Shao Rui / Joint_control_2AS5147_DRV8323RH_2020_5_26_test

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Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@51:adc72e125b15, 2020-08-06 (annotated)

Committer:
shaorui
Date:
Thu Aug 06 00:55:34 2020 +0000
Revision:
51:adc72e125b15
Parent:
50:1fe5c2c53af1 
11111

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 22:60276ba87ac6 1 /// high-bandwidth 3-phase motor control, for robots
benkatz 22:60276ba87ac6 2 /// Written by benkatz, with much inspiration from bayleyw, nkirkby, scolton, David Otten, and others
benkatz 22:60276ba87ac6 3 /// Hardware documentation can be found at build-its.blogspot.com
benkatz 22:60276ba87ac6 4 /// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling
benkatz 22:60276ba87ac6 5
benkatz 23:2adf23ee0305 6 #define REST_MODE 0
benkatz 23:2adf23ee0305 7 #define CALIBRATION_MODE 1
benkatz 26:2b865c00d7e9 8 #define MOTOR_MODE 2
benkatz 23:2adf23ee0305 9 #define SETUP_MODE 4
benkatz 23:2adf23ee0305 10 #define ENCODER_MODE 5
Rushu 49:7eac11914980 11 #define TEST_TRAJECTORY_MODE 6
shaorui 48:1b51771c3647 12 #define J_CALIBRATION_MODE 7
benkatz 44:efcde0af8390 13 #define VERSION_NUM "1.6"
benkatz 26:2b865c00d7e9 14
benkatz 18:f1d56f4acb39 15
benkatz 26:2b865c00d7e9 16 float __float_reg[64]; // Floats stored in flash
shaorui 48:1b51771c3647 17 //int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
shaorui 48:1b51771c3647 18 int __int_reg[300];
shaorui 48:1b51771c3647 19 int test1;
Rushu 49:7eac11914980 20 int test_jointround_flag=0;
shaorui 48:1b51771c3647 21 int stop_sign=0;
shaorui 51:adc72e125b15 22 int NCycle;
benkatz 0:4e1c4df6aabd 23 #include "mbed.h"
benkatz 0:4e1c4df6aabd 24 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 25 #include "structs.h"
benkatz 20:bf9ea5125d52 26 #include "foc.h"
benkatz 22:60276ba87ac6 27 #include "calibration.h"
benkatz 20:bf9ea5125d52 28 #include "hw_setup.h"
benkatz 23:2adf23ee0305 29 #include "math_ops.h"
benkatz 20:bf9ea5125d52 30 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 31 #include "hw_config.h"
benkatz 20:bf9ea5125d52 32 #include "motor_config.h"
benkatz 23:2adf23ee0305 33 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 34 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 35 #include "user_config.h"
benkatz 23:2adf23ee0305 36 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 37 #include "CAN_com.h"
shaorui 48:1b51771c3647 38 #include "math.h"
shaorui 48:1b51771c3647 39 #include "MA700Sensor.h"
shaorui 48:1b51771c3647 40 #include "joint_calibration.h"
shaorui 48:1b51771c3647 41 PreferenceWriter prefs(6);
shaorui 48:1b51771c3647 42 //PreferenceWriter prefs(7);
benkatz 37:c0f352d6e8e3 43
benkatz 9:d7eb815cb057 44
benkatz 20:bf9ea5125d52 45 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 46 ControllerStruct controller;
benkatz 20:bf9ea5125d52 47 COMStruct com;
benkatz 37:c0f352d6e8e3 48 ObserverStruct observer;
benkatz 43:dfb72608639c 49 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 50
Rushu 47:55bdc4d5096b 51 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name, 1000kbps
benkatz 26:2b865c00d7e9 52 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 53 CANMessage txMsg;
benkatz 23:2adf23ee0305 54
shaorui 48:1b51771c3647 55 int i=1;//shaorui add
shaorui 48:1b51771c3647 56 float wucha=0;
shaorui 48:1b51771c3647 57 float wucha1=0;
Rushu 47:55bdc4d5096b 58 PositionSensorAM5147 spi(16384, 0.0, NPP); //14 bits encoder, 21 NPP
shaorui 48:1b51771c3647 59 PositionSensorMA700 ma700(16384,0.0,NPP); //shaorui add(12/10)
benkatz 20:bf9ea5125d52 60
benkatz 23:2adf23ee0305 61 volatile int count = 0;
benkatz 23:2adf23ee0305 62 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 63 volatile int state_change;
Rushu 49:7eac11914980 64 volatile float Joint_init =0; //Joint intial angle
Rushu 49:7eac11914980 65 volatile int J_M_flag = 0; // Joint motor angle combine
benkatz 20:bf9ea5125d52 66
benkatz 26:2b865c00d7e9 67 void onMsgReceived() {
benkatz 26:2b865c00d7e9 68 //msgAvailable = true;
benkatz 45:aadebe074af6 69
benkatz 26:2b865c00d7e9 70 can.read(rxMsg);
benkatz 28:8c7e29f719c5 71 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 72 controller.timeout = 0;
benkatz 28:8c7e29f719c5 73 if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) & (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFC))){
benkatz 28:8c7e29f719c5 74 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 75 state_change = 1;
benkatz 28:8c7e29f719c5 76 }
benkatz 28:8c7e29f719c5 77 else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFD))){
benkatz 28:8c7e29f719c5 78 state = REST_MODE;
benkatz 28:8c7e29f719c5 79 state_change = 1;
benkatz 37:c0f352d6e8e3 80 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 81 }
