Lawrence Harlow / motor

changes to motor library

Fork of motor by GDP 4

motor.cpp@11:4a6f97cc1f1e, 2016-11-14 (annotated)

Committer:
lh14g13
Date:
Mon Nov 14 18:04:20 2016 +0000
Branch:
testing
Revision:
11:4a6f97cc1f1e
Parent:
10:f4fc8ccde4ad 
sensor free ED tested version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lh14g13 0:b0476dcfa14c 1 #include "mbed.h"
lh14g13 0:b0476dcfa14c 2 #include "TFC.h"
lh14g13 9:22b119eef1de 3 #include <math.h>
lh14g13 0:b0476dcfa14c 4 DigitalOut myled(LED1);
lh14g13 0:b0476dcfa14c 5
lh14g13 7:9aaa4f73bb32 6
lh14g13 0:b0476dcfa14c 7 void TurnOn();
lh14g13 7:9aaa4f73bb32 8 void runMotor();
lh14g13 0:b0476dcfa14c 9 void DefaultMode();
lh14g13 0:b0476dcfa14c 10
lh14g13 0:b0476dcfa14c 11
lh14g13 0:b0476dcfa14c 12 //Speed control
lh14g13 0:b0476dcfa14c 13 void Acc(float& motorA, float& motorB);
lh14g13 0:b0476dcfa14c 14 void Decc(float& motorA, float& motorB);
lh14g13 0:b0476dcfa14c 15 void StartLine();
lh14g13 0:b0476dcfa14c 16
lh14g13 0:b0476dcfa14c 17 //Corner Control
lh14g13 0:b0476dcfa14c 18
lh14g13 11:4a6f97cc1f1e 19 void dutyCycleCorner( float speed, float angle);
lh14g13 11:4a6f97cc1f1e 20 void corner(float &w1,float &w2,float deltaTheta,int maxspeed);
lh14g13 0:b0476dcfa14c 21
lh14g13 7:9aaa4f73bb32 22 void steering(float center, float theta, int maxspeed);
lh14g13 11:4a6f97cc1f1e 23 void centerWheels();
lh14g13 1:09226806dd15 24 int cornerPwmControl;// this sets the cornering percentage ratio. value between 1 and 0.
lh14g13 0:b0476dcfa14c 25 // 100 means both motors run at the same speed. 0 means that one motor turns off.
lh14g13 0:b0476dcfa14c 26
lh14g13 0:b0476dcfa14c 27
lh14g13 0:b0476dcfa14c 28
lh14g13 0:b0476dcfa14c 29 // uncomment for testing motor functions.
lh14g13 0:b0476dcfa14c 30
lh14g13 0:b0476dcfa14c 31
lh14g13 7:9aaa4f73bb32 32
lh14g13 7:9aaa4f73bb32 33 //need a function for calcu;lating the angle
lh14g13 7:9aaa4f73bb32 34 //need a function for converting w1 to delta. or do i?
