case motor 2
Dependencies: Encoder HIDScope MODSERIAL mbed
main.cpp@0:f99a696015a0, 2015-10-22 (annotated)
- Committer:
- riannebulthuis
- Date:
- Thu Oct 22 15:04:55 2015 +0000
- Revision:
- 0:f99a696015a0
case motor 2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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riannebulthuis | 0:f99a696015a0 | 1 | #include "mbed.h" |
riannebulthuis | 0:f99a696015a0 | 2 | #include "encoder.h" |
riannebulthuis | 0:f99a696015a0 | 3 | #include "HIDScope.h" |
riannebulthuis | 0:f99a696015a0 | 4 | #include "MODSERIAL.h" |
riannebulthuis | 0:f99a696015a0 | 5 | |
riannebulthuis | 0:f99a696015a0 | 6 | DigitalOut motor2_direction(D7); |
riannebulthuis | 0:f99a696015a0 | 7 | PwmOut motor2_speed(D6); |
riannebulthuis | 0:f99a696015a0 | 8 | DigitalIn button_1(PTC6); //counterclockwise |
riannebulthuis | 0:f99a696015a0 | 9 | DigitalIn button_2(PTA4); //clockwise |
riannebulthuis | 0:f99a696015a0 | 10 | AnalogIn PotMeter2(A5); |
riannebulthuis | 0:f99a696015a0 | 11 | Ticker controller; |
riannebulthuis | 0:f99a696015a0 | 12 | Ticker ticker_regelaar; |
riannebulthuis | 0:f99a696015a0 | 13 | Ticker Scope; |
riannebulthuis | 0:f99a696015a0 | 14 | Encoder motor2(D10,D11); |
riannebulthuis | 0:f99a696015a0 | 15 | HIDScope scope(1); |
riannebulthuis | 0:f99a696015a0 | 16 | MODSERIAL pc(USBTX, USBRX); |
riannebulthuis | 0:f99a696015a0 | 17 | |
riannebulthuis | 0:f99a696015a0 | 18 | // Regelaar homeposition |
riannebulthuis | 0:f99a696015a0 | 19 | #define SAMPLETIME_REGELAAR 0.005 |
riannebulthuis | 0:f99a696015a0 | 20 | volatile bool regelaar_ticker_flag; |
riannebulthuis | 0:f99a696015a0 | 21 | void setregelaar_ticker_flag(){ |
riannebulthuis | 0:f99a696015a0 | 22 | regelaar_ticker_flag = true; |
riannebulthuis | 0:f99a696015a0 | 23 | } |
riannebulthuis | 0:f99a696015a0 | 24 | |
riannebulthuis | 0:f99a696015a0 | 25 | //define states |
riannebulthuis | 0:f99a696015a0 | 26 | enum state {HOME, MOVE_MOTOR_1, MOVE_MOTOR_2, BACKTOHOMEPOSITION, STOP}; |
riannebulthuis | 0:f99a696015a0 | 27 | uint8_t state = HOME; |
riannebulthuis | 0:f99a696015a0 | 28 | |
riannebulthuis | 0:f99a696015a0 | 29 | // Berekening van de output shaft resolution. Het aantal counts per 1 graden verandering (PI-controller) |
riannebulthuis | 0:f99a696015a0 | 30 | const double g = 360; // Aantal graden 1 rotatie |
riannebulthuis | 0:f99a696015a0 | 31 | const double c = 4200; // Aantal counts 1 rotatie |
riannebulthuis | 0:f99a696015a0 | 32 | const double q = c/(g); |
riannebulthuis | 0:f99a696015a0 | 33 | |
riannebulthuis | 0:f99a696015a0 | 34 | //PI-controller constante |
riannebulthuis | 0:f99a696015a0 | 35 | const double motor2_Kp = 2.0; // Dit is de proportionele gain motor 1 |
riannebulthuis | 0:f99a696015a0 | 36 | const double motor2_Ki = 0.002; // Integrating gain m1. |
riannebulthuis | 0:f99a696015a0 | 37 | const double motor2_Ts = 0.01; // Time step m1 |
riannebulthuis | 0:f99a696015a0 | 38 | double err_int_m2 = 0 ; // De integrating error op het beginstijdstip m1 |
riannebulthuis | 0:f99a696015a0 | 39 | |
