Luke Plummer
/
JesusLizard
lizard leg trajectory pd control code for 2.s994
main.cpp@5:9f31c55179d7, 2013-12-01 (annotated)
- Committer:
- lukeplummer
- Date:
- Sun Dec 01 17:34:07 2013 +0000
- Revision:
- 5:9f31c55179d7
- Parent:
- 4:af5440b3af19
- Child:
- 6:8cd6aa47fd51
removed dead code;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lukeplummer | 0:e6c3a3a00c16 | 1 | // THE FIGHTING BANANA SLUGS!!! |
lukeplummer | 0:e6c3a3a00c16 | 2 | |
lukeplummer | 0:e6c3a3a00c16 | 3 | #include "mbed.h" // mbed library |
lukeplummer | 0:e6c3a3a00c16 | 4 | #include "QEI.h" // quadrature encoder library to count encoder ticks |
lukeplummer | 0:e6c3a3a00c16 | 5 | |
lukeplummer | 0:e6c3a3a00c16 | 6 | //Setup |
lukeplummer | 0:e6c3a3a00c16 | 7 | //Motor 1 |
lukeplummer | 0:e6c3a3a00c16 | 8 | DigitalOut mDir1_A(p5); |
lukeplummer | 1:fa246c82ab54 | 9 | DigitalOut mDir1_B(p6); |
lukeplummer | 0:e6c3a3a00c16 | 10 | AnalogIn aIn1(p19); |
lukeplummer | 0:e6c3a3a00c16 | 11 | PwmOut pwmOut1(p21); |
lukeplummer | 0:e6c3a3a00c16 | 12 | QEI encoder1(p23, p24, NC, 1200, QEI::X4_ENCODING); |
lukeplummer | 0:e6c3a3a00c16 | 13 | |
lukeplummer | 0:e6c3a3a00c16 | 14 | //Motor 2 |
lukeplummer | 0:e6c3a3a00c16 | 15 | DigitalOut mDir2_A(p11); |
lukeplummer | 0:e6c3a3a00c16 | 16 | DigitalOut mDir2_B(p12); |
lukeplummer | 0:e6c3a3a00c16 | 17 | AnalogIn aIn2(p20); |
lukeplummer | 0:e6c3a3a00c16 | 18 | PwmOut pwmOut2(p22); |
lukeplummer | 3:6f00e4876cab | 19 | QEI encoder2(p9, p10, NC, 1200, QEI::X4_ENCODING); |
lukeplummer | 0:e6c3a3a00c16 | 20 | |
lukeplummer | 0:e6c3a3a00c16 | 21 | // Declare other objects |
lukeplummer | 1:fa246c82ab54 | 22 | Ticker ctrlTicker; // creates an instance of the ticker class, which can be used for running functions at a specified frequency. |
lukeplummer | 0:e6c3a3a00c16 | 23 | Ticker trajTicker; |
lukeplummer | 0:e6c3a3a00c16 | 24 | Serial mySerial(USBTX, USBRX); // create a serial connection to the computer over the tx/rx pins |
lukeplummer | 4:af5440b3af19 | 25 | LocalFileSystem local("local"); |
lukeplummer | 4:af5440b3af19 | 26 | FILE *fp = fopen("/local/out.csv", "w"); |
lukeplummer | 0:e6c3a3a00c16 | 27 | |
lukeplummer | 0:e6c3a3a00c16 | 28 | float a1_t0 = 0; //motor angle 1 from previous time step |
lukeplummer | 0:e6c3a3a00c16 | 29 | float a1_t1 = 0; //motor angle 1 from current time step |
lukeplummer | 0:e6c3a3a00c16 | 30 | float a2_t0 = 0; //motor angle 2 from current time step |
