1
Dependencies: mbed-dev-f303 FastPWM3
main.cpp@48:1b51771c3647, 2020-02-07 (annotated)
- Committer:
- shaorui
- Date:
- Fri Feb 07 11:31:37 2020 +0000
- Revision:
- 48:1b51771c3647
- Parent:
- 47:55bdc4d5096b
test;
Who changed what in which revision?
User | Revision | Line number | New 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 |
shaorui | 48:1b51771c3647 | 11 | #define JOINT_CALIBRATION_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; |
shaorui | 48:1b51771c3647 | 20 | int joint_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 | 48:1b51771c3647 | 40 | PreferenceWriter prefs(6); |
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; |
benkatz | 20:bf9ea5125d52 | 63 | |
benkatz | 26:2b865c00d7e9 | 64 | void onMsgReceived() { |
benkatz | 26:2b865c00d7e9 | 65 | //msgAvailable = true; |
benkatz | 45:aadebe074af6 | 66 | |
benkatz | 26:2b865c00d7e9 | 67 | can.read(rxMsg); |
benkatz | 28:8c7e29f719c5 | 68 | if((rxMsg.id == CAN_ID)){ |
benkatz | 28:8c7e29f719c5 | 69 | controller.timeout = 0; |
benkatz | 28:8c7e29f719c5 | 70 | 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 | 71 | state = MOTOR_MODE; |
benkatz | 28:8c7e29f719c5 | 72 | state_change = 1; |
benkatz | 28:8c7e29f719c5 | 73 | } |
benkatz | 28:8c7e29f719c5 | 74 | 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 | 75 | state = REST_MODE; |
benkatz | 28:8c7e29f719c5 | 76 | state_change = 1; |
benkatz | 37:c0f352d6e8e3 | 77 | gpio.led->write(0);; |
benkatz | 28:8c7e29f719c5 | 78 | } |
benkatz | 28:8c7e29f719c5 | 79 | 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 | 80 | spi.ZeroPosition(); |
benkatz | 28:8c7e29f719c5 | 81 | } |
benkatz | 28:8c7e29f719c5 | 82 | else if(state == MOTOR_MODE){ |
benkatz | 28:8c7e29f719c5 | 83 | unpack_cmd(rxMsg, &controller); |
shaorui | 48:1b51771c3647 | 84 | /* |
shaorui | 48:1b51771c3647 | 85 | if(controller.sidebct1!=controller.sidebct) |
shaorui | 48:1b51771c3647 | 86 | { |
shaorui | 48:1b51771c3647 | 87 | controller.sidebct1=controller.sidebct; |
shaorui | 48:1b51771c3647 | 88 | ma700.WriteRegister(&controller); |
shaorui | 48:1b51771c3647 | 89 | } |
shaorui | 48:1b51771c3647 | 90 | */ |
benkatz | 28:8c7e29f719c5 | 91 | } |
shaorui | 48:1b51771c3647 | 92 | |
benkatz | 37:c0f352d6e8e3 | 93 | pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT); |
benkatz | 37:c0f352d6e8e3 | 94 | can.write(txMsg); |
benkatz | 28:8c7e29f719c5 | 95 | } |
benkatz | 26:2b865c00d7e9 | 96 | |
benkatz | 26:2b865c00d7e9 | 97 | } |
benkatz | 26:2b865c00d7e9 | 98 | |
benkatz | 23:2adf23ee0305 | 99 | void enter_menu_state(void){ |
benkatz | 23:2adf23ee0305 | 100 | printf("\n\r\n\r\n\r"); |
benkatz | 23:2adf23ee0305 | 101 | printf(" Commands:\n\r"); |
benkatz | 44:efcde0af8390 | 102 | wait_us(10); |
benkatz | 26:2b865c00d7e9 | 103 | printf(" m - Motor Mode\n\r"); |
benkatz | 44:efcde0af8390 | 104 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 105 | printf(" c - Calibrate Encoder\n\r"); |
benkatz | 44:efcde0af8390 | 106 | wait_us(10); |
shaorui | 48:1b51771c3647 | 107 | printf(" j - Joint Calibrate Encoder\n\r"); |
shaorui | 48:1b51771c3647 | 108 | wait_us(10); |
shaorui | 48:1b51771c3647 | 109 | printf(" t - Joint test Encoder\n\r"); |
shaorui | 48:1b51771c3647 | 110 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 111 | printf(" s - Setup\n\r"); |
benkatz | 44:efcde0af8390 | 112 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 113 | printf(" e - Display Encoder\n\r"); |
benkatz | 44:efcde0af8390 | 114 | wait_us(10); |
benkatz | 37:c0f352d6e8e3 | 115 | printf(" z - Set Zero Position\n\r"); |
benkatz | 44:efcde0af8390 | 116 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 117 | printf(" esc - Exit to Menu\n\r"); |
benkatz | 44:efcde0af8390 | 118 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 119 | state_change = 0; |
benkatz | 25:f5741040c4bb | 120 | gpio.enable->write(0); |
benkatz | 37:c0f352d6e8e3 | 121 | gpio.led->write(0); |
benkatz | 23:2adf23ee0305 | 122 | } |
benkatz | 24:58c2d7571207 | 123 | |
benkatz | 24:58c2d7571207 | 124 | void enter_setup_state(void){ |
benkatz | 24:58c2d7571207 | 125 | printf("\n\r\n\r Configuration Options \n\r\n\n"); |
benkatz | 44:efcde0af8390 | 126 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 127 | printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value"); |
