Sven Kugathasan / Mbed OS SKAFMO_2

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Dependencies:   PID

main.cpp@15:b0f63ea39943, 2017-03-24 (annotated)

Committer:
svenkugi
Date:
Fri Mar 24 14:37:30 2017 +0000
Revision:
15:b0f63ea39943
Parent:
13:e767488cb2ac
Child:
16:d426b65b4ace
lala;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
svenkugi 0:b6deec3905f4 1 /*_________________________________LIBRARIES__________________________________*/
svenkugi 0:b6deec3905f4 2
svenkugi 0:b6deec3905f4 3 #include "mbed.h"
svenkugi 0:b6deec3905f4 4 #include "rtos.h"
svenkugi 0:b6deec3905f4 5 #include "PID.h"
svenkugi 10:e974ee1ea1f0 6
svenkugi 10:e974ee1ea1f0 7 #include "ctype.h"
svenkugi 10:e974ee1ea1f0 8 #include <string>
mo713 6:8d18cdcabc3a 9 #include "stdlib.h"
svenkugi 10:e974ee1ea1f0 10 #include "math.h"
svenkugi 10:e974ee1ea1f0 11
svenkugi 0:b6deec3905f4 12
svenkugi 0:b6deec3905f4 13 /*_________________________________PIN SETUP__________________________________*/
svenkugi 0:b6deec3905f4 14
svenkugi 0:b6deec3905f4 15 //PhotoInterrupter Input Pins
svenkugi 0:b6deec3905f4 16 #define I1pin D2
svenkugi 0:b6deec3905f4 17 #define I2pin D11
svenkugi 0:b6deec3905f4 18 #define I3pin D12
svenkugi 0:b6deec3905f4 19
svenkugi 0:b6deec3905f4 20 //Incremental Encoder Input Pins
svenkugi 0:b6deec3905f4 21 #define CHA D7
svenkugi 0:b6deec3905f4 22 #define CHB D8
svenkugi 0:b6deec3905f4 23
svenkugi 0:b6deec3905f4 24 //Motor Drive output pins //Mask in output byte
svenkugi 0:b6deec3905f4 25 #define L1Lpin D4 //0x01
svenkugi 0:b6deec3905f4 26 #define L1Hpin D5 //0x02
svenkugi 0:b6deec3905f4 27 #define L2Lpin D3 //0x04
svenkugi 0:b6deec3905f4 28 #define L2Hpin D6 //0x08
svenkugi 0:b6deec3905f4 29 #define L3Lpin D9 //0x10
svenkugi 0:b6deec3905f4 30 #define L3Hpin D10 //0x20
svenkugi 0:b6deec3905f4 31
svenkugi 0:b6deec3905f4 32 //Photointerrupter Inputs as Interrupts
svenkugi 0:b6deec3905f4 33 InterruptIn InterruptI1(D2);
svenkugi 0:b6deec3905f4 34 InterruptIn InterruptI2(D11);
svenkugi 0:b6deec3905f4 35 InterruptIn InterruptI3(D12);
svenkugi 0:b6deec3905f4 36
svenkugi 0:b6deec3905f4 37 //Incremental Encoder Inputs as Interrupts
svenkugi 0:b6deec3905f4 38 InterruptIn InterruptCHA(D7);
svenkugi 0:b6deec3905f4 39 DigitalIn InterruptCHB(D8);
svenkugi 0:b6deec3905f4 40
svenkugi 0:b6deec3905f4 41 //Motor Drive Outputs in PWM
svenkugi 0:b6deec3905f4 42 PwmOut L1L(L1Lpin);
svenkugi 0:b6deec3905f4 43 PwmOut L1H(L1Hpin);
svenkugi 0:b6deec3905f4 44 PwmOut L2L(L2Lpin);
svenkugi 0:b6deec3905f4 45 PwmOut L2H(L2Hpin);
svenkugi 0:b6deec3905f4 46 PwmOut L3L(L3Lpin);
svenkugi 0:b6deec3905f4 47 PwmOut L3H(L3Hpin);
svenkugi 0:b6deec3905f4 48
svenkugi 0:b6deec3905f4 49 //Status LED