lh14g13 0:b0476dcfa14c 35
lh14g13 10:f4fc8ccde4ad 36 //----------------------------------------------------------------------------------------------------------------------------------
lh14g13 10:f4fc8ccde4ad 37 //----------------------------------------------This is for Motor Set up------------------------------------------------------------
lh14g13 10:f4fc8ccde4ad 38 //----------------------------------------------------------------------------------------------------------------------------------
lh14g13 0:b0476dcfa14c 39
lh14g13 7:9aaa4f73bb32 40 void runMotor() /// putting it into this mode for some reason makes a bit of a whinning noise (this may simply just be the motor running)
lh14g13 0:b0476dcfa14c 41 {
lh14g13 0:b0476dcfa14c 42
lh14g13 7:9aaa4f73bb32 43
lh14g13 7:9aaa4f73bb32 44 TFC_SetMotorPWM(0.4,0.7);
lh14g13 0:b0476dcfa14c 45
lh14g13 0:b0476dcfa14c 46 while(1)
lh14g13 0:b0476dcfa14c 47 {
lh14g13 0:b0476dcfa14c 48 if(TFC_ReadPushButton(0)>0)
lh14g13 0:b0476dcfa14c 49 {
lh14g13 0:b0476dcfa14c 50 TFC_SetMotorPWM(0.0,0.0);
lh14g13 7:9aaa4f73bb32 51
lh14g13 0:b0476dcfa14c 52 DefaultMode();
lh14g13 0:b0476dcfa14c 53
lh14g13 0:b0476dcfa14c 54 }
lh14g13 0:b0476dcfa14c 55 }
lh14g13 0:b0476dcfa14c 56 return;
lh14g13 0:b0476dcfa14c 57 }
lh14g13 0:b0476dcfa14c 58
lh14g13 0:b0476dcfa14c 59 void DefaultMode()
lh14g13 0:b0476dcfa14c 60 {
lh14g13 7:9aaa4f73bb32 61 TFC_Init();
lh14g13 0:b0476dcfa14c 62 while(1)
lh14g13 0:b0476dcfa14c 63 {
lh14g13 7:9aaa4f73bb32 64 TFC_HBRIDGE_ENABLE;
lh14g13 0:b0476dcfa14c 65 if(TFC_ReadPushButton(1)>0)
lh14g13 0:b0476dcfa14c 66 {
lh14g13 7:9aaa4f73bb32 67 runMotor();
lh14g13 0:b0476dcfa14c 68 }
lh14g13 0:b0476dcfa14c 69
lh14g13 0:b0476dcfa14c 70 else if(TFC_ReadPushButton(0)>0)
lh14g13 0:b0476dcfa14c 71 {
lh14g13 0:b0476dcfa14c 72 //this will be a debug mode
lh14g13 0:b0476dcfa14c 73 }
lh14g13 0:b0476dcfa14c 74
lh14g13 0:b0476dcfa14c 75
lh14g13 0:b0476dcfa14c 76 }
lh14g13 7:9aaa4f73bb32 77 TFC_HBRIDGE_DISABLE;
lh14g13 0:b0476dcfa14c 78 return;
lh14g13 0:b0476dcfa14c 79 }
lh14g13 10:f4fc8ccde4ad 80 //-----------------------------------------------------------------------------------------------------
lh14g13 10:f4fc8ccde4ad 81 //------------------------ this is for speed control---------------------------------------------------
lh14g13 10:f4fc8ccde4ad 82 //-----------------------------------------------------------------------------------------------------
lh14g13 10:f4fc8ccde4ad 83
lh14g13 10:f4fc8ccde4ad 84
lh14g13 0:b0476dcfa14c 85
lh14g13 0:b0476dcfa14c 86 void Acc(float& motorA, float& motorB)// set up so as to control both motors during acc. Potential use during corners
lh14g13 0:b0476dcfa14c 87 {
lh14g13 0:b0476dcfa14c 88 motorA = motorA + 0.1;
lh14g13 0:b0476dcfa14c 89 motorB = motorB + 0.1;
lh14g13 0:b0476dcfa14c 90 TFC_SetMotorPWM(motorA,motorB);
lh14g13 0:b0476dcfa14c 91
lh14g13 0:b0476dcfa14c 92
lh14g13 0:b0476dcfa14c 93 return ;
lh14g13 0:b0476dcfa14c 94
lh14g13 0:b0476dcfa14c 95 }
lh14g13 0:b0476dcfa14c 96
lh14g13 0:b0476dcfa14c 97 void Decc(float &motorA, float &motorB)
lh14g13 0:b0476dcfa14c 98 {
lh14g13 0:b0476dcfa14c 99 // a good thing to do would be to have a margin for adjustment so that the car cornering can control the acc+dcc much better.