benkatz | 44:efcde0af8390 | 128 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 129 | printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW); |
benkatz | 44:efcde0af8390 | 130 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 131 | printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID); |
benkatz | 44:efcde0af8390 | 132 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 133 | printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER); |
benkatz | 44:efcde0af8390 | 134 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 135 | printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT); |
benkatz | 44:efcde0af8390 | 136 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 137 | printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT); |
benkatz | 44:efcde0af8390 | 138 | wait_us(10); |
benkatz | 24:58c2d7571207 | 139 | printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r"); |
benkatz | 44:efcde0af8390 | 140 | wait_us(10); |
benkatz | 24:58c2d7571207 | 141 | state_change = 0; |
benkatz | 24:58c2d7571207 | 142 | } |
benkatz | 22:60276ba87ac6 | 143 | |
benkatz | 23:2adf23ee0305 | 144 | void enter_torque_mode(void){ |
benkatz | 37:c0f352d6e8e3 | 145 | controller.ovp_flag = 0; |
benkatz | 28:8c7e29f719c5 | 146 | gpio.enable->write(1); // Enable gate drive |
benkatz | 28:8c7e29f719c5 | 147 | reset_foc(&controller); // Tesets integrators, and other control loop parameters |
benkatz | 28:8c7e29f719c5 | 148 | wait(.001); |
benkatz | 23:2adf23ee0305 | 149 | controller.i_d_ref = 0; |
benkatz | 28:8c7e29f719c5 | 150 | controller.i_q_ref = 0; // Current Setpoints |
benkatz | 37:c0f352d6e8e3 | 151 | gpio.led->write(1); // Turn on status LED |
benkatz | 25:f5741040c4bb | 152 | state_change = 0; |
benkatz | 28:8c7e29f719c5 | 153 | printf("\n\r Entering Motor Mode \n\r"); |
benkatz | 23:2adf23ee0305 | 154 | } |
benkatz | 22:60276ba87ac6 | 155 | |
benkatz | 23:2adf23ee0305 | 156 | void calibrate(void){ |
benkatz | 25:f5741040c4bb | 157 | gpio.enable->write(1); // Enable gate drive |
benkatz | 37:c0f352d6e8e3 | 158 | gpio.led->write(1); // Turn on status LED |
benkatz | 25:f5741040c4bb | 159 | order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering |
benkatz | 25:f5741040c4bb | 160 | calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure |
shaorui | 48:1b51771c3647 | 161 | //j_calibrate(&ma700,&spi, &gpio, &controller, &prefs); |
shaorui | 48:1b51771c3647 | 162 | //j_calibrate(&ma700,&gpio, &controller, &prefs); |
benkatz | 37:c0f352d6e8e3 | 163 | gpio.led->write(0);; // Turn off status LED |
benkatz | 23:2adf23ee0305 | 164 | wait(.2); |
benkatz | 25:f5741040c4bb | 165 | gpio.enable->write(0); // Turn off gate drive |
benkatz | 23:2adf23ee0305 | 166 | printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r"); |
benkatz | 23:2adf23ee0305 | 167 | state_change = 0; |
benkatz | 23:2adf23ee0305 | 168 | } |
benkatz | 23:2adf23ee0305 | 169 | |
shaorui | 48:1b51771c3647 | 170 | void jocalibrate(void){ |
shaorui | 48:1b51771c3647 | 171 | gpio.enable->write(1); // Enable gate drive |
shaorui | 48:1b51771c3647 | 172 | gpio.led->write(1); // Turn on status LED |
shaorui | 48:1b51771c3647 | 173 | order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering |
shaorui | 48:1b51771c3647 | 174 | //calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure |
shaorui | 48:1b51771c3647 | 175 | //j_calibrate(&ma700,&spi, &gpio, &controller, &prefs); |
shaorui | 48:1b51771c3647 | 176 | j_calibrate(&ma700,&gpio, &controller, &prefs); |
shaorui | 48:1b51771c3647 | 177 | gpio.led->write(0);; // Turn off status LED |
shaorui | 48:1b51771c3647 | 178 | wait(.2); |
shaorui | 48:1b51771c3647 | 179 | gpio.enable->write(0); // Turn off gate drive |
shaorui | 48:1b51771c3647 | 180 | printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r"); |
shaorui | 48:1b51771c3647 | 181 | state_change = 0; |
shaorui | 48:1b51771c3647 | 182 | } |
shaorui | 48:1b51771c3647 | 183 | |
shaorui | 48:1b51771c3647 | 184 | void jointcalibrate(void){ |
shaorui | 48:1b51771c3647 | 185 | gpio.enable->write(1); // Enable gate drive |
shaorui | 48:1b51771c3647 | 186 | gpio.led->write(1); // Turn on status LED |
