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Dependencies: AnglePosition2 Encoder FastPWM MODSERIAL Movement PIDController Servo SignalNumber2 biquadFilter mbed
Fork of kinematics_controlv2 by
main.cpp@0:5f4bc2d63814, 2017-10-19 (annotated)
- Committer:
- DBerendsen
- Date:
- Thu Oct 19 19:42:08 2017 +0000
- Revision:
- 0:5f4bc2d63814
- Child:
- 1:406519ff0f17
1st Revision of clean control code for project biorobotics
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DBerendsen | 0:5f4bc2d63814 | 1 | #include "mbed.h" |
DBerendsen | 0:5f4bc2d63814 | 2 | #include "encoder.h" |
DBerendsen | 0:5f4bc2d63814 | 3 | #include "Servo.h" |
DBerendsen | 0:5f4bc2d63814 | 4 | #include "MODSERIAL.h" |
DBerendsen | 0:5f4bc2d63814 | 5 | |
DBerendsen | 0:5f4bc2d63814 | 6 | |
DBerendsen | 0:5f4bc2d63814 | 7 | |
DBerendsen | 0:5f4bc2d63814 | 8 | |
DBerendsen | 0:5f4bc2d63814 | 9 | |
DBerendsen | 0:5f4bc2d63814 | 10 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 11 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 12 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 13 | MODSERIAL pc(USBTX, USBRX); |
DBerendsen | 0:5f4bc2d63814 | 14 | Ticker MyControllerTicker1; |
DBerendsen | 0:5f4bc2d63814 | 15 | Ticker MyControllerTicker2; |
DBerendsen | 0:5f4bc2d63814 | 16 | const double RAD_PER_PULSE = 0.00074799825*2; |
DBerendsen | 0:5f4bc2d63814 | 17 | const float CONTROLLER_TS = 0.5; |
DBerendsen | 0:5f4bc2d63814 | 18 | const double PI = 3.14159265358979323846; |
DBerendsen | 0:5f4bc2d63814 | 19 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 20 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 21 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 22 | |
DBerendsen | 0:5f4bc2d63814 | 23 | |
DBerendsen | 0:5f4bc2d63814 | 24 | |
DBerendsen | 0:5f4bc2d63814 | 25 | |
DBerendsen | 0:5f4bc2d63814 | 26 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 27 | //--------------------------------Servo----------------------------------------- |
DBerendsen | 0:5f4bc2d63814 | 28 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 29 | Servo MyServo(D9); |
DBerendsen | 0:5f4bc2d63814 | 30 | InterruptIn But1(D8); |
DBerendsen | 0:5f4bc2d63814 | 31 | int k=0; |
DBerendsen | 0:5f4bc2d63814 | 32 | |
DBerendsen | 0:5f4bc2d63814 | 33 | void servo_control (){ |
DBerendsen | 0:5f4bc2d63814 | 34 | if (k==0){ |
DBerendsen | 0:5f4bc2d63814 | 35 | MyServo = 0; |
DBerendsen | 0:5f4bc2d63814 | 36 | k=1; |
DBerendsen | 0:5f4bc2d63814 | 37 | } |
DBerendsen | 0:5f4bc2d63814 | 38 | else{ |
DBerendsen | 0:5f4bc2d63814 | 39 | MyServo = 2; |
DBerendsen | 0:5f4bc2d63814 | 40 | k=0; |
DBerendsen | 0:5f4bc2d63814 | 41 | } |
DBerendsen | 0:5f4bc2d63814 | 42 | } |
DBerendsen | 0:5f4bc2d63814 | 43 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 44 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 45 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 46 | |
DBerendsen | 0:5f4bc2d63814 | 47 | |
DBerendsen | 0:5f4bc2d63814 | 48 | |
DBerendsen | 0:5f4bc2d63814 | 49 | |
DBerendsen | 0:5f4bc2d63814 | 50 | |
DBerendsen | 0:5f4bc2d63814 | 51 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 52 | //-------------------------------Kinematics------------------------------------- |
DBerendsen | 0:5f4bc2d63814 | 53 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 54 | AnalogIn potmeter1(A3); |