riannebulthuis | 0:f99a696015a0 | 40 | // Reusable P controller |
riannebulthuis | 0:f99a696015a0 | 41 | double Pc (double error, const double Kp){ |
riannebulthuis | 0:f99a696015a0 | 42 | return motor2_Kp * error; |
riannebulthuis | 0:f99a696015a0 | 43 | } |
riannebulthuis | 0:f99a696015a0 | 44 | |
riannebulthuis | 0:f99a696015a0 | 45 | // Measure the error and apply output to the plant |
riannebulthuis | 0:f99a696015a0 | 46 | void motor2_controlP(){ |
riannebulthuis | 0:f99a696015a0 | 47 | double referenceP2 = PotMeter2.read(); |
riannebulthuis | 0:f99a696015a0 | 48 | double positionP2 = q*motor2.getPosition(); |
riannebulthuis | 0:f99a696015a0 | 49 | double motorP2 = Pc(referenceP2 - positionP2, motor2_Kp); |
riannebulthuis | 0:f99a696015a0 | 50 | } |
riannebulthuis | 0:f99a696015a0 | 51 | |
riannebulthuis | 0:f99a696015a0 | 52 | // Reusable PI controller |
riannebulthuis | 0:f99a696015a0 | 53 | double PI (double error, const double Kp, const double Ki, const double Ts, double &err_int){ |
riannebulthuis | 0:f99a696015a0 | 54 | err_int = err_int * Ts*error; // Dit is de fout die er door de integrator uit wordt gehaald. Deze wordt elke meting aangepast door het &-teken |
riannebulthuis | 0:f99a696015a0 | 55 | return motor2_Kp*error + motor2_Ki*err_int; |
riannebulthuis | 0:f99a696015a0 | 56 | } // De totale fout die wordt hersteld met behulp van PI control. |
riannebulthuis | 0:f99a696015a0 | 57 | |
riannebulthuis | 0:f99a696015a0 | 58 | void motor2_controlPI(){ |
riannebulthuis | 0:f99a696015a0 | 59 | double referencePI2 = PotMeter2.read(); |
riannebulthuis | 0:f99a696015a0 | 60 | double positionPI2 = q*motor2.getPosition(); |
riannebulthuis | 0:f99a696015a0 | 61 | double motorPI2 = PI(referencePI2 - positionPI2, motor2_Kp, motor2_Ki, motor2_Ts, err_int_m2); |
riannebulthuis | 0:f99a696015a0 | 62 | } |
riannebulthuis | 0:f99a696015a0 | 63 | |
riannebulthuis | 0:f99a696015a0 | 64 | const int pressed = 0; |
riannebulthuis | 0:f99a696015a0 | 65 | |
riannebulthuis | 0:f99a696015a0 | 66 | // constantes voor berekening homepositie |
riannebulthuis | 0:f99a696015a0 | 67 | double H; |
riannebulthuis | 0:f99a696015a0 | 68 | double P; |
riannebulthuis | 0:f99a696015a0 | 69 | double D; |
riannebulthuis | 0:f99a696015a0 | 70 | |
riannebulthuis | 0:f99a696015a0 | 71 | |
riannebulthuis | 0:f99a696015a0 | 72 | void move_motor2() |
riannebulthuis | 0:f99a696015a0 | 73 | { |
riannebulthuis | 0:f99a696015a0 | 74 | if (button_1 == pressed){ |
riannebulthuis | 0:f99a696015a0 | 75 | pc.printf("Moving clockwise \n\r"); |
riannebulthuis | 0:f99a696015a0 | 76 | motor2_direction = 1; //clockwise |
riannebulthuis | 0:f99a696015a0 | 77 | motor2_speed = 0.4; |
riannebulthuis | 0:f99a696015a0 | 78 | } |
riannebulthuis | 0:f99a696015a0 | 79 | else if (button_2 == pressed){ |
riannebulthuis | 0:f99a696015a0 | 80 | pc.printf("Moving counterclockwise \n\r"); |
riannebulthuis | 0:f99a696015a0 | 81 | motor2_direction = 0; //counterclockwise |
riannebulthuis | 0:f99a696015a0 | 82 | motor2_speed = 0.4; |
riannebulthuis | 0:f99a696015a0 | 83 | } |
riannebulthuis | 0:f99a696015a0 | 84 | else { |