benkatz 28:8c7e29f719c5 82 else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFE))){
benkatz 28:8c7e29f719c5 83 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 84 }
benkatz 28:8c7e29f719c5 85 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 86 unpack_cmd(rxMsg, &controller);
shaorui 48:1b51771c3647 87 /*
shaorui 48:1b51771c3647 88 if(controller.sidebct1!=controller.sidebct)
shaorui 48:1b51771c3647 89 {
shaorui 48:1b51771c3647 90 controller.sidebct1=controller.sidebct;
shaorui 48:1b51771c3647 91 ma700.WriteRegister(&controller);
shaorui 48:1b51771c3647 92 }
shaorui 48:1b51771c3647 93 */
benkatz 28:8c7e29f719c5 94 }
shaorui 48:1b51771c3647 95
benkatz 37:c0f352d6e8e3 96 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 97 can.write(txMsg);
benkatz 28:8c7e29f719c5 98 }
benkatz 26:2b865c00d7e9 99
benkatz 26:2b865c00d7e9 100 }
benkatz 26:2b865c00d7e9 101
benkatz 23:2adf23ee0305 102 void enter_menu_state(void){
benkatz 23:2adf23ee0305 103 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 104 printf(" Commands:\n\r");
benkatz 44:efcde0af8390 105 wait_us(10);
benkatz 26:2b865c00d7e9 106 printf(" m - Motor Mode\n\r");
benkatz 44:efcde0af8390 107 wait_us(10);
benkatz 23:2adf23ee0305 108 printf(" c - Calibrate Encoder\n\r");
benkatz 44:efcde0af8390 109 wait_us(10);
shaorui 48:1b51771c3647 110 printf(" j - Joint Calibrate Encoder\n\r");
shaorui 48:1b51771c3647 111 wait_us(10);
shaorui 48:1b51771c3647 112 printf(" t - Joint test Encoder\n\r");
shaorui 48:1b51771c3647 113 wait_us(10);
benkatz 23:2adf23ee0305 114 printf(" s - Setup\n\r");
benkatz 44:efcde0af8390 115 wait_us(10);
benkatz 23:2adf23ee0305 116 printf(" e - Display Encoder\n\r");
benkatz 44:efcde0af8390 117 wait_us(10);
benkatz 37:c0f352d6e8e3 118 printf(" z - Set Zero Position\n\r");
benkatz 44:efcde0af8390 119 wait_us(10);
benkatz 23:2adf23ee0305 120 printf(" esc - Exit to Menu\n\r");
benkatz 44:efcde0af8390 121 wait_us(10);
benkatz 23:2adf23ee0305 122 state_change = 0;
benkatz 25:f5741040c4bb 123 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 124 gpio.led->write(0);
shaorui 51:adc72e125b15 125 test_jointround_flag=0;
shaorui 51:adc72e125b15 126
benkatz 23:2adf23ee0305 127 }
benkatz 24:58c2d7571207 128
benkatz 24:58c2d7571207 129 void enter_setup_state(void){
benkatz 24:58c2d7571207 130 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:efcde0af8390 131 wait_us(10);
benkatz 28:8c7e29f719c5 132 printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:efcde0af8390 133 wait_us(10);
benkatz 28:8c7e29f719c5 134 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:efcde0af8390 135 wait_us(10);
benkatz 28:8c7e29f719c5 136 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:efcde0af8390 137 wait_us(10);
benkatz 28:8c7e29f719c5 138 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:efcde0af8390 139 wait_us(10);
benkatz 28:8c7e29f719c5 140 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
benkatz 44:efcde0af8390 141 wait_us(10);
benkatz 28:8c7e29f719c5 142 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:efcde0af8390 143 wait_us(10);
benkatz 24:58c2d7571207 144 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:efcde0af8390 145 wait_us(10);
benkatz 24:58c2d7571207 146 state_change = 0;
benkatz 24:58c2d7571207 147 }
benkatz 22:60276ba87ac6 148
benkatz 23:2adf23ee0305 149 void enter_torque_mode(void){
benkatz 37:c0f352d6e8e3 150 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 151 gpio.enable->write(1); // Enable gate drive
benkatz 28:8c7e29f719c5 152 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 153 wait(.001);
benkatz 23:2adf23ee0305 154 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 155 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 156 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 157 state_change = 0;
benkatz 28:8c7e29f719c5 158 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 159 }
benkatz 22:60276ba87ac6 160
benkatz 23:2adf23ee0305 161 void calibrate(void){
benkatz 25:f5741040c4bb 162 gpio.enable->write(1); // Enable gate drive
benkatz 37:c0f352d6e8e3 163 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 164 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 165 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
shaorui 48:1b51771c3647 166 //j_calibrate(&ma700,&spi, &gpio, &controller, &prefs);
shaorui 48:1b51771c3647 167 //j_calibrate(&ma700,&gpio, &controller, &prefs);
benkatz 37:c0f352d6e8e3 168 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 169 wait(.2);
benkatz 25:f5741040c4bb 170 gpio.enable->write(0); // Turn off gate drive
benkatz 23:2adf23ee0305 171 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 23:2adf23ee0305 172 state_change = 0;
benkatz 23:2adf23ee0305 173 }
benkatz 23:2adf23ee0305 174
shaorui 48:1b51771c3647 175 void jocalibrate(void){
