Luke Plummer / Mbed 2 deprecated JesusLizard

lizard leg trajectory pd control code for 2.s994

Dependencies:   QEI mbed

main.cpp@1:fa246c82ab54, 2013-11-18 (annotated)

Committer:
lukeplummer
Date:
Mon Nov 18 20:41:14 2013 +0000
Revision:
1:fa246c82ab54
Parent:
0:e6c3a3a00c16
Child:
2:ea7ef710a07f
it works! only tested with one motor, some strange behaivor

Who changed what in which revision?

UserRevisionLine numberNew 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 0:e6c3a3a00c16 19 QEI encoder2(p25, p26, 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 0:e6c3a3a00c16 25
lukeplummer 0:e6c3a3a00c16 26 float a1_t0 = 0; //motor angle 1 from previous time step
lukeplummer 0:e6c3a3a00c16 27 float a1_t1 = 0; //motor angle 1 from current time step
lukeplummer 0:e6c3a3a00c16 28 float a2_t0 = 0; //motor angle 2 from current time step
lukeplummer 0:e6c3a3a00c16 29 float a2_t1 = 0; //motor angle 2 from current time step
lukeplummer 1:fa246c82ab54 30 float w1 = 0;
lukeplummer 1:fa246c82ab54 31 float w2 = 0;
lukeplummer 1:fa246c82ab54 32 float fTraj = 0.5; //time frequency of trajectory commands
lukeplummer 1:fa246c82ab54 33 float fPWM = 100;
lukeplummer 0:e6c3a3a00c16 34 int nTraj = 0; //trajectory index
lukeplummer 1:fa246c82ab54 35 float traj1[] = {0.0, 0.5, 1.0, 1.5, 2.0, 2.5, 3.0};
lukeplummer 1:fa246c82ab54 36 float traj2[] = {0.0, 0.5, 1.0, 1.5, 2.0, 2.5, 3.0};
lukeplummer 1:fa246c82ab54 37 float Ad[2] = {0.0, 0.0};
lukeplummer 1:fa246c82ab54 38 int numPoints;
lukeplummer 1:fa246c82ab54 39 //float traj1[] = {0.7854,0.7854,0.78538,0.78488,0.7817,0.77462,0.76353,0.74871,0.73061,0.70985,0.68715,0.66323,0.63881,0.61442,0.59051,0.56748,0.54558,0.52503,0.50594,0.48841,0.4725,0.45823,0.44563,0.43472,0.42551,0.41801,0.41224,0.40823,0.40603,0.40571,0.4073,0.41054,0.41521,0.42106,0.42787,0.43545,0.44363,0.45228,0.46129,0.47054,0.47995,0.48943,0.49893,0.50835,0.51762,0.52666,0.53572,0.54496,0.55436,0.56391,0.57363,0.58349,0.59352,0.60389,0.61482,0.62627,0.63823,0.6507,0.66367,0.67717,0.69121,0.7058,0.72099,0.73683,0.75335,0.77064,0.7888,0.80797,0.82834,0.85026,0.87437,0.9016,0.92915,0.95698,0.98204,1.0049,1.0263,1.0466,1.0662,1.0849,1.103,1.1205,1.1374,1.1536,1.1693,1.1844,1.1989,1.2128,1.2261,1.2389,1.251,1.2626,1.2735,1.2838,1.2935,1.3027,1.3111,1.319,1.3263,1.3329,1.339,1.3444,1.3492,1.3535,1.3572,1.3603,1.3629,1.365,1.3666,1.3678,1.3685,1.3688,1.3686,1.3679,1.3667,1.3651,1.363,1.3603,1.3571,1.3532,1.3485,1.343,1.3367,1.3295,1.3213,1.312,1.3016,1.29,1.2771,1.2628,1.2471,1.2297,1.2112,1.1922,1.173,1.1541,1.1347,1.1145,1.0933,1.0696,1.0427,1.0124,0.97855,0.9409,0.89924,0.85172};
lukeplummer 1:fa246c82ab54 40 //float traj2[] = {0.0,0.0,0.0,0.00063466,0.0045936,0.013526,0.027801,0.047381,0.071993,0.10117,0.13426,0.17054,0.20922,0.24967,0.29134,0.3337,0.37633,0.41893,0.46125,0.50311,0.5444,0.58501,0.62488,0.66395,0.70219,0.73957,0.77608,0.81171,0.84653,0.88097,0.91256,0.94131,0.9672,0.99033,1.0108,1.0289,1.0446,1.0583,1.07,1.08,1.0883,1.0952,1.1007,1.105,1.1081,1.1103,1.1116,1.1121,1.1119,1.1109,1.1092,1.1068,1.1036,1.0996,1.0946,1.0887,1.0818,1.0738,1.0646,1.0544,1.0429,1.0302,1.0163,1.001,0.98433,0.96625,0.94662,0.92532,0.90212,0.87666,0.84819,0.8156,0.78232,0.74848,0.71788,0.68994,0.66369,0.63865,0.61459,0.59136,0.56886,0.54703,0.52581,0.50515,0.48502,0.46539,0.44622,0.4275,0.40921,0.39132,0.37382,0.35668,0.33991,0.32348,0.30739,0.29163,0.27618,0.26106,0.24624,0.23174,0.21755,0.20368,0.19014,0.17694,0.16409,0.15161,0.13952,0.12787,0.11633,0.10487,0.093503,0.082227,0.071049,0.059976,0.049015,0.038174,0.027463,0.016894,0.0062166,-0.0046431,-0.01562,-0.026652,-0.037675,-0.04862,-0.059416,-0.069981,-0.080228,-0.090055,-0.099352,-0.10799,-0.11583,-0.1227,-0.12829,-0.13237,-0.13496,-0.13617,-0.13614,-0.13485,-0.1322,-0.12782,-0.12111,-0.11153,-0.098492,-0.081307,-0.059248,-0.030488};