lh14g13 0:b0476dcfa14c 100
lh14g13 0:b0476dcfa14c 101 motorA = motorA - 0.1;
lh14g13 0:b0476dcfa14c 102 motorB = motorB - 0.1;
lh14g13 0:b0476dcfa14c 103
lh14g13 0:b0476dcfa14c 104 TFC_SetMotorPWM(motorA,motorB);
lh14g13 0:b0476dcfa14c 105
lh14g13 0:b0476dcfa14c 106 return ;
lh14g13 0:b0476dcfa14c 107
lh14g13 0:b0476dcfa14c 108 }
lh14g13 0:b0476dcfa14c 109
lh14g13 0:b0476dcfa14c 110
lh14g13 0:b0476dcfa14c 111 void StartLine()
lh14g13 0:b0476dcfa14c 112 {
lh14g13 0:b0476dcfa14c 113 TFC_HBRIDGE_ENABLE;
lh14g13 0:b0476dcfa14c 114 float a=0;
lh14g13 0:b0476dcfa14c 115 float b=0;
lh14g13 0:b0476dcfa14c 116
lh14g13 0:b0476dcfa14c 117 int x=0 ;
lh14g13 0:b0476dcfa14c 118 while(x<5)
lh14g13 0:b0476dcfa14c 119 {
lh14g13 0:b0476dcfa14c 120 Acc(a,b);
lh14g13 0:b0476dcfa14c 121 wait(0.5);
lh14g13 0:b0476dcfa14c 122 x++ ;
lh14g13 0:b0476dcfa14c 123 }
lh14g13 0:b0476dcfa14c 124
lh14g13 0:b0476dcfa14c 125 return ;
lh14g13 0:b0476dcfa14c 126 }
lh14g13 0:b0476dcfa14c 127
lh14g13 0:b0476dcfa14c 128 void finishLine(float pwmA)
lh14g13 0:b0476dcfa14c 129 {
lh14g13 0:b0476dcfa14c 130 float pwmB= pwmA;
lh14g13 0:b0476dcfa14c 131 while(pwmA>0)
lh14g13 0:b0476dcfa14c 132 {
lh14g13 0:b0476dcfa14c 133
lh14g13 0:b0476dcfa14c 134
lh14g13 0:b0476dcfa14c 135 Decc(pwmA,pwmB);
lh14g13 0:b0476dcfa14c 136
lh14g13 0:b0476dcfa14c 137 }
lh14g13 0:b0476dcfa14c 138 return;
lh14g13 0:b0476dcfa14c 139 }
lh14g13 0:b0476dcfa14c 140
lh14g13 0:b0476dcfa14c 141
lh14g13 11:4a6f97cc1f1e 142 /*void speedSetting(int w1, int w2 ,int w1M, int w2M)
lh14g13 9:22b119eef1de 143 {
lh14g13 9:22b119eef1de 144 // need to compare the measured frequency
lh14g13 9:22b119eef1de 145
lh14g13 9:22b119eef1de 146 float deltaW1 = w1 - w1M;
lh14g13 9:22b119eef1de 147 float deltaW2 = w2 - w2M;
lh14g13 9:22b119eef1de 148
lh14g13 11:4a6f97cc1f1e 149 if(deltaW1 <0)
lh14g13 9:22b119eef1de 150 {
lh14g13 9:22b119eef1de 151 changespeed(0,w1);
lh14g13 9:22b119eef1de 152 }
lh14g13 9:22b119eef1de 153
lh14g13 9:22b119eef1de 154 else if(delatW1 >0)
lh14g13 9:22b119eef1de 155 {
lh14g13 9:22b119eef1de 156 changespeed(1,w1);
lh14g13 9:22b119eef1de 157 }
lh14g13 9:22b119eef1de 158 return;
lh14g13 11:4a6f97cc1f1e 159 }*/
lh14g13 9:22b119eef1de 160
lh14g13 9:22b119eef1de 161 //need to fill out function for calculating the change in speed.