riannebulthuis | 0:f99a696015a0 | 85 | pc.printf("Not moving \n\r"); |
riannebulthuis | 0:f99a696015a0 | 86 | motor2_speed = 0; |
riannebulthuis | 0:f99a696015a0 | 87 | } |
riannebulthuis | 0:f99a696015a0 | 88 | } |
riannebulthuis | 0:f99a696015a0 | 89 | |
riannebulthuis | 0:f99a696015a0 | 90 | void movetohome(){ |
riannebulthuis | 0:f99a696015a0 | 91 | P = motor2.getPosition(); |
riannebulthuis | 0:f99a696015a0 | 92 | |
riannebulthuis | 0:f99a696015a0 | 93 | if (P >= -28 && P <= 28){ |
riannebulthuis | 0:f99a696015a0 | 94 | motor2_speed = 0; |
riannebulthuis | 0:f99a696015a0 | 95 | } |
riannebulthuis | 0:f99a696015a0 | 96 | else if (P > 24){ |
riannebulthuis | 0:f99a696015a0 | 97 | motor2_direction = 1; |
riannebulthuis | 0:f99a696015a0 | 98 | motor2_speed = 0.1; |
riannebulthuis | 0:f99a696015a0 | 99 | } |
riannebulthuis | 0:f99a696015a0 | 100 | else if (P < -24){ |
riannebulthuis | 0:f99a696015a0 | 101 | motor2_direction = 0; |
riannebulthuis | 0:f99a696015a0 | 102 | motor2_speed = 0.1; |
riannebulthuis | 0:f99a696015a0 | 103 | } |
riannebulthuis | 0:f99a696015a0 | 104 | } |
riannebulthuis | 0:f99a696015a0 | 105 | |
riannebulthuis | 0:f99a696015a0 | 106 | void HIDScope (){ |
riannebulthuis | 0:f99a696015a0 | 107 | scope.set(0, motor2.getPosition()); |
riannebulthuis | 0:f99a696015a0 | 108 | scope.send (); |
riannebulthuis | 0:f99a696015a0 | 109 | } |
riannebulthuis | 0:f99a696015a0 | 110 | |
riannebulthuis | 0:f99a696015a0 | 111 | int main() |
riannebulthuis | 0:f99a696015a0 | 112 | { |
riannebulthuis | 0:f99a696015a0 | 113 | while (true) { |
riannebulthuis | 0:f99a696015a0 | 114 | pc.baud(9600); //pc baud rate van de computer |
riannebulthuis | 0:f99a696015a0 | 115 | Scope.attach_us(HIDScope, 1e3); //EMG en encoder signaal naar de hidscope sturen |
riannebulthuis | 0:f99a696015a0 | 116 | |
riannebulthuis | 0:f99a696015a0 | 117 | switch (state) { //zorgt voor het in goede volgorde uitvoeren van de cases |
riannebulthuis | 0:f99a696015a0 | 118 | |
riannebulthuis | 0:f99a696015a0 | 119 | case HOME: //positie op 0 zetten voor arm 1 |
riannebulthuis | 0:f99a696015a0 | 120 | { |
riannebulthuis | 0:f99a696015a0 | 121 | pc.printf("home\n\r"); |
riannebulthuis | 0:f99a696015a0 | 122 | H = motor2.getPosition(); |
riannebulthuis | 0:f99a696015a0 | 123 | pc.printf("Home-position is %f\n\r", H); |
riannebulthuis | 0:f99a696015a0 | 124 | state = MOVE_MOTOR_1; |
riannebulthuis | 0:f99a696015a0 | 125 | wait(2); |
riannebulthuis | 0:f99a696015a0 | 126 | break; |
riannebulthuis | 0:f99a696015a0 | 127 | } |
riannebulthuis | 0:f99a696015a0 | 128 | |
riannebulthuis | 0:f99a696015a0 | 129 | case MOVE_MOTOR_1: //motor kan cw en ccw bewegen a.d.h.v. buttons |
riannebulthuis | 0:f99a696015a0 | 130 | { |
riannebulthuis | 0:f99a696015a0 | 131 | pc.printf("move_motor1\n\r"); |
riannebulthuis | 0:f99a696015a0 | 132 | wait (1); |
riannebulthuis | 0:f99a696015a0 | 133 | state = MOVE_MOTOR_2; |
riannebulthuis | 0:f99a696015a0 | 134 | break; |
riannebulthuis | 0:f99a696015a0 | 135 | } |
riannebulthuis | 0:f99a696015a0 | 136 | |