svenkugi 10:e974ee1ea1f0 50 //DigitalOut led1(LED1);
svenkugi 10:e974ee1ea1f0 51 DigitalOut led2(LED2);
svenkugi 10:e974ee1ea1f0 52 DigitalOut led3(LED3);
svenkugi 10:e974ee1ea1f0 53
svenkugi 15:b0f63ea39943 54 DigitalOut TIME(D13); //Toggle Digital Pin to measure Interrupt Times
svenkugi 0:b6deec3905f4 55
svenkugi 0:b6deec3905f4 56 //Initialise the serial port
svenkugi 0:b6deec3905f4 57 Serial pc(SERIAL_TX, SERIAL_RX);
svenkugi 0:b6deec3905f4 58
svenkugi 0:b6deec3905f4 59 //Timer
svenkugi 0:b6deec3905f4 60 Timer rps; // Measures Time for complete revolution
svenkugi 0:b6deec3905f4 61 Timer partial_rps; // Measures Time for partial revolutions
svenkugi 0:b6deec3905f4 62 Timer tmp; // Profiler Timer
svenkugi 0:b6deec3905f4 63
svenkugi 0:b6deec3905f4 64 //PID Controller
svenkugi 10:e974ee1ea1f0 65 PID velocity_pid(0.35, 0.35, 0.35, 0.01); // (P, I, D, WAIT)
svenkugi 10:e974ee1ea1f0 66 PID dist_pid(10, 0.0, 0.01, 0.01); // (P, I, D, WAIT)
svenkugi 10:e974ee1ea1f0 67
svenkugi 10:e974ee1ea1f0 68 //Initialize Threads
svenkugi 15:b0f63ea39943 69 Thread pid_thread(osPriorityNormal, 512, NULL);
svenkugi 15:b0f63ea39943 70 Thread melody_thread(osPriorityNormal, 512, NULL);
svenkugi 0:b6deec3905f4 71
svenkugi 0:b6deec3905f4 72 /*________________________Motor Drive States__________________________________*/
svenkugi 0:b6deec3905f4 73
svenkugi 0:b6deec3905f4 74 //Mapping from sequential drive states to motor phase outputs
svenkugi 0:b6deec3905f4 75 /*
svenkugi 0:b6deec3905f4 76 State L1 L2 L3
svenkugi 0:b6deec3905f4 77 0 H - L
svenkugi 0:b6deec3905f4 78 1 - H L
svenkugi 0:b6deec3905f4 79 2 L H -
svenkugi 0:b6deec3905f4 80 3 L - H
svenkugi 0:b6deec3905f4 81 4 - L H
svenkugi 0:b6deec3905f4 82 5 H L -
svenkugi 0:b6deec3905f4 83 6 - - -
svenkugi 0:b6deec3905f4 84 7 - - -
svenkugi 0:b6deec3905f4 85 */
svenkugi 0:b6deec3905f4 86
svenkugi 0:b6deec3905f4 87 //Drive state to output table
svenkugi 0:b6deec3905f4 88 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
svenkugi 0:b6deec3905f4 89
svenkugi 0:b6deec3905f4 90 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
svenkugi 0:b6deec3905f4 91 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
svenkugi 0:b6deec3905f4 92
svenkugi 0:b6deec3905f4 93 /*____________________Global Variable Initialization__________________________*/
svenkugi 0:b6deec3905f4 94
svenkugi 10:e974ee1ea1f0 95 //Rotor Direction Default
svenkugi 10:e974ee1ea1f0 96 const int8_t lead = -2; //Phase lead to make motor spin: 2 for forwards, -2 for backwards
svenkugi 10:e974ee1ea1f0 97 int8_t direction = 1; //+1: Backwards rotation; -1 for Forwards Rotation
svenkugi 0:b6deec3905f4 98
svenkugi 10:e974ee1ea1f0 99 //Optical Disk States
