Luke Plummer
/
JesusLizard
lizard leg trajectory pd control code for 2.s994
main.cpp@10:6ecef8d1a018, 2013-12-01 (annotated)
- Committer:
- lukeplummer
- Date:
- Sun Dec 01 22:25:40 2013 +0000
- Revision:
- 10:6ecef8d1a018
- Parent:
- 9:80c1f8bbcd55
added button code, removed file write code, fixed trigger 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 | PwmOut pwmOut1(p21); |
lukeplummer | 0:e6c3a3a00c16 | 11 | QEI encoder1(p23, p24, NC, 1200, QEI::X4_ENCODING); |
lukeplummer | 0:e6c3a3a00c16 | 12 | |
lukeplummer | 0:e6c3a3a00c16 | 13 | //Motor 2 |
lukeplummer | 0:e6c3a3a00c16 | 14 | DigitalOut mDir2_A(p11); |
lukeplummer | 0:e6c3a3a00c16 | 15 | DigitalOut mDir2_B(p12); |
lukeplummer | 0:e6c3a3a00c16 | 16 | PwmOut pwmOut2(p22); |
lukeplummer | 3:6f00e4876cab | 17 | QEI encoder2(p9, p10, NC, 1200, QEI::X4_ENCODING); |
lukeplummer | 0:e6c3a3a00c16 | 18 | |
lukeplummer | 10:6ecef8d1a018 | 19 | DigitalIn button(p7); |
lukeplummer | 6:8cd6aa47fd51 | 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 | 10:6ecef8d1a018 | 24 | Ticker buttonTicker; |
lukeplummer | 0:e6c3a3a00c16 | 25 | Serial mySerial(USBTX, USBRX); // create a serial connection to the computer over the tx/rx pins |
lukeplummer | 0:e6c3a3a00c16 | 26 | |
lukeplummer | 9:80c1f8bbcd55 | 27 | DigitalOut dOut1(p17); |
lukeplummer | 9:80c1f8bbcd55 | 28 | |
lukeplummer | 0:e6c3a3a00c16 | 29 | float a1_t0 = 0; //motor angle 1 from previous time step |
lukeplummer | 0:e6c3a3a00c16 | 30 | float a1_t1 = 0; //motor angle 1 from current time step |
lukeplummer | 0:e6c3a3a00c16 | 31 | float a2_t0 = 0; //motor angle 2 from current time step |
lukeplummer | 0:e6c3a3a00c16 | 32 | float a2_t1 = 0; //motor angle 2 from current time step |
lukeplummer | 1:fa246c82ab54 | 33 | float w1 = 0; |
lukeplummer | 1:fa246c82ab54 | 34 | float w2 = 0; |
lukeplummer | 2:ea7ef710a07f | 35 | float fPWM = 1000; |
lukeplummer | 0:e6c3a3a00c16 | 36 | int nTraj = 0; //trajectory index |
lukeplummer | 2:ea7ef710a07f | 37 | float aD[2] = {0.0, 0.0}; |
lukeplummer | 3:6f00e4876cab | 38 | //knee |
lukeplummer | 6:8cd6aa47fd51 | 39 | float traj2[] = {0.0}; |
lukeplummer | 3:6f00e4876cab | 40 | //hip |
lukeplummer | 6:8cd6aa47fd51 | 41 | float traj1[] = {0.0}; |
lukeplummer | 2:ea7ef710a07f | 42 | int numPoints = sizeof(traj1)/sizeof(traj1[0]); |
lukeplummer | 3:6f00e4876cab | 43 | float fTraj = numPoints/0.5; //time frequency of trajectory commands |
lukeplummer | 2:ea7ef710a07f | 44 | //starting motor positions |
