maaike laagland / Mbed 2 deprecated BioRobotics_Main

hoi

Dependencies:   mbed QEI biquadFilter MODSERIAL

main.cpp@5:9e8847a0492c, 2017-11-02 (annotated)

Committer:
CasperBerkhout
Date:
Thu Nov 02 14:24:47 2017 +0000
Revision:
5:9e8847a0492c
Parent:
4:de0923cf6bcc
Child:
6:b0b15eb27de1
Directions correct and setpoint angles defined

Who changed what in which revision?

UserRevisionLine numberNew contents of line
CasperBerkhout 0:4141aef83f4b 1 #include "QEI.h"
CasperBerkhout 0:4141aef83f4b 2 #include "math.h"
CasperBerkhout 0:4141aef83f4b 3 #include "mbed.h"
CasperBerkhout 0:4141aef83f4b 4 //#include "HIDScope.h" //set mbed library version to 119 for HIDScope to work
CasperBerkhout 0:4141aef83f4b 5 #include "MODSERIAL.h"
CasperBerkhout 0:4141aef83f4b 6 #include "BiQuad.h"
CasperBerkhout 0:4141aef83f4b 7
CasperBerkhout 0:4141aef83f4b 8 //left pot to set reference position.
CasperBerkhout 0:4141aef83f4b 9 //right pot to set Kp, right pot sets Ki when (right)button is pressed down
CasperBerkhout 0:4141aef83f4b 10
CasperBerkhout 0:4141aef83f4b 11
CasperBerkhout 0:4141aef83f4b 12 //--------------object creation------------------
CasperBerkhout 0:4141aef83f4b 13 Serial pc(USBTX, USBRX);
CasperBerkhout 0:4141aef83f4b 14 //Use X4 encoding.
CasperBerkhout 0:4141aef83f4b 15 //QEI wheel(p29, p30, NC, 624, QEI::X4_ENCODING);
CasperBerkhout 0:4141aef83f4b 16 //Use X2 encoding by default.
CasperBerkhout 0:4141aef83f4b 17 QEI enc1(D13, D12, NC, 32); //enable the encoder
CasperBerkhout 0:4141aef83f4b 18 QEI enc2(D15, D14, NC, 32); //enable the encoder
CasperBerkhout 0:4141aef83f4b 19 PwmOut M1_speed(D6);
CasperBerkhout 0:4141aef83f4b 20 PwmOut M2_speed(D5);
CasperBerkhout 0:4141aef83f4b 21 DigitalOut M1_direction(D7);
CasperBerkhout 0:4141aef83f4b 22 DigitalOut M2_direction(D4);
CasperBerkhout 0:4141aef83f4b 23 AnalogIn potmeter(A0); //left pot
CasperBerkhout 0:4141aef83f4b 24 AnalogIn potmeter2(A1); //right pot
CasperBerkhout 1:d7299175a12e 25 InterruptIn button1(D2); //hardware interrupt for stopping motors - right button
CasperBerkhout 1:d7299175a12e 26 DigitalIn LimSW1(D9);
CasperBerkhout 1:d7299175a12e 27 DigitalIn LimSW2(D8);
CasperBerkhout 1:d7299175a12e 28 DigitalIn HomStart(D3); // - left button
CasperBerkhout 1:d7299175a12e 29
CasperBerkhout 4:de0923cf6bcc 30 BiQuad bqlowpass(0.4354, 0.8709, 0.4354, 0.5179, 0.2238);
CasperBerkhout 0:4141aef83f4b 31 //create scope objects - note: script won't run when HID usb port is not connected
CasperBerkhout 0:4141aef83f4b 32 //HIDScope scope(5); //set # of channels
CasperBerkhout 1:d7299175a12e 33
CasperBerkhout 1:d7299175a12e 34 Ticker motor_update1;
CasperBerkhout 1:d7299175a12e 35 Ticker motor_update2;
CasperBerkhout 1:d7299175a12e 36 Ticker error_update;
CasperBerkhout 0:4141aef83f4b 37
CasperBerkhout 0:4141aef83f4b 38
CasperBerkhout 0:4141aef83f4b 39 //-----------------variable decleration----------------
CasperBerkhout 0:4141aef83f4b 40 int pwm_freq = 500;
CasperBerkhout 0:4141aef83f4b 41 float set_speed;
CasperBerkhout 0:4141aef83f4b 42 float reference_pos;
