Raphael Schmidt / Mbed OS GrannyStepper

Projekt

Dependencies:   PM2_Libary

main.cpp@40:47997e887235, 2022-04-20 (annotated)

Committer:
schmir06
Date:
Wed Apr 20 08:22:36 2022 +0200
Revision:
40:47997e887235
Parent:
39:c0c2e33a2181
Child:
41:e86f6f2e2bfc
Geschwindigkeit bei DC-Motoren kontrollieren

Who changed what in which revision?

UserRevisionLine numberNew contents of line
schmir06 32:2dc6fbd004fd 1 //GrannyStepper
pmic 1:93d997d6b232 2 #include "mbed.h"
pmic 17:c19b471f05cb 3 #include "PM2_Libary.h"
schmir06 34:f035a1869c34 4 #include <iostream>
schmir06 34:f035a1869c34 5 using namespace std;
pmic 6:e1fa1a2d7483 6
schmir06 33:cce9a88a307a 7 //Eingänge
schmir06 34:f035a1869c34 8 DigitalIn user_button(PC_13);
schmir06 40:47997e887235 9 DigitalIn mechanical_button(PC_5);
schmir06 34:f035a1869c34 10
schmir06 33:cce9a88a307a 11 //Ausgänge
schmir06 33:cce9a88a307a 12 DigitalOut enable_motors(PB_15); // Motoren freischalten
pmic 17:c19b471f05cb 13
schmir06 34:f035a1869c34 14 // while loop gets executed every main_task_period_ms milliseconds
schmir06 34:f035a1869c34 15 int main_task_period_ms = 50; // define main task period time in ms e.g. 50 ms -> main task runns 20 times per second
schmir06 34:f035a1869c34 16 Timer main_task_timer; // create Timer object which we use to run the main task every main task period time in ms
schmir06 34:f035a1869c34 17
schmir06 33:cce9a88a307a 18 //DC-Motoren
schmir06 33:cce9a88a307a 19 float pwm_period_s = 0.00005f; //PWM-Periode fürd DC-Motoren definiert
schmir06 33:cce9a88a307a 20 FastPWM pwm_M1(PB_13);
schmir06 33:cce9a88a307a 21 //Endcoder
schmir06 33:cce9a88a307a 22 EncoderCounter encoder_M1(PA_6, PC_7);
pmic 17:c19b471f05cb 23
pmic 30:1e8295770bc1 24 // create SpeedController and PositionController objects, default parametrization is for 78.125:1 gear box
pmic 24:86f1a63e35a0 25 float max_voltage = 12.0f; // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack
pmic 24:86f1a63e35a0 26 float counts_per_turn = 20.0f * 78.125f; // define counts per turn at gearbox end: counts/turn * gearratio
pmic 25:ea1d6e27c895 27 float kn = 180.0f / 12.0f; // define motor constant in rpm per V
pmic 30:1e8295770bc1 28 float k_gear = 100.0f / 78.125f; // define additional ratio in case you are using a dc motor with a different gear box, e.g. 100:1
pmic 30:1e8295770bc1 29 float kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1
pmic 6:e1fa1a2d7483 30
pmic 30:1e8295770bc1 31 // SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear box with default contoller parameters
schmir06 40:47997e887235 32 //SpeedController speedController_M1(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M1, encoder_M1); // parameters adjusted to 100:1 gear
pmic 24:86f1a63e35a0 33 float max_speed_rps = 0.5f; // define maximum speed that the position controller is changig the speed, has to be smaller or equal to kn * max_voltage
pmic 6:e1fa1a2d7483 34
schmir06 40:47997e887235 35 // PositionController positionController_M3(counts_per_turn, kn, max_voltage, pwm_M3, encoder_M3); // default 78.125:1 gear with default contoller parameters