svenkugi 10:e974ee1ea1f0 100 uint8_t orState=0; //Offset of Motor Field and Optical Disk
svenkugi 10:e974ee1ea1f0 101 uint8_t intState=0; //Current Optical Disk state
svenkugi 10:e974ee1ea1f0 102 const uint8_t num_states = 6; //Number of states in one rotation
svenkugi 0:b6deec3905f4 103
svenkugi 0:b6deec3905f4 104 uint32_t count = 0; //Counts number of states traversed
svenkugi 0:b6deec3905f4 105 int8_t completed = 0; //Checks if rotation completed
svenkugi 0:b6deec3905f4 106 int8_t driveto = 0; //Holds value of new motor drive state
svenkugi 0:b6deec3905f4 107
svenkugi 10:e974ee1ea1f0 108 //Angular Velocity Variables
svenkugi 10:e974ee1ea1f0 109 float PWM_freq = 0.001f; //500Hz (> Motor LP cut-off frequency = 10Hz)
svenkugi 10:e974ee1ea1f0 110
svenkugi 10:e974ee1ea1f0 111 float dutyout = 1.0f; //Initialized at 50% duty cycle
svenkugi 10:e974ee1ea1f0 112 float dutyout_max = 1.0f; //Maximum Duty Cycle will enable maximum speed
svenkugi 10:e974ee1ea1f0 113
svenkugi 10:e974ee1ea1f0 114 float angular_vel = 0.0f; //Revolution per second (Measured over 360)
svenkugi 10:e974ee1ea1f0 115 float partial_vel = 0.0f; //Revolution per second (Measured over 360/117)
svenkugi 10:e974ee1ea1f0 116
svenkugi 10:e974ee1ea1f0 117 float drive_vel = 0.0f;
svenkugi 10:e974ee1ea1f0 118 float vel_target = 0.0f; //Target Speed
svenkugi 10:e974ee1ea1f0 119 float vel_max = 100; //Maximum Speed at 3.0V achievable is ~60 rps
svenkugi 10:e974ee1ea1f0 120
svenkugi 10:e974ee1ea1f0 121 //Position Variables
svenkugi 10:e974ee1ea1f0 122 uint32_t revstates_count = 0; //Global Variable to pass into interrupt
svenkugi 10:e974ee1ea1f0 123 uint8_t pulse_count = 0; //Max.Pulse count = 117
svenkugi 10:e974ee1ea1f0 124
svenkugi 10:e974ee1ea1f0 125 float total_rev = 0.0f;
svenkugi 10:e974ee1ea1f0 126 float partial_rev = 0.0f;
svenkugi 10:e974ee1ea1f0 127
svenkugi 10:e974ee1ea1f0 128 float rev_target = 0.0f; //Target Rotations
svenkugi 10:e974ee1ea1f0 129 uint32_t revstates_max = 0xFFFFFFFF;
svenkugi 10:e974ee1ea1f0 130
svenkugi 0:b6deec3905f4 131 //Debug Variables
svenkugi 0:b6deec3905f4 132 bool flag = false;
svenkugi 10:e974ee1ea1f0 133 float test_time = 0.0f;
svenkugi 10:e974ee1ea1f0 134 int8_t test = 0;
svenkugi 10:e974ee1ea1f0 135 float a;
svenkugi 10:e974ee1ea1f0 136 float b;
svenkugi 0:b6deec3905f4 137
svenkugi 0:b6deec3905f4 138 /*_____Basic Functions (Motor Drive, Synchronization, Reading Rotor State)____*/
svenkugi 0:b6deec3905f4 139
svenkugi 0:b6deec3905f4 140 //Set a given drive state
svenkugi 0:b6deec3905f4 141 void motorOut(int8_t driveState){
svenkugi 0:b6deec3905f4 142
svenkugi 0:b6deec3905f4 143 //Lookup the output byte from the drive state.