lukeplummer | 0:e6c3a3a00c16 | 31 | float a2_t1 = 0; //motor angle 2 from current time step |
lukeplummer | 1:fa246c82ab54 | 32 | float w1 = 0; |
lukeplummer | 1:fa246c82ab54 | 33 | float w2 = 0; |
lukeplummer | 2:ea7ef710a07f | 34 | float fPWM = 1000; |
lukeplummer | 0:e6c3a3a00c16 | 35 | int nTraj = 0; //trajectory index |
lukeplummer | 2:ea7ef710a07f | 36 | float aD[2] = {0.0, 0.0}; |
lukeplummer | 3:6f00e4876cab | 37 | //knee |
lukeplummer | 3:6f00e4876cab | 38 | float traj2[] = {0.0000,0.082808,0.16684,0.25007,0.3309,0.40823,0.48137,0.54996,0.61388,0.67319,0.72803,0.77865,0.82528,0.8682,0.90766,0.94392,0.9772,1.0077,1.0357,1.0613,1.0847,1.106,1.1253,1.1429,1.1587,1.1729,1.1856,1.1968,1.2066,1.215,1.2222,1.2281,1.2329,1.2364,1.2388,1.2401,1.2403,1.2395,1.2375,1.2346,1.2306,1.2256,1.2196,1.2126,1.2047,1.1958,1.1859,1.1751,1.1634,1.1508,1.1373,1.1229,1.1077,1.0917,1.0749,1.0573,1.039,1.02,1.0002,0.97986,0.95884,0.93722,0.91503,0.8923,0.86905,0.84532,0.82113,0.79652,0.77151,0.74614,0.72043,0.69442,0.66812,0.64158,0.61483,0.58788,0.56079,0.53357,0.50627,0.47892,0.45155,0.42421,0.39695,0.3698,0.34282,0.31606,0.28958,0.26345,0.23774,0.21252,0.18788,0.16391,0.14073,0.11845,0.097185,0.077089,0.058313,0.041026,0.02541,0.011664,0.0}; |
lukeplummer | 3:6f00e4876cab | 39 | //float traj2[] = {0.0,0.0,0.0}; |
lukeplummer | 3:6f00e4876cab | 40 | //hip |
lukeplummer | 3:6f00e4876cab | 41 | float traj1[] = {0,-0.07531,-0.1448,-0.20762,-0.2633,-0.31173,-0.35308,-0.38772,-0.41614,-0.43889,-0.45652,-0.4696,-0.47862,-0.48407,-0.48638,-0.48592,-0.48306,-0.47809,-0.47128,-0.46289,-0.45311,-0.44214,-0.43016,-0.41731,-0.40372,-0.38952,-0.37482,-0.35971,-0.3443,-0.32866,-0.31286,-0.29698,-0.28107,-0.26521,-0.24944,-0.23382,-0.21839,-0.2032,-0.18828,-0.17367,-0.15942,-0.14554,-0.13206,-0.11902,-0.10642,-0.0943,-0.08266,-0.07153,-0.0609,-0.05078,-0.04118,-0.03211,-0.02355,-0.0155,-0.00796,-0.00092,0.00563,0.0117,0.01731,0.02247,0.02719,0.0315,0.03542,0.03894,0.04211,0.04493,0.04742,0.04961,0.05151,0.05313,0.0545,0.05563,0.05654,0.05725,0.05776,0.05809,0.05825,0.05826,0.05813,0.05785,0.05744,0.0569,0.05623,0.05543,0.05449,0.05342,0.05218,0.05078,0.04919,0.04738,0.04533,0.043,0.04035,0.03732,0.03386,0.02991,0.0254,0.02024,0.01434,0.00763,0}; |
lukeplummer | 3:6f00e4876cab | 42 | //float traj1[] = {0.0,0.0,0.0}; |
lukeplummer | 2:ea7ef710a07f | 43 | int numPoints = sizeof(traj1)/sizeof(traj1[0]); |
lukeplummer | 3:6f00e4876cab | 44 | float fTraj = numPoints/0.5; //time frequency of trajectory commands |
