Peter Bartels / Mbed 2 deprecated Main-script_groep7_V4

Laatste versie van ons script

Dependencies:   Encoder HIDScope MODSERIAL TextLCD mbed-dsp mbed

Fork of Main-script_groep7_V3 by Peter Bartels

main.cpp@0:2386012c6594, 2014-10-29 (annotated)

Committer:
phgbartels
Date:
Wed Oct 29 16:02:12 2014 +0000
Revision:
0:2386012c6594
Child:
1:b08ac32d1ddc
Op dit moment zitten er geen fouten in het script. De motor doet nog niets, ik vermoed dat er iets fout zit in het tellen --> ik wilde het tellen dus graag uitzetten! (in alle cases, zodat hij gelijk naar de motor springt!)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
phgbartels 0:2386012c6594 1 /********************************************/
phgbartels 0:2386012c6594 2 /* */
phgbartels 0:2386012c6594 3 /* BRONCODE GROEP 7, MODULE 9, 2014 */
phgbartels 0:2386012c6594 4 /* *-THE SLAP-* */
phgbartels 0:2386012c6594 5 /* */
phgbartels 0:2386012c6594 6 /* -Anne ten Dam */
phgbartels 0:2386012c6594 7 /* -Laura de Heus */
phgbartels 0:2386012c6594 8 /* -Moniek Strijdveen */
phgbartels 0:2386012c6594 9 /* -Bart Arendshorst */
phgbartels 0:2386012c6594 10 /* -Peter Bartels */
phgbartels 0:2386012c6594 11 /********************************************/
phgbartels 0:2386012c6594 12
phgbartels 0:2386012c6594 13 /*
phgbartels 0:2386012c6594 14 #include voor alle libraries
phgbartels 0:2386012c6594 15 */
phgbartels 0:2386012c6594 16 #include "TextLCD.h"
phgbartels 0:2386012c6594 17 #include "mbed.h"
phgbartels 0:2386012c6594 18 #include "encoder.h"
phgbartels 0:2386012c6594 19 #include "HIDScope.h"
phgbartels 0:2386012c6594 20 #include "PwmOut.h"
phgbartels 0:2386012c6594 21
phgbartels 0:2386012c6594 22 /*
phgbartels 0:2386012c6594 23 #define vaste waarden
phgbartels 0:2386012c6594 24 */
phgbartels 0:2386012c6594 25 /*definieren pinnen Motor 1*/
phgbartels 0:2386012c6594 26 #define M1_PWM PTA5
phgbartels 0:2386012c6594 27 #define M1_DIR PTA4
phgbartels 0:2386012c6594 28 #define M2_PWM PTC8
phgbartels 0:2386012c6594 29 #define M2_DIR PTC9
phgbartels 0:2386012c6594 30 /*Definieren minimale waarden PWM per motor*/
phgbartels 0:2386012c6594 31 #define PWM1_min_50 0.529 /*met koppelstuk!*/
phgbartels 0:2386012c6594 32 #define PWM2_min_30 0.529 /*aanpassen! Klopt nog niet met koppelstuk*/
phgbartels 0:2386012c6594 33 /*Definieren om de hoeveel seconden er gegevens naar de HID-scope gestuurd worden.*/
phgbartels 0:2386012c6594 34 #define TSAMP 0.005
phgbartels 0:2386012c6594 35 #define K_P (100)
phgbartels 0:2386012c6594 36 #define K_I (50 * TSAMP)
phgbartels 0:2386012c6594 37 #define K_D (1)
phgbartels 0:2386012c6594 38 //#define K_D (0.0005 /TSAMP)
phgbartels 0:2386012c6594 39 #define I_LIMIT 100.
phgbartels 0:2386012c6594 40 #define PI 3.1415926535897
phgbartels 0:2386012c6594 41 #define lengte_arm 0.5
phgbartels 0:2386012c6594 42
phgbartels 0:2386012c6594 43 /*
phgbartels 0:2386012c6594 44 Geef een naam aan een actie en vertel welke pinnen hiervoor gebruikt worden.