shaorui | 48:1b51771c3647 | 187 | //joint_calibrate (&ma700,&spi,&gpio,&controller,&prefs); // Perform calibration procedure |
shaorui | 48:1b51771c3647 | 188 | gpio.led->write(0); // Turn off status LED |
shaorui | 48:1b51771c3647 | 189 | wait(.2); |
shaorui | 48:1b51771c3647 | 190 | gpio.enable->write(0); |
shaorui | 48:1b51771c3647 | 191 | |
shaorui | 48:1b51771c3647 | 192 | /*************同时设置转子和关节零位置同步****************/ |
shaorui | 48:1b51771c3647 | 193 | spi.SetMechOffset(0); |
shaorui | 48:1b51771c3647 | 194 | ma700.SetMechOffset(0); |
shaorui | 48:1b51771c3647 | 195 | spi.Sample(DT); |
shaorui | 48:1b51771c3647 | 196 | ma700.Sample(DT); |
shaorui | 48:1b51771c3647 | 197 | wait_us(20); |
shaorui | 48:1b51771c3647 | 198 | M_OFFSET = spi.GetMechPosition(); |
shaorui | 48:1b51771c3647 | 199 | JOINT_M_OFFSET =ma700.GetMechPosition(); |
shaorui | 48:1b51771c3647 | 200 | if (!prefs.ready()) prefs.open(); |
shaorui | 48:1b51771c3647 | 201 | prefs.flush(); // Write new prefs to flash |
shaorui | 48:1b51771c3647 | 202 | prefs.close(); |
shaorui | 48:1b51771c3647 | 203 | prefs.load(); |
shaorui | 48:1b51771c3647 | 204 | spi.SetMechOffset(M_OFFSET); |
shaorui | 48:1b51771c3647 | 205 | ma700.SetMechOffset(JOINT_M_OFFSET ); |
shaorui | 48:1b51771c3647 | 206 | printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET); |
shaorui | 48:1b51771c3647 | 207 | printf("\n\r Saved new zero position1: %.4f\n\r\n\r", JOINT_M_OFFSET ); |
shaorui | 48:1b51771c3647 | 208 | |
shaorui | 48:1b51771c3647 | 209 | /*************同时设置转子和关节零位置同步****************/ |
shaorui | 48:1b51771c3647 | 210 | |
shaorui | 48:1b51771c3647 | 211 | /************Trajectory Planning******************************/ |
shaorui | 48:1b51771c3647 | 212 | |
shaorui | 48:1b51771c3647 | 213 | |
shaorui | 48:1b51771c3647 | 214 | // enter_torque_mode(); |
shaorui | 48:1b51771c3647 | 215 | state=MOTOR_MODE; |
shaorui | 48:1b51771c3647 | 216 | state_change=1; |
shaorui | 48:1b51771c3647 | 217 | //enter_torque_mode(); |
shaorui | 48:1b51771c3647 | 218 | count = 0; |
shaorui | 48:1b51771c3647 | 219 | printf("test\n\r"); |
shaorui | 48:1b51771c3647 | 220 | |
shaorui | 48:1b51771c3647 | 221 | /* |
shaorui | 48:1b51771c3647 | 222 | if((1.0f/GR)* spi.GetMechPosition()<=(2*PI)) |
shaorui | 48:1b51771c3647 | 223 | { |
shaorui | 48:1b51771c3647 | 224 | controller.p_des=0; |
shaorui | 48:1b51771c3647 | 225 | controller.v_des = 2.0f; |
shaorui | 48:1b51771c3647 | 226 | controller.kp = 0; |
shaorui | 48:1b51771c3647 | 227 | controller.kd = 5.0f; |
shaorui | 48:1b51771c3647 | 228 | controller.t_ff = 0; |
shaorui | 48:1b51771c3647 | 229 | wait(.5); |
shaorui | 48:1b51771c3647 | 230 | * |
shaorui | 48:1b51771c3647 | 231 | } |
shaorui | 48:1b51771c3647 | 232 | |
shaorui | 48:1b51771c3647 | 233 | |
shaorui | 48:1b51771c3647 | 234 | ************Trajectory Planning*****************************/ |
shaorui | 48:1b51771c3647 | 235 | |
shaorui | 48:1b51771c3647 | 236 | // Turn off gate drive |
shaorui | 48:1b51771c3647 | 237 | printf("\n\r Joint_Calibration complete. Press 'esc' to return to menu\n\r"); |
shaorui | 48:1b51771c3647 | 238 | //state_change = 0; |
shaorui | 48:1b51771c3647 | 239 | } |
shaorui | 48:1b51771c3647 | 240 | |
shaorui | 48:1b51771c3647 | 241 | |
shaorui | 48:1b51771c3647 | 242 | |
benkatz | 23:2adf23ee0305 | 243 | void print_encoder(void){ |
benkatz | 23:2adf23ee0305 | 244 | printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition()); |
benkatz | 23:2adf23ee0305 | 245 | wait(.05); |
benkatz | 22:60276ba87ac6 | 246 | } |
benkatz | 20:bf9ea5125d52 | 247 | |
benkatz | 23:2adf23ee0305 | 248 | /// Current Sampling Interrupt /// |
benkatz | 23:2adf23ee0305 | 249 | /// This runs at 40 kHz, regardless of of the mode the controller is in /// |
benkatz | 2:8724412ad628 | 250 | extern "C" void TIM1_UP_TIM10_IRQHandler(void) { |
benkatz | 2:8724412ad628 | 251 | if (TIM1->SR & TIM_SR_UIF ) { |
benkatz | 23:2adf23ee0305 | 252 | |
benkatz | 23:2adf23ee0305 | 253 | ///Sample current always /// |
benkatz | 25:f5741040c4bb | 254 | ADC1->CR2 |= 0x40000000; // Begin sample and conversion |
benkatz | 22:60276ba87ac6 | 255 | //volatile int delay; |
benkatz | 20:bf9ea5125d52 | 256 | //for (delay = 0; delay < 55; delay++); |
