Shao Rui / RV_brake_2021_3_19

1

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@55:d614e29c60c5, 2021-04-14 (annotated)

Committer:
shaorui
Date:
Wed Apr 14 11:46:16 2021 +0000
Revision:
55:d614e29c60c5
Parent:
54:4c9415402628 
1

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;
benkatz 0:4e1c4df6aabd 22 #include "mbed.h"
benkatz 0:4e1c4df6aabd 23 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 24 #include "structs.h"
benkatz 20:bf9ea5125d52 25 #include "foc.h"
benkatz 22:60276ba87ac6 26 #include "calibration.h"
benkatz 20:bf9ea5125d52 27 #include "hw_setup.h"
benkatz 23:2adf23ee0305 28 #include "math_ops.h"
benkatz 20:bf9ea5125d52 29 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 30 #include "hw_config.h"
benkatz 20:bf9ea5125d52 31 #include "motor_config.h"
benkatz 23:2adf23ee0305 32 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 33 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 34 #include "user_config.h"
benkatz 23:2adf23ee0305 35 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 36 #include "CAN_com.h"
shaorui 48:1b51771c3647 37 #include "math.h"
shaorui 48:1b51771c3647 38 #include "MA700Sensor.h"
shaorui 48:1b51771c3647 39 #include "joint_calibration.h"
shaorui 53:32218a36df05 40 PreferenceWriter prefs(7);
shaorui 48:1b51771c3647 41 //PreferenceWriter prefs(7);
benkatz 37:c0f352d6e8e3 42
benkatz 9:d7eb815cb057 43
benkatz 20:bf9ea5125d52 44 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 45 ControllerStruct controller;
benkatz 20:bf9ea5125d52 46 COMStruct com;
benkatz 37:c0f352d6e8e3 47 ObserverStruct observer;
benkatz 43:dfb72608639c 48 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 49
Rushu 47:55bdc4d5096b 50 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name, 1000kbps
benkatz 26:2b865c00d7e9 51 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 52 CANMessage txMsg;
benkatz 23:2adf23ee0305 53
shaorui 48:1b51771c3647 54 int i=1;//shaorui add
shaorui 48:1b51771c3647 55 float wucha=0;
shaorui 48:1b51771c3647 56 float wucha1=0;
Rushu 47:55bdc4d5096b 57 PositionSensorAM5147 spi(16384, 0.0, NPP); //14 bits encoder, 21 NPP
shaorui 48:1b51771c3647 58 PositionSensorMA700 ma700(16384,0.0,NPP); //shaorui add(12/10)
benkatz 20:bf9ea5125d52 59
benkatz 23:2adf23ee0305 60 volatile int count = 0;
benkatz 23:2adf23ee0305 61 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 62 volatile int state_change;
shaorui 55:d614e29c60c5 63 volatile int brake_count=0;
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;
shaorui 55:d614e29c60c5 123 gpio.brake->write(0); //shut up electrical brake ---set up electrical brake 0% duty cycle, relative to period
shaorui 55:d614e29c60c5 124 brake_count=0;
benkatz 25:f5741040c4bb 125 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 126 gpio.led->write(0);
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){
shaorui 55:d614e29c60c5 150 // gpio.brake->write(0.8);
shaorui 55:d614e29c60c5 151 gpio.brake->write(1);
benkatz 37:c0f352d6e8e3 152 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 153 gpio.enable->write(1); // Enable gate drive
benkatz 28:8c7e29f719c5 154 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 155 wait(.001);
benkatz 23:2adf23ee0305 156 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 157 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 158 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 159 state_change = 0;
benkatz 28:8c7e29f719c5 160 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 161 }
benkatz 22:60276ba87ac6 162
benkatz 23:2adf23ee0305 163 void calibrate(void){
shaorui 55:d614e29c60c5 164 gpio.brake->write(0.8);
benkatz 25:f5741040c4bb 165 gpio.enable->write(1); // Enable gate drive
benkatz 37:c0f352d6e8e3 166 gpio.led->write(1); // Turn on status LED
shaorui 53:32218a36df05 167 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 168 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
shaorui 48:1b51771c3647 169 //j_calibrate(&ma700,&spi, &gpio, &controller, &prefs);
shaorui 48:1b51771c3647 170 //j_calibrate(&ma700,&gpio, &controller, &prefs);
benkatz 37:c0f352d6e8e3 171 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 172 wait(.2);
benkatz 25:f5741040c4bb 173 gpio.enable->write(0); // Turn off gate drive
benkatz 23:2adf23ee0305 174 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 23:2adf23ee0305 175 state_change = 0;
benkatz 23:2adf23ee0305 176 }
benkatz 23:2adf23ee0305 177
shaorui 48:1b51771c3647 178 void jocalibrate(void){
shaorui 48:1b51771c3647 179 gpio.enable->write(1); // Enable gate drive
shaorui 48:1b51771c3647 180 gpio.led->write(1); // Turn on status LED
Rushu 49:7eac11914980 181
Rushu 49:7eac11914980 182 //order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
