Diff: kinematics.cpp

Revision:

26:292492b885f7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/kinematics.cpp	Fri Oct 25 12:36:42 2019 +0000
@@ -0,0 +1,91 @@
+#include "QEI.h"
+#include "mbed.h"
+#include "Matrix.h"
+#include "BiQuad.h"
+#include "FastPWM.h"
+#include "HIDScope.h"
+#include "MODSERIAL.h"
+#include "MatrixMath.h"
+
+volatile double theta_1;
+//volatile float  theta_error_1;
+volatile float  theta_reference_1;
+volatile double theta_2;
+//volatile float  theta_error_2;
+volatile float  theta_reference_2;
+const float l = 0.535;
+const float EMGx_velocity=0.02;
+const float EMGy_velocity=0;
+float Ts    = 0.001;
+float Kp;
+float Ki;
+float Kd;
+QEI encoder_1(D10,D11,NC,8400,QEI::X4_ENCODING);
+QEI encoder_2(D12,D13,NC,8400,QEI::X4_ENCODING);
+float theta;
+float thetav_1;
+float thetav_2;
+
+//float ReadEncoder()
+//{
+//    theta_1 = ((360.0f/64.0f)*(float)encoder_1.getPulses())/131.25f; // 360/64 voor de 64 CPR Encoder, 131.25 omdat de gear ratio 131.25:1 is. Hiermee is 1 omwenteling 360.
+//    theta_2 = ((360.0f/64.0f)*(float)encoder_2.getPulses())/131.25f;
+//    float theta[2][1] = {{theta_1},{theta_2}};
+//    return theta
+//}
+
+float Controller(float theta_error, bool motor)
+{
+    if (motor == false) {
+        float K     = 1;
+        float ti    = 0.1;
+        float td    = 10;
+        Kp    = K*(1+td/ti);
+        Ki    = K/ti;
+        Kd    = K*td;
+    } else {
+        float K     = 1;
+        float ti    = 0.1;
+        float td    = 10;
+        Kp    = K*(1+td/ti);
+        Ki    = K/ti;
+        Kd    = K*td;
+    }
+    static float error_integral = 0;
+    static float error_prev = 0;
+    static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
+
+    // Proportional part:
+    float torque_p = Kp * theta_error;
+
+    // Integral part:
+    error_integral = error_integral + theta_error * Ts;
+    float torque_i = Ki * error_integral;
+
+    // Derivative part:
+    float error_derivative = (theta_error - error_prev)/Ts;
+    float filtered_error_derivative = LowPassFilter.step(error_derivative);
+    float torque_d = Kd * filtered_error_derivative;
+    error_prev = theta_error;
+
+    // Sum all parts and return it
+    float torque = torque_p + torque_i + torque_d;
+    return torque;
+}
+
+void AngleVelocity(float theta_1,float theta_2)
+{
+    float DET_jacobian= 1.0f/((-l*sin(theta_1)-l*sin(theta_1+theta_2))*(l*cos(theta_1+theta_2))-(-l*sin(theta_1+theta_2))*(l*cos(theta_1)+l*cos(theta_1+theta_2)));
+    float INV_jacobian[2][2]={{DET_jacobian*l*cos(theta_1+theta_2) , DET_jacobian*l*sin(theta_1+theta_2)} , {DET_jacobian*-l*cos(theta_1)-l*cos(theta_1+theta_2) , DET_jacobian*-l*sin(theta_1)-l*sin(theta_1+theta_2)}};   
+    thetav_1=DET_jacobian*l*cos(theta_1+theta_2)*EMGx_velocity + DET_jacobian*l*sin(theta_1+theta_2)*EMGy_velocity;
+    thetav_2= DET_jacobian*-l*cos(theta_1)-l*cos(theta_1+theta_2)*EMGx_velocity + DET_jacobian*-l*sin(theta_1)-l*sin(theta_1+theta_2)*EMGy_velocity;
+}
+
+int main(void)
+{
+    while(1)
+    {
+    AngleVelocity(0.2f,0.0f); 
+    pc.printf('%f \n %f /n/r',thetav_1, thetav_2);
+        }  
+}
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