fork of what I have been writing
ES_CW2_Starter_STARFISH/MotorControl.h
- Committer:
- le1917
- Date:
- 2020-03-09
- Revision:
- 12:38afe92e67d0
- Child:
- 13:f6e37c21d31d
File content as of revision 12:38afe92e67d0:
//Photointerrupter input pins #define I1pin D3 #define I2pin D6 #define I3pin D5 //Incremental encoder input pins #define CHApin D12 #define CHBpin D11 //Motor Drive output pins //Mask in output byte #define L1Lpin D1 //0x01 #define L1Hpin A3 //0x02 #define L2Lpin D0 //0x04 #define L2Hpin A6 //0x08 #define L3Lpin D10 //0x10 #define L3Hpin D2 //0x20 #define PWMpin D9 //Motor current sense #define MCSPpin A1 #define MCSNpin A0 //Test outputs #define TP0pin D4 #define TP1pin D13 #define TP2pin A2 //Mapping from sequential drive states to motor phase outputs /* State L1 L2 L3 0 H - L 1 - H L 2 L H - 3 L - H 4 - L H 5 H L - 6 - - - 7 - - - */ //Drive state to output table const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed // MOTOR PARAMETERS // const float kp_vel = 0.05; //const float ki_vel = 0.03; //const float kd_vel = 0.03; const float ki_vel = 0; const float kd_vel = 0; const float kp_pos = 0.05; const float kd_pos = 0; const float pwm_period =0.25f; int target_velocity = 30; float target_position = 500; // GLOBAL VARIABLES MOTOR // int position = 0; bool direction = 1; int lead = 2; volatile int8_t orState = 0; //Rotot offset at motor state 0 volatile int8_t intState = 0; volatile int8_t intStateOld = 0; //Status LED DigitalOut led1(LED1); //Photointerrupter inputs InterruptIn I1(I1pin); InterruptIn I2(I2pin); InterruptIn I3(I3pin); //Motor Drive outputs DigitalOut L1L(L1Lpin); DigitalOut L1H(L1Hpin); DigitalOut L2L(L2Lpin); DigitalOut L2H(L2Hpin); DigitalOut L3L(L3Lpin); DigitalOut L3H(L3Hpin); DigitalOut TP1(TP1pin); PwmOut MotorPWM(PWMpin); Ticker motorCtrlTicker; Thread thread_motorCtrl (osPriorityNormal,1024); // DEBUG // float velocity_global = 0; //Set a given drive state void motorOut(int8_t driveState) { //Lookup the output byte from the drive state. int8_t driveOut = driveTable[driveState & 0x07]; //Turn off first if (~driveOut & 0x01) L1L = 0; if (~driveOut & 0x02) L1H = 1; if (~driveOut & 0x04) L2L = 0; if (~driveOut & 0x08) L2H = 1; if (~driveOut & 0x10) L3L = 0; if (~driveOut & 0x20) L3H = 1; //Then turn on if (driveOut & 0x01) L1L = 1; if (driveOut & 0x02) L1H = 0; if (driveOut & 0x04) L2L = 1; if (driveOut & 0x08) L2H = 0; if (driveOut & 0x10) L3L = 1; if (driveOut & 0x20) L3H = 0; } //Convert photointerrupter inputs to a rotor state inline int8_t readRotorState() { return stateMap[I1 + 2*I2 + 4*I3]; } void move() { intState = readRotorState(); // Updates direction only if statechanges by 1 // If state chance is missed then interrupt is unchanged if( intState == 0 && intStateOld == 5) { direction = 1; position++; } else if( intState == 5 && intStateOld == 0) { direction = 0; position--; } else if ( intState == intStateOld + 1 ) { direction = 1; position++; } else if (intState == intStateOld - 1) { direction = 0; position--; } intStateOld = intState; motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive } void motorCtrlTick() { thread_motorCtrl.signal_set(0x1); //osSignalSet(thread_motorCtrl, 0x1); } float get_y_pos(float e, float change_e) { return kp_pos*e + kd_pos*change_e; } float get_motor_out(float velocity_out) { float motor_out; if( velocity_out < 0) { motor_out = velocity_out*-1; // motor_out = 0; } else { motor_out = velocity_out; } if (velocity_out > 1 || velocity_out < -1) { motor_out = 1; } return motor_out; } int get_current_position() { return position; } void attach_ISR() { I1.rise(&move); I1.fall(&move); I2.rise(&move); I2.fall(&move); I3.rise(&move); I3.fall(&move); } float combine_speed(float y_pos, float velocity_out, float velocity_error) { if(velocity_error >= 0) { if(y_pos < velocity_out) { return y_pos; } else { return velocity_out; } } else { if(y_pos > velocity_out) { return y_pos; } else { return velocity_out; } } return y_pos; } void update_lead(float velocity_out) { // No functionality for breaking if(velocity_out >= 0) { lead = 2; } else { lead = -2; } } void motorCtrlFn() { // motor controller variables float current_position = 0; int previous_position = 0; float velocity = 0; Timer timer_velocity; uint32_t last_time_MtrCtlr; float pos_error_old; int i = 0; float velocity_integral=0; float velocity_derivative=0; float last_velocity_error = 0; float velocity_error = 0; float velocity_out = 0; float velocity_factor = 1; motorCtrlTicker.attach_us(&motorCtrlTick,100000); pos_error_old = target_position; last_time_MtrCtlr = 0; MotorPWM.write(1); MotorPWM.period(pwm_period); motorOut(0); wait(3.0); orState = readRotorState(); if(target_velocity > 0) { lead = 2; motorOut(1); } else { lead = -2; motorOut(5); } attach_ISR(); current_position = get_current_position(); previous_position = current_position; timer_velocity.start(); while(1) { thread_motorCtrl.signal_wait(0x1); current_position = get_current_position(); velocity_factor = (1000/(timer_velocity.read_ms()-last_time_MtrCtlr)); velocity = ((current_position - previous_position)/6)*velocity_factor; last_time_MtrCtlr = timer_velocity.read_ms(); previous_position = current_position; velocity_error = target_velocity - velocity; velocity_integral += velocity_error; velocity_derivative = velocity_error - velocity_error; velocity_out = (kp_vel*velocity_error) + (ki_vel*velocity_integral) + (kd_vel*velocity_derivative); last_velocity_error = velocity_error; velocity_global = velocity; float motor_out = get_motor_out(velocity_out); update_lead(velocity_out); MotorPWM.period(pwm_period); MotorPWM.write(motor_out); } }