shaorui 48:1b51771c3647 176 gpio.enable->write(1); // Enable gate drive
shaorui 48:1b51771c3647 177 gpio.led->write(1); // Turn on status LED
Rushu 49:7eac11914980 178
Rushu 49:7eac11914980 179 //order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
shaorui 48:1b51771c3647 180 //calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
shaorui 48:1b51771c3647 181 //j_calibrate(&ma700,&spi, &gpio, &controller, &prefs);
shaorui 48:1b51771c3647 182 j_calibrate(&ma700,&gpio, &controller, &prefs);
Rushu 49:7eac11914980 183
Rushu 49:7eac11914980 184 /*************同时设置转子和关节零位置同步****************///暂时不需要,标定结束,按z归零
Rushu 49:7eac11914980 185 /*
Rushu 49:7eac11914980 186 spi.SetMechOffset(0);
Rushu 49:7eac11914980 187 ma700.SetMechOffset(0);
Rushu 49:7eac11914980 188 spi.Sample(DT);
Rushu 49:7eac11914980 189 ma700.Sample(DT);
Rushu 49:7eac11914980 190 wait_us(20);
Rushu 49:7eac11914980 191 M_OFFSET = spi.GetMechPosition();
Rushu 49:7eac11914980 192 JOINT_M_OFFSET =ma700.GetMechPosition();
Rushu 49:7eac11914980 193 if (!prefs.ready()) prefs.open();
Rushu 49:7eac11914980 194 prefs.flush(); // Write new prefs to flash
Rushu 49:7eac11914980 195 prefs.close();
Rushu 49:7eac11914980 196 prefs.load();
Rushu 49:7eac11914980 197 spi.SetMechOffset(M_OFFSET);
Rushu 49:7eac11914980 198 ma700.SetMechOffset(JOINT_M_OFFSET);
Rushu 49:7eac11914980 199 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
Rushu 49:7eac11914980 200 printf("\n\r Saved new zero position1: %.4f\n\r\n\r", JOINT_M_OFFSET);
Rushu 49:7eac11914980 201 */
Rushu 49:7eac11914980 202 /*************同时设置转子和关节零位置同步****************/
Rushu 49:7eac11914980 203 gpio.led->write(0); // Turn off status LED
shaorui 48:1b51771c3647 204 wait(.2);
shaorui 48:1b51771c3647 205 gpio.enable->write(0); // Turn off gate drive
shaorui 48:1b51771c3647 206 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
shaorui 48:1b51771c3647 207 state_change = 0;
shaorui 48:1b51771c3647 208 }
shaorui 48:1b51771c3647 209
shaorui 48:1b51771c3647 210 void jointcalibrate(void){
shaorui 48:1b51771c3647 211 gpio.enable->write(1); // Enable gate drive
shaorui 48:1b51771c3647 212 gpio.led->write(1); // Turn on status LED
shaorui 48:1b51771c3647 213 //joint_calibrate (&ma700,&spi,&gpio,&controller,&prefs); // Perform calibration procedure
shaorui 48:1b51771c3647 214 gpio.led->write(0); // Turn off status LED
shaorui 48:1b51771c3647 215 wait(.2);
shaorui 48:1b51771c3647 216 gpio.enable->write(0);
shaorui 48:1b51771c3647 217
shaorui 48:1b51771c3647 218
shaorui 48:1b51771c3647 219
shaorui 48:1b51771c3647 220 /************Trajectory Planning******************************/
shaorui 48:1b51771c3647 221
shaorui 48:1b51771c3647 222
shaorui 48:1b51771c3647 223 // enter_torque_mode();
shaorui 48:1b51771c3647 224 state=MOTOR_MODE;
shaorui 48:1b51771c3647 225 state_change=1;
shaorui 48:1b51771c3647 226 //enter_torque_mode();
shaorui 48:1b51771c3647 227 count = 0;
shaorui 48:1b51771c3647 228 printf("test\n\r");
Rushu 49:7eac11914980 229 controller.p_des=0;
Rushu 49:7eac11914980 230 controller.v_des = 1.5f;
Rushu 49:7eac11914980 231 controller.kp = 0;
Rushu 49:7eac11914980 232 controller.kd = 5.0f;
Rushu 49:7eac11914980 233 controller.t_ff = 0;
shaorui 48:1b51771c3647 234 /*
shaorui 48:1b51771c3647 235 if((1.0f/GR)* spi.GetMechPosition()<=(2*PI))
shaorui 48:1b51771c3647 236 {
shaorui 48:1b51771c3647 237 controller.p_des=0;
shaorui 48:1b51771c3647 238 controller.v_des = 2.0f;
shaorui 48:1b51771c3647 239 controller.kp = 0;
shaorui 48:1b51771c3647 240 controller.kd = 5.0f;
shaorui 48:1b51771c3647 241 controller.t_ff = 0;
shaorui 48:1b51771c3647 242 wait(.5);
shaorui 48:1b51771c3647 243 *
shaorui 48:1b51771c3647 244 }
shaorui 48:1b51771c3647 245
shaorui 48:1b51771c3647 246
shaorui 48:1b51771c3647 247 ************Trajectory Planning*****************************/
shaorui 48:1b51771c3647 248
shaorui 48:1b51771c3647 249 // Turn off gate drive
shaorui 48:1b51771c3647 250 printf("\n\r Joint_Calibration complete. Press 'esc' to return to menu\n\r");
shaorui 48:1b51771c3647 251 //state_change = 0;
shaorui 48:1b51771c3647 252 }
shaorui 48:1b51771c3647 253
shaorui 48:1b51771c3647 254
shaorui 48:1b51771c3647 255
benkatz 23:2adf23ee0305 256 void print_encoder(void){
Rushu 49:7eac11914980 257 printf(" AS5147Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
shaorui 51:adc72e125b15 258 // printf(" MA700:Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", ma700.GetMechPosition(), ma700.GetElecPosition(), ma700.GetRawPosition());
shaorui 51:adc72e125b15 259 // printf(" Joint Angle: %f Mech1: %f Mech: %f\n\r", controller.theta_joint_raw*57.2957795, -controller.theta_mech1*57.2957795*GR, controller.theta_mech*57.2957795*GR);
Rushu 49:7eac11914980 260
Rushu 49:7eac11914980 261 // float m_position=controller.theta_mech*57.2957795;