lukeplummer | 2:ea7ef710a07f | 45 | //starting motor positions |
lukeplummer | 3:6f00e4876cab | 46 | float a1_0 = traj1[0]; |
lukeplummer | 3:6f00e4876cab | 47 | float a2_0 = traj2[0]; |
lukeplummer | 0:e6c3a3a00c16 | 48 | float e1 = 0; |
lukeplummer | 0:e6c3a3a00c16 | 49 | float e2 = 0; |
lukeplummer | 2:ea7ef710a07f | 50 | //controller gains |
lukeplummer | 3:6f00e4876cab | 51 | float kp1 = 1.7; |
lukeplummer | 3:6f00e4876cab | 52 | float kd1 = 0.0; |
lukeplummer | 3:6f00e4876cab | 53 | float kp2 = 1.5; |
lukeplummer | 3:6f00e4876cab | 54 | float kd2 = 0.0; |
lukeplummer | 2:ea7ef710a07f | 55 | |
lukeplummer | 1:fa246c82ab54 | 56 | bool done = false; |
lukeplummer | 0:e6c3a3a00c16 | 57 | |
lukeplummer | 1:fa246c82ab54 | 58 | void pdControl() { |
lukeplummer | 2:ea7ef710a07f | 59 | float in1 = aD[0]; |
lukeplummer | 2:ea7ef710a07f | 60 | float in2 = aD[1]; |
lukeplummer | 0:e6c3a3a00c16 | 61 | //get motor position |
lukeplummer | 0:e6c3a3a00c16 | 62 | a1_t1 = encoder1.getPulses()*2*3.14/1200.0; |
lukeplummer | 0:e6c3a3a00c16 | 63 | a2_t1 = encoder2.getPulses()*2*3.14/1200.0; |
lukeplummer | 0:e6c3a3a00c16 | 64 | //calculate error |
lukeplummer | 0:e6c3a3a00c16 | 65 | e1 = a1_t1-in1; |
lukeplummer | 0:e6c3a3a00c16 | 66 | e2 = a2_t1-in2; |
lukeplummer | 0:e6c3a3a00c16 | 67 | //calculate motor speed |
lukeplummer | 1:fa246c82ab54 | 68 | w1 = abs(a1_t1-a1_t0)*fTraj; |
lukeplummer | 1:fa246c82ab54 | 69 | w2 = abs(a2_t1-a2_t0)*fTraj; |
lukeplummer | 0:e6c3a3a00c16 | 70 | //set motor direction |
lukeplummer | 0:e6c3a3a00c16 | 71 | mDir1_A = (e1<0); |
lukeplummer | 0:e6c3a3a00c16 | 72 | mDir1_B = !(e1<0); |
lukeplummer | 0:e6c3a3a00c16 | 73 | mDir2_A = (e2>0); |
lukeplummer | 0:e6c3a3a00c16 | 74 | mDir2_B = !(e2>0); |
lukeplummer | 0:e6c3a3a00c16 | 75 | //command motor speed |
lukeplummer | 1:fa246c82ab54 | 76 | pwmOut1.period(.0001); //set pwm frequency to 10kHz |
lukeplummer | 1:fa246c82ab54 | 77 | pwmOut2.period(.0001); //set pwm frequency to 10kHz |
lukeplummer | 3:6f00e4876cab | 78 | pwmOut1.write(abs(kp1*e1)+abs(w1*kd1)); |
lukeplummer | 3:6f00e4876cab | 79 | pwmOut2.write(abs(kp2*e2)+abs(w2*kd2)); |
lukeplummer | 0:e6c3a3a00c16 | 80 | |
lukeplummer | 0:e6c3a3a00c16 | 81 | a1_t0 = a1_t1; //save encoder position for next step (to find angular velocity) |
lukeplummer | 0:e6c3a3a00c16 | 82 | a2_t0 = a2_t1; |
lukeplummer | 0:e6c3a3a00c16 | 83 | } |
lukeplummer | 0:e6c3a3a00c16 | 84 | |
