Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

src/motor.cpp@45:0db0fc9f77b1, 2013-12-01 (annotated)

Committer:
alexc89
Date:
Sun Dec 01 07:23:22 2013 +0000
Revision:
45:0db0fc9f77b1
Parent:
44:3566c5699ba6
Child:
49:3aaa790800ad
Pos and Velocity Control Checked.   Phase detection and control structure implemented and checked.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
calamaridudeman 23:112c0be5a7f3 1 #include "mbed.h"
calamaridudeman 23:112c0be5a7f3 2 #include "include/motor.hpp"
calamaridudeman 23:112c0be5a7f3 3
calamaridudeman 37:bf257a0154db 4 Motor::Motor(PinName aPin, PinName fPin, PinName bPin, PinName pwmPin, QEI &enc):aIn(aPin),Forward(fPin),Backward(bPin),pwmOut(pwmPin),encoder(enc){
calamaridudeman 37:bf257a0154db 5 //15,17,18,21,qei25,26 and 16,19,20,22,qei23,24
calamaridudeman 43:68faf056ed5c 6 freq =.0005;
calamaridudeman 43:68faf056ed5c 7 speed=0;
calamaridudeman 23:112c0be5a7f3 8 voltage = 12.0;
calamaridudeman 23:112c0be5a7f3 9 mode=0;
calamaridudeman 23:112c0be5a7f3 10
calamaridudeman 44:3566c5699ba6 11 pos=0;
calamaridudeman 44:3566c5699ba6 12
calamaridudeman 23:112c0be5a7f3 13 kp=3;
calamaridudeman 23:112c0be5a7f3 14 kd=0.04;
calamaridudeman 23:112c0be5a7f3 15
calamaridudeman 43:68faf056ed5c 16 pwmOut.period_us(100);
calamaridudeman 23:112c0be5a7f3 17 }
calamaridudeman 23:112c0be5a7f3 18
calamaridudeman 23:112c0be5a7f3 19 void Motor::start(){
calamaridudeman 23:112c0be5a7f3 20 t.attach(this, &Motor::Control, freq);
calamaridudeman 23:112c0be5a7f3 21 }
calamaridudeman 23:112c0be5a7f3 22
calamaridudeman 23:112c0be5a7f3 23 void Motor::stop(){
calamaridudeman 23:112c0be5a7f3 24 t.detach();
calamaridudeman 23:112c0be5a7f3 25 pwmOut.write(0);
calamaridudeman 37:bf257a0154db 26 dAngle=0;
calamaridudeman 37:bf257a0154db 27 dAngularVelocity=0;
calamaridudeman 23:112c0be5a7f3 28 }
calamaridudeman 23:112c0be5a7f3 29
calamaridudeman 23:112c0be5a7f3 30 void Motor::zero(){
calamaridudeman 23:112c0be5a7f3 31 encoder.reset();
calamaridudeman 23:112c0be5a7f3 32 }
calamaridudeman 23:112c0be5a7f3 33
calamaridudeman 23:112c0be5a7f3 34 void Motor::Control(){
calamaridudeman 23:112c0be5a7f3 35 float preAngle=angle; // Storing the angle in the previous time step
calamaridudeman 23:112c0be5a7f3 36 angle = encoder.getPulses()/1200.0*6.283; // Updating new motor angle
calamaridudeman 23:112c0be5a7f3 37 speed =Motor::filterLowPass(speed,(angle-preAngle)/freq, .2); // Updating new motor angular vel
calamaridudeman 23:112c0be5a7f3 38 float mCurrent = getCurrent();
calamaridudeman 43:68faf056ed5c 39 //pc.printf("current: %f speed: %f\n", mCurrent, speed);
calamaridudeman 23:112c0be5a7f3 40
calamaridudeman 44:3566c5699ba6 41 float dCurrent=0;
calamaridudeman 23:112c0be5a7f3 42 switch(mode){
alexc89 45:0db0fc9f77b1 43 default:{
calamaridudeman 44:3566c5699ba6 44 //dCurrent = kp*(dAngle-angle)+kd*(dAngularVelocity-speed);
calamaridudeman 44:3566c5699ba6 45 dCurrent = dTorque/3.27;
calamaridudeman 44:3566c5699ba6 46 break;
calamaridudeman 44:3566c5699ba6 47 }
alexc89 45:0db0fc9f77b1 48 case 1:{//Positional Control
calamaridudeman 23:112c0be5a7f3 49 dCurrent = kp*(dAngle-angle);
calamaridudeman 44:3566c5699ba6 50 break;
calamaridudeman 44:3566c5699ba6 51 }