CasperBerkhout 0:4141aef83f4b 43
CasperBerkhout 0:4141aef83f4b 44
CasperBerkhout 0:4141aef83f4b 45
CasperBerkhout 0:4141aef83f4b 46 double M1_home;
CasperBerkhout 0:4141aef83f4b 47 double M1_error_pos = 0;
CasperBerkhout 1:d7299175a12e 48 float M1_Kp = 2;
CasperBerkhout 1:d7299175a12e 49 float M1_Ki = 4;
CasperBerkhout 3:455b79d42636 50 float M1_Kd = 0.19;
CasperBerkhout 0:4141aef83f4b 51 double M1_e_int=0;
CasperBerkhout 0:4141aef83f4b 52 double M1_e_prior=0;
CasperBerkhout 0:4141aef83f4b 53
CasperBerkhout 0:4141aef83f4b 54 double M2_home;
CasperBerkhout 0:4141aef83f4b 55 double M2_error_pos = 0;
CasperBerkhout 4:de0923cf6bcc 56 float M2_Kp = 1.5;
CasperBerkhout 5:9e8847a0492c 57 float M2_Ki = 1.5;
CasperBerkhout 1:d7299175a12e 58 float M2_Kd = 0;
CasperBerkhout 0:4141aef83f4b 59 double M2_e_int=0;
CasperBerkhout 0:4141aef83f4b 60 double M2_e_prior=0;
CasperBerkhout 0:4141aef83f4b 61
CasperBerkhout 2:c7369b41f7ae 62 double setpoint = 0;
CasperBerkhout 2:c7369b41f7ae 63
CasperBerkhout 2:c7369b41f7ae 64 double M1_rel_pos;
CasperBerkhout 2:c7369b41f7ae 65 double M2_rel_pos;
CasperBerkhout 5:9e8847a0492c 66 double M2_reference_pos;
CasperBerkhout 2:c7369b41f7ae 67
CasperBerkhout 0:4141aef83f4b 68 float Ts = 0.002; //500hz sample freq
CasperBerkhout 0:4141aef83f4b 69
CasperBerkhout 1:d7299175a12e 70 bool M1homflag;
CasperBerkhout 1:d7299175a12e 71 bool M2homflag;
CasperBerkhout 1:d7299175a12e 72 bool Homstartflag;
CasperBerkhout 1:d7299175a12e 73
CasperBerkhout 1:d7299175a12e 74
CasperBerkhout 0:4141aef83f4b 75
CasperBerkhout 0:4141aef83f4b 76
CasperBerkhout 0:4141aef83f4b 77 void kinemtaica(double q1, double q2, double vdx, double vdy, double &q1_new, double &q2_new){
CasperBerkhout 0:4141aef83f4b 78 double q1_dot = (2.5*cos(q1+q2))/(sin(q2)) *vdx + (2.5*sin(q1+q2))/(sin(q2))*vdy;
CasperBerkhout 0:4141aef83f4b 79 double q2_dot = -(0.3*cos(q1+q2)+0.4*cos(q1))/(0.12*sin(q2))*vdx -(0.3*sin(q1+q2)+0.4*sin(q2))/(0.12*sin(q2))*vdy;
CasperBerkhout 0:4141aef83f4b 80 q1_new = q1 +q1_dot*Ts;
CasperBerkhout 0:4141aef83f4b 81 q2_new = q2 +q2_dot*Ts;
CasperBerkhout 0:4141aef83f4b 82 return;
CasperBerkhout 0:4141aef83f4b 83 }
CasperBerkhout 0:4141aef83f4b 84
CasperBerkhout 0:4141aef83f4b 85 float PID(double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prior){ //PID calculator
CasperBerkhout 0:4141aef83f4b 86 e_int += Ts*e;
CasperBerkhout 0:4141aef83f4b 87 double e_diff = (e-e_prior)/Ts;
CasperBerkhout 0:4141aef83f4b 88 e_prior = e;
CasperBerkhout 0:4141aef83f4b 89 double e_diff_filter = bqlowpass.step(e_diff);
CasperBerkhout 0:4141aef83f4b 90 return(Kp*e+Ki*e_int+Kd*e_diff_filter);
CasperBerkhout 0:4141aef83f4b 91 }
CasperBerkhout 0:4141aef83f4b 92
CasperBerkhout 0:4141aef83f4b 93 void M1_control(){
CasperBerkhout 0:4141aef83f4b 94
CasperBerkhout 0:4141aef83f4b 95 //call PID func and set new motor speed
CasperBerkhout 0:4141aef83f4b 96 set_speed = PID(M1_error_pos,M1_Kp,M1_Ki,M1_Kd,Ts,M1_e_int,M1_e_prior);
CasperBerkhout 0:4141aef83f4b 97 if(set_speed > 0){
