // Updates direction only if statechanges by 1
kubitz 13:58ada64bb664 160 // If state chance is missed then interrupt is unchanged
kubitz 13:58ada64bb664 161 if( intState == 0 && intStateOld == 5) {
kubitz 13:58ada64bb664 162 direction = 1;
kubitz 13:58ada64bb664 163 position++;
kubitz 13:58ada64bb664 164 } else if( intState == 5 && intStateOld == 0) {
kubitz 13:58ada64bb664 165 direction = 0;
kubitz 13:58ada64bb664 166 position--;
kubitz 13:58ada64bb664 167 } else if ( intState == intStateOld + 1 ) {
kubitz 13:58ada64bb664 168 direction = 1;
kubitz 13:58ada64bb664 169 position++;
kubitz 13:58ada64bb664 170 } else if (intState == intStateOld - 1) {
kubitz 13:58ada64bb664 171 direction = 0;
kubitz 13:58ada64bb664 172 position--;
estott 0:de4320f74764 173 }
kubitz 13:58ada64bb664 174
kubitz 13:58ada64bb664 175 pos_semaphore.release();
kubitz 13:58ada64bb664 176
kubitz 13:58ada64bb664 177 intStateOld = intState;
kubitz 13:58ada64bb664 178
kubitz 13:58ada64bb664 179 motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
estott 0:de4320f74764 180 }
estott 0:de4320f74764 181
kubitz 13:58ada64bb664 182
kubitz 13:58ada64bb664 183 void motorCtrlTick()
kubitz 13:58ada64bb664 184 {
kubitz 14:0146695df1a5 185 thread_motorCtrl.signal_set(0x1);
kubitz 14:0146695df1a5 186 //osSignalSet(thread_motorCtrl, 0x1);
kubitz 13:58ada64bb664 187 }
kubitz 13:58ada64bb664 188
kubitz 22:af49b9e79d9c 189 float get_vel_control_out(float velocity_error)
kubitz 18:01977903e972 190 {
kubitz 22:af49b9e79d9c 191 integral_vel += velocity_error;
kubitz 22:af49b9e79d9c 192 derivative_vel = velocity_error - last_vel_error;
kubitz 22:af49b9e79d9c 193 float velocity_out = (kp_vel*velocity_error) + (ki_vel*integral_vel) + (kd_vel*derivative_vel);
kubitz 22:af49b9e79d9c 194 last_vel_error = velocity_error;
kubitz 18:01977903e972 195 return velocity_out;
kubitz 13:58ada64bb664 196 }
kubitz 13:58ada64bb664 197
kubitz 22:af49b9e79d9c 198 float get_pos_control_out(float position_error){
kubitz 22:af49b9e79d9c 199 integral_pos += position_error;
kubitz 22:af49b9e79d9c 200 derivative_pos = position_error - last_pos_error;
kubitz 22:af49b9e79d9c 201 float velocity_out = (kp_pos*position_error) + (ki_pos*integral_pos) + (kd_pos*derivative_pos);
kubitz 22:af49b9e79d9c 202 last_pos_error = position_error;
kubitz 22:af49b9e79d9c 203 return velocity_out;
kubitz 13:58ada64bb664 204 }
kubitz 13:58ada64bb664 205
kubitz 17:baffdedf9590 206 float get_motor_out(float velocity_out)
kubitz 13:58ada64bb664 207 {
kubitz 13:58ada64bb664 208 float motor_out;
kubitz 17:baffdedf9590 209 if( velocity_out < 0) {
kubitz 17:baffdedf9590 210 motor_out = velocity_out*-1;
kubitz 13:58ada64bb664 211 } else {
kubitz 17:baffdedf9590 212 motor_out = velocity_out;
kubitz 13:58ada64bb664 213 }
kubitz 17:baffdedf9590 214 if (velocity_out > 1 || velocity_out < -1) {