shaorui 48:1b51771c3647 183 //calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
shaorui 48:1b51771c3647 184 //j_calibrate(&ma700,&spi, &gpio, &controller, &prefs);
shaorui 48:1b51771c3647 185 j_calibrate(&ma700,&gpio, &controller, &prefs);
Rushu 49:7eac11914980 186
Rushu 49:7eac11914980 187 /*************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 188 /*
Rushu 49:7eac11914980 189 spi.SetMechOffset(0);
Rushu 49:7eac11914980 190 ma700.SetMechOffset(0);
Rushu 49:7eac11914980 191 spi.Sample(DT);
Rushu 49:7eac11914980 192 ma700.Sample(DT);
Rushu 49:7eac11914980 193 wait_us(20);
Rushu 49:7eac11914980 194 M_OFFSET = spi.GetMechPosition();
Rushu 49:7eac11914980 195 JOINT_M_OFFSET =ma700.GetMechPosition();
Rushu 49:7eac11914980 196 if (!prefs.ready()) prefs.open();
Rushu 49:7eac11914980 197 prefs.flush(); // Write new prefs to flash
Rushu 49:7eac11914980 198 prefs.close();
Rushu 49:7eac11914980 199 prefs.load();
Rushu 49:7eac11914980 200 spi.SetMechOffset(M_OFFSET);
Rushu 49:7eac11914980 201 ma700.SetMechOffset(JOINT_M_OFFSET);
Rushu 49:7eac11914980 202 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
Rushu 49:7eac11914980 203 printf("\n\r Saved new zero position1: %.4f\n\r\n\r", JOINT_M_OFFSET);
Rushu 49:7eac11914980 204 */
Rushu 49:7eac11914980 205 /*************同时设置转子和关节零位置同步****************/
Rushu 49:7eac11914980 206 gpio.led->write(0); // Turn off status LED
shaorui 48:1b51771c3647 207 wait(.2);
shaorui 48:1b51771c3647 208 gpio.enable->write(0); // Turn off gate drive
shaorui 48:1b51771c3647 209 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
shaorui 48:1b51771c3647 210 state_change = 0;
shaorui 48:1b51771c3647 211 }
shaorui 48:1b51771c3647 212
shaorui 48:1b51771c3647 213 void jointcalibrate(void){
shaorui 48:1b51771c3647 214 gpio.enable->write(1); // Enable gate drive
shaorui 48:1b51771c3647 215 gpio.led->write(1); // Turn on status LED
shaorui 48:1b51771c3647 216 //joint_calibrate (&ma700,&spi,&gpio,&controller,&prefs); // Perform calibration procedure
shaorui 48:1b51771c3647 217 gpio.led->write(0); // Turn off status LED
shaorui 48:1b51771c3647 218 wait(.2);
shaorui 48:1b51771c3647 219 gpio.enable->write(0);
shaorui 48:1b51771c3647 220
shaorui 48:1b51771c3647 221
shaorui 48:1b51771c3647 222
shaorui 48:1b51771c3647 223 /************Trajectory Planning******************************/
shaorui 48:1b51771c3647 224
shaorui 48:1b51771c3647 225
shaorui 48:1b51771c3647 226 // enter_torque_mode();
shaorui 48:1b51771c3647 227 state=MOTOR_MODE;
shaorui 48:1b51771c3647 228 state_change=1;
shaorui 48:1b51771c3647 229 //enter_torque_mode();
shaorui 48:1b51771c3647 230 count = 0;
shaorui 48:1b51771c3647 231 printf("test\n\r");
Rushu 49:7eac11914980 232 controller.p_des=0;
Rushu 49:7eac11914980 233 controller.v_des = 1.5f;
Rushu 49:7eac11914980 234 controller.kp = 0;
Rushu 49:7eac11914980 235 controller.kd = 5.0f;
Rushu 49:7eac11914980 236 controller.t_ff = 0;
shaorui 48:1b51771c3647 237 /*
shaorui 48:1b51771c3647 238 if((1.0f/GR)* spi.GetMechPosition()<=(2*PI))
shaorui 48:1b51771c3647 239 {
shaorui 48:1b51771c3647 240 controller.p_des=0;
shaorui 48:1b51771c3647 241 controller.v_des = 2.0f;
shaorui 48:1b51771c3647 242 controller.kp = 0;
shaorui 48:1b51771c3647 243 controller.kd = 5.0f;
shaorui 48:1b51771c3647 244 controller.t_ff = 0;
shaorui 48:1b51771c3647 245 wait(.5);
shaorui 48:1b51771c3647 246 *
shaorui 48:1b51771c3647 247 }
shaorui 48:1b51771c3647 248
shaorui 48:1b51771c3647 249
shaorui 48:1b51771c3647 250 ************Trajectory Planning*****************************/
shaorui 48:1b51771c3647 251
shaorui 48:1b51771c3647 252 // Turn off gate drive
shaorui 48:1b51771c3647 253 printf("\n\r Joint_Calibration complete. Press 'esc' to return to menu\n\r");
shaorui 48:1b51771c3647 254 //state_change = 0;
shaorui 48:1b51771c3647 255 }
shaorui 48:1b51771c3647 256
shaorui 48:1b51771c3647 257
shaorui 48:1b51771c3647 258
benkatz 23:2adf23ee0305 259 void print_encoder(void){
Rushu 52:d4d5e3414865 260 printf(" AS5147Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition()*57.2957795, spi.GetElecPosition()*57.2957795, spi.GetRawPosition());
Rushu 52:d4d5e3414865 261 printf(" MA700:Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", ma700.GetMechPosition()*57.2957795, ma700.GetElecPosition()*57.2957795, ma700.GetRawPosition());
Rushu 52:d4d5e3414865 262 printf(" Joint raw: %f Joint: %f Mech: %f\n\r", controller.theta_joint_raw*57.2957795, controller.theta_joint*57.2957795, controller.theta_mech*57.2957795);
Rushu 49:7eac11914980 263
Rushu 49:7eac11914980 264 // float m_position=controller.theta_mech*57.2957795;
Rushu 49:7eac11914980 265 // float j_position=-controller.theta_mech1*360/(2.0f*PI)-controller.theta_mech*360/(2.0f*PI)*GR;