DBerendsen | 0:5f4bc2d63814 | 55 | AnalogIn potmeter2(A4); |
DBerendsen | 0:5f4bc2d63814 | 56 | const float max_rangex = 300.0; |
DBerendsen | 0:5f4bc2d63814 | 57 | const float max_rangey = 300.0; |
DBerendsen | 0:5f4bc2d63814 | 58 | const float x_offset = 156.15; |
DBerendsen | 0:5f4bc2d63814 | 59 | const float y_offset = -76.97; |
DBerendsen | 0:5f4bc2d63814 | 60 | const float alpha_offset = -(21.52/180)*PI; |
DBerendsen | 0:5f4bc2d63814 | 61 | const float beta_offset = 0.0; |
DBerendsen | 0:5f4bc2d63814 | 62 | const float L1 = 450.0; |
DBerendsen | 0:5f4bc2d63814 | 63 | const float L2 = 490.0; |
DBerendsen | 0:5f4bc2d63814 | 64 | |
DBerendsen | 0:5f4bc2d63814 | 65 | float gettargetposition(double potmeter, int max_range){ |
DBerendsen | 0:5f4bc2d63814 | 66 | float target = potmeter * max_range; |
DBerendsen | 0:5f4bc2d63814 | 67 | return target; |
DBerendsen | 0:5f4bc2d63814 | 68 | } |
DBerendsen | 0:5f4bc2d63814 | 69 | |
DBerendsen | 0:5f4bc2d63814 | 70 | float getreferenceposition(float target, float offset) { |
DBerendsen | 0:5f4bc2d63814 | 71 | float referenceposition = target + offset; |
DBerendsen | 0:5f4bc2d63814 | 72 | return referenceposition; |
DBerendsen | 0:5f4bc2d63814 | 73 | } |
DBerendsen | 0:5f4bc2d63814 | 74 | |
DBerendsen | 0:5f4bc2d63814 | 75 | float getreferencealpha(float max_rangex, float maxrangey, float x_offset, float y_offset, float alpha_offset, float L1, float L2) { |
DBerendsen | 0:5f4bc2d63814 | 76 | float x_target = gettargetposition(potmeter1, max_rangex); |
DBerendsen | 0:5f4bc2d63814 | 77 | float y_target = gettargetposition(potmeter2, max_rangey); |
DBerendsen | 0:5f4bc2d63814 | 78 | float x = getreferenceposition(x_target, x_offset); |
DBerendsen | 0:5f4bc2d63814 | 79 | float y = getreferenceposition(y_target, y_offset); |
DBerendsen | 0:5f4bc2d63814 | 80 | float alpha_ = (0.5*PI) - atan(y/x) - acos( ( (L1*L1) - (L2*L2) + (x*x) + (y*y) ) / (2*L1*sqrt( (x*x) +(y*y) ) )); |
DBerendsen | 0:5f4bc2d63814 | 81 | float alpha = alpha_ + alpha_offset; |
DBerendsen | 0:5f4bc2d63814 | 82 | return alpha; |
DBerendsen | 0:5f4bc2d63814 | 83 | } |
DBerendsen | 0:5f4bc2d63814 | 84 | |
DBerendsen | 0:5f4bc2d63814 | 85 | float getreferencebeta(float max_rangex, float maxrangey, float x_offset, float y_offset, float beta_offset, float L1, float L2) { |
DBerendsen | 0:5f4bc2d63814 | 86 | float x_target = gettargetposition(potmeter1, max_rangex); |
DBerendsen | 0:5f4bc2d63814 | 87 | float y_target = gettargetposition(potmeter2, max_rangey); |
DBerendsen | 0:5f4bc2d63814 | 88 | float x = getreferenceposition(x_target, x_offset); |
DBerendsen | 0:5f4bc2d63814 | 89 | float y = getreferenceposition(y_target, y_offset); |
DBerendsen | 0:5f4bc2d63814 | 90 | float alpha_ = (0.5*PI) - atan(y/x) - acos( ( (L1*L1) - (L2*L2) + (x*x) + (y*y) ) / (2*L1*sqrt( (x*x) +(y*y) ) )); |
DBerendsen | 0:5f4bc2d63814 | 91 | float beta = acos( ((L1*L1) + (L2*L2) - (x*x) - (y*y)) / (2*L1*L2)) - alpha_ + beta_offset; |
DBerendsen | 0:5f4bc2d63814 | 92 | return beta; |
DBerendsen | 0:5f4bc2d63814 | 93 | } |
DBerendsen | 0:5f4bc2d63814 | 94 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 95 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 96 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 97 | |
DBerendsen | 0:5f4bc2d63814 | 98 | |
DBerendsen | 0:5f4bc2d63814 | 99 | |
