Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

src/motor.cpp@49:3aaa790800ad, 2013-12-01 (annotated)

Committer:
sherryxy
Date:
Sun Dec 01 23:43:58 2013 +0000
Revision:
49:3aaa790800ad
Parent:
45:0db0fc9f77b1
Child:
50:510ce69c2a10
trying to get calibration working

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
sherryxy 49:3aaa790800ad 23 void Motor::calibAngle(float ang){
sherryxy 49:3aaa790800ad 24 encoder.calibPulse((int)ang*1200/6.283);
sherryxy 49:3aaa790800ad 25 }
sherryxy 49:3aaa790800ad 26
calamaridudeman 23:112c0be5a7f3 27 void Motor::stop(){
calamaridudeman 23:112c0be5a7f3 28 t.detach();
calamaridudeman 23:112c0be5a7f3 29 pwmOut.write(0);
calamaridudeman 37:bf257a0154db 30 dAngle=0;
calamaridudeman 37:bf257a0154db 31 dAngularVelocity=0;
calamaridudeman 23:112c0be5a7f3 32 }
calamaridudeman 23:112c0be5a7f3 33
calamaridudeman 23:112c0be5a7f3 34 void Motor::zero(){
calamaridudeman 23:112c0be5a7f3 35 encoder.reset();
calamaridudeman 23:112c0be5a7f3 36 }
calamaridudeman 23:112c0be5a7f3 37
sherryxy 49:3aaa790800ad 38 float Motor::getAngle(){
sherryxy 49:3aaa790800ad 39 return encoder.getPulses()/1200.0*6.283;
sherryxy 49:3aaa790800ad 40 }
sherryxy 49:3aaa790800ad 41
calamaridudeman 23:112c0be5a7f3 42 void Motor::Control(){
calamaridudeman 23:112c0be5a7f3 43 float preAngle=angle; // Storing the angle in the previous time step
calamaridudeman 23:112c0be5a7f3 44 angle = encoder.getPulses()/1200.0*6.283; // Updating new motor angle
calamaridudeman 23:112c0be5a7f3 45 speed =Motor::filterLowPass(speed,(angle-preAngle)/freq, .2); // Updating new motor angular vel
calamaridudeman 23:112c0be5a7f3 46 float mCurrent = getCurrent();
calamaridudeman 43:68faf056ed5c 47 //pc.printf("current: %f speed: %f\n", mCurrent, speed);
calamaridudeman 23:112c0be5a7f3 48
calamaridudeman 44:3566c5699ba6 49 float dCurrent=0;
calamaridudeman 23:112c0be5a7f3 50 switch(mode){
alexc89 45:0db0fc9f77b1 51 default:{
calamaridudeman 44:3566c5699ba6 52 //dCurrent = kp*(dAngle-angle)+kd*(dAngularVelocity-speed);
calamaridudeman 44:3566c5699ba6 53 dCurrent = dTorque/3.27;
calamaridudeman 44:3566c5699ba6 54 break;
calamaridudeman 44:3566c5699ba6 55 }
alexc89 45:0db0fc9f77b1 56 case 1:{//Positional Control
calamaridudeman 23:112c0be5a7f3 57 dCurrent = kp*(dAngle-angle);
calamaridudeman 44:3566c5699ba6 58 break;
calamaridudeman 44:3566c5699ba6 59 }
alexc89 45:0db0fc9f77b1 60 case 2:{//Velocity Control
alexc89 45:0db0fc9f77b1 61 dCurrent = kp*(dAngularVelocity-speed);
calamaridudeman 44:3566c5699ba6 62 break;
calamaridudeman 44:3566c5699ba6 63 }
alexc89 45:0db0fc9f77b1 64 case 3:{ //Torque Control
calamaridudeman 43:68faf056ed5c 65 dCurrent = dTorque/3.27;
calamaridudeman 44:3566c5699ba6 66 break;
calamaridudeman 44:3566c5699ba6 67 }
calamaridudeman 23:112c0be5a7f3 68 }