Rushu 49:7eac11914980 266 // float j_position=-(controller.theta_mech1+controller.theta_mech)*2807.49319614;
Rushu 49:7eac11914980 267 wait(.5);
benkatz 22:60276ba87ac6 268 }
benkatz 20:bf9ea5125d52 269
benkatz 23:2adf23ee0305 270 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 271 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 272 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 273 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 274
benkatz 23:2adf23ee0305 275 ///Sample current always ///
benkatz 25:f5741040c4bb 276 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 277 //volatile int delay;
benkatz 20:bf9ea5125d52 278 //for (delay = 0; delay < 55; delay++);
Rushu 52:d4d5e3414865 279 spi.Sample(DT);
Rushu 52:d4d5e3414865 280 ma700.Sample(DT);
Rushu 52:d4d5e3414865 281
benkatz 37:c0f352d6e8e3 282 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 283 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 284 controller.adc3_raw = ADC3->DR;
Rushu 52:d4d5e3414865 285 // sample position sensor
benkatz 37:c0f352d6e8e3 286 controller.theta_elec = spi.GetElecPosition();
Rushu 49:7eac11914980 287 // controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 288 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 289 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 37:c0f352d6e8e3 290 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE;
shaorui 48:1b51771c3647 291
benkatz 20:bf9ea5125d52 292
shaorui 48:1b51771c3647 293 //////shaorui add for obtaining joint real position
shaorui 48:1b51771c3647 294 controller.theta_elec1 = ma700.GetElecPosition();
Rushu 49:7eac11914980 295 controller.theta_mech1 = (1.0f/GR)*ma700.GetMechPosition();
shaorui 55:d614e29c60c5 296 controller.dtheta_mech1 =-(ma700.GetMechVelocity()+spi.GetMechVelocity());
shaorui 48:1b51771c3647 297 controller.dtheta_elec1 = ma700.GetElecVelocity();
Rushu 49:7eac11914980 298
Rushu 49:7eac11914980 299 ///hjb add joint angle
Rushu 49:7eac11914980 300 controller.theta_joint_raw= -(ma700.GetMechPosition()+spi.GetMechPosition());
Rushu 51:29e1686e8b3e 301 //if(controller.dtheta_mech>0) {controller.theta_joint_raw += PI/180.0f;} //compensate
Rushu 51:29e1686e8b3e 302 // else if(controller.dtheta_mech<0) {controller.theta_joint_raw -= PI/180.0f;}
Rushu 49:7eac11914980 303 if(controller.theta_joint_raw<0){controller.theta_joint_raw += 2.0f*PI;}
Rushu 52:d4d5e3414865 304 else if(controller.theta_joint_raw>=2.0f*PI){controller.theta_joint_raw -= 2.0f*PI;}
Rushu 52:d4d5e3414865 305
Rushu 52:d4d5e3414865 306 if(controller.theta_joint_raw<0){controller.theta_joint_raw += 2.0f*PI;} //may be still below 0
Rushu 52:d4d5e3414865 307 else if(controller.theta_joint_raw>=2.0f*PI){controller.theta_joint_raw -= 2.0f*PI;}
Rushu 49:7eac11914980 308
Rushu 49:7eac11914980 309 controller.theta_joint_raw_fil =0.99f*controller.theta_joint_raw_pre + 0.01f*controller.theta_joint_raw ;//filter
Rushu 49:7eac11914980 310 controller.theta_joint_raw_pre =controller.theta_joint_raw_fil;
Rushu 49:7eac11914980 311
Rushu 49:7eac11914980 312 //"rad 0~2pi" ("deg" =-(controller.theta_mech1+controller.theta_mech)*2807.49319614;
Rushu 49:7eac11914980 313 //int Ncycle=0;
Rushu 49:7eac11914980 314 //float Ncycle_mod = 0.0f;
Rushu 49:7eac11914980 315 //float Mech_mod = 0.0f;
Rushu 49:7eac11914980 316 controller.Ncycle = controller.theta_joint_raw/(2.0f*PI/GR);
Rushu 49:7eac11914980 317 controller.Ncycle_mod = fmod(controller.theta_joint_raw,2.0f*PI/GR);
Rushu 49:7eac11914980 318 controller.Mech_mod = fmod(spi.GetMechPosition(),2.0f*PI);
Rushu 52:d4d5e3414865 319
Rushu 52:d4d5e3414865 320 if(controller.Mech_mod<0){controller.Mech_mod += 2.0f*PI;}
Rushu 52:d4d5e3414865 321 else if(controller.Mech_mod>=2.0f*PI){controller.Mech_mod -= 2.0f*PI;}
Rushu 52:d4d5e3414865 322
Rushu 49:7eac11914980 323 controller.theta_joint= controller.Ncycle*(2.0f*PI/GR)+controller.Mech_mod/GR; //In the real use, should turn to the theta_mech
Rushu 52:d4d5e3414865 324 if(controller.theta_joint<0){controller.theta_joint += 2.0f*PI;}
Rushu 52:d4d5e3414865 325 else if(controller.theta_joint>=2.0f*PI){controller.theta_joint -= 2.0f*PI;}
Rushu 49:7eac11914980 326 if(J_M_flag == 0)
Rushu 49:7eac11914980 327 {
Rushu 51:29e1686e8b3e 328 if(0<abs(controller.Ncycle_mod*57.2957795-controller.Mech_mod*57.2957795/GR)<2)
Rushu 51:29e1686e8b3e 329 {
Rushu 51:29e1686e8b3e 330 if(0<abs((controller.theta_joint- controller.theta_joint_raw)*57.2957795)<2)
Rushu 51:29e1686e8b3e 331 {
Rushu 51:29e1686e8b3e 332 Joint_init = controller.theta_joint- (1.0f/GR)*spi.GetMechPosition();
Rushu 51:29e1686e8b3e 333 controller.theta_mech = controller.theta_joint;////controller.theta_joint; // easy way to use, whether available in the shock?