DBerendsen | 0:5f4bc2d63814 | 100 | |
DBerendsen | 0:5f4bc2d63814 | 101 | |
DBerendsen | 0:5f4bc2d63814 | 102 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 103 | //------------------------------PI_Controller----------------------------------- |
DBerendsen | 0:5f4bc2d63814 | 104 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 105 | float PI_controller(float error, const float Kp, const float Ki, float Ts, double &e_int) { |
DBerendsen | 0:5f4bc2d63814 | 106 | e_int += Ts * error; |
DBerendsen | 0:5f4bc2d63814 | 107 | return Kp * error + Ki * e_int ; |
DBerendsen | 0:5f4bc2d63814 | 108 | } |
DBerendsen | 0:5f4bc2d63814 | 109 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 110 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 111 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 112 | |
DBerendsen | 0:5f4bc2d63814 | 113 | |
DBerendsen | 0:5f4bc2d63814 | 114 | |
DBerendsen | 0:5f4bc2d63814 | 115 | |
DBerendsen | 0:5f4bc2d63814 | 116 | |
DBerendsen | 0:5f4bc2d63814 | 117 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 118 | //--------------------------------Motor1---------------------------------------- |
DBerendsen | 0:5f4bc2d63814 | 119 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 120 | PwmOut motor1(D5); |
DBerendsen | 0:5f4bc2d63814 | 121 | DigitalOut motor1DirectionPin(D4); |
DBerendsen | 0:5f4bc2d63814 | 122 | DigitalIn ENC2A(D12); |
DBerendsen | 0:5f4bc2d63814 | 123 | DigitalIn ENC2B(D13); |
DBerendsen | 0:5f4bc2d63814 | 124 | Encoder encoder1(D13,D12); |
DBerendsen | 0:5f4bc2d63814 | 125 | const float MOTOR1_KP = 20.0; |
DBerendsen | 0:5f4bc2d63814 | 126 | const float MOTOR1_KI = 10.0; |
DBerendsen | 0:5f4bc2d63814 | 127 | double m1_err_int = 0; |
DBerendsen | 0:5f4bc2d63814 | 128 | const double motor1_gain = 2*PI; |
DBerendsen | 0:5f4bc2d63814 | 129 | |
DBerendsen | 0:5f4bc2d63814 | 130 | |
DBerendsen | 0:5f4bc2d63814 | 131 | void motor1_control(){ |
DBerendsen | 0:5f4bc2d63814 | 132 | float reference_alpha = getreferencebeta(max_rangex, max_rangey, x_offset, y_offset, beta_offset, L1, L2); |
DBerendsen | 0:5f4bc2d63814 | 133 | float position_alpha = RAD_PER_PULSE * encoder1.getPosition(); |
DBerendsen | 0:5f4bc2d63814 | 134 | float error_alpha = reference_alpha-position_alpha; |
DBerendsen | 0:5f4bc2d63814 | 135 | float magnitude1 = PI_controller(error_alpha, MOTOR1_KP, MOTOR1_KI, CONTROLLER_TS, m1_err_int)/ motor1_gain; |
DBerendsen | 0:5f4bc2d63814 | 136 | motor1 = fabs(magnitude1); |
DBerendsen | 0:5f4bc2d63814 | 137 | pc.printf("err_a = %f alpha = %f mag1 = %f\r\n", error_alpha, reference_alpha, magnitude1); |
DBerendsen | 0:5f4bc2d63814 | 138 | pc.printf("\r\n"); |
DBerendsen | 0:5f4bc2d63814 | 139 | |
DBerendsen | 0:5f4bc2d63814 | 140 | |
DBerendsen | 0:5f4bc2d63814 | 141 | if (magnitude1 < 0){ |
DBerendsen | 0:5f4bc2d63814 | 142 | motor1DirectionPin = 1; |
DBerendsen | 0:5f4bc2d63814 | 143 | } |
DBerendsen | 0:5f4bc2d63814 | 144 | else{ |
DBerendsen | 0:5f4bc2d63814 | 145 | motor1DirectionPin = 0; |
DBerendsen | 0:5f4bc2d63814 | 146 | } |
DBerendsen | 0:5f4bc2d63814 | 147 | } |
DBerendsen | 0:5f4bc2d63814 | 148 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 149 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 150 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 151 | |
DBerendsen | 0:5f4bc2d63814 | 152 | |