alexc89 45:0db0fc9f77b1 52 case 2:{//Velocity Control
alexc89 45:0db0fc9f77b1 53 dCurrent = kp*(dAngularVelocity-speed);
calamaridudeman 44:3566c5699ba6 54 break;
calamaridudeman 44:3566c5699ba6 55 }
alexc89 45:0db0fc9f77b1 56 case 3:{ //Torque Control
calamaridudeman 43:68faf056ed5c 57 dCurrent = dTorque/3.27;
calamaridudeman 44:3566c5699ba6 58 break;
calamaridudeman 44:3566c5699ba6 59 }
calamaridudeman 23:112c0be5a7f3 60 }
calamaridudeman 43:68faf056ed5c 61
calamaridudeman 23:112c0be5a7f3 62
calamaridudeman 23:112c0be5a7f3 63 float duty=0;
calamaridudeman 23:112c0be5a7f3 64 if (dCurrent>0){
calamaridudeman 23:112c0be5a7f3 65 Forward=1;
calamaridudeman 23:112c0be5a7f3 66 Backward=0;
calamaridudeman 23:112c0be5a7f3 67 duty= (abs(dCurrent)*3.27+0.174*speed+10*(abs(dCurrent)-mCurrent))/voltage;
calamaridudeman 23:112c0be5a7f3 68 }else if (dCurrent<0){
calamaridudeman 23:112c0be5a7f3 69 Forward=0;
calamaridudeman 23:112c0be5a7f3 70 Backward=1;
calamaridudeman 23:112c0be5a7f3 71 duty= (abs(dCurrent)*3.27-0.174*speed+10*(abs(dCurrent)-mCurrent))/voltage;
calamaridudeman 23:112c0be5a7f3 72 }
calamaridudeman 23:112c0be5a7f3 73
calamaridudeman 23:112c0be5a7f3 74 if (duty>0.99){
calamaridudeman 23:112c0be5a7f3 75 duty =1;
calamaridudeman 23:112c0be5a7f3 76 }
calamaridudeman 43:68faf056ed5c 77 pwmOut.period_us(100);
calamaridudeman 43:68faf056ed5c 78 pwmOut.write(duty);
calamaridudeman 23:112c0be5a7f3 79 }
calamaridudeman 23:112c0be5a7f3 80
calamaridudeman 23:112c0be5a7f3 81 float Motor::getCurrent()
calamaridudeman 23:112c0be5a7f3 82 {
calamaridudeman 43:68faf056ed5c 83 return (1/.140)*3.3 * aIn.read();
calamaridudeman 23:112c0be5a7f3 84 }
calamaridudeman 23:112c0be5a7f3 85
calamaridudeman 37:bf257a0154db 86 int Motor::getPos()
calamaridudeman 23:112c0be5a7f3 87 {
calamaridudeman 23:112c0be5a7f3 88 return encoder.getPulses();
calamaridudeman 23:112c0be5a7f3 89 }
calamaridudeman 23:112c0be5a7f3 90
calamaridudeman 23:112c0be5a7f3 91 float Motor::filterLowPass(float old, float currentIn, float alphar){
calamaridudeman 23:112c0be5a7f3 92 return (old+alphar*(currentIn-old));
calamaridudeman 23:112c0be5a7f3 93 }
calamaridudeman 23:112c0be5a7f3 94
calamaridudeman 23:112c0be5a7f3 95 void Motor::setTorque(float t){
calamaridudeman 43:68faf056ed5c 96 mode = 3;
calamaridudeman 23:112c0be5a7f3 97 dTorque = t;
calamaridudeman 23:112c0be5a7f3 98 }
calamaridudeman 23:112c0be5a7f3 99
calamaridudeman 23:112c0be5a7f3 100 void Motor::setPos(float pos){
alexc89 45:0db0fc9f77b1 101 mode = 1;
calamaridudeman 23:112c0be5a7f3 102 dAngle=pos;
calamaridudeman 43:68faf056ed5c 103 dAngularVelocity = 0;
calamaridudeman 23:112c0be5a7f3 104 }
calamaridudeman 23:112c0be5a7f3 105
calamaridudeman 23:112c0be5a7f3 106 void Motor::setVel(float vel){
calamaridudeman 23:112c0be5a7f3 107 mode = 2;
calamaridudeman 23:112c0be5a7f3 108 dAngularVelocity = vel;
calamaridudeman 23:112c0be5a7f3 109 }
calamaridudeman 23:112c0be5a7f3 110
calamaridudeman 23:112c0be5a7f3 111 void Motor::setPosVel(float pos, float vel){
calamaridudeman 43:68faf056ed5c 112 mode = -1;
calamaridudeman 23:112c0be5a7f3 113 dAngle = pos;
calamaridudeman 23:112c0be5a7f3 114 dAngularVelocity = vel;
calamaridudeman 23:112c0be5a7f3 115 }