phgbartels 0:2386012c6594 45 */
phgbartels 0:2386012c6594 46 TextLCD lcd(PTD2, PTA12, PTB2, PTB3, PTC2, PTA13, TextLCD::LCD16x2); // rs, e, d4-d7
phgbartels 0:2386012c6594 47 Encoder motor1(PTD3,PTD1);
phgbartels 0:2386012c6594 48 Encoder motor2(PTD5, PTD0);
phgbartels 0:2386012c6594 49 PwmOut pwm_motor1(M1_PWM);
phgbartels 0:2386012c6594 50 PwmOut pwm_motor2(M2_PWM);
phgbartels 0:2386012c6594 51 DigitalOut motordir1(M1_DIR);
phgbartels 0:2386012c6594 52 DigitalOut motordir2(M2_DIR);
phgbartels 0:2386012c6594 53 DigitalOut LEDGREEN(LED_GREEN);
phgbartels 0:2386012c6594 54 DigitalOut LEDRED(LED_RED);
phgbartels 0:2386012c6594 55
phgbartels 0:2386012c6594 56 /*
phgbartels 0:2386012c6594 57 definieer namen aan var, float, int, static float, uint8_t, uint16_t etc. en geef ze eventueel een waarde
phgbartels 0:2386012c6594 58 */
phgbartels 0:2386012c6594 59 Ticker statemachine;
phgbartels 0:2386012c6594 60 Ticker screen;
phgbartels 0:2386012c6594 61 int previous_herhalingen = 0;
phgbartels 0:2386012c6594 62 int current_herhalingen;
phgbartels 0:2386012c6594 63 int PWM2_percentage = 100;
phgbartels 0:2386012c6594 64 int aantal_rotaties_1 = 10;
phgbartels 0:2386012c6594 65 int aantalcr_1 = 1600;
phgbartels 0:2386012c6594 66 int aantalcr_2 = 960;
phgbartels 0:2386012c6594 67 int beginpos_motor1;
phgbartels 0:2386012c6594 68 int beginpos_motor1_new;
phgbartels 0:2386012c6594 69 int beginpos_motor2;
phgbartels 0:2386012c6594 70 int beginpos_motor2_new;
phgbartels 0:2386012c6594 71 int previous_pos_motor1 = 0;
phgbartels 0:2386012c6594 72 int current_pos_motor1;
phgbartels 0:2386012c6594 73 int delta_pos_motor1_puls;
phgbartels 0:2386012c6594 74 void clamp(float * in, float min, float max);
phgbartels 0:2386012c6594 75 volatile bool looptimerflag;
phgbartels 0:2386012c6594 76 uint16_t gewenste_snelheid = 2;
phgbartels 0:2386012c6594 77 uint16_t gewenste_snelheid_rad = 4;
phgbartels 0:2386012c6594 78 float pid(float setpoint, float measurement);
phgbartels 0:2386012c6594 79 float pos_motor1_rad;
phgbartels 0:2386012c6594 80 float PWM1_percentage = 0;
phgbartels 0:2386012c6594 81 float delta_pos_motor1_rad;
phgbartels 0:2386012c6594 82 float snelheid_motor1_rad;
phgbartels 0:2386012c6594 83 float snelheid_arm_ms;
phgbartels 0:2386012c6594 84 float PWM1;
phgbartels 0:2386012c6594 85 float PWM2;
phgbartels 0:2386012c6594 86 float Speed_motor1;
phgbartels 0:2386012c6594 87 float Speed_motor1rad;
phgbartels 0:2386012c6594 88
phgbartels 0:2386012c6594 89 HIDScope scope(6);
phgbartels 0:2386012c6594 90
phgbartels 0:2386012c6594 91 enum state_t {RUST, ARM_KALIBRATIE, EMG_KALIBRATIE, METEN_RICHTING, METEN_HOOGTE, INSTELLEN_RICHTING, SLAAN, RETURN2RUST}; //verschillende stadia definieren voor gebruik in CASES
phgbartels 0:2386012c6594 92 state_t state = RUST;
phgbartels 0:2386012c6594 93
phgbartels 0:2386012c6594 94 //functies die vanuit de statemachinefunction aangeroepen kunnen worden
phgbartels 0:2386012c6594 95 void rust() {
phgbartels 0:2386012c6594 96 current_herhalingen = previous_herhalingen + 1; previous_herhalingen = current_herhalingen;