kubitz 13:58ada64bb664 215 motor_out = 1;
kubitz 13:58ada64bb664 216 }
kubitz 13:58ada64bb664 217 return motor_out;
estott 0:de4320f74764 218 }
kubitz 13:58ada64bb664 219
kubitz 17:baffdedf9590 220 int get_current_position(){
kubitz 13:58ada64bb664 221 pos_semaphore.wait();
kubitz 13:58ada64bb664 222 return position;
kubitz 13:58ada64bb664 223 }
kubitz 13:58ada64bb664 224
kubitz 13:58ada64bb664 225 void attach_ISR(){
kubitz 13:58ada64bb664 226 I1.rise(&move);
kubitz 13:58ada64bb664 227 I1.fall(&move);
kubitz 13:58ada64bb664 228 I2.rise(&move);
kubitz 13:58ada64bb664 229 I2.fall(&move);
kubitz 13:58ada64bb664 230 I3.rise(&move);
kubitz 13:58ada64bb664 231 I3.fall(&move);
kubitz 13:58ada64bb664 232 }
kubitz 13:58ada64bb664 233
kubitz 13:58ada64bb664 234
kubitz 22:af49b9e79d9c 235 float combine_control_out(float position_control_out, float velocity_control_out, float current_velocity)
kubitz 13:58ada64bb664 236 {
kubitz 22:af49b9e79d9c 237 float velocity_out = 0;
kubitz 22:af49b9e79d9c 238 if(current_velocity <= 0) {
kubitz 22:af49b9e79d9c 239 velocity_out = std::max(position_control_out, velocity_control_out); }
kubitz 13:58ada64bb664 240 else {
kubitz 22:af49b9e79d9c 241 velocity_out = std::min(position_control_out, velocity_control_out);
estott 2:4e88faab6988 242 }
kubitz 22:af49b9e79d9c 243 return velocity_out;
kubitz 13:58ada64bb664 244 }
kubitz 13:58ada64bb664 245
kubitz 22:af49b9e79d9c 246 float get_current_velocity(float current_position) {
kubitz 22:af49b9e79d9c 247 float velocity_factor = (1000/(timer_velocity.read_ms()-last_time_MtrCtlr));
kubitz 22:af49b9e79d9c 248 float velocity = ((current_position - previous_position)/6)*velocity_factor;
kubitz 22:af49b9e79d9c 249 last_time_MtrCtlr = timer_velocity.read_ms();
kubitz 22:af49b9e79d9c 250 previous_position = current_position;
kubitz 22:af49b9e79d9c 251 return velocity;
kubitz 22:af49b9e79d9c 252 }
kubitz 13:58ada64bb664 253
kubitz 17:baffdedf9590 254 void update_lead(float velocity_out){
kubitz 13:58ada64bb664 255 // No functionality for breaking
kubitz 17:baffdedf9590 256 if(velocity_out >= 0){
kubitz 13:58ada64bb664 257 lead = 2;
kubitz 13:58ada64bb664 258 }
kubitz 13:58ada64bb664 259 else {
kubitz 13:58ada64bb664 260 lead = -2;
kubitz 13:58ada64bb664 261 }
kubitz 13:58ada64bb664 262
estott 0:de4320f74764 263 }
kubitz 14:0146695df1a5 264 void motorInitSequence()
kubitz 13:58ada64bb664 265 {
kubitz 13:58ada64bb664 266 motorCtrlTicker.attach_us(&motorCtrlTick,100000);
kubitz 22:af49b9e79d9c 267 last_pos_error = target_position;
kubitz 15:2c9b3251c383 268 last_time_MtrCtlr = 0;
kubitz 15:2c9b3251c383 269
kubitz 13:58ada64bb664 270 MotorPWM.write(1);
kubitz 13:58ada64bb664 271 MotorPWM.period(pwm_period);
kubitz 13:58ada64bb664 272
kubitz 13:58ada64bb664 273 motorOut(0);
kubitz 13:58ada64bb664 274 wait(3.0);