lh14g13 9:22b119eef1de 162 void changespeed(bool a, float w)
lh14g13 9:22b119eef1de 163 {
lh14g13 9:22b119eef1de 164 float change;
lh14g13 9:22b119eef1de 165
lh14g13 9:22b119eef1de 166 if(a == 1)
lh14g13 9:22b119eef1de 167 {
lh14g13 9:22b119eef1de 168 w+= change;
lh14g13 9:22b119eef1de 169 }
lh14g13 9:22b119eef1de 170
lh14g13 9:22b119eef1de 171 else if (a ==0)
lh14g13 9:22b119eef1de 172 {
lh14g13 9:22b119eef1de 173
lh14g13 9:22b119eef1de 174 w-= change;
lh14g13 9:22b119eef1de 175 }
lh14g13 9:22b119eef1de 176 return;
lh14g13 9:22b119eef1de 177 }
lh14g13 9:22b119eef1de 178
lh14g13 8:4df2a47ab4ee 179 //----------------------------------------------------------------------------------------------------------------------------
lh14g13 8:4df2a47ab4ee 180 //------------------------------------------------Cornering Control-----------------------------------------------------------
lh14g13 8:4df2a47ab4ee 181 //----------------------------------------------------------------------------------------------------------------------------
lh14g13 2:cc8ddc587af7 182
lh14g13 10:f4fc8ccde4ad 183
lh14g13 10:f4fc8ccde4ad 184
lh14g13 11:4a6f97cc1f1e 185 // this is a function whihc works off of the duty cycle. NO SENSOR REQUIREMENT
lh14g13 11:4a6f97cc1f1e 186 void dutyCycleCorner( float speed, float angle)
lh14g13 10:f4fc8ccde4ad 187 {
lh14g13 11:4a6f97cc1f1e 188
lh14g13 11:4a6f97cc1f1e 189 //float width =0.15;
lh14g13 10:f4fc8ccde4ad 190 //float radius= center(middlePoint);
lh14g13 11:4a6f97cc1f1e 191
lh14g13 11:4a6f97cc1f1e 192 bool leftOrRight;
lh14g13 11:4a6f97cc1f1e 193 float theta = angle/0.02222f;
lh14g13 11:4a6f97cc1f1e 194 if(theta<0)
lh14g13 11:4a6f97cc1f1e 195 {
lh14g13 11:4a6f97cc1f1e 196 leftOrRight=true;
lh14g13 11:4a6f97cc1f1e 197 theta=theta*-1;
lh14g13 11:4a6f97cc1f1e 198
lh14g13 11:4a6f97cc1f1e 199 }
lh14g13 11:4a6f97cc1f1e 200 // float diff = (tan(theta))/ 2;
lh14g13 11:4a6f97cc1f1e 201
lh14g13 11:4a6f97cc1f1e 202
lh14g13 10:f4fc8ccde4ad 203
lh14g13 11:4a6f97cc1f1e 204 //float radius = 0.6;
lh14g13 11:4a6f97cc1f1e 205 float x = tan(theta* (3.14f / 180.0f));
lh14g13 11:4a6f97cc1f1e 206 float deltaW = ((0.2f*x)/0.2f)*speed;
lh14g13 11:4a6f97cc1f1e 207 float w1=speed+ deltaW;
lh14g13 11:4a6f97cc1f1e 208 float w2= speed- deltaW;
lh14g13 11:4a6f97cc1f1e 209
lh14g13 11:4a6f97cc1f1e 210 TFC_SetMotorPWM(w2,w1);
lh14g13 11:4a6f97cc1f1e 211 /*if(leftOrRight){
lh14g13 11:4a6f97cc1f1e 212 TFC_SetMotorPWM(w1,w2);
lh14g13 11:4a6f97cc1f1e 213 }
lh14g13 11:4a6f97cc1f1e 214 else{
lh14g13 11:4a6f97cc1f1e 215 TFC_SetMotorPWM(w2,w1);
lh14g13 11:4a6f97cc1f1e 216 }*/
lh14g13 10:f4fc8ccde4ad 217
lh14g13 10:f4fc8ccde4ad 218
lh14g13 10:f4fc8ccde4ad 219
lh14g13 10:f4fc8ccde4ad 220 return;
lh14g13 10:f4fc8ccde4ad 221 }
lh14g13 10:f4fc8ccde4ad 222
lh14g13 2:cc8ddc587af7 223
lh14g13 8:4df2a47ab4ee 224 void corner(float &w1,float &w2,float deltaTheta,int maxspeed)
lh14g13 2:cc8ddc587af7 225 {// when cornering left the left motor slows down more than the right hand side
lh14g13 2:cc8ddc587af7 226 // may just replace with ACC and DECC
lh14g13 3:5b5d5af46804 227 float r;
lh14g13 3:5b5d5af46804 228 float d;
lh14g13 3:5b5d5af46804 229 float l;
lh14g13 11:4a6f97cc1f1e 230
lh14g13 11:4a6f97cc1f1e 231
lh14g13 2:cc8ddc587af7 232 // it may be worth doing this off the change in theta. so that it is insesnsitive to the calibration.