Rushu 49:7eac11914980 262 // float j_position=-controller.theta_mech1*360/(2.0f*PI)-controller.theta_mech*360/(2.0f*PI)*GR;
Rushu 49:7eac11914980 263 // float j_position=-(controller.theta_mech1+controller.theta_mech)*2807.49319614;
Rushu 49:7eac11914980 264 wait(.5);
benkatz 22:60276ba87ac6 265 }
benkatz 20:bf9ea5125d52 266
benkatz 23:2adf23ee0305 267 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 268 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 269 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 270 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 271
benkatz 23:2adf23ee0305 272 ///Sample current always ///
benkatz 25:f5741040c4bb 273 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 274 //volatile int delay;
benkatz 20:bf9ea5125d52 275 //for (delay = 0; delay < 55; delay++);
benkatz 37:c0f352d6e8e3 276 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 277 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 278 controller.adc3_raw = ADC3->DR;
shaorui 48:1b51771c3647 279 spi.Sample(DT);
shaorui 48:1b51771c3647 280 ma700.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 281 controller.theta_elec = spi.GetElecPosition();
Rushu 49:7eac11914980 282 // controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 283 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 284 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 37:c0f352d6e8e3 285 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE;
shaorui 48:1b51771c3647 286
benkatz 20:bf9ea5125d52 287
shaorui 48:1b51771c3647 288 //////shaorui add for obtaining joint real position
shaorui 48:1b51771c3647 289 controller.theta_elec1 = ma700.GetElecPosition();
Rushu 49:7eac11914980 290 controller.theta_mech1 = (1.0f/GR)*ma700.GetMechPosition();
Rushu 49:7eac11914980 291 controller.dtheta_mech1 =(1.0f/GR)*ma700.GetMechVelocity();
shaorui 48:1b51771c3647 292 controller.dtheta_elec1 = ma700.GetElecVelocity();
Rushu 49:7eac11914980 293
Rushu 49:7eac11914980 294 ///hjb add joint angle
shaorui 51:adc72e125b15 295 controller.theta_joint_raw= -(ma700.GetMechPosition()+spi.GetMechPosition())+0.0134;
shaorui 51:adc72e125b15 296 /*
Rushu 49:7eac11914980 297 if(controller.dtheta_mech>0) {controller.theta_joint_raw += PI/180.0f;} //compensate
Rushu 49:7eac11914980 298 else if(controller.dtheta_mech<0) {controller.theta_joint_raw -= PI/180.0f;}
shaorui 51:adc72e125b15 299 */
Rushu 49:7eac11914980 300 if(controller.theta_joint_raw<0){controller.theta_joint_raw += 2.0f*PI;}
Rushu 49:7eac11914980 301 if(controller.theta_joint_raw>=360){controller.theta_joint_raw -= 2.0f*PI;}
Rushu 49:7eac11914980 302
Rushu 49:7eac11914980 303 controller.theta_joint_raw_fil =0.99f*controller.theta_joint_raw_pre + 0.01f*controller.theta_joint_raw ;//filter
Rushu 49:7eac11914980 304 controller.theta_joint_raw_pre =controller.theta_joint_raw_fil;
shaorui 51:adc72e125b15 305
Rushu 49:7eac11914980 306 //"rad 0~2pi" ("deg" =-(controller.theta_mech1+controller.theta_mech)*2807.49319614;
Rushu 49:7eac11914980 307 //int Ncycle=0;
Rushu 49:7eac11914980 308 //float Ncycle_mod = 0.0f;
Rushu 49:7eac11914980 309 //float Mech_mod = 0.0f;
shaorui 51:adc72e125b15 310 NCycle=controller.Ncycle = controller.theta_joint_raw/(2.0f*PI/GR);
Rushu 49:7eac11914980 311 controller.Ncycle_mod = fmod(controller.theta_joint_raw,2.0f*PI/GR);
Rushu 49:7eac11914980 312 controller.Mech_mod = fmod(spi.GetMechPosition(),2.0f*PI);
shaorui 51:adc72e125b15 313 /*
shaorui 51:adc72e125b15 314 if(abs(controller.Ncycle_mod*57.2957795-controller.Mech_mod*57.2957795/GR)>2.5) //not in the error range
Rushu 49:7eac11914980 315 {
shaorui 51:adc72e125b15 316 if ((2*PI-0.1)>controller.Mech_mod>PI) //
Rushu 49:7eac11914980 317 {
Rushu 49:7eac11914980 318 controller.Ncycle -= 1;
Rushu 49:7eac11914980 319 }
shaorui 51:adc72e125b15 320 else if(0.1<controller.Mech_mod<PI) //
Rushu 49:7eac11914980 321 {
Rushu 49:7eac11914980 322 controller.Ncycle += 1;
Rushu 49:7eac11914980 323 }
Rushu 49:7eac11914980 324
Rushu 49:7eac11914980 325 }
shaorui 51:adc72e125b15 326 */
Rushu 49:7eac11914980 327 controller.theta_joint= controller.Ncycle*(2.0f*PI/GR)+controller.Mech_mod/GR; //In the real use, should turn to the theta_mech
Rushu 49:7eac11914980 328 if(J_M_flag == 0)
Rushu 49:7eac11914980 329 {
shaorui 51:adc72e125b15 330 if(abs(controller.Ncycle_mod*57.2957795-controller.Mech_mod*57.2957795/GR)<2)
shaorui 51:adc72e125b15 331 {
shaorui 51:adc72e125b15 332 if(0<abs((controller.theta_joint- controller.theta_joint_raw)*57.2957795)<2)
shaorui 51:adc72e125b15 333 {
shaorui 51:adc72e125b15 334 Joint_init = controller.theta_joint- (1.0f/GR)*spi.GetMechPosition();
shaorui 51:adc72e125b15 335 controller.theta_mech = controller.theta_joint;////controller.theta_joint; // easy way to use, whether available in the shock?
