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Dependencies: AnglePosition2 Encoder FastPWM MODSERIAL Movement PIDController Servo SignalNumber2 biquadFilter mbed
Fork of kinematics_controlv2 by
main.cpp@1:406519ff0f17, 2017-10-26 (annotated)
- Committer:
- peterknoben
- Date:
- Thu Oct 26 10:54:02 2017 +0000
- Revision:
- 1:406519ff0f17
- Parent:
- 0:5f4bc2d63814
- Child:
- 3:c768a37620c9
Inclusief header
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
peterknoben | 1:406519ff0f17 | 1 | #include "AnglePosition.h" |
peterknoben | 1:406519ff0f17 | 2 | #include "PIDControl.h" |
DBerendsen | 0:5f4bc2d63814 | 3 | #include "mbed.h" |
DBerendsen | 0:5f4bc2d63814 | 4 | #include "encoder.h" |
DBerendsen | 0:5f4bc2d63814 | 5 | #include "Servo.h" |
DBerendsen | 0:5f4bc2d63814 | 6 | #include "MODSERIAL.h" |
peterknoben | 1:406519ff0f17 | 7 | #include "FastPWM.h" |
DBerendsen | 0:5f4bc2d63814 | 8 | |
DBerendsen | 0:5f4bc2d63814 | 9 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 10 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 11 | //------------------------------------------------------------------------------ |
peterknoben | 1:406519ff0f17 | 12 | MODSERIAL pc(USBTX, USBRX); // |
peterknoben | 1:406519ff0f17 | 13 | Ticker MyControllerTicker1; //Declare Ticker Motor 1 |
peterknoben | 1:406519ff0f17 | 14 | Ticker MyControllerTicker2; //Declare Ticker Motor 2 |
peterknoben | 1:406519ff0f17 | 15 | AnglePosition Angle; //Declare Angle calculater |
peterknoben | 1:406519ff0f17 | 16 | PIDControl PID; //Declare PID Controller |
peterknoben | 1:406519ff0f17 | 17 | AnalogIn potmeter1(A3); //Set Inputpin |
peterknoben | 1:406519ff0f17 | 18 | AnalogIn potmeter2(A4); //Set Inputpin |
peterknoben | 1:406519ff0f17 | 19 | |
peterknoben | 1:406519ff0f17 | 20 | const float CONTROLLER_TS = 0.02; //Motor frequency |
peterknoben | 1:406519ff0f17 | 21 | |
peterknoben | 1:406519ff0f17 | 22 | //------------------------------------------------------------------------------ |
peterknoben | 1:406519ff0f17 | 23 | //-------------------------Kinematic Constants---------------------------------- |
peterknoben | 1:406519ff0f17 | 24 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 25 | const double RAD_PER_PULSE = 0.00074799825*2; |
DBerendsen | 0:5f4bc2d63814 | 26 | const double PI = 3.14159265358979323846; |
peterknoben | 1:406519ff0f17 | 27 | const float max_rangex = 500.0; |
peterknoben | 1:406519ff0f17 | 28 | const float max_rangey = 300.0; |
peterknoben | 1:406519ff0f17 | 29 | const float x_offset = 156.15; |
peterknoben | 1:406519ff0f17 | 30 | const float y_offset = -76.97; |
peterknoben | 1:406519ff0f17 | 31 | const float alpha_offset = -(21.52/180)*PI; |
peterknoben | 1:406519ff0f17 | 32 | const float beta_offset = 0.0; |
peterknoben | 1:406519ff0f17 | 33 | const float L1 = 450.0; |
peterknoben | 1:406519ff0f17 | 34 | const float L2 = 490.0; |
DBerendsen | 0:5f4bc2d63814 | 35 | |
DBerendsen | 0:5f4bc2d63814 | 36 | |
DBerendsen | 0:5f4bc2d63814 | 37 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 38 | //--------------------------------Servo----------------------------------------- |
DBerendsen | 0:5f4bc2d63814 | 39 | //------------------------------------------------------------------------------ |