phgbartels 0:2386012c6594 97 }
phgbartels 0:2386012c6594 98
phgbartels 0:2386012c6594 99 void arm_kalibratie() {
phgbartels 0:2386012c6594 100 //voor nu om de loop te doorlopen wordt onderstaande code gebruikt. Nogmaal gesproken moet er gewacht worden op een 'hoog' signaal van een knop
phgbartels 0:2386012c6594 101 current_herhalingen = previous_herhalingen + 1; previous_herhalingen = current_herhalingen;
phgbartels 0:2386012c6594 102 motor1.setPosition(0);
phgbartels 0:2386012c6594 103 motor2.setPosition(0);
phgbartels 0:2386012c6594 104 pwm_motor1.period_us(100);
phgbartels 0:2386012c6594 105 pwm_motor2.period_us(100);
phgbartels 0:2386012c6594 106
phgbartels 0:2386012c6594 107 }
phgbartels 0:2386012c6594 108
phgbartels 0:2386012c6594 109 void emg_kalibratie() {
phgbartels 0:2386012c6594 110 current_herhalingen = previous_herhalingen + 1; previous_herhalingen = current_herhalingen;
phgbartels 0:2386012c6594 111 }
phgbartels 0:2386012c6594 112
phgbartels 0:2386012c6594 113 void meten_richting() {
phgbartels 0:2386012c6594 114 current_herhalingen = previous_herhalingen + 1; previous_herhalingen = current_herhalingen;
phgbartels 0:2386012c6594 115 }
phgbartels 0:2386012c6594 116
phgbartels 0:2386012c6594 117 void meten_hoogte() {
phgbartels 0:2386012c6594 118 current_herhalingen = previous_herhalingen + 1; previous_herhalingen = current_herhalingen;
phgbartels 0:2386012c6594 119 }
phgbartels 0:2386012c6594 120
phgbartels 0:2386012c6594 121 void instellen_richting() {
phgbartels 0:2386012c6594 122 current_herhalingen = previous_herhalingen + 1; previous_herhalingen = current_herhalingen;
phgbartels 0:2386012c6594 123 }
phgbartels 0:2386012c6594 124
phgbartels 0:2386012c6594 125 void slaan () {
phgbartels 0:2386012c6594 126 float setpoint;
phgbartels 0:2386012c6594 127 float prev_setpoint = 0;
phgbartels 0:2386012c6594 128 current_pos_motor1 = motor1.getPosition(); //bekijk na elke 0.005s wat de huidige 'waarde' van de encoder is
phgbartels 0:2386012c6594 129 delta_pos_motor1_puls = current_pos_motor1 - previous_pos_motor1; //Bereken wat het verschil in waarde is voor het berekenen van de snelheid(puls)
phgbartels 0:2386012c6594 130 pos_motor1_rad = current_pos_motor1/(1600/(2*PI)); //echte waarde omrekenen naar rad voor (positie) PID regelaar
phgbartels 0:2386012c6594 131 delta_pos_motor1_rad = delta_pos_motor1_puls/(1600/(2*PI)); //delta waarde omrekenen naar rad voor snelheidsbepaling (rad)
phgbartels 0:2386012c6594 132 snelheid_motor1_rad = delta_pos_motor1_rad / TSAMP; //rad delen door TSAMP om rad/s te verkrijgen
phgbartels 0:2386012c6594 133 snelheid_arm_ms = snelheid_motor1_rad * lengte_arm; //deze waarde maar lengte van de arm om de snelheid van het uiteinde van die arm te verkrijgen
phgbartels 0:2386012c6594 134 scope.set(0, snelheid_motor1_rad);
phgbartels 0:2386012c6594 135
phgbartels 0:2386012c6594 136 previous_pos_motor1 = current_pos_motor1; //sla de huidige waarde op als vorige waarde.
phgbartels 0:2386012c6594 137
phgbartels 0:2386012c6594 138 //nu gaan we positie regelen i.p.v. snelheid.