Rushu 51:29e1686e8b3e 334 J_M_flag = 1;
Rushu 51:29e1686e8b3e 335 }
Rushu 51:29e1686e8b3e 336 }
Rushu 49:7eac11914980 337 controller.theta_mech = controller.theta_joint_raw;
shaorui 55:d614e29c60c5 338
Rushu 49:7eac11914980 339 }
Rushu 49:7eac11914980 340 else if(J_M_flag == 1)
Rushu 49:7eac11914980 341 {
Rushu 49:7eac11914980 342 controller.theta_mech = Joint_init + (1.0f/GR)*spi.GetMechPosition();
shaorui 55:d614e29c60c5 343
shaorui 53:32218a36df05 344
Rushu 49:7eac11914980 345 }
Rushu 49:7eac11914980 346
Rushu 49:7eac11914980 347
shaorui 48:1b51771c3647 348 /////shaorui end//////////////////
shaorui 48:1b51771c3647 349 /*
shaorui 48:1b51771c3647 350 controller.c++;
shaorui 48:1b51771c3647 351 if(controller.c>=20000)
shaorui 48:1b51771c3647 352 {
shaorui 48:1b51771c3647 353 controller.cha=controller.init2-controller.init1;
shaorui 48:1b51771c3647 354 controller.init1=controller.init2;
shaorui 48:1b51771c3647 355 controller.c=0;
shaorui 48:1b51771c3647 356 printf("position: %.3f \n\r", controller.cha*360/(2.0f*PI));
shaorui 48:1b51771c3647 357 }
shaorui 48:1b51771c3647 358 */
benkatz 23:2adf23ee0305 359 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 360 switch(state){
benkatz 37:c0f352d6e8e3 361 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 362 if(state_change){
benkatz 23:2adf23ee0305 363 enter_menu_state();
shaorui 48:1b51771c3647 364 wucha=0 ; //shaorui add
shaorui 53:32218a36df05 365 test_jointround_flag=0;
benkatz 23:2adf23ee0305 366 }
benkatz 23:2adf23ee0305 367 break;
benkatz 22:60276ba87ac6 368
benkatz 23:2adf23ee0305 369 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 370 if(state_change){
benkatz 23:2adf23ee0305 371 calibrate();
shaorui 55:d614e29c60c5 372 gpio.brake->write(0); //shut up electrical brake ---set up electrical brake 0% duty cycle, relative to period
benkatz 23:2adf23ee0305 373 }
benkatz 23:2adf23ee0305 374 break;
benkatz 23:2adf23ee0305 375
shaorui 48:1b51771c3647 376 case J_CALIBRATION_MODE: // Run encoder calibration procedure
shaorui 48:1b51771c3647 377 if(state_change){
shaorui 48:1b51771c3647 378 jocalibrate();
shaorui 48:1b51771c3647 379
shaorui 48:1b51771c3647 380 }
shaorui 48:1b51771c3647 381 break;
shaorui 48:1b51771c3647 382
Rushu 49:7eac11914980 383 case TEST_TRAJECTORY_MODE: // Run encoder calibration procedure
shaorui 48:1b51771c3647 384 if(state_change){
Rushu 49:7eac11914980 385 test_jointround_flag=1;
shaorui 55:d614e29c60c5 386 //J_M_flag = 0;
shaorui 48:1b51771c3647 387 stop_sign=0;
shaorui 48:1b51771c3647 388 jointcalibrate();
shaorui 48:1b51771c3647 389
shaorui 48:1b51771c3647 390 }
shaorui 48:1b51771c3647 391 break;
shaorui 48:1b51771c3647 392
shaorui 48:1b51771c3647 393
benkatz 26:2b865c00d7e9 394 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 395 if(state_change){
benkatz 25:f5741040c4bb 396 enter_torque_mode();
benkatz 28:8c7e29f719c5 397 count = 0;
benkatz 25:f5741040c4bb 398 }
benkatz 28:8c7e29f719c5 399 else{
benkatz 37:c0f352d6e8e3 400 /*
benkatz 37:c0f352d6e8e3 401 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 402 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 403 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 404 state = REST_MODE;
benkatz 37:c0f352d6e8e3 405 state_change = 1;
benkatz 37:c0f352d6e8e3 406 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 407 }
benkatz 37:c0f352d6e8e3 408 */
shaorui 55:d614e29c60c5 409 brake_count++;
shaorui 55:d614e29c60c5 410 if(brake_count>=3*40000)
shaorui 55:d614e29c60c5 411 {
shaorui 55:d614e29c60c5 412 //gpio.brake->write(0.125); //set up electrical brake 12.5% duty cycle, relative to period
shaorui 55:d614e29c60c5 413 gpio.brake->write(0.3);
shaorui 55:d614e29c60c5 414 }
shaorui 48:1b51771c3647 415 torque_control(&controller);
shaorui 55:d614e29c60c5 416