peterknoben | 1:406519ff0f17 | 40 | Servo MyServo(D9); //Declare button |
peterknoben | 1:406519ff0f17 | 41 | InterruptIn But1(D8); //Declare used button |
peterknoben | 1:406519ff0f17 | 42 | int k=0; //Position flag |
DBerendsen | 0:5f4bc2d63814 | 43 | |
DBerendsen | 0:5f4bc2d63814 | 44 | void servo_control (){ |
DBerendsen | 0:5f4bc2d63814 | 45 | if (k==0){ |
DBerendsen | 0:5f4bc2d63814 | 46 | MyServo = 0; |
DBerendsen | 0:5f4bc2d63814 | 47 | k=1; |
DBerendsen | 0:5f4bc2d63814 | 48 | } |
DBerendsen | 0:5f4bc2d63814 | 49 | else{ |
DBerendsen | 0:5f4bc2d63814 | 50 | MyServo = 2; |
DBerendsen | 0:5f4bc2d63814 | 51 | k=0; |
peterknoben | 1:406519ff0f17 | 52 | } |
DBerendsen | 0:5f4bc2d63814 | 53 | } |
DBerendsen | 0:5f4bc2d63814 | 54 | |
DBerendsen | 0:5f4bc2d63814 | 55 | |
DBerendsen | 0:5f4bc2d63814 | 56 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 57 | //--------------------------------Motor1---------------------------------------- |
DBerendsen | 0:5f4bc2d63814 | 58 | //------------------------------------------------------------------------------ |
peterknoben | 1:406519ff0f17 | 59 | FastPWM motor1(D5); |
DBerendsen | 0:5f4bc2d63814 | 60 | DigitalOut motor1DirectionPin(D4); |
DBerendsen | 0:5f4bc2d63814 | 61 | DigitalIn ENC2A(D12); |
DBerendsen | 0:5f4bc2d63814 | 62 | DigitalIn ENC2B(D13); |
DBerendsen | 0:5f4bc2d63814 | 63 | Encoder encoder1(D13,D12); |
peterknoben | 1:406519ff0f17 | 64 | const float MOTOR1_KP = 40.0; |
peterknoben | 1:406519ff0f17 | 65 | const float MOTOR1_KI = 0.0; |
peterknoben | 1:406519ff0f17 | 66 | const float MOTOR1_KD = 15.0; |
peterknoben | 1:406519ff0f17 | 67 | double M1_v1 = 0.0; |
peterknoben | 1:406519ff0f17 | 68 | double M1_v2 = 0.0; |
DBerendsen | 0:5f4bc2d63814 | 69 | const double motor1_gain = 2*PI; |
peterknoben | 1:406519ff0f17 | 70 | const float M1_N = 0.5; |
DBerendsen | 0:5f4bc2d63814 | 71 | |
DBerendsen | 0:5f4bc2d63814 | 72 | |
DBerendsen | 0:5f4bc2d63814 | 73 | void motor1_control(){ |
peterknoben | 1:406519ff0f17 | 74 | float reference_alpha = Angle.getbeta(max_rangex, max_rangey, x_offset, y_offset, beta_offset, L1, L2, potmeter1, potmeter2); |
DBerendsen | 0:5f4bc2d63814 | 75 | float position_alpha = RAD_PER_PULSE * encoder1.getPosition(); |
DBerendsen | 0:5f4bc2d63814 | 76 | float error_alpha = reference_alpha-position_alpha; |
peterknoben | 1:406519ff0f17 | 77 | float magnitude1 = PID.get(error_alpha, MOTOR1_KP, MOTOR1_KI, MOTOR1_KD, CONTROLLER_TS, M1_N, M1_v1, M1_v2) / motor1_gain; |
DBerendsen | 0:5f4bc2d63814 | 78 | motor1 = fabs(magnitude1); |
DBerendsen | 0:5f4bc2d63814 | 79 | pc.printf("err_a = %f alpha = %f mag1 = %f\r\n", error_alpha, reference_alpha, magnitude1); |
DBerendsen | 0:5f4bc2d63814 | 80 | pc.printf("\r\n"); |
peterknoben | 1:406519ff0f17 | 81 | // Determine Motor Direction |
peterknoben | 1:406519ff0f17 | 82 | if (magnitude1 < 0){ |
DBerendsen | 0:5f4bc2d63814 | 83 | motor1DirectionPin = 1; |
DBerendsen | 0:5f4bc2d63814 | 84 | } |
DBerendsen | 0:5f4bc2d63814 | 85 | else{ |
DBerendsen | 0:5f4bc2d63814 | 86 | motor1DirectionPin = 0; |
DBerendsen | 0:5f4bc2d63814 | 87 | } |
DBerendsen | 0:5f4bc2d63814 | 88 | } |
DBerendsen | 0:5f4bc2d63814 | 89 | |