benkatz | 37:c0f352d6e8e3 | 257 | controller.adc2_raw = ADC2->DR; // Read ADC Data Registers |
benkatz | 23:2adf23ee0305 | 258 | controller.adc1_raw = ADC1->DR; |
benkatz | 37:c0f352d6e8e3 | 259 | controller.adc3_raw = ADC3->DR; |
shaorui | 48:1b51771c3647 | 260 | spi.Sample(DT); |
shaorui | 48:1b51771c3647 | 261 | ma700.Sample(DT); // sample position sensor |
benkatz | 37:c0f352d6e8e3 | 262 | controller.theta_elec = spi.GetElecPosition(); |
benkatz | 37:c0f352d6e8e3 | 263 | controller.theta_mech = (1.0f/GR)*spi.GetMechPosition(); |
benkatz | 37:c0f352d6e8e3 | 264 | controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity(); |
benkatz | 37:c0f352d6e8e3 | 265 | controller.dtheta_elec = spi.GetElecVelocity(); |
benkatz | 37:c0f352d6e8e3 | 266 | controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; |
shaorui | 48:1b51771c3647 | 267 | |
benkatz | 20:bf9ea5125d52 | 268 | |
shaorui | 48:1b51771c3647 | 269 | //////shaorui add for obtaining joint real position |
shaorui | 48:1b51771c3647 | 270 | controller.theta_elec1 = ma700.GetElecPosition(); |
shaorui | 48:1b51771c3647 | 271 | controller.init2=controller.theta_mech1 = ma700.GetMechPosition(); |
shaorui | 48:1b51771c3647 | 272 | controller.dtheta_mech1 =ma700.GetMechVelocity(); |
shaorui | 48:1b51771c3647 | 273 | controller.dtheta_elec1 = ma700.GetElecVelocity(); |
shaorui | 48:1b51771c3647 | 274 | /////shaorui end////////////////// |
shaorui | 48:1b51771c3647 | 275 | /* |
shaorui | 48:1b51771c3647 | 276 | controller.c++; |
shaorui | 48:1b51771c3647 | 277 | if(controller.c>=20000) |
shaorui | 48:1b51771c3647 | 278 | { |
shaorui | 48:1b51771c3647 | 279 | controller.cha=controller.init2-controller.init1; |
shaorui | 48:1b51771c3647 | 280 | controller.init1=controller.init2; |
shaorui | 48:1b51771c3647 | 281 | controller.c=0; |
shaorui | 48:1b51771c3647 | 282 | printf("position: %.3f \n\r", controller.cha*360/(2.0f*PI)); |
shaorui | 48:1b51771c3647 | 283 | } |
shaorui | 48:1b51771c3647 | 284 | */ |
benkatz | 23:2adf23ee0305 | 285 | /// Check state machine state, and run the appropriate function /// |
benkatz | 23:2adf23ee0305 | 286 | switch(state){ |
benkatz | 37:c0f352d6e8e3 | 287 | case REST_MODE: // Do nothing |
benkatz | 23:2adf23ee0305 | 288 | if(state_change){ |
benkatz | 23:2adf23ee0305 | 289 | enter_menu_state(); |
shaorui | 48:1b51771c3647 | 290 | wucha=0 ; //shaorui add |
benkatz | 23:2adf23ee0305 | 291 | } |
benkatz | 23:2adf23ee0305 | 292 | break; |
benkatz | 22:60276ba87ac6 | 293 | |
benkatz | 23:2adf23ee0305 | 294 | case CALIBRATION_MODE: // Run encoder calibration procedure |
benkatz | 23:2adf23ee0305 | 295 | if(state_change){ |
benkatz | 23:2adf23ee0305 | 296 | calibrate(); |
benkatz | 23:2adf23ee0305 | 297 | } |
benkatz | 23:2adf23ee0305 | 298 | break; |
benkatz | 23:2adf23ee0305 | 299 | |
shaorui | 48:1b51771c3647 | 300 | case J_CALIBRATION_MODE: // Run encoder calibration procedure |
shaorui | 48:1b51771c3647 | 301 | if(state_change){ |
shaorui | 48:1b51771c3647 | 302 | jocalibrate(); |
shaorui | 48:1b51771c3647 | 303 | |
shaorui | 48:1b51771c3647 | 304 | } |
shaorui | 48:1b51771c3647 | 305 | break; |
shaorui | 48:1b51771c3647 | 306 | |
shaorui | 48:1b51771c3647 | 307 | case JOINT_CALIBRATION_MODE: // Run encoder calibration procedure |
shaorui | 48:1b51771c3647 | 308 | if(state_change){ |
shaorui | 48:1b51771c3647 | 309 | joint_flag=1; |
shaorui | 48:1b51771c3647 | 310 | stop_sign=0; |
shaorui | 48:1b51771c3647 | 311 | jointcalibrate(); |
shaorui | 48:1b51771c3647 | 312 | |
shaorui | 48:1b51771c3647 | 313 | } |
shaorui | 48:1b51771c3647 | 314 | break; |
shaorui | 48:1b51771c3647 | 315 | |
shaorui | 48:1b51771c3647 | 316 | |
benkatz | 26:2b865c00d7e9 | 317 | case MOTOR_MODE: // Run torque control |
benkatz | 25:f5741040c4bb | 318 | if(state_change){ |
benkatz | 25:f5741040c4bb | 319 | enter_torque_mode(); |
benkatz | 28:8c7e29f719c5 | 320 | count = 0; |
benkatz | 25:f5741040c4bb | 321 | } |
benkatz | 28:8c7e29f719c5 | 322 | else{ |
benkatz | 37:c0f352d6e8e3 | 323 | /* |
benkatz | 37:c0f352d6e8e3 | 324 | 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 | 325 | gpio.enable->write(0); |
benkatz | 37:c0f352d6e8e3 | 326 | controller.ovp_flag = 1; |
benkatz | 37:c0f352d6e8e3 | 327 | state = REST_MODE; |