lukeplummer | 3:6f00e4876cab | 45 | float a1_0 = traj1[0]; |
lukeplummer | 3:6f00e4876cab | 46 | float a2_0 = traj2[0]; |
lukeplummer | 0:e6c3a3a00c16 | 47 | float e1 = 0; |
lukeplummer | 0:e6c3a3a00c16 | 48 | float e2 = 0; |
lukeplummer | 2:ea7ef710a07f | 49 | //controller gains |
lukeplummer | 3:6f00e4876cab | 50 | float kp1 = 1.7; |
lukeplummer | 3:6f00e4876cab | 51 | float kd1 = 0.0; |
lukeplummer | 3:6f00e4876cab | 52 | float kp2 = 1.5; |
lukeplummer | 3:6f00e4876cab | 53 | float kd2 = 0.0; |
lukeplummer | 2:ea7ef710a07f | 54 | |
lukeplummer | 1:fa246c82ab54 | 55 | bool done = false; |
lukeplummer | 0:e6c3a3a00c16 | 56 | |
lukeplummer | 1:fa246c82ab54 | 57 | void pdControl() { |
lukeplummer | 2:ea7ef710a07f | 58 | float in1 = aD[0]; |
lukeplummer | 2:ea7ef710a07f | 59 | float in2 = aD[1]; |
lukeplummer | 0:e6c3a3a00c16 | 60 | //get motor position |
lukeplummer | 0:e6c3a3a00c16 | 61 | a1_t1 = encoder1.getPulses()*2*3.14/1200.0; |
lukeplummer | 0:e6c3a3a00c16 | 62 | a2_t1 = encoder2.getPulses()*2*3.14/1200.0; |
lukeplummer | 0:e6c3a3a00c16 | 63 | //calculate error |
lukeplummer | 0:e6c3a3a00c16 | 64 | e1 = a1_t1-in1; |
lukeplummer | 0:e6c3a3a00c16 | 65 | e2 = a2_t1-in2; |
lukeplummer | 0:e6c3a3a00c16 | 66 | //calculate motor speed |
lukeplummer | 1:fa246c82ab54 | 67 | w1 = abs(a1_t1-a1_t0)*fTraj; |
lukeplummer | 1:fa246c82ab54 | 68 | w2 = abs(a2_t1-a2_t0)*fTraj; |
lukeplummer | 0:e6c3a3a00c16 | 69 | //set motor direction |
lukeplummer | 0:e6c3a3a00c16 | 70 | mDir1_A = (e1<0); |
lukeplummer | 0:e6c3a3a00c16 | 71 | mDir1_B = !(e1<0); |
lukeplummer | 0:e6c3a3a00c16 | 72 | mDir2_A = (e2>0); |
lukeplummer | 0:e6c3a3a00c16 | 73 | mDir2_B = !(e2>0); |
lukeplummer | 0:e6c3a3a00c16 | 74 | //command motor speed |
lukeplummer | 1:fa246c82ab54 | 75 | pwmOut1.period(.0001); //set pwm frequency to 10kHz |
lukeplummer | 1:fa246c82ab54 | 76 | pwmOut2.period(.0001); //set pwm frequency to 10kHz |
lukeplummer | 3:6f00e4876cab | 77 | pwmOut1.write(abs(kp1*e1)+abs(w1*kd1)); |
lukeplummer | 3:6f00e4876cab | 78 | pwmOut2.write(abs(kp2*e2)+abs(w2*kd2)); |
lukeplummer | 0:e6c3a3a00c16 | 79 | |
lukeplummer | 0:e6c3a3a00c16 | 80 | a1_t0 = a1_t1; //save encoder position for next step (to find angular velocity) |
lukeplummer | 0:e6c3a3a00c16 | 81 | a2_t0 = a2_t1; |
lukeplummer | 0:e6c3a3a00c16 | 82 | } |
lukeplummer | 0:e6c3a3a00c16 | 83 | |
lukeplummer | 1:fa246c82ab54 | 84 | void setTraj() { |
lukeplummer | 3:6f00e4876cab | 85 | if (nTraj >= numPoints){ |
lukeplummer | 3:6f00e4876cab | 86 | nTraj = 0; |