DBerendsen | 0:5f4bc2d63814 | 90 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 91 | //--------------------------------Motor2---------------------------------------- |
DBerendsen | 0:5f4bc2d63814 | 92 | //------------------------------------------------------------------------------ |
peterknoben | 1:406519ff0f17 | 93 | FastPWM motor2(D6); |
DBerendsen | 0:5f4bc2d63814 | 94 | DigitalOut motor2DirectionPin(D7); |
DBerendsen | 0:5f4bc2d63814 | 95 | DigitalIn ENC1A(D10); |
DBerendsen | 0:5f4bc2d63814 | 96 | DigitalIn ENC1B(D11); |
DBerendsen | 0:5f4bc2d63814 | 97 | Encoder encoder2(D10,D11); |
peterknoben | 1:406519ff0f17 | 98 | const float MOTOR2_KP = 60.0; |
peterknoben | 1:406519ff0f17 | 99 | const float MOTOR2_KI = 0.0; |
peterknoben | 1:406519ff0f17 | 100 | const float MOTOR2_KD = 15.0; |
DBerendsen | 0:5f4bc2d63814 | 101 | double m2_err_int = 0; |
DBerendsen | 0:5f4bc2d63814 | 102 | const double motor2_gain = 2*PI; |
peterknoben | 1:406519ff0f17 | 103 | const float M2_N = 0.5; |
peterknoben | 1:406519ff0f17 | 104 | double M2_v1 = 0.0; |
peterknoben | 1:406519ff0f17 | 105 | double M2_v2 = 0.0; |
DBerendsen | 0:5f4bc2d63814 | 106 | |
DBerendsen | 0:5f4bc2d63814 | 107 | |
DBerendsen | 0:5f4bc2d63814 | 108 | void motor2_control(){ |
peterknoben | 1:406519ff0f17 | 109 | float reference_beta = Angle.getalpha(max_rangex, max_rangey, x_offset, y_offset, alpha_offset, L1, L2, potmeter1, potmeter2); |
DBerendsen | 0:5f4bc2d63814 | 110 | float position_beta = RAD_PER_PULSE * -encoder2.getPosition(); |
DBerendsen | 0:5f4bc2d63814 | 111 | float error_beta = reference_beta-position_beta; |
peterknoben | 1:406519ff0f17 | 112 | float magnitude2 = PID.get(error_beta, MOTOR2_KP, MOTOR2_KI, MOTOR2_KD, CONTROLLER_TS, M2_N, M1_v1, M1_v2) / motor2_gain; |
DBerendsen | 0:5f4bc2d63814 | 113 | motor2 = fabs(magnitude2); |
DBerendsen | 0:5f4bc2d63814 | 114 | pc.printf("err2 = %f beta = %f mag2 = %f\r\n", error_beta, reference_beta, magnitude2); |
DBerendsen | 0:5f4bc2d63814 | 115 | pc.printf("\r\n"); |
peterknoben | 1:406519ff0f17 | 116 | //Determine Motor Direction |
DBerendsen | 0:5f4bc2d63814 | 117 | if (magnitude2 > 0){ |
DBerendsen | 0:5f4bc2d63814 | 118 | motor2DirectionPin = 1; |
DBerendsen | 0:5f4bc2d63814 | 119 | } |
DBerendsen | 0:5f4bc2d63814 | 120 | else{ |
DBerendsen | 0:5f4bc2d63814 | 121 | motor2DirectionPin = 0; |
DBerendsen | 0:5f4bc2d63814 | 122 | } |
DBerendsen | 0:5f4bc2d63814 | 123 | } |
DBerendsen | 0:5f4bc2d63814 | 124 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 125 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 126 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 127 | |
DBerendsen | 0:5f4bc2d63814 | 128 | int main(){ |
DBerendsen | 0:5f4bc2d63814 | 129 | pc.baud(115200); |
peterknoben | 1:406519ff0f17 | 130 | motor1.period(0.0001f); |
peterknoben | 1:406519ff0f17 | 131 | motor2.period(0.0001f); |
DBerendsen | 0:5f4bc2d63814 | 132 | MyControllerTicker1.attach(&motor1_control, CONTROLLER_TS); |
DBerendsen | 0:5f4bc2d63814 | 133 | MyControllerTicker2.attach(&motor2_control, CONTROLLER_TS); |
peterknoben | 1:406519ff0f17 | 134 | But1.rise(&servo_control); |
DBerendsen | 0:5f4bc2d63814 | 135 | while(1) {} |
peterknoben | 1:406519ff0f17 | 136 | } |
peterknoben | 1:406519ff0f17 | 137 | |
peterknoben | 1:406519ff0f17 | 138 |