benkatz | 37:c0f352d6e8e3 | 328 | state_change = 1; |
benkatz | 37:c0f352d6e8e3 | 329 | printf("OVP Triggered!\n\r"); |
benkatz | 37:c0f352d6e8e3 | 330 | } |
benkatz | 37:c0f352d6e8e3 | 331 | */ |
benkatz | 37:c0f352d6e8e3 | 332 | |
shaorui | 48:1b51771c3647 | 333 | torque_control(&controller); |
shaorui | 48:1b51771c3647 | 334 | /* |
benkatz | 28:8c7e29f719c5 | 335 | if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){ |
benkatz | 28:8c7e29f719c5 | 336 | controller.i_d_ref = 0; |
benkatz | 28:8c7e29f719c5 | 337 | controller.i_q_ref = 0; |
benkatz | 37:c0f352d6e8e3 | 338 | controller.kp = 0; |
benkatz | 37:c0f352d6e8e3 | 339 | controller.kd = 0; |
benkatz | 37:c0f352d6e8e3 | 340 | controller.t_ff = 0; |
benkatz | 28:8c7e29f719c5 | 341 | } |
shaorui | 48:1b51771c3647 | 342 | */ |
benkatz | 37:c0f352d6e8e3 | 343 | commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop |
benkatz | 28:8c7e29f719c5 | 344 | controller.timeout += 1; |
benkatz | 38:67e4e1453a4b | 345 | |
benkatz | 39:3580a907ef93 | 346 | /* |
benkatz | 37:c0f352d6e8e3 | 347 | count++; |
benkatz | 40:cd7e837b2b93 | 348 | if(count == 4000){ |
benkatz | 40:cd7e837b2b93 | 349 | printf("%.4f\n\r", controller.dtheta_mech); |
benkatz | 32:ccac5da77844 | 350 | count = 0; |
benkatz | 23:2adf23ee0305 | 351 | } |
benkatz | 39:3580a907ef93 | 352 | */ |
benkatz | 38:67e4e1453a4b | 353 | |
benkatz | 37:c0f352d6e8e3 | 354 | |
benkatz | 37:c0f352d6e8e3 | 355 | } |
benkatz | 23:2adf23ee0305 | 356 | break; |
benkatz | 23:2adf23ee0305 | 357 | case SETUP_MODE: |
benkatz | 23:2adf23ee0305 | 358 | if(state_change){ |
benkatz | 24:58c2d7571207 | 359 | enter_setup_state(); |
benkatz | 23:2adf23ee0305 | 360 | } |
benkatz | 23:2adf23ee0305 | 361 | break; |
benkatz | 23:2adf23ee0305 | 362 | case ENCODER_MODE: |
benkatz | 23:2adf23ee0305 | 363 | print_encoder(); |
benkatz | 23:2adf23ee0305 | 364 | break; |
benkatz | 37:c0f352d6e8e3 | 365 | } |
benkatz | 2:8724412ad628 | 366 | } |
benkatz | 23:2adf23ee0305 | 367 | TIM1->SR = 0x0; // reset the status register |
benkatz | 2:8724412ad628 | 368 | } |
benkatz | 0:4e1c4df6aabd | 369 | |
benkatz | 25:f5741040c4bb | 370 | |
benkatz | 24:58c2d7571207 | 371 | char cmd_val[8] = {0}; |
benkatz | 24:58c2d7571207 | 372 | char cmd_id = 0; |
benkatz | 25:f5741040c4bb | 373 | char char_count = 0; |
benkatz | 24:58c2d7571207 | 374 | |
benkatz | 25:f5741040c4bb | 375 | /// Manage state machine with commands from serial terminal or configurator gui /// |
benkatz | 25:f5741040c4bb | 376 | /// Called when data received over serial /// |
benkatz | 23:2adf23ee0305 | 377 | void serial_interrupt(void){ |
benkatz | 23:2adf23ee0305 | 378 | while(pc.readable()){ |
benkatz | 23:2adf23ee0305 | 379 | char c = pc.getc(); |
benkatz | 25:f5741040c4bb | 380 | if(c == 27){ |
benkatz | 25:f5741040c4bb | 381 | state = REST_MODE; |
benkatz | 25:f5741040c4bb | 382 | state_change = 1; |
benkatz | 25:f5741040c4bb | 383 | char_count = 0; |
benkatz | 25:f5741040c4bb | 384 | cmd_id = 0; |
benkatz | 37:c0f352d6e8e3 | 385 | gpio.led->write(0);; |
benkatz | 25:f5741040c4bb | 386 | for(int i = 0; i<8; i++){cmd_val[i] = 0;} |
benkatz | 25:f5741040c4bb | 387 | } |
benkatz | 24:58c2d7571207 | 388 | if(state == REST_MODE){ |
benkatz | 23:2adf23ee0305 | 389 | switch (c){ |
benkatz | 23:2adf23ee0305 | 390 | case 'c': |
benkatz | 23:2adf23ee0305 | 391 | state = CALIBRATION_MODE; |
benkatz | 23:2adf23ee0305 | 392 | state_change = 1; |
benkatz | 23:2adf23ee0305 | 393 | break; |
shaorui | 48:1b51771c3647 | 394 | |
shaorui | 48:1b51771c3647 | 395 | case 't': |
shaorui | 48:1b51771c3647 | 396 | state = JOINT_CALIBRATION_MODE; |
shaorui | 48:1b51771c3647 | 397 | state_change = 1; |
shaorui | 48:1b51771c3647 | 398 | break; |
shaorui | 48:1b51771c3647 | 399 | case 'j': |
shaorui | 48:1b51771c3647 | 400 | state = J_CALIBRATION_MODE; |
shaorui | 48:1b51771c3647 | 401 | state_change = 1; |
shaorui | 48:1b51771c3647 | 402 | break; |
shaorui | 48:1b51771c3647 | 403 | |
benkatz | 26:2b865c00d7e9 | 404 | case 'm': |
benkatz | 26:2b865c00d7e9 | 405 | state = MOTOR_MODE; |
benkatz | 23:2adf23ee0305 | 406 | state_change = 1; |
benkatz | 23:2adf23ee0305 | 407 | break; |
benkatz | 23:2adf23ee0305 | 408 | case 'e': |