CasperBerkhout 0:4141aef83f4b 98 M1_speed.write(abs(set_speed));
CasperBerkhout 0:4141aef83f4b 99 M1_direction.write(0);
CasperBerkhout 0:4141aef83f4b 100 }
CasperBerkhout 0:4141aef83f4b 101 else if (set_speed < 0){
CasperBerkhout 0:4141aef83f4b 102 M1_speed.write(abs(set_speed));
CasperBerkhout 0:4141aef83f4b 103 M1_direction.write(1);
CasperBerkhout 0:4141aef83f4b 104 }
CasperBerkhout 0:4141aef83f4b 105 else{M1_speed.write(0);}
CasperBerkhout 4:de0923cf6bcc 106
CasperBerkhout 0:4141aef83f4b 107 }
CasperBerkhout 0:4141aef83f4b 108
CasperBerkhout 0:4141aef83f4b 109 void M2_control(){
CasperBerkhout 0:4141aef83f4b 110 set_speed = PID(M2_error_pos,M2_Kp,M2_Ki,M2_Kd,Ts,M2_e_int,M2_e_prior);
CasperBerkhout 0:4141aef83f4b 111 if(set_speed > 0){
CasperBerkhout 0:4141aef83f4b 112 M2_speed.write(abs(set_speed));
CasperBerkhout 0:4141aef83f4b 113 M2_direction.write(0);
CasperBerkhout 0:4141aef83f4b 114 }
CasperBerkhout 0:4141aef83f4b 115 else if (set_speed < 0){
CasperBerkhout 0:4141aef83f4b 116 M2_speed.write(abs(set_speed));
CasperBerkhout 0:4141aef83f4b 117 M2_direction.write(1);
CasperBerkhout 0:4141aef83f4b 118 }
CasperBerkhout 0:4141aef83f4b 119 else{M2_speed.write(0);}
CasperBerkhout 5:9e8847a0492c 120 //pc.printf("M2 speed = %f, M2 direction = %i, M2 pos error = %f, M2 setpoint = %f\n\r",set_speed,M2_direction.read(),M2_error_pos,M2_reference_pos);
CasperBerkhout 5:9e8847a0492c 121 //pc.printf("M2 integral = %f position error = %f\n\r", M2_e_int,M2_error_pos);
CasperBerkhout 0:4141aef83f4b 122 }
CasperBerkhout 0:4141aef83f4b 123
CasperBerkhout 2:c7369b41f7ae 124 void homing_system () {
CasperBerkhout 2:c7369b41f7ae 125 LimSW1.mode(PullDown);
CasperBerkhout 2:c7369b41f7ae 126 LimSW2.mode(PullDown);
CasperBerkhout 2:c7369b41f7ae 127 M1_speed.write(0);
CasperBerkhout 2:c7369b41f7ae 128 M2_speed.write(0);
CasperBerkhout 5:9e8847a0492c 129
CasperBerkhout 2:c7369b41f7ae 130
CasperBerkhout 2:c7369b41f7ae 131 while(1){
CasperBerkhout 3:455b79d42636 132 if (HomStart.read() == 0){
CasperBerkhout 3:455b79d42636 133 setpoint += 0.003; //move setpoint 0.2 radian per second (at 100hz)
CasperBerkhout 4:de0923cf6bcc 134 pc.printf("Homing... \n\r");
CasperBerkhout 4:de0923cf6bcc 135 }
CasperBerkhout 4:de0923cf6bcc 136
CasperBerkhout 4:de0923cf6bcc 137 double M1_rel_pos = enc1.getPulses()/32.0/131.25*2.0*3.1416;
CasperBerkhout 4:de0923cf6bcc 138 double M2_rel_pos = enc2.getPulses()/32.0/131.25*2.0*3.1416;
CasperBerkhout 3:455b79d42636 139 if(LimSW1.read() == 0){
CasperBerkhout 5:9e8847a0492c 140 M1_error_pos = 1.2*setpoint - M1_rel_pos;
CasperBerkhout 3:455b79d42636 141 }
CasperBerkhout 3:455b79d42636 142 if(LimSW2.read() == 0){
CasperBerkhout 5:9e8847a0492c 143 M2_error_pos = - setpoint - M2_rel_pos;
CasperBerkhout 3:455b79d42636 144 }
CasperBerkhout 3:455b79d42636 145 M1_control();
CasperBerkhout 3:455b79d42636 146 M2_control();
CasperBerkhout 4:de0923cf6bcc 147
CasperBerkhout 4:de0923cf6bcc 148
CasperBerkhout 2:c7369b41f7ae 149 if(LimSW1.read() == 1){
CasperBerkhout 2:c7369b41f7ae 150 M1_error_pos = 0;