shaorui 51:adc72e125b15 336 J_M_flag = 1;
shaorui 51:adc72e125b15 337 }
Rushu 49:7eac11914980 338 }
Rushu 49:7eac11914980 339 controller.theta_mech = controller.theta_joint_raw;
Rushu 49:7eac11914980 340 }
Rushu 49:7eac11914980 341 else if(J_M_flag == 1)
Rushu 49:7eac11914980 342 {
Rushu 49:7eac11914980 343 controller.theta_mech = Joint_init + (1.0f/GR)*spi.GetMechPosition();
Rushu 49:7eac11914980 344 }
Rushu 49:7eac11914980 345
Rushu 49:7eac11914980 346
shaorui 48:1b51771c3647 347 /////shaorui end//////////////////
shaorui 48:1b51771c3647 348 /*
shaorui 48:1b51771c3647 349 controller.c++;
shaorui 48:1b51771c3647 350 if(controller.c>=20000)
shaorui 48:1b51771c3647 351 {
shaorui 48:1b51771c3647 352 controller.cha=controller.init2-controller.init1;
shaorui 48:1b51771c3647 353 controller.init1=controller.init2;
shaorui 48:1b51771c3647 354 controller.c=0;
shaorui 48:1b51771c3647 355 printf("position: %.3f \n\r", controller.cha*360/(2.0f*PI));
shaorui 48:1b51771c3647 356 }
shaorui 48:1b51771c3647 357 */
benkatz 23:2adf23ee0305 358 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 359 switch(state){
benkatz 37:c0f352d6e8e3 360 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 361 if(state_change){
benkatz 23:2adf23ee0305 362 enter_menu_state();
shaorui 48:1b51771c3647 363 wucha=0 ; //shaorui add
benkatz 23:2adf23ee0305 364 }
benkatz 23:2adf23ee0305 365 break;
benkatz 22:60276ba87ac6 366
benkatz 23:2adf23ee0305 367 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 368 if(state_change){
benkatz 23:2adf23ee0305 369 calibrate();
benkatz 23:2adf23ee0305 370 }
benkatz 23:2adf23ee0305 371 break;
benkatz 23:2adf23ee0305 372
shaorui 48:1b51771c3647 373 case J_CALIBRATION_MODE: // Run encoder calibration procedure
shaorui 48:1b51771c3647 374 if(state_change){
shaorui 48:1b51771c3647 375 jocalibrate();
shaorui 48:1b51771c3647 376
shaorui 48:1b51771c3647 377 }
shaorui 48:1b51771c3647 378 break;
shaorui 48:1b51771c3647 379
Rushu 49:7eac11914980 380 case TEST_TRAJECTORY_MODE: // Run encoder calibration procedure
shaorui 48:1b51771c3647 381 if(state_change){
Rushu 49:7eac11914980 382 test_jointround_flag=1;
Rushu 49:7eac11914980 383 J_M_flag = 0;
shaorui 48:1b51771c3647 384 stop_sign=0;
shaorui 48:1b51771c3647 385 jointcalibrate();
shaorui 48:1b51771c3647 386
shaorui 48:1b51771c3647 387 }
shaorui 48:1b51771c3647 388 break;
shaorui 48:1b51771c3647 389
shaorui 48:1b51771c3647 390
benkatz 26:2b865c00d7e9 391 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 392 if(state_change){
benkatz 25:f5741040c4bb 393 enter_torque_mode();
benkatz 28:8c7e29f719c5 394 count = 0;
benkatz 25:f5741040c4bb 395 }
benkatz 28:8c7e29f719c5 396 else{
benkatz 37:c0f352d6e8e3 397 /*
benkatz 37:c0f352d6e8e3 398 if(controller.v_bus>28.0f){ //Turn of gate drive if bus voltage is too high, to prevent FETsplosion if the bus is cut during regen
benkatz 37:c0f352d6e8e3 399 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 400 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 401 state = REST_MODE;
benkatz 37:c0f352d6e8e3 402 state_change = 1;
benkatz 37:c0f352d6e8e3 403 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 404 }
benkatz 37:c0f352d6e8e3 405 */
benkatz 37:c0f352d6e8e3 406
shaorui 48:1b51771c3647 407 torque_control(&controller);
shaorui 51:adc72e125b15 408 /*
shaorui 51:adc72e125b15 409 if(test_jointround_flag!=1)
shaorui 51:adc72e125b15 410 {
benkatz 28:8c7e29f719c5 411 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 412 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 413 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 414 controller.kp = 0;
benkatz 37:c0f352d6e8e3 415 controller.kd = 0;
benkatz 37:c0f352d6e8e3 416 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 417 }
shaorui 51:adc72e125b15 418 }
shaorui 51:adc72e125b15 419 */
benkatz 37:c0f352d6e8e3 420 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 28:8c7e29f719c5 421 controller.timeout += 1;
benkatz 38:67e4e1453a4b 422
Rushu 49:7eac11914980 423
Rushu 49:7eac11914980 424 count++;
benkatz 39:3580a907ef93 425 /*
benkatz 40:cd7e837b2b93 426 if(count == 4000){
benkatz 40:cd7e837b2b93 427 printf("%.4f\n\r", controller.dtheta_mech);
benkatz 32:ccac5da77844 428 count = 0;
benkatz 23:2adf23ee0305 429 }
benkatz 39:3580a907ef93 430 */
benkatz 38:67e4e1453a4b 431
benkatz 37:c0f352d6e8e3 432
benkatz 37:c0f352d6e8e3 433 }
benkatz 23:2adf23ee0305 434 break;
benkatz 23:2adf23ee0305 435 case SETUP_MODE:
benkatz 23:2adf23ee0305 436 if(state_change){
benkatz 24:58c2d7571207 437 enter_setup_state();
benkatz 23:2adf23ee0305 438 }
benkatz 23:2adf23ee0305 439 break;
benkatz 23:2adf23ee0305 440 case ENCODER_MODE:
shaorui 51:adc72e125b15 441 print_encoder();
benkatz 23:2adf23ee0305 442 break;
benkatz 37:c0f352d6e8e3 443 }
benkatz 2:8724412ad628 444 }
benkatz 23:2adf23ee0305 445 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 446 }
benkatz 0:4e1c4df6aabd 447
benkatz 25:f5741040c4bb 448
benkatz 24:58c2d7571207 449 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 450 char cmd_id = 0;
benkatz 25:f5741040c4bb 451 char char_count = 0;
benkatz 24:58c2d7571207 452