benkatz | 23:2adf23ee0305 | 409 | state = ENCODER_MODE; |
benkatz | 23:2adf23ee0305 | 410 | state_change = 1; |
benkatz | 23:2adf23ee0305 | 411 | break; |
benkatz | 23:2adf23ee0305 | 412 | case 's': |
benkatz | 23:2adf23ee0305 | 413 | state = SETUP_MODE; |
benkatz | 23:2adf23ee0305 | 414 | state_change = 1; |
benkatz | 23:2adf23ee0305 | 415 | break; |
shaorui | 48:1b51771c3647 | 416 | |
benkatz | 37:c0f352d6e8e3 | 417 | case 'z': |
benkatz | 37:c0f352d6e8e3 | 418 | spi.SetMechOffset(0); |
shaorui | 48:1b51771c3647 | 419 | ma700.SetMechOffset(0); |
benkatz | 45:aadebe074af6 | 420 | spi.Sample(DT); |
shaorui | 48:1b51771c3647 | 421 | ma700.Sample(DT); |
benkatz | 37:c0f352d6e8e3 | 422 | wait_us(20); |
benkatz | 37:c0f352d6e8e3 | 423 | M_OFFSET = spi.GetMechPosition(); |
shaorui | 48:1b51771c3647 | 424 | JOINT_M_OFFSET = ma700.GetMechPosition(); |
benkatz | 37:c0f352d6e8e3 | 425 | if (!prefs.ready()) prefs.open(); |
benkatz | 37:c0f352d6e8e3 | 426 | prefs.flush(); // Write new prefs to flash |
benkatz | 37:c0f352d6e8e3 | 427 | prefs.close(); |
benkatz | 37:c0f352d6e8e3 | 428 | prefs.load(); |
benkatz | 37:c0f352d6e8e3 | 429 | spi.SetMechOffset(M_OFFSET); |
shaorui | 48:1b51771c3647 | 430 | ma700.SetMechOffset(JOINT_M_OFFSET); |
benkatz | 37:c0f352d6e8e3 | 431 | printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET); |
shaorui | 48:1b51771c3647 | 432 | printf("\n\r Saved new zero position1: %.4f\n\r\n\r",JOINT_M_OFFSET ); |
shaorui | 48:1b51771c3647 | 433 | for(int i=0;i<300;i++) |
shaorui | 48:1b51771c3647 | 434 | { |
shaorui | 48:1b51771c3647 | 435 | printf("%.3d %.3d\n\r",i,__int_reg[i] ); |
shaorui | 48:1b51771c3647 | 436 | } |
shaorui | 48:1b51771c3647 | 437 | for(int j=0;j<64;j++) |
shaorui | 48:1b51771c3647 | 438 | { |
shaorui | 48:1b51771c3647 | 439 | printf("%.3d %.3f\n\r",j,__float_reg[j] ); |
shaorui | 48:1b51771c3647 | 440 | } |
benkatz | 37:c0f352d6e8e3 | 441 | |
benkatz | 37:c0f352d6e8e3 | 442 | break; |
benkatz | 37:c0f352d6e8e3 | 443 | } |
benkatz | 37:c0f352d6e8e3 | 444 | |
benkatz | 24:58c2d7571207 | 445 | } |
benkatz | 24:58c2d7571207 | 446 | else if(state == SETUP_MODE){ |
benkatz | 25:f5741040c4bb | 447 | if(c == 13){ |
benkatz | 24:58c2d7571207 | 448 | switch (cmd_id){ |
benkatz | 24:58c2d7571207 | 449 | case 'b': |
benkatz | 24:58c2d7571207 | 450 | I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f); |
benkatz | 24:58c2d7571207 | 451 | break; |
benkatz | 24:58c2d7571207 | 452 | case 'i': |
benkatz | 24:58c2d7571207 | 453 | CAN_ID = atoi(cmd_val); |
benkatz | 24:58c2d7571207 | 454 | break; |
benkatz | 26:2b865c00d7e9 | 455 | case 'm': |
benkatz | 26:2b865c00d7e9 | 456 | CAN_MASTER = atoi(cmd_val); |
benkatz | 26:2b865c00d7e9 | 457 | break; |
benkatz | 24:58c2d7571207 | 458 | case 'l': |
benkatz | 24:58c2d7571207 | 459 | TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f); |
benkatz | 24:58c2d7571207 | 460 | break; |
benkatz | 28:8c7e29f719c5 | 461 | case 't': |
benkatz | 28:8c7e29f719c5 | 462 | CAN_TIMEOUT = atoi(cmd_val); |
benkatz | 28:8c7e29f719c5 | 463 | break; |
benkatz | 24:58c2d7571207 | 464 | default: |
benkatz | 24:58c2d7571207 | 465 | printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id); |
benkatz | 24:58c2d7571207 | 466 | break; |
benkatz | 24:58c2d7571207 | 467 | } |
benkatz | 24:58c2d7571207 | 468 | |
benkatz | 24:58c2d7571207 | 469 | if (!prefs.ready()) prefs.open(); |
benkatz | 24:58c2d7571207 | 470 | prefs.flush(); // Write new prefs to flash |
benkatz | 24:58c2d7571207 | 471 | prefs.close(); |
benkatz | 24:58c2d7571207 | 472 | prefs.load(); |
benkatz | 24:58c2d7571207 | 473 | state_change = 1; |
benkatz | 24:58c2d7571207 | 474 | char_count = 0; |
benkatz | 24:58c2d7571207 | 475 | cmd_id = 0; |
benkatz | 24:58c2d7571207 | 476 | for(int i = 0; i<8; i++){cmd_val[i] = 0;} |
benkatz | 24:58c2d7571207 | 477 | } |
benkatz | 24:58c2d7571207 | 478 | else{ |
benkatz | 24:58c2d7571207 | 479 | if(char_count == 0){cmd_id = c;} |
benkatz | 24:58c2d7571207 | 480 | else{ |
benkatz | 24:58c2d7571207 | 481 | cmd_val[char_count-1] = c; |
benkatz | 24:58c2d7571207 | 482 | |
benkatz | 24:58c2d7571207 | 483 | } |
benkatz | 24:58c2d7571207 | 484 | pc.putc(c); |
benkatz | 24:58c2d7571207 | 485 | char_count++; |