phgbartels 0:2386012c6594 139 if (current_pos_motor1 >= 400)
phgbartels 0:2386012c6594 140 {
phgbartels 0:2386012c6594 141 gewenste_snelheid_rad = 0;
phgbartels 0:2386012c6594 142 }
phgbartels 0:2386012c6594 143
phgbartels 0:2386012c6594 144 setpoint = prev_setpoint + TSAMP * gewenste_snelheid_rad;
phgbartels 0:2386012c6594 145 /*new_pwm = (setpoint - motor1.getPosition())*.001; -> P action*/
phgbartels 0:2386012c6594 146 PWM1_percentage = pid(setpoint, pos_motor1_rad);
phgbartels 0:2386012c6594 147 scope.set(1, setpoint-pos_motor1_rad);
phgbartels 0:2386012c6594 148
phgbartels 0:2386012c6594 149 if (PWM1_percentage < -100)
phgbartels 0:2386012c6594 150 {
phgbartels 0:2386012c6594 151 PWM1_percentage = -100;
phgbartels 0:2386012c6594 152 }
phgbartels 0:2386012c6594 153 else if (PWM1_percentage >100)
phgbartels 0:2386012c6594 154 {
phgbartels 0:2386012c6594 155 PWM1_percentage =100;
phgbartels 0:2386012c6594 156 }
phgbartels 0:2386012c6594 157 else {}
phgbartels 0:2386012c6594 158
phgbartels 0:2386012c6594 159 if(PWM1_percentage < 0)
phgbartels 0:2386012c6594 160 {
phgbartels 0:2386012c6594 161 motordir1 = 1;
phgbartels 0:2386012c6594 162 }
phgbartels 0:2386012c6594 163 else
phgbartels 0:2386012c6594 164 {
phgbartels 0:2386012c6594 165 motordir1 = 0;
phgbartels 0:2386012c6594 166 }
phgbartels 0:2386012c6594 167
phgbartels 0:2386012c6594 168 pwm_motor1.write(abs(((1-PWM1_min_50)/100)*PWM1_percentage + PWM1_min_50));
phgbartels 0:2386012c6594 169 scope.set(5, abs(((1-PWM1_min_50)/100)*PWM1_percentage + PWM1_min_50));
phgbartels 0:2386012c6594 170 prev_setpoint = setpoint;
phgbartels 0:2386012c6594 171 scope.send();
phgbartels 0:2386012c6594 172 }
phgbartels 0:2386012c6594 173
phgbartels 0:2386012c6594 174 float pid(float setpoint, float measurement)
phgbartels 0:2386012c6594 175 {
phgbartels 0:2386012c6594 176 float error;
phgbartels 0:2386012c6594 177 static float prev_error = 0;
phgbartels 0:2386012c6594 178 float out_p = 0;
phgbartels 0:2386012c6594 179 static float out_i = 0;
phgbartels 0:2386012c6594 180 float out_d = 0;
phgbartels 0:2386012c6594 181 error = (setpoint-measurement);
phgbartels 0:2386012c6594 182 out_p = error*K_P;
phgbartels 0:2386012c6594 183 out_i += error*K_I;
phgbartels 0:2386012c6594 184 out_d = (error-prev_error)*K_D;
phgbartels 0:2386012c6594 185 clamp(&out_i,-I_LIMIT,I_LIMIT);
phgbartels 0:2386012c6594 186 prev_error = error;
phgbartels 0:2386012c6594 187 scope.set(2, out_p);
phgbartels 0:2386012c6594 188 scope.set(3, out_i);
phgbartels 0:2386012c6594 189 scope.set(4, out_d);
phgbartels 0:2386012c6594 190 return out_p + out_i + out_d;
phgbartels 0:2386012c6594 191 }
phgbartels 0:2386012c6594 192
phgbartels 0:2386012c6594 193 void clamp(float* in, float min, float max) // "*" is een pointer (verwijst naar het adres waar een variebele instaat). Dus je slaat niet de variabele op
phgbartels 0:2386012c6594 194 // maar de locatie van de variabele.