benkatz 25:f5741040c4bb 453 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 454 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 455 void serial_interrupt(void){
benkatz 23:2adf23ee0305 456 while(pc.readable()){
benkatz 23:2adf23ee0305 457 char c = pc.getc();
benkatz 25:f5741040c4bb 458 if(c == 27){
benkatz 25:f5741040c4bb 459 state = REST_MODE;
benkatz 25:f5741040c4bb 460 state_change = 1;
benkatz 25:f5741040c4bb 461 char_count = 0;
benkatz 25:f5741040c4bb 462 cmd_id = 0;
shaorui 51:adc72e125b15 463 gpio.led->write(0);
benkatz 25:f5741040c4bb 464 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 465 }
benkatz 24:58c2d7571207 466 if(state == REST_MODE){
benkatz 23:2adf23ee0305 467 switch (c){
benkatz 23:2adf23ee0305 468 case 'c':
benkatz 23:2adf23ee0305 469 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 470 state_change = 1;
benkatz 23:2adf23ee0305 471 break;
shaorui 48:1b51771c3647 472
shaorui 48:1b51771c3647 473 case 't':
Rushu 49:7eac11914980 474 state = TEST_TRAJECTORY_MODE;
shaorui 48:1b51771c3647 475 state_change = 1;
shaorui 48:1b51771c3647 476 break;
shaorui 48:1b51771c3647 477 case 'j':
shaorui 48:1b51771c3647 478 state = J_CALIBRATION_MODE;
shaorui 48:1b51771c3647 479 state_change = 1;
shaorui 48:1b51771c3647 480 break;
shaorui 48:1b51771c3647 481
benkatz 26:2b865c00d7e9 482 case 'm':
benkatz 26:2b865c00d7e9 483 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 484 state_change = 1;
benkatz 23:2adf23ee0305 485 break;
benkatz 23:2adf23ee0305 486 case 'e':
benkatz 23:2adf23ee0305 487 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 488 state_change = 1;
benkatz 23:2adf23ee0305 489 break;
benkatz 23:2adf23ee0305 490 case 's':
benkatz 23:2adf23ee0305 491 state = SETUP_MODE;
benkatz 23:2adf23ee0305 492 state_change = 1;
benkatz 23:2adf23ee0305 493 break;
shaorui 48:1b51771c3647 494
benkatz 37:c0f352d6e8e3 495 case 'z':
benkatz 37:c0f352d6e8e3 496 spi.SetMechOffset(0);
shaorui 48:1b51771c3647 497 ma700.SetMechOffset(0);
benkatz 45:aadebe074af6 498 spi.Sample(DT);
shaorui 48:1b51771c3647 499 ma700.Sample(DT);
benkatz 37:c0f352d6e8e3 500 wait_us(20);
benkatz 37:c0f352d6e8e3 501 M_OFFSET = spi.GetMechPosition();
shaorui 48:1b51771c3647 502 JOINT_M_OFFSET = ma700.GetMechPosition();
benkatz 37:c0f352d6e8e3 503 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 504 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 505 prefs.close();
benkatz 37:c0f352d6e8e3 506 prefs.load();
benkatz 37:c0f352d6e8e3 507 spi.SetMechOffset(M_OFFSET);
shaorui 48:1b51771c3647 508 ma700.SetMechOffset(JOINT_M_OFFSET);
Rushu 49:7eac11914980 509 printf("\n\r Saved new M-J J-J zero position: %.4f %.4f\n\r\n\r", M_OFFSET, JOINT_M_OFFSET);
shaorui 51:adc72e125b15 510
shaorui 48:1b51771c3647 511 for(int i=0;i<300;i++)
shaorui 48:1b51771c3647 512 {
shaorui 48:1b51771c3647 513 printf("%.3d %.3d\n\r",i,__int_reg[i] );
shaorui 48:1b51771c3647 514 }
shaorui 48:1b51771c3647 515 for(int j=0;j<64;j++)
shaorui 48:1b51771c3647 516 {
shaorui 48:1b51771c3647 517 printf("%.3d %.3f\n\r",j,__float_reg[j] );
shaorui 48:1b51771c3647 518 }
shaorui 51:adc72e125b15 519
benkatz 37:c0f352d6e8e3 520 break;
benkatz 37:c0f352d6e8e3 521 }
benkatz 37:c0f352d6e8e3 522
benkatz 24:58c2d7571207 523 }
benkatz 24:58c2d7571207 524 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 525 if(c == 13){
benkatz 24:58c2d7571207 526 switch (cmd_id){
benkatz 24:58c2d7571207 527 case 'b':
benkatz 24:58c2d7571207 528 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 529 break;
benkatz 24:58c2d7571207 530 case 'i':
benkatz 24:58c2d7571207 531 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 532 break;
benkatz 26:2b865c00d7e9 533 case 'm':
benkatz 26:2b865c00d7e9 534 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 535 break;
benkatz 24:58c2d7571207 536 case 'l':
benkatz 24:58c2d7571207 537 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 24:58c2d7571207 538 break;
benkatz 28:8c7e29f719c5 539 case 't':
benkatz 28:8c7e29f719c5 540 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 541 break;
benkatz 24:58c2d7571207 542 default:
benkatz 24:58c2d7571207 543 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 544 break;
benkatz 24:58c2d7571207 545 }
benkatz 24:58c2d7571207 546
benkatz 24:58c2d7571207 547 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 548 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 549 prefs.close();
benkatz 24:58c2d7571207 550 prefs.load();
benkatz 24:58c2d7571207 551 state_change = 1;
benkatz 24:58c2d7571207 552 char_count = 0;
benkatz 24:58c2d7571207 553 cmd_id = 0;
benkatz 24:58c2d7571207 554 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 555 }
benkatz 24:58c2d7571207 556 else{
benkatz 24:58c2d7571207 557 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 558 else{
benkatz 24:58c2d7571207 559 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 560
benkatz 24:58c2d7571207 561 }
benkatz 24:58c2d7571207 562 pc.putc(c);
benkatz 24:58c2d7571207 563 char_count++;
benkatz 23:2adf23ee0305 564 }
benkatz 23:2adf23ee0305 565 }
benkatz 24:58c2d7571207 566 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 567 switch (c){
benkatz 24:58c2d7571207 568 case 27:
benkatz 24:58c2d7571207 569 state = REST_MODE;
benkatz 24:58c2d7571207 570 state_change = 1;