svenkugi 0:b6deec3905f4 144 int8_t driveOut = driveTable[driveState & 0x07];
svenkugi 0:b6deec3905f4 145
svenkugi 0:b6deec3905f4 146 //Turn off first (PWM)
svenkugi 0:b6deec3905f4 147 if (~driveOut & 0x01) L1L = 0;
svenkugi 0:b6deec3905f4 148 if (~driveOut & 0x02) L1H.write(dutyout); L1H.period(PWM_freq);
svenkugi 0:b6deec3905f4 149 if (~driveOut & 0x04) L2L = 0;
svenkugi 0:b6deec3905f4 150 if (~driveOut & 0x08) L2H.write(dutyout); L2H.period(PWM_freq);
svenkugi 0:b6deec3905f4 151 if (~driveOut & 0x10) L3L = 0;
svenkugi 0:b6deec3905f4 152 if (~driveOut & 0x20) L3H.write(dutyout); L3H.period(PWM_freq);
svenkugi 0:b6deec3905f4 153
svenkugi 0:b6deec3905f4 154 //Then turn on (PWM)
svenkugi 0:b6deec3905f4 155 if (driveOut & 0x01) L1L.write(dutyout); L1L.period(PWM_freq);
svenkugi 0:b6deec3905f4 156 if (driveOut & 0x02) L1H = 0;
svenkugi 0:b6deec3905f4 157 if (driveOut & 0x04) L2L.write(dutyout); L2L.period(PWM_freq);
svenkugi 0:b6deec3905f4 158 if (driveOut & 0x08) L2H = 0;
svenkugi 0:b6deec3905f4 159 if (driveOut & 0x10) L3L.write(dutyout); L3L.period(PWM_freq);
svenkugi 0:b6deec3905f4 160 if (driveOut & 0x20) L3H = 0;
svenkugi 3:7ee013b0976e 161
svenkugi 0:b6deec3905f4 162 }
svenkugi 0:b6deec3905f4 163
svenkugi 0:b6deec3905f4 164 //Convert photointerrupter inputs to a rotor state
svenkugi 0:b6deec3905f4 165 inline int8_t readRotorState(){
svenkugi 10:e974ee1ea1f0 166 return stateMap[InterruptI1.read() + 2*InterruptI2.read() + 4*InterruptI3.read()];
svenkugi 0:b6deec3905f4 167 }
svenkugi 0:b6deec3905f4 168
svenkugi 0:b6deec3905f4 169 //Basic synchronisation routine
svenkugi 0:b6deec3905f4 170 int8_t motorHome() {
svenkugi 10:e974ee1ea1f0 171 //Put the motor in drive state X (e.g. 5) to avoid initial jitter
svenkugi 10:e974ee1ea1f0 172 //Set to maximum speed to get maximum momentum
svenkugi 0:b6deec3905f4 173 dutyout = 1.0f;
svenkugi 0:b6deec3905f4 174 motorOut(5);
svenkugi 0:b6deec3905f4 175 wait(1.0);
svenkugi 0:b6deec3905f4 176
svenkugi 0:b6deec3905f4 177 //Put the motor in drive state 0 and wait for it to stabilise
svenkugi 0:b6deec3905f4 178 motorOut(0);
svenkugi 0:b6deec3905f4 179 wait(1.0);
svenkugi 0:b6deec3905f4 180
svenkugi 0:b6deec3905f4 181 //Get the rotor state
svenkugi 0:b6deec3905f4 182 return readRotorState();
svenkugi 0:b6deec3905f4 183 }
svenkugi 0:b6deec3905f4 184
svenkugi 0:b6deec3905f4 185 /*________________Advanced Functions (Speed and Position Control)_____________*/
svenkugi 0:b6deec3905f4 186
svenkugi 10:e974ee1ea1f0 187 // Function involves PID
svenkugi 10:e974ee1ea1f0 188 void position_control(float rotation_set, float velocity_set){
svenkugi 0:b6deec3905f4 189
svenkugi 10:e974ee1ea1f0 190 rev_target = rotation_set;
svenkugi 10:e974ee1ea1f0 191 vel_target = velocity_set;
svenkugi 0:b6deec3905f4 192
svenkugi 10:e974ee1ea1f0 193 //Reverses motor direction if forwards rotation requested
svenkugi 10:e974ee1ea1f0 194 if((rev_target < 0)){
svenkugi 10:e974ee1ea1f0 195 direction = -1;