lukeplummer 0:e6c3a3a00c16 41 float e1 = 0;
lukeplummer 0:e6c3a3a00c16 42 float e2 = 0;
lukeplummer 1:fa246c82ab54 43 float kp = 0.5;
lukeplummer 1:fa246c82ab54 44 float kd = 0.0;
lukeplummer 1:fa246c82ab54 45 bool done = false;
lukeplummer 0:e6c3a3a00c16 46
lukeplummer 1:fa246c82ab54 47 void pdControl() {
lukeplummer 1:fa246c82ab54 48 float in1 = Ad[0];
lukeplummer 1:fa246c82ab54 49 float in2 = Ad[1];
lukeplummer 0:e6c3a3a00c16 50 //get motor position
lukeplummer 0:e6c3a3a00c16 51 a1_t1 = encoder1.getPulses()*2*3.14/1200.0;
lukeplummer 0:e6c3a3a00c16 52 a2_t1 = encoder2.getPulses()*2*3.14/1200.0;
lukeplummer 0:e6c3a3a00c16 53 //calculate error
lukeplummer 0:e6c3a3a00c16 54 e1 = a1_t1-in1;
lukeplummer 0:e6c3a3a00c16 55 e2 = a2_t1-in2;
lukeplummer 0:e6c3a3a00c16 56 //calculate motor speed
lukeplummer 1:fa246c82ab54 57 w1 = abs(a1_t1-a1_t0)*fTraj;
lukeplummer 1:fa246c82ab54 58 w2 = abs(a2_t1-a2_t0)*fTraj;
lukeplummer 0:e6c3a3a00c16 59 //set motor direction
lukeplummer 0:e6c3a3a00c16 60 mDir1_A = (e1<0);
lukeplummer 0:e6c3a3a00c16 61 mDir1_B = !(e1<0);
lukeplummer 0:e6c3a3a00c16 62 mDir2_A = (e2>0);
lukeplummer 0:e6c3a3a00c16 63 mDir2_B = !(e2>0);
lukeplummer 0:e6c3a3a00c16 64 //command motor speed
lukeplummer 1:fa246c82ab54 65 pwmOut1.period(.0001); //set pwm frequency to 10kHz
lukeplummer 1:fa246c82ab54 66 pwmOut2.period(.0001); //set pwm frequency to 10kHz
lukeplummer 0:e6c3a3a00c16 67 pwmOut1.write(abs(kp*e1)+abs(w1*kd));
lukeplummer 0:e6c3a3a00c16 68 pwmOut2.write(abs(kp*e2)+abs(w2*kd));
lukeplummer 0:e6c3a3a00c16 69
lukeplummer 0:e6c3a3a00c16 70 a1_t0 = a1_t1; //save encoder position for next step (to find angular velocity)
lukeplummer 0:e6c3a3a00c16 71 a2_t0 = a2_t1;
lukeplummer 0:e6c3a3a00c16 72 }
lukeplummer 0:e6c3a3a00c16 73
lukeplummer 1:fa246c82ab54 74 void setTraj() {
lukeplummer 1:fa246c82ab54 75 if (nTraj >= numPoints){
lukeplummer 1:fa246c82ab54 76 done = true;
lukeplummer 1:fa246c82ab54 77 } else {
lukeplummer 1:fa246c82ab54 78 done = false;
lukeplummer 1:fa246c82ab54 79 Ad[0] = traj1[nTraj];
lukeplummer 1:fa246c82ab54 80 Ad[1] = traj2[nTraj];
lukeplummer 1:fa246c82ab54 81 nTraj++;
lukeplummer 1:fa246c82ab54 82 }
lukeplummer 1:fa246c82ab54 83 }
lukeplummer 1:fa246c82ab54 84
lukeplummer 0:e6c3a3a00c16 85 int main() {
lukeplummer 1:fa246c82ab54 86 mDir1_A = 1;
lukeplummer 1:fa246c82ab54 87 mDir1_B = 0;
lukeplummer 1:fa246c82ab54 88 mDir2_A = 1;
lukeplummer 1:fa246c82ab54 89 mDir2_B = 0;
lukeplummer 1:fa246c82ab54 90
lukeplummer 1:fa246c82ab54 91 if (sizeof(traj1) == sizeof(traj2)) {
lukeplummer 1:fa246c82ab54 92 numPoints = sizeof(traj1)/4;
lukeplummer 1:fa246c82ab54 93 trajTicker.attach(setTraj, 1/fTraj);
lukeplummer 1:fa246c82ab54 94 ctrlTicker.attach(pdControl, 1/fPWM);
lukeplummer 1:fa246c82ab54 95 while (!done) {mySerial.printf("d: %f a: %f \n\r", Ad[0], a1_t1);}
lukeplummer 1:fa246c82ab54 96 mySerial.printf("Done\n\r");
lukeplummer 1:fa246c82ab54 97 mDir1_A = 0;
lukeplummer 1:fa246c82ab54 98 mDir1_B = 0;
lukeplummer 1:fa246c82ab54 99 mDir2_A = 0;
lukeplummer 1:fa246c82ab54 100 mDir2_B = 0;
lukeplummer 0:e6c3a3a00c16 101 } else {
lukeplummer 1:fa246c82ab54 102 mySerial.printf("Input error\n\r");
lukeplummer 0:e6c3a3a00c16 103 }
lukeplummer 0:e6c3a3a00c16 104 }