lukeplummer | 3:6f00e4876cab | 87 | //done = true; |
lukeplummer | 1:fa246c82ab54 | 88 | } else { |
lukeplummer | 1:fa246c82ab54 | 89 | done = false; |
lukeplummer | 3:6f00e4876cab | 90 | aD[0] = traj1[nTraj]-a1_0; |
lukeplummer | 3:6f00e4876cab | 91 | aD[1] = traj2[nTraj]-a2_0; |
lukeplummer | 1:fa246c82ab54 | 92 | nTraj++; |
lukeplummer | 1:fa246c82ab54 | 93 | } |
lukeplummer | 1:fa246c82ab54 | 94 | } |
lukeplummer | 1:fa246c82ab54 | 95 | |
lukeplummer | 10:6ecef8d1a018 | 96 | void checkBtn() { |
lukeplummer | 10:6ecef8d1a018 | 97 | if (button.read() == 1){ |
lukeplummer | 10:6ecef8d1a018 | 98 | done = true; |
lukeplummer | 10:6ecef8d1a018 | 99 | } |
lukeplummer | 6:8cd6aa47fd51 | 100 | } |
lukeplummer | 6:8cd6aa47fd51 | 101 | |
lukeplummer | 0:e6c3a3a00c16 | 102 | int main() { |
lukeplummer | 9:80c1f8bbcd55 | 103 | wait(5.0); |
lukeplummer | 1:fa246c82ab54 | 104 | mDir1_A = 1; |
lukeplummer | 1:fa246c82ab54 | 105 | mDir1_B = 0; |
lukeplummer | 1:fa246c82ab54 | 106 | mDir2_A = 1; |
lukeplummer | 1:fa246c82ab54 | 107 | mDir2_B = 0; |
lukeplummer | 1:fa246c82ab54 | 108 | |
lukeplummer | 10:6ecef8d1a018 | 109 | //mySerial.printf("numPoints: %d, fTraj: %f, fPWM: %f\n\r", numPoints, fTraj, fPWM); |
lukeplummer | 2:ea7ef710a07f | 110 | |
lukeplummer | 2:ea7ef710a07f | 111 | //get initial position |
lukeplummer | 9:80c1f8bbcd55 | 112 | |
lukeplummer | 9:80c1f8bbcd55 | 113 | dOut1.write(1); |
lukeplummer | 2:ea7ef710a07f | 114 | |
lukeplummer | 1:fa246c82ab54 | 115 | if (sizeof(traj1) == sizeof(traj2)) { |
lukeplummer | 1:fa246c82ab54 | 116 | trajTicker.attach(setTraj, 1/fTraj); |
lukeplummer | 1:fa246c82ab54 | 117 | ctrlTicker.attach(pdControl, 1/fPWM); |
lukeplummer | 10:6ecef8d1a018 | 118 | buttonTicker.attach(checkBtn, 0.1); |
lukeplummer | 4:af5440b3af19 | 119 | while (!done) { |
lukeplummer | 10:6ecef8d1a018 | 120 | //mySerial.printf("motor 2: %f \n\r", a2_t1); |
lukeplummer | 4:af5440b3af19 | 121 | } |
lukeplummer | 10:6ecef8d1a018 | 122 | //mySerial.printf("Done\n\r"); |
lukeplummer | 10:6ecef8d1a018 | 123 | dOut1.write(0); |
lukeplummer | 1:fa246c82ab54 | 124 | mDir1_A = 0; |
lukeplummer | 1:fa246c82ab54 | 125 | mDir1_B = 0; |
lukeplummer | 1:fa246c82ab54 | 126 | mDir2_A = 0; |
lukeplummer | 1:fa246c82ab54 | 127 | mDir2_B = 0; |
lukeplummer | 0:e6c3a3a00c16 | 128 | } else { |
lukeplummer | 10:6ecef8d1a018 | 129 | //mySerial.printf("Input error\n\r"); |
lukeplummer | 0:e6c3a3a00c16 | 130 | } |
lukeplummer | 0:e6c3a3a00c16 | 131 | } |