svenkugi 10:e974ee1ea1f0 196 rev_target = rev_target * -1;
svenkugi 0:b6deec3905f4 197 }
svenkugi 10:e974ee1ea1f0 198 else if(velocity_set < 0){
svenkugi 3:7ee013b0976e 199 direction = -1;
svenkugi 10:e974ee1ea1f0 200 vel_target = vel_target * -1;
svenkugi 3:7ee013b0976e 201 }
svenkugi 3:7ee013b0976e 202
svenkugi 10:e974ee1ea1f0 203 velocity_pid.setInputLimits(0.0, 2*vel_target);
svenkugi 0:b6deec3905f4 204 velocity_pid.setOutputLimits(0.0, 1.0);
svenkugi 0:b6deec3905f4 205 velocity_pid.setMode(1);
svenkugi 0:b6deec3905f4 206 velocity_pid.setSetPoint(vel_target);
svenkugi 0:b6deec3905f4 207
svenkugi 11:f72be5748371 208 dist_pid.setInputLimits(0.0, rev_target);
svenkugi 10:e974ee1ea1f0 209 dist_pid.setOutputLimits(0.0, 1.0);
svenkugi 0:b6deec3905f4 210 dist_pid.setMode(1);
svenkugi 0:b6deec3905f4 211 dist_pid.setSetPoint(rev_target);
svenkugi 0:b6deec3905f4 212
svenkugi 0:b6deec3905f4 213 intState = readRotorState();
svenkugi 4:5eb8ac894d0f 214 driveto = (intState-orState+(direction*lead)+6)%6;
svenkugi 10:e974ee1ea1f0 215 motorOut(driveto);
svenkugi 10:e974ee1ea1f0 216
svenkugi 0:b6deec3905f4 217 while(!completed){
svenkugi 10:e974ee1ea1f0 218
svenkugi 0:b6deec3905f4 219 //pc.printf("dutyout: %f \r\n", dutyout);
svenkugi 10:e974ee1ea1f0 220 //pc.printf("Error: %f \r\n", (rev_target - total_rev));
svenkugi 10:e974ee1ea1f0 221 pc.printf("DutyA: %f \r\n", a);
svenkugi 10:e974ee1ea1f0 222 pc.printf("DutyB: %f \r\n", b);
svenkugi 0:b6deec3905f4 223 //pc.printf("\n");
svenkugi 10:e974ee1ea1f0 224
svenkugi 0:b6deec3905f4 225 }
svenkugi 0:b6deec3905f4 226
svenkugi 0:b6deec3905f4 227 }
svenkugi 0:b6deec3905f4 228
svenkugi 0:b6deec3905f4 229 void changestate_isr(){
svenkugi 0:b6deec3905f4 230
svenkugi 10:e974ee1ea1f0 231 //led2 = !led2;
svenkugi 0:b6deec3905f4 232 // Profiling: Test time duration of ISR
svenkugi 0:b6deec3905f4 233 /*if(test == 0){
svenkugi 0:b6deec3905f4 234 tmp.start();
svenkugi 0:b6deec3905f4 235 test = 1;
svenkugi 0:b6deec3905f4 236 }
svenkugi 0:b6deec3905f4 237
svenkugi 0:b6deec3905f4 238 else{
svenkugi 0:b6deec3905f4 239 tmp.stop();
svenkugi 0:b6deec3905f4 240 test_time = tmp.read();
svenkugi 0:b6deec3905f4 241 tmp.reset();
svenkugi 0:b6deec3905f4 242 test = 0;
svenkugi 0:b6deec3905f4 243 }*/
svenkugi 0:b6deec3905f4 244
svenkugi 0:b6deec3905f4 245 // Measure time for 360 Rotation
svenkugi 0:b6deec3905f4 246 if(driveto == 0x04){ //Next time drivestate=4, 360 degrees revolution
svenkugi 10:e974ee1ea1f0 247 pulse_count = 0;
svenkugi 10:e974ee1ea1f0 248 /*if(flag){
svenkugi 0:b6deec3905f4 249 rps.stop();
svenkugi 0:b6deec3905f4 250 angular_vel = 1/(rps.read());
svenkugi 0:b6deec3905f4 251 rps.reset();
svenkugi 0:b6deec3905f4 252 flag = 0;
svenkugi 10:e974ee1ea1f0 253 }*/
svenkugi 0:b6deec3905f4 254 }
svenkugi 0:b6deec3905f4 255
svenkugi 10:e974ee1ea1f0 256 /*if(driveto == 0x04){ //First time drivestate=4, Timer started at 0 degrees
svenkugi 10:e974ee1ea1f0 257 pulse_count = 0; //Synchronize Quadrature Encoder with PhotoInterrupter