CasperBerkhout 2:c7369b41f7ae 151 M1_speed.write(0);
CasperBerkhout 2:c7369b41f7ae 152 M1_home = enc1.getPulses()/32.0/131.25*2.0*3.1416; //in radians
CasperBerkhout 2:c7369b41f7ae 153 }
CasperBerkhout 2:c7369b41f7ae 154 if (LimSW2.read() == 1) {
CasperBerkhout 2:c7369b41f7ae 155 M2_error_pos = 0;
CasperBerkhout 2:c7369b41f7ae 156 M2_speed.write(0);
CasperBerkhout 2:c7369b41f7ae 157 M2_home = enc2.getPulses()/32.0/131.25*2.0*3.1416; //in radians
CasperBerkhout 2:c7369b41f7ae 158 }
CasperBerkhout 2:c7369b41f7ae 159
CasperBerkhout 2:c7369b41f7ae 160 if (LimSW1.read() == 1 && LimSW2.read() ==1) {
CasperBerkhout 2:c7369b41f7ae 161 pc.printf("Homing finished \n\r");
CasperBerkhout 2:c7369b41f7ae 162 M1_speed.write(0);
CasperBerkhout 2:c7369b41f7ae 163 M2_speed.write(0);
CasperBerkhout 2:c7369b41f7ae 164 wait(0.5);
CasperBerkhout 2:c7369b41f7ae 165 M1_home = enc1.getPulses()/32.0/131.25*2.0*3.1416; //in radians
CasperBerkhout 2:c7369b41f7ae 166 M2_home = enc2.getPulses()/32.0/131.25*2.0*3.1416; //in radians
CasperBerkhout 5:9e8847a0492c 167 break;
CasperBerkhout 5:9e8847a0492c 168 //while(1); //stop after homing.
CasperBerkhout 2:c7369b41f7ae 169 }
CasperBerkhout 5:9e8847a0492c 170 pc.printf("M2 error = %f M2 reference = %f\n\r", M2_error_pos,M2_reference_pos);
CasperBerkhout 4:de0923cf6bcc 171 wait(0.01);
CasperBerkhout 2:c7369b41f7ae 172 }
CasperBerkhout 0:4141aef83f4b 173
CasperBerkhout 2:c7369b41f7ae 174 }
CasperBerkhout 0:4141aef83f4b 175
CasperBerkhout 0:4141aef83f4b 176 void scopesend(){
CasperBerkhout 0:4141aef83f4b 177
CasperBerkhout 0:4141aef83f4b 178
CasperBerkhout 0:4141aef83f4b 179
CasperBerkhout 0:4141aef83f4b 180 }
CasperBerkhout 0:4141aef83f4b 181 void StopMotors(){
CasperBerkhout 0:4141aef83f4b 182 while(1){
CasperBerkhout 0:4141aef83f4b 183 M1_speed.write(0);
CasperBerkhout 0:4141aef83f4b 184 M2_speed.write(0);
CasperBerkhout 0:4141aef83f4b 185 }
CasperBerkhout 0:4141aef83f4b 186 }
CasperBerkhout 0:4141aef83f4b 187
CasperBerkhout 0:4141aef83f4b 188 void geterror(){
CasperBerkhout 0:4141aef83f4b 189 double M1_rel_pos = enc1.getPulses()/32.0/131.25*2.0*3.1416; //relative position in radians
CasperBerkhout 0:4141aef83f4b 190 double M2_rel_pos = enc2.getPulses()/32.0/131.25*2.0*3.1416; //relative position in radians
CasperBerkhout 2:c7369b41f7ae 191
CasperBerkhout 2:c7369b41f7ae 192 float Arm1_home = 122.0/180.0*3.1416;//home position of large link attached to base in radians - 112 degrees
CasperBerkhout 2:c7369b41f7ae 193 float Arm2_home = 19.0/180.0*3.1416;//home position of small link attached to base
CasperBerkhout 0:4141aef83f4b 194
CasperBerkhout 2:c7369b41f7ae 195 double M1_actual_pos = Arm1_home + (M1_rel_pos - M1_home)/2; //!!!!!!!Gearing ratio of timing belt = 2!!!!!!!!!! - Also known as angle theta
CasperBerkhout 2:c7369b41f7ae 196 double M2_actual_pos = Arm2_home + (M2_rel_pos - M2_home)/2; //!!!!!!!Gearing ratio of timing belt = 2!!!!!!!!!! - Also known as angle Alpha
CasperBerkhout 0:4141aef83f4b 197
CasperBerkhout 0:4141aef83f4b 198 double q1 = M1_actual_pos;