lukeplummer | 1:fa246c82ab54 | 85 | void setTraj() { |
lukeplummer | 3:6f00e4876cab | 86 | if (nTraj >= numPoints){ |
lukeplummer | 3:6f00e4876cab | 87 | nTraj = 0; |
lukeplummer | 3:6f00e4876cab | 88 | //done = true; |
lukeplummer | 1:fa246c82ab54 | 89 | } else { |
lukeplummer | 1:fa246c82ab54 | 90 | done = false; |
lukeplummer | 3:6f00e4876cab | 91 | aD[0] = traj1[nTraj]-a1_0; |
lukeplummer | 3:6f00e4876cab | 92 | aD[1] = traj2[nTraj]-a2_0; |
lukeplummer | 2:ea7ef710a07f | 93 | // aD[1] = traj2[nTraj]-a0_2+aD[0]; //corrects for coaxial motors |
lukeplummer | 1:fa246c82ab54 | 94 | nTraj++; |
lukeplummer | 1:fa246c82ab54 | 95 | } |
lukeplummer | 1:fa246c82ab54 | 96 | } |
lukeplummer | 1:fa246c82ab54 | 97 | |
lukeplummer | 0:e6c3a3a00c16 | 98 | int main() { |
lukeplummer | 1:fa246c82ab54 | 99 | mDir1_A = 1; |
lukeplummer | 1:fa246c82ab54 | 100 | mDir1_B = 0; |
lukeplummer | 1:fa246c82ab54 | 101 | mDir2_A = 1; |
lukeplummer | 1:fa246c82ab54 | 102 | mDir2_B = 0; |
lukeplummer | 1:fa246c82ab54 | 103 | |
lukeplummer | 2:ea7ef710a07f | 104 | mySerial.printf("numPoints: %d, fTraj: %f, fPWM: %f\n\r", numPoints, fTraj, fPWM); |
lukeplummer | 2:ea7ef710a07f | 105 | |
lukeplummer | 2:ea7ef710a07f | 106 | //get initial position |
lukeplummer | 2:ea7ef710a07f | 107 | |
lukeplummer | 2:ea7ef710a07f | 108 | |
lukeplummer | 1:fa246c82ab54 | 109 | if (sizeof(traj1) == sizeof(traj2)) { |
lukeplummer | 1:fa246c82ab54 | 110 | trajTicker.attach(setTraj, 1/fTraj); |
lukeplummer | 1:fa246c82ab54 | 111 | ctrlTicker.attach(pdControl, 1/fPWM); |
lukeplummer | 3:6f00e4876cab | 112 | //while (!done) {mySerial.printf("targets 1: %f 2: %f \n\r", aD[0], aD[1]);} |
lukeplummer | 4:af5440b3af19 | 113 | while (!done) { |
lukeplummer | 4:af5440b3af19 | 114 | mySerial.printf("motor 2: %f \n\r", a2_t1); |
lukeplummer | 4:af5440b3af19 | 115 | fprintf(fp, "%f, %f\n",a1_t1, a2_t1); |
lukeplummer | 4:af5440b3af19 | 116 | } |
lukeplummer | 1:fa246c82ab54 | 117 | mySerial.printf("Done\n\r"); |
lukeplummer | 4:af5440b3af19 | 118 | fclose(fp); |
lukeplummer | 1:fa246c82ab54 | 119 | mDir1_A = 0; |
lukeplummer | 1:fa246c82ab54 | 120 | mDir1_B = 0; |
lukeplummer | 1:fa246c82ab54 | 121 | mDir2_A = 0; |
lukeplummer | 1:fa246c82ab54 | 122 | mDir2_B = 0; |
lukeplummer | 0:e6c3a3a00c16 | 123 | } else { |
lukeplummer | 1:fa246c82ab54 | 124 | mySerial.printf("Input error\n\r"); |
lukeplummer | 0:e6c3a3a00c16 | 125 | } |
lukeplummer | 0:e6c3a3a00c16 | 126 | } |