benkatz 28:8c7e29f719c5 417 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 418 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 419 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 420 controller.kp = 0;
benkatz 37:c0f352d6e8e3 421 controller.kd = 0;
benkatz 37:c0f352d6e8e3 422 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 423 }
shaorui 55:d614e29c60c5 424
benkatz 37:c0f352d6e8e3 425 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 28:8c7e29f719c5 426 controller.timeout += 1;
benkatz 38:67e4e1453a4b 427
Rushu 49:7eac11914980 428
Rushu 49:7eac11914980 429 count++;
benkatz 39:3580a907ef93 430 /*
benkatz 40:cd7e837b2b93 431 if(count == 4000){
benkatz 40:cd7e837b2b93 432 printf("%.4f\n\r", controller.dtheta_mech);
benkatz 32:ccac5da77844 433 count = 0;
benkatz 23:2adf23ee0305 434 }
benkatz 39:3580a907ef93 435 */
benkatz 38:67e4e1453a4b 436
benkatz 37:c0f352d6e8e3 437
benkatz 37:c0f352d6e8e3 438 }
benkatz 23:2adf23ee0305 439 break;
benkatz 23:2adf23ee0305 440 case SETUP_MODE:
benkatz 23:2adf23ee0305 441 if(state_change){
benkatz 24:58c2d7571207 442 enter_setup_state();
benkatz 23:2adf23ee0305 443 }
benkatz 23:2adf23ee0305 444 break;
benkatz 23:2adf23ee0305 445 case ENCODER_MODE:
benkatz 23:2adf23ee0305 446 print_encoder();
benkatz 23:2adf23ee0305 447 break;
benkatz 37:c0f352d6e8e3 448 }
benkatz 2:8724412ad628 449 }
benkatz 23:2adf23ee0305 450 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 451 }
benkatz 0:4e1c4df6aabd 452
benkatz 25:f5741040c4bb 453
benkatz 24:58c2d7571207 454 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 455 char cmd_id = 0;
benkatz 25:f5741040c4bb 456 char char_count = 0;
benkatz 24:58c2d7571207 457
benkatz 25:f5741040c4bb 458 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 459 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 460 void serial_interrupt(void){
benkatz 23:2adf23ee0305 461 while(pc.readable()){
benkatz 23:2adf23ee0305 462 char c = pc.getc();
benkatz 25:f5741040c4bb 463 if(c == 27){
benkatz 25:f5741040c4bb 464 state = REST_MODE;
benkatz 25:f5741040c4bb 465 state_change = 1;
shaorui 53:32218a36df05 466 test_jointround_flag=0;
benkatz 25:f5741040c4bb 467 char_count = 0;
benkatz 25:f5741040c4bb 468 cmd_id = 0;
benkatz 37:c0f352d6e8e3 469 gpio.led->write(0);;
benkatz 25:f5741040c4bb 470 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 471 }
benkatz 24:58c2d7571207 472 if(state == REST_MODE){
benkatz 23:2adf23ee0305 473 switch (c){
benkatz 23:2adf23ee0305 474 case 'c':
benkatz 23:2adf23ee0305 475 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 476 state_change = 1;
benkatz 23:2adf23ee0305 477 break;
shaorui 48:1b51771c3647 478
shaorui 48:1b51771c3647 479 case 't':
Rushu 49:7eac11914980 480 state = TEST_TRAJECTORY_MODE;
shaorui 48:1b51771c3647 481 state_change = 1;
shaorui 48:1b51771c3647 482 break;
shaorui 48:1b51771c3647 483 case 'j':
shaorui 48:1b51771c3647 484 state = J_CALIBRATION_MODE;
shaorui 48:1b51771c3647 485 state_change = 1;
shaorui 48:1b51771c3647 486 break;
shaorui 48:1b51771c3647 487
benkatz 26:2b865c00d7e9 488 case 'm':
benkatz 26:2b865c00d7e9 489 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 490 state_change = 1;
benkatz 23:2adf23ee0305 491 break;
benkatz 23:2adf23ee0305 492 case 'e':
benkatz 23:2adf23ee0305 493 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 494 state_change = 1;
benkatz 23:2adf23ee0305 495 break;
benkatz 23:2adf23ee0305 496 case 's':
benkatz 23:2adf23ee0305 497 state = SETUP_MODE;
benkatz 23:2adf23ee0305 498 state_change = 1;
benkatz 23:2adf23ee0305 499 break;
shaorui 48:1b51771c3647 500
benkatz 37:c0f352d6e8e3 501 case 'z':
benkatz 37:c0f352d6e8e3 502 spi.SetMechOffset(0);
shaorui 48:1b51771c3647 503 ma700.SetMechOffset(0);
benkatz 45:aadebe074af6 504 spi.Sample(DT);
shaorui 48:1b51771c3647 505 ma700.Sample(DT);
benkatz 37:c0f352d6e8e3 506 wait_us(20);