phgbartels 0:2386012c6594 195 {
phgbartels 0:2386012c6594 196 *in > min ? /*(*/*in < max? /*niets doen*/ : *in = max/*)*/: *in = min; // a ? b : c --> als a waar is, dan doe je b, en anders c
phgbartels 0:2386012c6594 197 // *in = het getal dat staat op locatie van in --> waarde van new_pwm
phgbartels 0:2386012c6594 198 }
phgbartels 0:2386012c6594 199
phgbartels 0:2386012c6594 200 void return2rust () {
phgbartels 0:2386012c6594 201 }
phgbartels 0:2386012c6594 202
phgbartels 0:2386012c6594 203 void statemachinefunction()
phgbartels 0:2386012c6594 204 {
phgbartels 0:2386012c6594 205 switch(state) {
phgbartels 0:2386012c6594 206 case RUST: {
phgbartels 0:2386012c6594 207 rust();
phgbartels 0:2386012c6594 208 /*voorwaarde wanneer hij door kan naar de volgende case*/
phgbartels 0:2386012c6594 209 if (current_herhalingen == 200)
phgbartels 0:2386012c6594 210 {
phgbartels 0:2386012c6594 211 state = ARM_KALIBRATIE;
phgbartels 0:2386012c6594 212 current_herhalingen = 0;
phgbartels 0:2386012c6594 213 previous_herhalingen = 0;
phgbartels 0:2386012c6594 214 break;
phgbartels 0:2386012c6594 215 }
phgbartels 0:2386012c6594 216
phgbartels 0:2386012c6594 217 /*bepalen hoe je zorgt dat je maar 1x de kalibraties uitvoerd! (Of eventueel de arm kalibratie elke keer!!)*/
phgbartels 0:2386012c6594 218 //if (metingstatus<5);
phgbartels 0:2386012c6594 219 // state = ARMKALIBRATIE;
phgbartels 0:2386012c6594 220 //if (metingstatus==5);
phgbartels 0:2386012c6594 221 // state = METEN_RICHTING;
phgbartels 0:2386012c6594 222 //break;
phgbartels 0:2386012c6594 223 //}
phgbartels 0:2386012c6594 224 }
phgbartels 0:2386012c6594 225
phgbartels 0:2386012c6594 226 case ARM_KALIBRATIE:
phgbartels 0:2386012c6594 227 {
phgbartels 0:2386012c6594 228 arm_kalibratie();
phgbartels 0:2386012c6594 229 if (current_herhalingen == 200)
phgbartels 0:2386012c6594 230 {
phgbartels 0:2386012c6594 231 state = EMG_KALIBRATIE;
phgbartels 0:2386012c6594 232 current_herhalingen = 0;
phgbartels 0:2386012c6594 233 previous_herhalingen = 0;
phgbartels 0:2386012c6594 234 break;
phgbartels 0:2386012c6594 235 }
phgbartels 0:2386012c6594 236 }
phgbartels 0:2386012c6594 237
phgbartels 0:2386012c6594 238 case EMG_KALIBRATIE:
phgbartels 0:2386012c6594 239 {
phgbartels 0:2386012c6594 240 emg_kalibratie();
phgbartels 0:2386012c6594 241 if (current_herhalingen == 200)
phgbartels 0:2386012c6594 242 {
phgbartels 0:2386012c6594 243 state = METEN_RICHTING;
phgbartels 0:2386012c6594 244 current_herhalingen = 0;
phgbartels 0:2386012c6594 245 previous_herhalingen = 0;
phgbartels 0:2386012c6594 246 break;
phgbartels 0:2386012c6594 247 }
phgbartels 0:2386012c6594 248 }
phgbartels 0:2386012c6594 249
phgbartels 0:2386012c6594 250 case METEN_RICHTING:
phgbartels 0:2386012c6594 251 {
phgbartels 0:2386012c6594 252 meten_richting();
phgbartels 0:2386012c6594 253 if (current_herhalingen == 200)
phgbartels 0:2386012c6594 254 {
phgbartels 0:2386012c6594 255 state = METEN_HOOGTE;
phgbartels 0:2386012c6594 256 current_herhalingen = 0;
phgbartels 0:2386012c6594 257 previous_herhalingen = 0;
phgbartels 0:2386012c6594 258 break;
phgbartels 0:2386012c6594 259 }
phgbartels 0:2386012c6594 260 }
phgbartels 0:2386012c6594 261
phgbartels 0:2386012c6594 262 case METEN_HOOGTE:
phgbartels 0:2386012c6594 263 {
phgbartels 0:2386012c6594 264 meten_hoogte();