svenkugi 0:b6deec3905f4 258 rps.start();
svenkugi 0:b6deec3905f4 259 flag = 1;
svenkugi 10:e974ee1ea1f0 260 }*/
svenkugi 0:b6deec3905f4 261
svenkugi 0:b6deec3905f4 262 // Measure number of revolutions
svenkugi 0:b6deec3905f4 263 count++;
svenkugi 0:b6deec3905f4 264
svenkugi 0:b6deec3905f4 265 //Turn-off when target reached
svenkugi 0:b6deec3905f4 266 if(total_rev >= rev_target){
svenkugi 0:b6deec3905f4 267 completed = 1;
svenkugi 0:b6deec3905f4 268 dutyout = 0;
svenkugi 0:b6deec3905f4 269 motorOut(0);
svenkugi 10:e974ee1ea1f0 270 led3 = 0;
svenkugi 0:b6deec3905f4 271 __disable_irq();
svenkugi 0:b6deec3905f4 272 }
svenkugi 0:b6deec3905f4 273 else{
svenkugi 0:b6deec3905f4 274 intState = readRotorState();
svenkugi 10:e974ee1ea1f0 275 driveto = (intState-orState+(direction*lead)+6)%6;
svenkugi 0:b6deec3905f4 276 motorOut(driveto);
svenkugi 0:b6deec3905f4 277 }
svenkugi 0:b6deec3905f4 278
svenkugi 0:b6deec3905f4 279 }
svenkugi 0:b6deec3905f4 280
svenkugi 0:b6deec3905f4 281 void pid_isr(){
svenkugi 10:e974ee1ea1f0 282 TIME = 1;
svenkugi 10:e974ee1ea1f0 283 //led1 = !led1;
svenkugi 0:b6deec3905f4 284 //tmp.start();
svenkugi 0:b6deec3905f4 285
svenkugi 0:b6deec3905f4 286 //117 Pulses per revolution
svenkugi 0:b6deec3905f4 287 pulse_count++;
svenkugi 0:b6deec3905f4 288
svenkugi 0:b6deec3905f4 289 //Measure Time to do 3 degrees of rotation
svenkugi 0:b6deec3905f4 290 if(test == 0){
svenkugi 0:b6deec3905f4 291 partial_rps.start();
svenkugi 0:b6deec3905f4 292 test = 1;
svenkugi 0:b6deec3905f4 293 }
svenkugi 0:b6deec3905f4 294 else{
svenkugi 0:b6deec3905f4 295 partial_rps.stop();
svenkugi 10:e974ee1ea1f0 296 partial_vel = 1/((117.0f * partial_rps.read()));
svenkugi 0:b6deec3905f4 297 partial_rps.reset();
svenkugi 0:b6deec3905f4 298 test = 0;
svenkugi 0:b6deec3905f4 299 }
svenkugi 0:b6deec3905f4 300
svenkugi 0:b6deec3905f4 301 //Partial Revolution Count
svenkugi 0:b6deec3905f4 302 partial_rev = pulse_count/117.0f;
svenkugi 0:b6deec3905f4 303
svenkugi 0:b6deec3905f4 304 //Total Revolution Count
svenkugi 0:b6deec3905f4 305 total_rev = (count/6.0f) + partial_rev;
svenkugi 0:b6deec3905f4 306
svenkugi 10:e974ee1ea1f0 307 //Calculate new PID Control Point
svenkugi 11:f72be5748371 308 /* if((total_rev/rev_target) > 0.75f){
svenkugi 0:b6deec3905f4 309 dist_pid.setProcessValue(total_rev);
svenkugi 0:b6deec3905f4 310 dutyout = dist_pid.compute();
svenkugi 0:b6deec3905f4 311 }
svenkugi 0:b6deec3905f4 312 else{
svenkugi 10:e974ee1ea1f0 313 velocity_pid.setProcessValue(partial_vel);
svenkugi 0:b6deec3905f4 314 dutyout = velocity_pid.compute();
svenkugi 15:b0f63ea39943 315 }
svenkugi 11:f72be5748371 316
svenkugi 15:b0f63ea39943 317 if((total_rev/rev_target) > 0.75f){
svenkugi 11:f72be5748371 318 dist_pid.setProcessValue(total_rev);
svenkugi 11:f72be5748371 319 dutyout = dist_pid.compute();
svenkugi 0:b6deec3905f4 320 }
svenkugi 11:f72be5748371 321 else{
svenkugi 11:f72be5748371 322 velocity_pid.setProcessValue(partial_vel);