riannebulthuis | 0:f99a696015a0 | 137 | case MOVE_MOTOR_2: //motor kan cw en ccw bewegen a.d.h.v. buttons |
riannebulthuis | 0:f99a696015a0 | 138 | { |
riannebulthuis | 0:f99a696015a0 | 139 | pc.printf("move_motor\n\r"); |
riannebulthuis | 0:f99a696015a0 | 140 | while (state == MOVE_MOTOR_2){ |
riannebulthuis | 0:f99a696015a0 | 141 | move_motor2(); |
riannebulthuis | 0:f99a696015a0 | 142 | if (button_1 == pressed && button_2 == pressed){ |
riannebulthuis | 0:f99a696015a0 | 143 | motor2_speed = 0; |
riannebulthuis | 0:f99a696015a0 | 144 | state = BACKTOHOMEPOSITION; |
riannebulthuis | 0:f99a696015a0 | 145 | } |
riannebulthuis | 0:f99a696015a0 | 146 | } |
riannebulthuis | 0:f99a696015a0 | 147 | wait (1); |
riannebulthuis | 0:f99a696015a0 | 148 | break; |
riannebulthuis | 0:f99a696015a0 | 149 | } |
riannebulthuis | 0:f99a696015a0 | 150 | |
riannebulthuis | 0:f99a696015a0 | 151 | case BACKTOHOMEPOSITION: //motor gaat terug naar homeposition |
riannebulthuis | 0:f99a696015a0 | 152 | { |
riannebulthuis | 0:f99a696015a0 | 153 | pc.printf("backhomeposition\n\r"); |
riannebulthuis | 0:f99a696015a0 | 154 | wait (1); |
riannebulthuis | 0:f99a696015a0 | 155 | |
riannebulthuis | 0:f99a696015a0 | 156 | ticker_regelaar.attach(setregelaar_ticker_flag, SAMPLETIME_REGELAAR); |
riannebulthuis | 0:f99a696015a0 | 157 | while(state == BACKTOHOMEPOSITION){ |
riannebulthuis | 0:f99a696015a0 | 158 | movetohome(); |
riannebulthuis | 0:f99a696015a0 | 159 | while(regelaar_ticker_flag != true); |
riannebulthuis | 0:f99a696015a0 | 160 | regelaar_ticker_flag = false; |
riannebulthuis | 0:f99a696015a0 | 161 | |
riannebulthuis | 0:f99a696015a0 | 162 | pc.printf("pulsmotorposition1 %d", motor2.getPosition()); |
riannebulthuis | 0:f99a696015a0 | 163 | pc.printf("referentie %f\n\r", H); |
riannebulthuis | 0:f99a696015a0 | 164 | |
riannebulthuis | 0:f99a696015a0 | 165 | if (P <=24 && P >= -24){ |
riannebulthuis | 0:f99a696015a0 | 166 | pc.printf("pulsmotorposition1 %d", motor2.getPosition()); |
riannebulthuis | 0:f99a696015a0 | 167 | pc.printf("referentie %f\n\r", H); |
riannebulthuis | 0:f99a696015a0 | 168 | state = STOP; |
riannebulthuis | 0:f99a696015a0 | 169 | pc.printf("Laatste positie %f\n\r", motor2.getPosition()); |
riannebulthuis | 0:f99a696015a0 | 170 | break; |
riannebulthuis | 0:f99a696015a0 | 171 | } |
riannebulthuis | 0:f99a696015a0 | 172 | } |
riannebulthuis | 0:f99a696015a0 | 173 | } |
riannebulthuis | 0:f99a696015a0 | 174 | case STOP: |
riannebulthuis | 0:f99a696015a0 | 175 | { |
riannebulthuis | 0:f99a696015a0 | 176 | static int c; |
riannebulthuis | 0:f99a696015a0 | 177 | while(state == STOP){ |
riannebulthuis | 0:f99a696015a0 | 178 | motor2_speed = 0; |
riannebulthuis | 0:f99a696015a0 | 179 | if (c++ == 0){ |
riannebulthuis | 0:f99a696015a0 | 180 | pc.printf("einde\n\r"); |
riannebulthuis | 0:f99a696015a0 | 181 | } |
riannebulthuis | 0:f99a696015a0 | 182 | } |
riannebulthuis | 0:f99a696015a0 | 183 | break; |
riannebulthuis | 0:f99a696015a0 | 184 | } |
riannebulthuis | 0:f99a696015a0 | 185 | } |
riannebulthuis | 0:f99a696015a0 | 186 | } |
riannebulthuis | 0:f99a696015a0 | 187 | } |