benkatz 24:58c2d7571207 571 break;
benkatz 24:58c2d7571207 572 }
benkatz 24:58c2d7571207 573 }
benkatz 24:58c2d7571207 574
benkatz 24:58c2d7571207 575 }
benkatz 22:60276ba87ac6 576 }
benkatz 0:4e1c4df6aabd 577
benkatz 0:4e1c4df6aabd 578 int main() {
benkatz 45:aadebe074af6 579
benkatz 20:bf9ea5125d52 580 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 581 controller.mode = 0;
shaorui 48:1b51771c3647 582 controller.sidebct1=0;
benkatz 23:2adf23ee0305 583 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 20:bf9ea5125d52 584
benkatz 9:d7eb815cb057 585 wait(.1);
benkatz 26:2b865c00d7e9 586 gpio.enable->write(1);
benkatz 45:aadebe074af6 587 TIM1->CCR3 = PWM_ARR*(1.0f); // Write duty cycles
benkatz 45:aadebe074af6 588 TIM1->CCR2 = PWM_ARR*(1.0f);
benkatz 45:aadebe074af6 589 TIM1->CCR1 = PWM_ARR*(1.0f);
benkatz 23:2adf23ee0305 590 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 26:2b865c00d7e9 591 gpio.enable->write(0);
benkatz 23:2adf23ee0305 592 reset_foc(&controller); // Reset current controller
benkatz 26:2b865c00d7e9 593 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 594 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 595
benkatz 20:bf9ea5125d52 596 wait(.1);
shaorui 48:1b51771c3647 597 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0); // commutation > communication
benkatz 43:dfb72608639c 598
benkatz 37:c0f352d6e8e3 599 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 600 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 601
benkatz 28:8c7e29f719c5 602 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 603 txMsg.len = 6;
benkatz 26:2b865c00d7e9 604 rxMsg.len = 8;
benkatz 43:dfb72608639c 605 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
shaorui 51:adc72e125b15 606 prefs.load();
shaorui 51:adc72e125b15 607 /* // Read flash
benkatz 37:c0f352d6e8e3 608 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 609 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 25:f5741040c4bb 610 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 611 spi.SetMechOffset(M_OFFSET);
Rushu 49:7eac11914980 612 if(isnan(JOINT_E_OFFSET)){JOINT_E_OFFSET = 0.0f;}
Rushu 49:7eac11914980 613 if(isnan(JOINT_M_OFFSET)){JOINT_M_OFFSET = 0.0f;}
Rushu 49:7eac11914980 614 ma700.SetElecOffset(JOINT_E_OFFSET); // Set position sensor offset
Rushu 49:7eac11914980 615 ma700.SetMechOffset(JOINT_M_OFFSET);
shaorui 51:adc72e125b15 616 */
benkatz 23:2adf23ee0305 617 int lut[128] = {0};
Rushu 49:7eac11914980 618 int joint[128]={0}; //shaorui
benkatz 23:2adf23ee0305 619 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
shaorui 48:1b51771c3647 620 spi.WriteLUT(lut);
shaorui 48:1b51771c3647 621 memcpy(&joint, &ENCODER_JOINT , sizeof(joint));
shaorui 48:1b51771c3647 622 spi.WriteLUT(joint);
shaorui 51:adc72e125b15 623 pc.baud(115200);//
shaorui 51:adc72e125b15 624 //pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 625 wait(.01);
Rushu 49:7eac11914980 626 pc.printf("\n\r\n\r QXSLAB Joint\n\r\n\r");
benkatz 20:bf9ea5125d52 627 wait(.01);
benkatz 23:2adf23ee0305 628 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 629 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 630 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 631 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 632 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
shaorui 51:adc72e125b15 633 printf(" JointOutput Zero Position: %.4f\n\r", JOINT_M_OFFSET);
benkatz 24:58c2d7571207 634 printf(" CAN ID: %d\n\r", CAN_ID);
Rushu 49:7eac11914980 635
Rushu 49:7eac11914980 636 controller.theta_joint_raw_pre=-(ma700.GetMechPosition()+spi.GetMechPosition()); //hjb added, for joint encoder filter
benkatz 23:2adf23ee0305 637 pc.attach(&serial_interrupt); // attach serial interrupt
Rushu 49:7eac11914980 638 J_M_flag = 0;
shaorui 48:1b51771c3647 639 //state_change = 1;
benkatz 20:bf9ea5125d52 640
benkatz 22:60276ba87ac6 641
shaorui 48:1b51771c3647 642 while(1) {
Rushu 49:7eac11914980 643 // wait(.1);
shaorui 48:1b51771c3647 644 if(state == MOTOR_MODE)
shaorui 48:1b51771c3647 645 {
Rushu 49:7eac11914980 646 if(test_jointround_flag==1)
shaorui 48:1b51771c3647 647 {
Rushu 49:7eac11914980 648 if(controller.theta_joint_raw*57.2957795<=1)
shaorui 48:1b51771c3647 649 {
shaorui 48:1b51771c3647 650 //if(stop_sign==0)
shaorui 48:1b51771c3647 651 //{
shaorui 48:1b51771c3647 652 controller.v_des = 0;
shaorui 48:1b51771c3647 653 wait(1);
shaorui 48:1b51771c3647 654 controller.p_des=0;
shaorui 51:adc72e125b15 655 // controller.v_des = 1.5f; //GR=49
shaorui 51:adc72e125b15 656 controller.v_des = 0.8f; //GR=89
shaorui 48:1b51771c3647 657 controller.kp = 0;
shaorui 48:1b51771c3647 658 controller.kd = 5.0f;
shaorui 48:1b51771c3647 659 controller.t_ff = 0;
shaorui 48:1b51771c3647 660 wait(.5);
shaorui 48:1b51771c3647 661 // }
shaorui 48:1b51771c3647 662 /*
shaorui 48:1b51771c3647 663 else
shaorui 48:1b51771c3647 664 {
Rushu 49:7eac11914980 665 test_jointround_flag=0;
shaorui 48:1b51771c3647 666 controller.v_des =0;
shaorui 48:1b51771c3647 667
shaorui 48:1b51771c3647 668 }
shaorui 48:1b51771c3647 669 */
shaorui 48:1b51771c3647 670 }
Rushu 49:7eac11914980 671 else if(controller.theta_joint_raw*57.2957795>=(359))