DBerendsen | 0:5f4bc2d63814 | 153 | |
DBerendsen | 0:5f4bc2d63814 | 154 | |
DBerendsen | 0:5f4bc2d63814 | 155 | |
DBerendsen | 0:5f4bc2d63814 | 156 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 157 | //--------------------------------Motor2---------------------------------------- |
DBerendsen | 0:5f4bc2d63814 | 158 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 159 | PwmOut motor2(D6); |
DBerendsen | 0:5f4bc2d63814 | 160 | DigitalOut motor2DirectionPin(D7); |
DBerendsen | 0:5f4bc2d63814 | 161 | DigitalIn ENC1A(D10); |
DBerendsen | 0:5f4bc2d63814 | 162 | DigitalIn ENC1B(D11); |
DBerendsen | 0:5f4bc2d63814 | 163 | Encoder encoder2(D10,D11); |
DBerendsen | 0:5f4bc2d63814 | 164 | const float MOTOR2_KP = 20.0; |
DBerendsen | 0:5f4bc2d63814 | 165 | const float MOTOR2_KI = 10.0; |
DBerendsen | 0:5f4bc2d63814 | 166 | double m2_err_int = 0; |
DBerendsen | 0:5f4bc2d63814 | 167 | const double motor2_gain = 2*PI; |
DBerendsen | 0:5f4bc2d63814 | 168 | |
DBerendsen | 0:5f4bc2d63814 | 169 | |
DBerendsen | 0:5f4bc2d63814 | 170 | void motor2_control(){ |
DBerendsen | 0:5f4bc2d63814 | 171 | float reference_beta = getreferencealpha(max_rangex, max_rangey, x_offset, y_offset, alpha_offset, L1, L2); |
DBerendsen | 0:5f4bc2d63814 | 172 | float position_beta = RAD_PER_PULSE * -encoder2.getPosition(); |
DBerendsen | 0:5f4bc2d63814 | 173 | float error_beta = reference_beta-position_beta; |
DBerendsen | 0:5f4bc2d63814 | 174 | float magnitude2 = PI_controller(error_beta, MOTOR2_KP, MOTOR2_KI, CONTROLLER_TS, m2_err_int)/ motor2_gain; |
DBerendsen | 0:5f4bc2d63814 | 175 | motor2 = fabs(magnitude2); |
DBerendsen | 0:5f4bc2d63814 | 176 | pc.printf("err2 = %f beta = %f mag2 = %f\r\n", error_beta, reference_beta, magnitude2); |
DBerendsen | 0:5f4bc2d63814 | 177 | pc.printf("\r\n"); |
DBerendsen | 0:5f4bc2d63814 | 178 | |
DBerendsen | 0:5f4bc2d63814 | 179 | if (magnitude2 > 0){ |
DBerendsen | 0:5f4bc2d63814 | 180 | motor2DirectionPin = 1; |
DBerendsen | 0:5f4bc2d63814 | 181 | } |
DBerendsen | 0:5f4bc2d63814 | 182 | else{ |
DBerendsen | 0:5f4bc2d63814 | 183 | motor2DirectionPin = 0; |
DBerendsen | 0:5f4bc2d63814 | 184 | } |
DBerendsen | 0:5f4bc2d63814 | 185 | } |
DBerendsen | 0:5f4bc2d63814 | 186 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 187 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 188 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 189 | |
DBerendsen | 0:5f4bc2d63814 | 190 | |
DBerendsen | 0:5f4bc2d63814 | 191 | |
DBerendsen | 0:5f4bc2d63814 | 192 | |
DBerendsen | 0:5f4bc2d63814 | 193 | |
DBerendsen | 0:5f4bc2d63814 | 194 | int main(){ |
DBerendsen | 0:5f4bc2d63814 | 195 | pc.baud(115200); |
DBerendsen | 0:5f4bc2d63814 | 196 | motor1.period(0.0002f); |
DBerendsen | 0:5f4bc2d63814 | 197 | motor2.period(0.0002f); |
DBerendsen | 0:5f4bc2d63814 | 198 | MyControllerTicker1.attach(&motor1_control, CONTROLLER_TS); |
DBerendsen | 0:5f4bc2d63814 | 199 | MyControllerTicker2.attach(&motor2_control, CONTROLLER_TS); |
DBerendsen | 0:5f4bc2d63814 | 200 | But1.rise(&servo_control); |
DBerendsen | 0:5f4bc2d63814 | 201 | |
DBerendsen | 0:5f4bc2d63814 | 202 | |
DBerendsen | 0:5f4bc2d63814 | 203 | |
DBerendsen | 0:5f4bc2d63814 | 204 | |
DBerendsen | 0:5f4bc2d63814 | 205 | |
DBerendsen | 0:5f4bc2d63814 | 206 | while(1) {} |
DBerendsen | 0:5f4bc2d63814 | 207 | } |