CasperBerkhout 2:c7369b41f7ae 199 double q2 = q1 + M2_actual_pos; //see drawing
CasperBerkhout 0:4141aef83f4b 200
CasperBerkhout 1:d7299175a12e 201 //double M1_reference_pos = 1+potmeter.read()*0.5*3.1416; //should cover the right range - radians
CasperBerkhout 3:455b79d42636 202 double M1_reference_pos = 0.5*3.1416-potmeter.read(); //should cover the right range - radians
CasperBerkhout 5:9e8847a0492c 203 //double M2_reference_pos = 0.25*3.1416+potmeter2.read();
CasperBerkhout 5:9e8847a0492c 204 double M2_reference_pos = 0.4+potmeter2.read();
CasperBerkhout 0:4141aef83f4b 205
CasperBerkhout 3:455b79d42636 206
CasperBerkhout 5:9e8847a0492c 207 pc.printf("M2 home = %f, M2 reference = %f \n\r",Arm2_home,M2_reference_pos);
CasperBerkhout 5:9e8847a0492c 208 //M2_error_pos = 0;
CasperBerkhout 3:455b79d42636 209 if(M1_reference_pos > Arm1_home){
CasperBerkhout 3:455b79d42636 210 M1_reference_pos = Arm1_home;
CasperBerkhout 3:455b79d42636 211 }
CasperBerkhout 3:455b79d42636 212 else{
CasperBerkhout 3:455b79d42636 213 M1_error_pos = M1_reference_pos - M1_actual_pos;
CasperBerkhout 3:455b79d42636 214 }
CasperBerkhout 5:9e8847a0492c 215 if(M2_reference_pos < Arm2_home){
CasperBerkhout 3:455b79d42636 216 M2_reference_pos = Arm2_home;
CasperBerkhout 3:455b79d42636 217 }
CasperBerkhout 3:455b79d42636 218 else{
CasperBerkhout 3:455b79d42636 219 M2_error_pos = M2_reference_pos - M2_actual_pos;
CasperBerkhout 3:455b79d42636 220 }
CasperBerkhout 0:4141aef83f4b 221 }
CasperBerkhout 0:4141aef83f4b 222
CasperBerkhout 0:4141aef83f4b 223 int main() {
CasperBerkhout 5:9e8847a0492c 224 button1.fall(StopMotors);
CasperBerkhout 0:4141aef83f4b 225 //initialize serial comm and set motor PWM freq
CasperBerkhout 0:4141aef83f4b 226 M1_speed.period(1.0/pwm_freq);
CasperBerkhout 0:4141aef83f4b 227 M2_speed.period(1.0/pwm_freq);
CasperBerkhout 0:4141aef83f4b 228 pc.baud(115200);
CasperBerkhout 1:d7299175a12e 229 pc.printf("starting homing function now. Push button to start procedure \n\r");
CasperBerkhout 0:4141aef83f4b 230 //commence homing procedure
CasperBerkhout 0:4141aef83f4b 231 homing_system();
CasperBerkhout 1:d7299175a12e 232 pc.printf("Setting home position complete\n\r");
CasperBerkhout 0:4141aef83f4b 233 //attach all interrupt
CasperBerkhout 1:d7299175a12e 234 pc.printf("attaching interrupt tickers now \n\r");
CasperBerkhout 5:9e8847a0492c 235 //stop motor interrupt
CasperBerkhout 1:d7299175a12e 236 motor_update1.attach(&M1_control,0.01);
CasperBerkhout 1:d7299175a12e 237 motor_update2.attach(&M2_control,0.01);
CasperBerkhout 1:d7299175a12e 238 error_update.attach(&geterror,0.01);
CasperBerkhout 0:4141aef83f4b 239
CasperBerkhout 1:d7299175a12e 240 pc.printf("initialization complete - position control of motors now active\n\r");
CasperBerkhout 0:4141aef83f4b 241
CasperBerkhout 0:4141aef83f4b 242 while(1){
CasperBerkhout 0:4141aef83f4b 243
CasperBerkhout 0:4141aef83f4b 244
CasperBerkhout 0:4141aef83f4b 245 }
CasperBerkhout 0:4141aef83f4b 246
CasperBerkhout 0:4141aef83f4b 247 }