benkatz 37:c0f352d6e8e3 507 M_OFFSET = spi.GetMechPosition();
shaorui 48:1b51771c3647 508 JOINT_M_OFFSET = ma700.GetMechPosition();
benkatz 37:c0f352d6e8e3 509 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 510 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 511 prefs.close();
benkatz 37:c0f352d6e8e3 512 prefs.load();
benkatz 37:c0f352d6e8e3 513 spi.SetMechOffset(M_OFFSET);
shaorui 48:1b51771c3647 514 ma700.SetMechOffset(JOINT_M_OFFSET);
shaorui 53:32218a36df05 515 J_M_flag=0;
Rushu 49:7eac11914980 516 printf("\n\r Saved new M-J J-J zero position: %.4f %.4f\n\r\n\r", M_OFFSET, JOINT_M_OFFSET);
Rushu 49:7eac11914980 517 /*
shaorui 48:1b51771c3647 518 for(int i=0;i<300;i++)
shaorui 48:1b51771c3647 519 {
shaorui 48:1b51771c3647 520 printf("%.3d %.3d\n\r",i,__int_reg[i] );
shaorui 48:1b51771c3647 521 }
shaorui 48:1b51771c3647 522 for(int j=0;j<64;j++)
shaorui 48:1b51771c3647 523 {
shaorui 48:1b51771c3647 524 printf("%.3d %.3f\n\r",j,__float_reg[j] );
shaorui 48:1b51771c3647 525 }
Rushu 49:7eac11914980 526 */
benkatz 37:c0f352d6e8e3 527 break;
benkatz 37:c0f352d6e8e3 528 }
benkatz 37:c0f352d6e8e3 529
benkatz 24:58c2d7571207 530 }
benkatz 24:58c2d7571207 531 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 532 if(c == 13){
benkatz 24:58c2d7571207 533 switch (cmd_id){
benkatz 24:58c2d7571207 534 case 'b':
benkatz 24:58c2d7571207 535 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 536 break;
benkatz 24:58c2d7571207 537 case 'i':
benkatz 24:58c2d7571207 538 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 539 break;
benkatz 26:2b865c00d7e9 540 case 'm':
benkatz 26:2b865c00d7e9 541 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 542 break;
benkatz 24:58c2d7571207 543 case 'l':
benkatz 24:58c2d7571207 544 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 24:58c2d7571207 545 break;
benkatz 28:8c7e29f719c5 546 case 't':
benkatz 28:8c7e29f719c5 547 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 548 break;
benkatz 24:58c2d7571207 549 default:
benkatz 24:58c2d7571207 550 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 551 break;
benkatz 24:58c2d7571207 552 }
benkatz 24:58c2d7571207 553
benkatz 24:58c2d7571207 554 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 555 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 556 prefs.close();
benkatz 24:58c2d7571207 557 prefs.load();
benkatz 24:58c2d7571207 558 state_change = 1;
benkatz 24:58c2d7571207 559 char_count = 0;
benkatz 24:58c2d7571207 560 cmd_id = 0;
benkatz 24:58c2d7571207 561 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 562 }
benkatz 24:58c2d7571207 563 else{
benkatz 24:58c2d7571207 564 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 565 else{
benkatz 24:58c2d7571207 566 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 567
benkatz 24:58c2d7571207 568 }
benkatz 24:58c2d7571207 569 pc.putc(c);
benkatz 24:58c2d7571207 570 char_count++;
benkatz 23:2adf23ee0305 571 }
benkatz 23:2adf23ee0305 572 }
benkatz 24:58c2d7571207 573 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 574 switch (c){
benkatz 24:58c2d7571207 575 case 27:
benkatz 24:58c2d7571207 576 state = REST_MODE;
benkatz 24:58c2d7571207 577 state_change = 1;
benkatz 24:58c2d7571207 578 break;
benkatz 24:58c2d7571207 579 }
benkatz 24:58c2d7571207 580 }
benkatz 24:58c2d7571207 581
benkatz 24:58c2d7571207 582 }
benkatz 22:60276ba87ac6 583 }
benkatz 0:4e1c4df6aabd 584
benkatz 0:4e1c4df6aabd 585 int main() {
benkatz 45:aadebe074af6 586
benkatz 20:bf9ea5125d52 587 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 588 controller.mode = 0;
shaorui 48:1b51771c3647 589 controller.sidebct1=0;
benkatz 23:2adf23ee0305 590 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
shaorui 55:d614e29c60c5 591 gpio.brake->period_ms(25); //set up electrical brake 250 ms period
benkatz 9:d7eb815cb057 592 wait(.1);