kubitz 13:58ada64bb664 275 orState = readRotorState();
kubitz 19:e95f6004f365 276 attach_ISR();
kubitz 19:e95f6004f365 277
kubitz 17:baffdedf9590 278 if(target_velocity > 0){
kubitz 13:58ada64bb664 279 lead = 2;
kubitz 23:e5a2e8cef243 280 for (int i = 1; i<4; i++){
kubitz 23:e5a2e8cef243 281 motorOut(i);
kubitz 23:e5a2e8cef243 282 wait(0.2);
kubitz 23:e5a2e8cef243 283 }
kubitz 13:58ada64bb664 284 }
kubitz 13:58ada64bb664 285 else{
kubitz 13:58ada64bb664 286 lead = -2;
kubitz 23:e5a2e8cef243 287 for (int i = 5; i > 2 ; i --){
kubitz 23:e5a2e8cef243 288 motorOut(i);
kubitz 23:e5a2e8cef243 289 wait(0.2);
kubitz 23:e5a2e8cef243 290 }
kubitz 13:58ada64bb664 291 }
kubitz 17:baffdedf9590 292 current_position = get_current_position();
kubitz 17:baffdedf9590 293 previous_position = current_position;
kubitz 15:2c9b3251c383 294 timer_velocity.start();
kubitz 14:0146695df1a5 295 }
kubitz 14:0146695df1a5 296
kubitz 14:0146695df1a5 297 void motorCtrlFn()
kubitz 14:0146695df1a5 298 {
kubitz 13:58ada64bb664 299 while(1) {
kubitz 16:53d3445dcf6b 300 thread_motorCtrl.signal_wait(0x1);
kubitz 22:af49b9e79d9c 301
kubitz 17:baffdedf9590 302 current_position = get_current_position();
kubitz 22:af49b9e79d9c 303 float current_velocity = get_current_velocity(current_position);
kubitz 20:4371ed979fbf 304
kubitz 22:af49b9e79d9c 305 float velocity_error = target_velocity - current_velocity;
kubitz 22:af49b9e79d9c 306 float velocity_control_out = get_vel_control_out(velocity_error);
kubitz 20:4371ed979fbf 307
kubitz 22:af49b9e79d9c 308 float position_error = target_position - (current_position/6);
kubitz 22:af49b9e79d9c 309 float position_control_out = get_pos_control_out(position_error);
kubitz 21:302d9043cb4b 310
kubitz 22:af49b9e79d9c 311 float velocity_out = combine_control_out(position_control_out, velocity_control_out, current_velocity);
kubitz 22:af49b9e79d9c 312 float motor_out = get_motor_out(position_control_out);
kubitz 20:4371ed979fbf 313
kubitz 22:af49b9e79d9c 314 update_lead(velocity_out);
kubitz 13:58ada64bb664 315 MotorPWM.period(pwm_period);
kubitz 22:af49b9e79d9c 316 MotorPWM.write(motor_out);
kubitz 13:58ada64bb664 317
kubitz 22:af49b9e79d9c 318 if(i > 10) {
kubitz 22:af49b9e79d9c 319 pc.printf("Velocity = %f, Position = %f, MotorOut = %f, y = %f, lead = %d\r\n", current_velocity, (position/6), motor_out, velocity_out, lead);
kubitz 22:af49b9e79d9c 320 i = 0;
kubitz 22:af49b9e79d9c 321 }
kubitz 13:58ada64bb664 322 i++;
kubitz 13:58ada64bb664 323 }
kubitz 13:58ada64bb664 324 }
kubitz 13:58ada64bb664 325
kubitz 13:58ada64bb664 326
kubitz 13:58ada64bb664 327 //Main
kubitz 13:58ada64bb664 328 int main()
kubitz 13:58ada64bb664 329 {
kubitz 14:0146695df1a5 330 motorInitSequence();
kubitz 14:0146695df1a5 331 thread_motorCtrl.start(motorCtrlFn);
kubitz 14:0146695df1a5 332
kubitz 13:58ada64bb664 333 }
kubitz 13:58ada64bb664 334