phgbartels 0:2386012c6594 265 if (current_herhalingen == 200)
phgbartels 0:2386012c6594 266 {
phgbartels 0:2386012c6594 267 state = INSTELLEN_RICHTING;
phgbartels 0:2386012c6594 268 current_herhalingen = 0;
phgbartels 0:2386012c6594 269 previous_herhalingen = 0;
phgbartels 0:2386012c6594 270 break;
phgbartels 0:2386012c6594 271 }
phgbartels 0:2386012c6594 272 }
phgbartels 0:2386012c6594 273
phgbartels 0:2386012c6594 274 case INSTELLEN_RICHTING:
phgbartels 0:2386012c6594 275 {
phgbartels 0:2386012c6594 276 instellen_richting();
phgbartels 0:2386012c6594 277 if (current_herhalingen == 200)
phgbartels 0:2386012c6594 278 {
phgbartels 0:2386012c6594 279 state = SLAAN;
phgbartels 0:2386012c6594 280 current_herhalingen = 0;
phgbartels 0:2386012c6594 281 previous_herhalingen = 0;
phgbartels 0:2386012c6594 282 break;
phgbartels 0:2386012c6594 283 }
phgbartels 0:2386012c6594 284 }
phgbartels 0:2386012c6594 285
phgbartels 0:2386012c6594 286 case SLAAN:
phgbartels 0:2386012c6594 287 {
phgbartels 0:2386012c6594 288 slaan();
phgbartels 0:2386012c6594 289 if (current_herhalingen == 200)
phgbartels 0:2386012c6594 290 {
phgbartels 0:2386012c6594 291 state = RETURN2RUST;
phgbartels 0:2386012c6594 292 current_herhalingen = 0;
phgbartels 0:2386012c6594 293 previous_herhalingen = 0;
phgbartels 0:2386012c6594 294 break;
phgbartels 0:2386012c6594 295 }
phgbartels 0:2386012c6594 296 }
phgbartels 0:2386012c6594 297
phgbartels 0:2386012c6594 298 case RETURN2RUST:
phgbartels 0:2386012c6594 299 {
phgbartels 0:2386012c6594 300 return2rust();
phgbartels 0:2386012c6594 301 if (current_herhalingen == 200)
phgbartels 0:2386012c6594 302 {
phgbartels 0:2386012c6594 303 state = RUST;
phgbartels 0:2386012c6594 304 current_herhalingen = 0;
phgbartels 0:2386012c6594 305 previous_herhalingen = 0;
phgbartels 0:2386012c6594 306 break;
phgbartels 0:2386012c6594 307 }
phgbartels 0:2386012c6594 308 }
phgbartels 0:2386012c6594 309
phgbartels 0:2386012c6594 310 default: {
phgbartels 0:2386012c6594 311 state = RUST;
phgbartels 0:2386012c6594 312 }
phgbartels 0:2386012c6594 313
phgbartels 0:2386012c6594 314 }//switch(state)
phgbartels 0:2386012c6594 315 }//void statemachinefunction
phgbartels 0:2386012c6594 316
phgbartels 0:2386012c6594 317
phgbartels 0:2386012c6594 318 void screenupdate(){
phgbartels 0:2386012c6594 319 if(state==RUST){
phgbartels 0:2386012c6594 320 lcd.cls();
phgbartels 0:2386012c6594 321 lcd.locate(0,0);
phgbartels 0:2386012c6594 322 lcd.printf("S.T.I.E.N.E.N."); //regel 1 LCD scherm
phgbartels 0:2386012c6594 323 lcd.locate(0,1);
phgbartels 0:2386012c6594 324 lcd.printf(" GROEP 7 ");
phgbartels 0:2386012c6594 325 }
phgbartels 0:2386012c6594 326 else{
phgbartels 0:2386012c6594 327 lcd.cls();
phgbartels 0:2386012c6594 328 lcd.printf("state %d", state); //hier nog aan toevoegen hoe je de 'waarde', dus eigenlijk tekst, die opgeslagen staat in state kan printen.
phgbartels 0:2386012c6594 329 }
phgbartels 0:2386012c6594 330 }
phgbartels 0:2386012c6594 331
phgbartels 0:2386012c6594 332 int main() {
phgbartels 0:2386012c6594 333 statemachine.attach(&statemachinefunction, 0.005); // the address of the function to be attached (flip) and the interval (2 seconds)
phgbartels 0:2386012c6594 334 screen.attach(&screenupdate, 0.2);
phgbartels 0:2386012c6594 335 }