benkatz | 23:2adf23ee0305 | 486 | } |
benkatz | 23:2adf23ee0305 | 487 | } |
benkatz | 24:58c2d7571207 | 488 | else if (state == ENCODER_MODE){ |
benkatz | 24:58c2d7571207 | 489 | switch (c){ |
benkatz | 24:58c2d7571207 | 490 | case 27: |
benkatz | 24:58c2d7571207 | 491 | state = REST_MODE; |
benkatz | 24:58c2d7571207 | 492 | state_change = 1; |
benkatz | 24:58c2d7571207 | 493 | break; |
benkatz | 24:58c2d7571207 | 494 | } |
benkatz | 24:58c2d7571207 | 495 | } |
benkatz | 24:58c2d7571207 | 496 | |
benkatz | 24:58c2d7571207 | 497 | } |
benkatz | 22:60276ba87ac6 | 498 | } |
benkatz | 0:4e1c4df6aabd | 499 | |
benkatz | 0:4e1c4df6aabd | 500 | int main() { |
benkatz | 45:aadebe074af6 | 501 | |
benkatz | 20:bf9ea5125d52 | 502 | controller.v_bus = V_BUS; |
benkatz | 22:60276ba87ac6 | 503 | controller.mode = 0; |
shaorui | 48:1b51771c3647 | 504 | controller.sidebct1=0; |
benkatz | 23:2adf23ee0305 | 505 | Init_All_HW(&gpio); // Setup PWM, ADC, GPIO |
benkatz | 20:bf9ea5125d52 | 506 | |
benkatz | 9:d7eb815cb057 | 507 | wait(.1); |
benkatz | 26:2b865c00d7e9 | 508 | gpio.enable->write(1); |
benkatz | 45:aadebe074af6 | 509 | TIM1->CCR3 = PWM_ARR*(1.0f); // Write duty cycles |
benkatz | 45:aadebe074af6 | 510 | TIM1->CCR2 = PWM_ARR*(1.0f); |
benkatz | 45:aadebe074af6 | 511 | TIM1->CCR1 = PWM_ARR*(1.0f); |
benkatz | 23:2adf23ee0305 | 512 | zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset |
benkatz | 26:2b865c00d7e9 | 513 | gpio.enable->write(0); |
benkatz | 23:2adf23ee0305 | 514 | reset_foc(&controller); // Reset current controller |
benkatz | 26:2b865c00d7e9 | 515 | TIM1->CR1 ^= TIM_CR1_UDIS; |
benkatz | 26:2b865c00d7e9 | 516 | //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt |
benkatz | 20:bf9ea5125d52 | 517 | |
benkatz | 20:bf9ea5125d52 | 518 | wait(.1); |
shaorui | 48:1b51771c3647 | 519 | NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0); // commutation > communication |
benkatz | 43:dfb72608639c | 520 | |
benkatz | 37:c0f352d6e8e3 | 521 | NVIC_SetPriority(CAN1_RX0_IRQn, 3); |
benkatz | 26:2b865c00d7e9 | 522 | can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); |
benkatz | 43:dfb72608639c | 523 | |
benkatz | 28:8c7e29f719c5 | 524 | txMsg.id = CAN_MASTER; |
benkatz | 28:8c7e29f719c5 | 525 | txMsg.len = 6; |
benkatz | 26:2b865c00d7e9 | 526 | rxMsg.len = 8; |
benkatz | 43:dfb72608639c | 527 | can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler |
benkatz | 25:f5741040c4bb | 528 | prefs.load(); // Read flash |
benkatz | 37:c0f352d6e8e3 | 529 | if(isnan(E_OFFSET)){E_OFFSET = 0.0f;} |
benkatz | 37:c0f352d6e8e3 | 530 | if(isnan(M_OFFSET)){M_OFFSET = 0.0f;} |
benkatz | 25:f5741040c4bb | 531 | spi.SetElecOffset(E_OFFSET); // Set position sensor offset |
benkatz | 37:c0f352d6e8e3 | 532 | spi.SetMechOffset(M_OFFSET); |
benkatz | 23:2adf23ee0305 | 533 | int lut[128] = {0}; |
shaorui | 48:1b51771c3647 | 534 | int joint[128]={0}; |
benkatz | 23:2adf23ee0305 | 535 | memcpy(&lut, &ENCODER_LUT, sizeof(lut)); |
shaorui | 48:1b51771c3647 | 536 | spi.WriteLUT(lut); |
shaorui | 48:1b51771c3647 | 537 | memcpy(&joint, &ENCODER_JOINT , sizeof(joint)); |
shaorui | 48:1b51771c3647 | 538 | spi.WriteLUT(joint); |
Rushu | 47:55bdc4d5096b | 539 | pc.baud(115200);//pc.baud(921600); // set serial baud rate |
benkatz | 20:bf9ea5125d52 | 540 | wait(.01); |
benkatz | 23:2adf23ee0305 | 541 | pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r"); |
benkatz | 20:bf9ea5125d52 | 542 | wait(.01); |
benkatz | 23:2adf23ee0305 | 543 | printf("\n\r Debug Info:\n\r"); |
benkatz | 32:ccac5da77844 | 544 | printf(" Firmware Version: %s\n\r", VERSION_NUM); |
benkatz | 23:2adf23ee0305 | 545 | printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset); |
benkatz | 23:2adf23ee0305 | 546 | printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET); |
benkatz | 37:c0f352d6e8e3 | 547 | printf(" Output Zero Position: %.4f\n\r", M_OFFSET); |
benkatz | 24:58c2d7571207 | 548 | printf(" CAN ID: %d\n\r", CAN_ID); |
benkatz | 23:2adf23ee0305 | 549 | |
benkatz | 23:2adf23ee0305 | 550 | pc.attach(&serial_interrupt); // attach serial interrupt |
benkatz | 22:60276ba87ac6 | 551 | |
shaorui | 48:1b51771c3647 | 552 | //state_change = 1; |
benkatz | 20:bf9ea5125d52 | 553 | |
benkatz | 22:60276ba87ac6 | 554 | |