calamaridudeman 43:68faf056ed5c 69
calamaridudeman 23:112c0be5a7f3 70
calamaridudeman 23:112c0be5a7f3 71 float duty=0;
calamaridudeman 23:112c0be5a7f3 72 if (dCurrent>0){
calamaridudeman 23:112c0be5a7f3 73 Forward=1;
calamaridudeman 23:112c0be5a7f3 74 Backward=0;
calamaridudeman 23:112c0be5a7f3 75 duty= (abs(dCurrent)*3.27+0.174*speed+10*(abs(dCurrent)-mCurrent))/voltage;
calamaridudeman 23:112c0be5a7f3 76 }else if (dCurrent<0){
calamaridudeman 23:112c0be5a7f3 77 Forward=0;
calamaridudeman 23:112c0be5a7f3 78 Backward=1;
calamaridudeman 23:112c0be5a7f3 79 duty= (abs(dCurrent)*3.27-0.174*speed+10*(abs(dCurrent)-mCurrent))/voltage;
calamaridudeman 23:112c0be5a7f3 80 }
calamaridudeman 23:112c0be5a7f3 81
calamaridudeman 23:112c0be5a7f3 82 if (duty>0.99){
calamaridudeman 23:112c0be5a7f3 83 duty =1;
calamaridudeman 23:112c0be5a7f3 84 }
calamaridudeman 43:68faf056ed5c 85 pwmOut.period_us(100);
calamaridudeman 43:68faf056ed5c 86 pwmOut.write(duty);
calamaridudeman 23:112c0be5a7f3 87 }
calamaridudeman 23:112c0be5a7f3 88
calamaridudeman 23:112c0be5a7f3 89 float Motor::getCurrent()
calamaridudeman 23:112c0be5a7f3 90 {
calamaridudeman 43:68faf056ed5c 91 return (1/.140)*3.3 * aIn.read();
calamaridudeman 23:112c0be5a7f3 92 }
calamaridudeman 23:112c0be5a7f3 93
calamaridudeman 37:bf257a0154db 94 int Motor::getPos()
calamaridudeman 23:112c0be5a7f3 95 {
calamaridudeman 23:112c0be5a7f3 96 return encoder.getPulses();
calamaridudeman 23:112c0be5a7f3 97 }
calamaridudeman 23:112c0be5a7f3 98
calamaridudeman 23:112c0be5a7f3 99 float Motor::filterLowPass(float old, float currentIn, float alphar){
calamaridudeman 23:112c0be5a7f3 100 return (old+alphar*(currentIn-old));
calamaridudeman 23:112c0be5a7f3 101 }
calamaridudeman 23:112c0be5a7f3 102
calamaridudeman 23:112c0be5a7f3 103 void Motor::setTorque(float t){
calamaridudeman 43:68faf056ed5c 104 mode = 3;
calamaridudeman 23:112c0be5a7f3 105 dTorque = t;
calamaridudeman 23:112c0be5a7f3 106 }
calamaridudeman 23:112c0be5a7f3 107
calamaridudeman 23:112c0be5a7f3 108 void Motor::setPos(float pos){
alexc89 45:0db0fc9f77b1 109 mode = 1;
calamaridudeman 23:112c0be5a7f3 110 dAngle=pos;
calamaridudeman 43:68faf056ed5c 111 dAngularVelocity = 0;
calamaridudeman 23:112c0be5a7f3 112 }
calamaridudeman 23:112c0be5a7f3 113
calamaridudeman 23:112c0be5a7f3 114 void Motor::setVel(float vel){
calamaridudeman 23:112c0be5a7f3 115 mode = 2;
calamaridudeman 23:112c0be5a7f3 116 dAngularVelocity = vel;
calamaridudeman 23:112c0be5a7f3 117 }
calamaridudeman 23:112c0be5a7f3 118
calamaridudeman 23:112c0be5a7f3 119 void Motor::setPosVel(float pos, float vel){
calamaridudeman 43:68faf056ed5c 120 mode = -1;
calamaridudeman 23:112c0be5a7f3 121 dAngle = pos;
calamaridudeman 23:112c0be5a7f3 122 dAngularVelocity = vel;
calamaridudeman 23:112c0be5a7f3 123 }