shaorui 48:1b51771c3647 672 {
shaorui 48:1b51771c3647 673 //stop_sign=1;
shaorui 48:1b51771c3647 674 controller.v_des = 0;
shaorui 48:1b51771c3647 675 wait(1);
shaorui 48:1b51771c3647 676 controller.p_des=0;
shaorui 51:adc72e125b15 677 //controller.v_des = -1.5f;//GR=49
shaorui 51:adc72e125b15 678 controller.v_des = -0.8f; //GR=89
shaorui 48:1b51771c3647 679 controller.kp = 0;
shaorui 48:1b51771c3647 680 controller.kd = 5.0f;
shaorui 48:1b51771c3647 681 controller.t_ff = 0;
shaorui 48:1b51771c3647 682 wait(.5);
shaorui 48:1b51771c3647 683 printf("test position:%.3f\n\r",(1.0f/GR)* spi.GetMechPosition());
shaorui 48:1b51771c3647 684
shaorui 48:1b51771c3647 685 }
shaorui 48:1b51771c3647 686 }
Rushu 49:7eac11914980 687 //wait(.1);
shaorui 48:1b51771c3647 688 // printf("%.3f\n\r",(1.0f/GR)* spi.GetMechPosition());
Rushu 49:7eac11914980 689 // printf("%.3d, %.3d\n\r",test_jointround_flag, stop_sign);
shaorui 48:1b51771c3647 690
shaorui 48:1b51771c3647 691 //printf("BCT: %.3x zzz: %.3x etxy: %.3x \n\r",ma700.Gettest(),ma700.Gettest1(),ma700.Gettest2());
shaorui 48:1b51771c3647 692 // float joint_mech_position=-(controller.theta_mech*360/(2.0f*PI)*GR+controller.theta_mech1*360/(2.0f*PI));
shaorui 48:1b51771c3647 693 // wucha1=(controller.theta_mech-controller.theta_mech1)*360/(2.0f*PI);
shaorui 48:1b51771c3647 694 //wucha1=controller.theta_mech*360/(2.0f*PI)-joint_mech_position;
shaorui 48:1b51771c3647 695 //wucha+=abs(wucha1);
shaorui 48:1b51771c3647 696 //printf("M: %.3f J: %.3f E: %.3f EA: %.3f \n\r",controller.theta_mech*360/(2.0f*PI),controller.theta_mech1*360/(2.0f*PI),wucha1,float(wucha/i)) ;
shaorui 48:1b51771c3647 697 // printf("M: %.3f J: %.3f E: %.3f EA: %.3f \n\r",controller.theta_mech*360/(2.0f*PI),joint_mech_position,wucha1,float(wucha/i)) ;
shaorui 48:1b51771c3647 698 //printf("m_position: %.3f\n\r",controller.theta_mech*360/(2.0f*PI)*GR);
shaorui 48:1b51771c3647 699 //printf("j_position: %.3f\n\r",controller.theta_mech1*360/(2.0f*PI));
Rushu 49:7eac11914980 700 // float m_position=controller.theta_mech*57.2957795;
shaorui 48:1b51771c3647 701 // float j_position=-controller.theta_mech1*360/(2.0f*PI)-controller.theta_mech*360/(2.0f*PI)*GR;
Rushu 49:7eac11914980 702 // float j_position=-(controller.theta_mech1+controller.theta_mech)*2807.49319614;
shaorui 48:1b51771c3647 703 // float j_position=-controller.theta_mech1*57.2957795;
Rushu 49:7eac11914980 704 //printf("m:%.3f\n\r,j:%.3f\n\r",m_position,j_position);
Rushu 49:7eac11914980 705 if(count >= 4000){
shaorui 51:adc72e125b15 706 // printf("J: %.3f Mec: %.3f Jerr: %.3f JVerr: %.3f Kp: %.3f Kd: %.3f \n\r",controller.theta_joint*57.2957795, controller.theta_mech*57.2957795, (controller.p_des - controller.theta_mech)*57.2957795,(controller.v_des - controller.dtheta_mech)*57.2957795, controller.kp,controller.kd);
shaorui 51:adc72e125b15 707 //printf("J: %.3f Mec: %.3f J-Mec: %.3f \n\r",controller.theta_joint*57.2957795, controller.theta_mech*57.2957795, (controller.theta_joint - controller.theta_mech)*57.2957795);
shaorui 51:adc72e125b15 708 // printf("J: %.3f Mec: %.3f J-Real: %.3f J-Mec: %.3f Jinit: %.3f \n\r",controller.theta_joint*57.2957795, controller.theta_mech*57.2957795, spi.GetMechPosition()*57.2957795/GR,(controller.theta_joint - controller.theta_mech)*57.2957795,(controller.theta_joint- (1.0f/GR)*spi.GetMechPosition())*57.2957795);
shaorui 51:adc72e125b15 709 // printf("Ele-Real:%.3f \n\rJ-Des: %.3f \n\r J-Real: %.3f \n\r Des-Real: %.3f \n\r",spi.GetMechPosition()*57.2957795,spi.GetMechPosition()*57.2957795/GR, controller.theta_joint_raw*57.2957795, spi.GetMechPosition()*57.2957795/GR-controller.theta_joint_raw*57.2957795);
shaorui 51:adc72e125b15 710 printf("J: %.3f Mec: %.3f J-Mec: %.3f J-Real: %.3f J-Ncycle: %.3d NCycle: %.3d mode-error: %.3f J-M-flag: %.3d J-init: %.3f \n\r",controller.theta_joint*57.2957795, controller.theta_mech*57.2957795,
shaorui 51:adc72e125b15 711 (controller.theta_joint - controller.theta_mech)*57.2957795,controller.theta_joint_raw*57.2957795,controller.Ncycle,NCycle,abs(controller.Ncycle_mod*57.2957795-controller.Mech_mod*57.2957795/GR),J_M_flag,Joint_init*57.2957795);
shaorui 51:adc72e125b15 712
Rushu 50:1fe5c2c53af1 713 // printf("Pdes: %.3f Vdes: %.3f Kp: %.3f Kd: %.3f Tff: %.3f\n\r",controller.p_des*57.2957795, controller.v_des*57.2957795, controller.kp,controller.kd,controller.t_ff);
Rushu 50:1fe5c2c53af1 714 // printf("Prel: %.3f Vrel: %.3f T: %.3f \n\r",controller.theta_mech*57.2957795, controller.dtheta_mech*57.2957795, controller.i_q_filt*KT_OUT);
Rushu 49:7eac11914980 715 count = 0;
shaorui 51:adc72e125b15 716
shaorui 51:adc72e125b15 717 printf("input: %.3f output: %.3f -: %.3f\n\r",(1.0f/GR)*spi.GetMechPosition()*57.2957795,controller.theta_joint_raw*57.2957795,((1.0f/GR)*spi.GetMechPosition()*57.2957795-controller.theta_joint_raw*57.2957795));
shaorui 51:adc72e125b15 718
Rushu 49:7eac11914980 719 }
Rushu 49:7eac11914980 720
shaorui 48:1b51771c3647 721
Rushu 49:7eac11914980 722 i++;
Rushu 49:7eac11914980 723 //wait(.5);
shaorui 48:1b51771c3647 724
shaorui 48:1b51771c3647 725 }
shaorui 48:1b51771c3647 726
shaorui 48:1b51771c3647 727
benkatz 0:4e1c4df6aabd 728 }
benkatz 0:4e1c4df6aabd 729 }