lh14g13 4:e15ec9052a78 233 float diff= ((d*tan(deltaTheta)/(2*l)));
lh14g13 3:5b5d5af46804 234
lh14g13 11:4a6f97cc1f1e 235 w1 = (maxspeed/r)*(1+diff);
lh14g13 11:4a6f97cc1f1e 236 w2 = (maxspeed/r)*(1-diff);
lh14g13 3:5b5d5af46804 237
lh14g13 8:4df2a47ab4ee 238
lh14g13 2:cc8ddc587af7 239
lh14g13 2:cc8ddc587af7 240
lh14g13 2:cc8ddc587af7 241 return;
lh14g13 2:cc8ddc587af7 242 }
lh14g13 2:cc8ddc587af7 243
lh14g13 7:9aaa4f73bb32 244
lh14g13 7:9aaa4f73bb32 245
lh14g13 5:c50e40797114 246
lh14g13 7:9aaa4f73bb32 247 float centerWheels(float min, float max)
lh14g13 7:9aaa4f73bb32 248 {
lh14g13 7:9aaa4f73bb32 249 float center= (min +max)/2;
lh14g13 7:9aaa4f73bb32 250
lh14g13 7:9aaa4f73bb32 251 return center;
lh14g13 7:9aaa4f73bb32 252 }
lh14g13 7:9aaa4f73bb32 253
lh14g13 8:4df2a47ab4ee 254 void steering(float center, float theta, int maxspeed,float & w1, float & w2)
lh14g13 8:4df2a47ab4ee 255 { // this function is for simply calculating the motor speeds. this reduces the amount of calculations needed
lh14g13 8:4df2a47ab4ee 256 //and can be triggered when the car steers.
lh14g13 8:4df2a47ab4ee 257
lh14g13 8:4df2a47ab4ee 258
lh14g13 7:9aaa4f73bb32 259 float deltaTheta = center- theta;
lh14g13 9:22b119eef1de 260
lh14g13 9:22b119eef1de 261 // need to convert to degrees/radians. that can do the above as well.
lh14g13 7:9aaa4f73bb32 262 if(deltaTheta <0)
lh14g13 7:9aaa4f73bb32 263 {
lh14g13 7:9aaa4f73bb32 264 // going left?
lh14g13 8:4df2a47ab4ee 265 corner(w1,w2,deltaTheta,maxspeed);
lh14g13 5:c50e40797114 266 }
lh14g13 2:cc8ddc587af7 267
lh14g13 11:4a6f97cc1f1e 268 else{
lh14g13 7:9aaa4f73bb32 269 //going right?
lh14g13 11:4a6f97cc1f1e 270 corner(w2,w1,deltaTheta,maxspeed);
lh14g13 7:9aaa4f73bb32 271
lh14g13 7:9aaa4f73bb32 272 }
lh14g13 2:cc8ddc587af7 273
lh14g13 7:9aaa4f73bb32 274 return;
lh14g13 7:9aaa4f73bb32 275 }