shaorui | 48:1b51771c3647 | 555 | while(1) { |
shaorui | 48:1b51771c3647 | 556 | wait(.1); |
shaorui | 48:1b51771c3647 | 557 | if(state == MOTOR_MODE) |
shaorui | 48:1b51771c3647 | 558 | { |
shaorui | 48:1b51771c3647 | 559 | if(joint_flag==1) |
shaorui | 48:1b51771c3647 | 560 | { |
shaorui | 48:1b51771c3647 | 561 | if((1.0f/GR)* spi.GetMechPosition()<=0.01) |
shaorui | 48:1b51771c3647 | 562 | { |
shaorui | 48:1b51771c3647 | 563 | //if(stop_sign==0) |
shaorui | 48:1b51771c3647 | 564 | //{ |
shaorui | 48:1b51771c3647 | 565 | controller.v_des = 0; |
shaorui | 48:1b51771c3647 | 566 | wait(1); |
shaorui | 48:1b51771c3647 | 567 | controller.p_des=0; |
shaorui | 48:1b51771c3647 | 568 | controller.v_des = 1.5f; |
shaorui | 48:1b51771c3647 | 569 | controller.kp = 0; |
shaorui | 48:1b51771c3647 | 570 | controller.kd = 5.0f; |
shaorui | 48:1b51771c3647 | 571 | controller.t_ff = 0; |
shaorui | 48:1b51771c3647 | 572 | wait(.5); |
shaorui | 48:1b51771c3647 | 573 | // } |
shaorui | 48:1b51771c3647 | 574 | /* |
shaorui | 48:1b51771c3647 | 575 | else |
shaorui | 48:1b51771c3647 | 576 | { |
shaorui | 48:1b51771c3647 | 577 | joint_flag=0; |
shaorui | 48:1b51771c3647 | 578 | controller.v_des =0; |
shaorui | 48:1b51771c3647 | 579 | |
shaorui | 48:1b51771c3647 | 580 | } |
shaorui | 48:1b51771c3647 | 581 | */ |
shaorui | 48:1b51771c3647 | 582 | } |
shaorui | 48:1b51771c3647 | 583 | else if((1.0f/GR)* spi.GetMechPosition()>=(2*PI)) |
shaorui | 48:1b51771c3647 | 584 | { |
shaorui | 48:1b51771c3647 | 585 | //stop_sign=1; |
shaorui | 48:1b51771c3647 | 586 | controller.v_des = 0; |
shaorui | 48:1b51771c3647 | 587 | wait(1); |
shaorui | 48:1b51771c3647 | 588 | controller.p_des=0; |
shaorui | 48:1b51771c3647 | 589 | controller.v_des = -1.5f; |
shaorui | 48:1b51771c3647 | 590 | controller.kp = 0; |
shaorui | 48:1b51771c3647 | 591 | controller.kd = 5.0f; |
shaorui | 48:1b51771c3647 | 592 | controller.t_ff = 0; |
shaorui | 48:1b51771c3647 | 593 | wait(.5); |
shaorui | 48:1b51771c3647 | 594 | printf("test position:%.3f\n\r",(1.0f/GR)* spi.GetMechPosition()); |
shaorui | 48:1b51771c3647 | 595 | |
shaorui | 48:1b51771c3647 | 596 | } |
shaorui | 48:1b51771c3647 | 597 | } |
shaorui | 48:1b51771c3647 | 598 | wait(.1); |
shaorui | 48:1b51771c3647 | 599 | // printf("%.3f\n\r",(1.0f/GR)* spi.GetMechPosition()); |
shaorui | 48:1b51771c3647 | 600 | // printf("%.3d, %.3d\n\r",joint_flag, stop_sign); |
shaorui | 48:1b51771c3647 | 601 | |
shaorui | 48:1b51771c3647 | 602 | //printf("BCT: %.3x zzz: %.3x etxy: %.3x \n\r",ma700.Gettest(),ma700.Gettest1(),ma700.Gettest2()); |
shaorui | 48:1b51771c3647 | 603 | // float joint_mech_position=-(controller.theta_mech*360/(2.0f*PI)*GR+controller.theta_mech1*360/(2.0f*PI)); |
shaorui | 48:1b51771c3647 | 604 | // wucha1=(controller.theta_mech-controller.theta_mech1)*360/(2.0f*PI); |
shaorui | 48:1b51771c3647 | 605 | //wucha1=controller.theta_mech*360/(2.0f*PI)-joint_mech_position; |
shaorui | 48:1b51771c3647 | 606 | //wucha+=abs(wucha1); |
shaorui | 48:1b51771c3647 | 607 | //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 | 608 | // 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 | 609 | //printf("m_position: %.3f\n\r",controller.theta_mech*360/(2.0f*PI)*GR); |
shaorui | 48:1b51771c3647 | 610 | //printf("j_position: %.3f\n\r",controller.theta_mech1*360/(2.0f*PI)); |
shaorui | 48:1b51771c3647 | 611 | float m_position=controller.theta_mech*57.2957795; |
shaorui | 48:1b51771c3647 | 612 | // float j_position=-controller.theta_mech1*360/(2.0f*PI)-controller.theta_mech*360/(2.0f*PI)*GR; |
shaorui | 48:1b51771c3647 | 613 | float j_position=-controller.theta_mech1*57.2957795-controller.theta_mech*2807.49319614; |
shaorui | 48:1b51771c3647 | 614 | // float j_position=-controller.theta_mech1*57.2957795; |
shaorui | 48:1b51771c3647 | 615 | printf("m:%.3f\n\r,j:%.3f\n\r",m_position,j_position); |
shaorui | 48:1b51771c3647 | 616 | |
shaorui | 48:1b51771c3647 | 617 | |
shaorui | 48:1b51771c3647 | 618 | i++; |
shaorui | 48:1b51771c3647 | 619 | wait(.5); |
shaorui | 48:1b51771c3647 | 620 | |
shaorui | 48:1b51771c3647 | 621 | } |
shaorui | 48:1b51771c3647 | 622 | |
shaorui | 48:1b51771c3647 | 623 | |
benkatz | 0:4e1c4df6aabd | 624 | } |
benkatz | 0:4e1c4df6aabd | 625 | } |