benkatz 26:2b865c00d7e9 593 gpio.enable->write(1);
benkatz 45:aadebe074af6 594 TIM1->CCR3 = PWM_ARR*(1.0f); // Write duty cycles
benkatz 45:aadebe074af6 595 TIM1->CCR2 = PWM_ARR*(1.0f);
benkatz 45:aadebe074af6 596 TIM1->CCR1 = PWM_ARR*(1.0f);
benkatz 23:2adf23ee0305 597 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 26:2b865c00d7e9 598 gpio.enable->write(0);
benkatz 23:2adf23ee0305 599 reset_foc(&controller); // Reset current controller
benkatz 26:2b865c00d7e9 600 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 601 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
Rushu 54:4c9415402628 602 reset_foc(&controller); // Reset current controller
Rushu 54:4c9415402628 603 reset_observer(&observer); // Reset observer
benkatz 20:bf9ea5125d52 604 wait(.1);
shaorui 48:1b51771c3647 605 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0); // commutation > communication
benkatz 43:dfb72608639c 606
benkatz 37:c0f352d6e8e3 607 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
Rushu 52:d4d5e3414865 608 // If preferences haven't been user configured yet, set defaults
Rushu 52:d4d5e3414865 609 prefs.load(); // Read flash
Rushu 52:d4d5e3414865 610 can.filter(CAN_ID , 0xFFF, CANStandard, 0);
benkatz 28:8c7e29f719c5 611 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 612 txMsg.len = 6;
benkatz 26:2b865c00d7e9 613 rxMsg.len = 8;
Rushu 52:d4d5e3414865 614 can.attach(&onMsgReceived);
Rushu 52:d4d5e3414865 615
benkatz 37:c0f352d6e8e3 616 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 617 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 25:f5741040c4bb 618 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 619 spi.SetMechOffset(M_OFFSET);
Rushu 52:d4d5e3414865 620
Rushu 54:4c9415402628 621 // Set potision sensor nonlinearity lookup table
Rushu 54:4c9415402628 622 init_controller_params(&controller);
shaorui 53:32218a36df05 623 //pc.baud(460800);//pc.baud(921600);
shaorui 53:32218a36df05 624 pc.baud(115000);
Rushu 52:d4d5e3414865 625 //=====benk 2020 last version===//
Rushu 52:d4d5e3414865 626
Rushu 52:d4d5e3414865 627 spi.Sample(1.0f);
Rushu 52:d4d5e3414865 628 printf("MP: %.3f\n\r",spi.GetMechPosition());
Rushu 52:d4d5e3414865 629 if(spi.GetMechPosition() > 2.0f*PI){spi.SetMechOffset(M_OFFSET+2.0f*PI);} // now zeroes to +- 30 degrees about nominal, independent of rollover point
Rushu 52:d4d5e3414865 630 else if (spi.GetMechPosition() < 0){spi.SetMechOffset(M_OFFSET-2.0f*PI);}
Rushu 52:d4d5e3414865 631 //=====benk 2020 last version===//
Rushu 52:d4d5e3414865 632
Rushu 49:7eac11914980 633 if(isnan(JOINT_E_OFFSET)){JOINT_E_OFFSET = 0.0f;}
Rushu 49:7eac11914980 634 if(isnan(JOINT_M_OFFSET)){JOINT_M_OFFSET = 0.0f;}
Rushu 49:7eac11914980 635 ma700.SetElecOffset(JOINT_E_OFFSET); // Set position sensor offset
Rushu 49:7eac11914980 636 ma700.SetMechOffset(JOINT_M_OFFSET);
Rushu 52:d4d5e3414865 637 //=====benk 2020 last version===//
Rushu 52:d4d5e3414865 638 ma700.Sample(1.0f);
Rushu 52:d4d5e3414865 639 printf("JP: %.3f\n\r",ma700.GetMechPosition());
Rushu 52:d4d5e3414865 640 if(ma700.GetMechPosition() > 2.0f*PI){ma700.SetMechOffset(JOINT_M_OFFSET+2.0f*PI);} // now zeroes to +- 30 degrees about nominal, independent of rollover point
Rushu 52:d4d5e3414865 641 else if (ma700.GetMechPosition() < 0){ma700.SetMechOffset(JOINT_M_OFFSET-2.0f*PI);}
Rushu 52:d4d5e3414865 642
Rushu 52:d4d5e3414865 643 spi.Sample(1.0f);
Rushu 52:d4d5e3414865 644 ma700.Sample(1.0f);
Rushu 52:d4d5e3414865 645 printf("MP: %.3f JP: %.3f\n\r",spi.GetMechPosition(),ma700.GetMechPosition());
Rushu 52:d4d5e3414865 646
Rushu 52:d4d5e3414865 647 //=====benk 2020 last version===//
benkatz 23:2adf23ee0305 648 int lut[128] = {0};
Rushu 49:7eac11914980 649 int joint[128]={0}; //shaorui
benkatz 23:2adf23ee0305 650 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