schmir06 40:47997e887235 36 PositionController positionController_M1(counts_per_turn * k_gear, kn / k_gear, kp * k_gear, max_voltage, pwm_M1, encoder_M1); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
pmic 6:e1fa1a2d7483 37
schmir06 34:f035a1869c34 38 int main(){
schmir06 35:57b39290aaea 39
schmir06 35:57b39290aaea 40
schmir06 35:57b39290aaea 41 int counter_user_button = 0;
schmir06 35:57b39290aaea 42 bool counter_stopp = 0;
schmir06 39:c0c2e33a2181 43
schmir06 36:f678d693969f 44
schmir06 35:57b39290aaea 45 while(1){
schmir06 37:3c427322799d 46
schmir06 36:f678d693969f 47 if ((user_button.read() == 0) & (counter_stopp == 0)) {
schmir06 35:57b39290aaea 48 counter_user_button++;
schmir06 35:57b39290aaea 49 counter_stopp = 1;
schmir06 34:f035a1869c34 50
schmir06 35:57b39290aaea 51 }
schmir06 36:f678d693969f 52 if (user_button.read()){
schmir06 35:57b39290aaea 53 counter_stopp = 0;
schmir06 35:57b39290aaea 54 }
schmir06 40:47997e887235 55 if (counter_user_button >= 5){
schmir06 35:57b39290aaea 56 counter_user_button = 1;
schmir06 35:57b39290aaea 57 }
schmir06 37:3c427322799d 58 float speed_counter;
schmir06 35:57b39290aaea 59 switch (counter_user_button){
schmir06 35:57b39290aaea 60 case 1:
schmir06 40:47997e887235 61 enable_motors = 1;
schmir06 39:c0c2e33a2181 62 speed_counter = 0.0f;
schmir06 40:47997e887235 63 positionController_M1.setDesiredRotation(0.0f, 0.0f);
schmir06 35:57b39290aaea 64 break;
schmir06 35:57b39290aaea 65 case 2:
schmir06 39:c0c2e33a2181 66 enable_motors = 1;
schmir06 39:c0c2e33a2181 67 speed_counter = 0.1f;
schmir06 40:47997e887235 68 positionController_M1.setDesiredRotation(1.5f, 0.2f);
schmir06 39:c0c2e33a2181 69 break;
schmir06 39:c0c2e33a2181 70 case 3:
schmir06 40:47997e887235 71 enable_motors = 1;
schmir06 40:47997e887235 72 speed_counter = 0.0f;
schmir06 40:47997e887235 73 positionController_M1.setDesiredRotation(0.0f, 0.0f);
schmir06 40:47997e887235 74 break;
schmir06 40:47997e887235 75 case 4:
schmir06 40:47997e887235 76 enable_motors = 1;
schmir06 39:c0c2e33a2181 77 speed_counter = 1.0f;
schmir06 40:47997e887235 78 positionController_M1.setDesiredRotation(1.5f, 1.0f);
schmir06 36:f678d693969f 79 break;
schmir06 35:57b39290aaea 80 }
schmir06 39:c0c2e33a2181 81
schmir06 40:47997e887235 82 //positionController_M1.setDesiredRotation(1.5f, speed_counter);
schmir06 39:c0c2e33a2181 83
schmir06 39:c0c2e33a2181 84 /*if (counter_user_button == 1 || counter_user_button == 3 || counter_user_button == 5){
schmir06 39:c0c2e33a2181 85 speedController_M1.setDesiredSpeedRPS(speed_counter);
schmir06 39:c0c2e33a2181 86 //pwm_M1.write(speed_counter);
schmir06 39:c0c2e33a2181 87 counter_user_button++;
schmir06 39:c0c2e33a2181 88 }*/
schmir06 39:c0c2e33a2181 89
schmir06 39:c0c2e33a2181 90 printf( "counter %d speed %f \n",counter_user_button, speed_counter);
schmir06 39:c0c2e33a2181 91
schmir06 37:3c427322799d 92 }
schmir06 37:3c427322799d 93
schmir06 36:f678d693969f 94 }
pmic 24:86f1a63e35a0 95
schmir06 34:f035a1869c34 96
schmir06 34:f035a1869c34 97
schmir06 34:f035a1869c34 98
schmir06 34:f035a1869c34 99
schmir06 36:f678d693969f 100