shaorui 48:1b51771c3647 651 spi.WriteLUT(lut);
shaorui 48:1b51771c3647 652 memcpy(&joint, &ENCODER_JOINT , sizeof(joint));
shaorui 53:32218a36df05 653 ma700.WriteLUT(joint);
Rushu 52:d4d5e3414865 654 // set serial baud rate
benkatz 20:bf9ea5125d52 655 wait(.01);
Rushu 52:d4d5e3414865 656 printf("MP: %.3f JP: %.3f\n\r",spi.GetMechPosition(),ma700.GetMechPosition());
Rushu 52:d4d5e3414865 657
Rushu 49:7eac11914980 658 pc.printf("\n\r\n\r QXSLAB Joint\n\r\n\r");
benkatz 20:bf9ea5125d52 659 wait(.01);
benkatz 23:2adf23ee0305 660 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 661 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 662 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
Rushu 52:d4d5e3414865 663 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET*57.2957795);
Rushu 52:d4d5e3414865 664 printf(" Output Zero Position: %.4f\n\r", M_OFFSET*57.2957795);
benkatz 24:58c2d7571207 665 printf(" CAN ID: %d\n\r", CAN_ID);
Rushu 49:7eac11914980 666
Rushu 49:7eac11914980 667 controller.theta_joint_raw_pre=-(ma700.GetMechPosition()+spi.GetMechPosition()); //hjb added, for joint encoder filter
benkatz 23:2adf23ee0305 668 pc.attach(&serial_interrupt); // attach serial interrupt
Rushu 49:7eac11914980 669 J_M_flag = 0;
shaorui 48:1b51771c3647 670 //state_change = 1;
benkatz 20:bf9ea5125d52 671
benkatz 22:60276ba87ac6 672
shaorui 48:1b51771c3647 673 while(1) {
Rushu 49:7eac11914980 674 // wait(.1);
shaorui 48:1b51771c3647 675 if(state == MOTOR_MODE)
shaorui 48:1b51771c3647 676 {
shaorui 55:d614e29c60c5 677
shaorui 55:d614e29c60c5 678
shaorui 55:d614e29c60c5 679
Rushu 49:7eac11914980 680 if(controller.theta_joint_raw*57.2957795<=1)
shaorui 48:1b51771c3647 681 {
shaorui 55:d614e29c60c5 682
shaorui 48:1b51771c3647 683 controller.v_des = 0;
shaorui 48:1b51771c3647 684 wait(1);
shaorui 48:1b51771c3647 685 controller.p_des=0;
shaorui 55:d614e29c60c5 686 controller.v_des = 1.5f;
shaorui 48:1b51771c3647 687 controller.kp = 0;
shaorui 55:d614e29c60c5 688 controller.kd = 5.0f;
shaorui 48:1b51771c3647 689 controller.t_ff = 0;
shaorui 48:1b51771c3647 690 wait(.5);
shaorui 48:1b51771c3647 691 }
shaorui 55:d614e29c60c5 692
Rushu 49:7eac11914980 693 else if(controller.theta_joint_raw*57.2957795>=(359))
shaorui 48:1b51771c3647 694 {
shaorui 48:1b51771c3647 695 //stop_sign=1;
shaorui 48:1b51771c3647 696 controller.v_des = 0;
shaorui 48:1b51771c3647 697 wait(1);
shaorui 48:1b51771c3647 698 controller.p_des=0;
shaorui 55:d614e29c60c5 699 controller.v_des = -1.5f;
shaorui 48:1b51771c3647 700 controller.kp = 0;
shaorui 55:d614e29c60c5 701 controller.kd = 5.0f;
shaorui 48:1b51771c3647 702 controller.t_ff = 0;
shaorui 48:1b51771c3647 703 wait(.5);
shaorui 48:1b51771c3647 704 printf("test position:%.3f\n\r",(1.0f/GR)* spi.GetMechPosition());
shaorui 48:1b51771c3647 705
shaorui 55:d614e29c60c5 706 }
shaorui 55:d614e29c60c5 707
shaorui 48:1b51771c3647 708
shaorui 55:d614e29c60c5 709 if(count >= 40000){
shaorui 55:d614e29c60c5 710 printf("J_init: %.3f Pref: %.3f preal: %.3f JM: %.3d one: %.3f two: %.3f\n\r",Joint_init*57.2957795,(1.0f/GR)*spi.GetMechPosition()*57.2957795,controller.theta_mech*57.2957795,J_M_flag ,controller.Ncycle_mod*57.2957795-controller.Mech_mod*57.2957795/GR,(controller.theta_joint- controller.theta_joint_raw)*57.2957795);
shaorui 55:d614e29c60c5 711 // printf("Pref: %.3f qian: %.3f hou: %.3f M: %.3d \n\r", (1.0f/GR)*spi.GetMechPosition()*57.2957795,controller.theta_joint_raw*57.2957795,controller.theta_mech*57.2957795,J_M_flag);
shaorui 55:d614e29c60c5 712 // printf("v: %.3f v1: %.3f \n\r",controller.dtheta_mech*57.2957795,controller.dtheta_mech1*57.2957795);
Rushu 49:7eac11914980 713 count = 0;
Rushu 49:7eac11914980 714 }
shaorui 55:d614e29c60c5 715
Rushu 49:7eac11914980 716 i++;
shaorui 48:1b51771c3647 717 }
shaorui 55:d614e29c60c5 718 }
benkatz 0:4e1c4df6aabd 719 }