svenkugi 11:f72be5748371 323 dutyout = velocity_pid.compute();
svenkugi 15:b0f63ea39943 324 }*/
svenkugi 15:b0f63ea39943 325
svenkugi 15:b0f63ea39943 326
svenkugi 0:b6deec3905f4 327 //tmp.stop();
svenkugi 0:b6deec3905f4 328 //test_time = tmp.read();
svenkugi 0:b6deec3905f4 329 //tmp.reset();
svenkugi 10:e974ee1ea1f0 330 TIME = 0;
svenkugi 0:b6deec3905f4 331 }
svenkugi 0:b6deec3905f4 332
svenkugi 10:e974ee1ea1f0 333 /*__________________________Main Function_____________________________________*/
svenkugi 10:e974ee1ea1f0 334
svenkugi 15:b0f63ea39943 335 void serial_com(){
svenkugi 10:e974ee1ea1f0 336
af2213 12:943207547cb1 337 pc.baud(9600);
af2213 12:943207547cb1 338 float r=0;
af2213 12:943207547cb1 339 float v=0; //velocity
af2213 12:943207547cb1 340 bool r_val=true;
af2213 12:943207547cb1 341 bool v_val=true;
af2213 12:943207547cb1 342 int t_loc=0;
af2213 12:943207547cb1 343 int r_loc=0;
af2213 12:943207547cb1 344 int v_loc=0;
af2213 12:943207547cb1 345 char buf[80];
svenkugi 10:e974ee1ea1f0 346
svenkugi 10:e974ee1ea1f0 347
af2213 12:943207547cb1 348 string input;
svenkugi 10:e974ee1ea1f0 349
af2213 12:943207547cb1 350 while(1){
af2213 12:943207547cb1 351 r=0;
af2213 12:943207547cb1 352 v=0;
af2213 12:943207547cb1 353 r_val=true;
af2213 12:943207547cb1 354 v_val=true;
af2213 12:943207547cb1 355 pc.printf("Please enter something\r\n");
af2213 12:943207547cb1 356 pc.scanf("%s",&buf);
af2213 12:943207547cb1 357 input=buf;
af2213 12:943207547cb1 358 pc.printf("The input string is %s\r\n",buf);
af2213 12:943207547cb1 359
af2213 12:943207547cb1 360 t_loc=input.find('T');
af2213 12:943207547cb1 361 r_loc=input.find('R');
af2213 12:943207547cb1 362 v_loc=input.find('V');
af2213 12:943207547cb1 363 pc.printf("Location of T is %d\r\n",t_loc);
af2213 12:943207547cb1 364 pc.printf("Location of R is %d\r\n",r_loc);
af2213 12:943207547cb1 365 pc.printf("Location of V is %d\r\n",v_loc);
svenkugi 10:e974ee1ea1f0 366
af2213 12:943207547cb1 367 if(t_loc==0){ //if melody marker present
af2213 12:943207547cb1 368 pc.printf("Note sequence detected\r\n");
af2213 12:943207547cb1 369 }
af2213 12:943207547cb1 370
af2213 12:943207547cb1 371 else if(t_loc==-1){ //if no melody marker present
af2213 12:943207547cb1 372 pc.printf("Note sequence NOT detected\r\n");
af2213 12:943207547cb1 373
af2213 12:943207547cb1 374 if(r_loc==0 && v_loc==-1 && input.length()>1){ //check if first letter is R
af2213 12:943207547cb1 375 pc.printf("Checking for sole R input type...\r\n");
svenkugi 10:e974ee1ea1f0 376
af2213 12:943207547cb1 377 for(int j=1; j<input.length();j++){
af2213 12:943207547cb1 378 if(!isdigit(input[j]) && input[j]!='-' && input[j]!='.'){
af2213 12:943207547cb1 379 r_val=false;
af2213 12:943207547cb1 380 }
svenkugi 10:e974ee1ea1f0 381 }
af2213 12:943207547cb1 382
af2213 12:943207547cb1 383 if(r_val==true){
af2213 12:943207547cb1 384 r=atof(input.substr(1).c_str());
af2213 12:943207547cb1 385 pc.printf("Spin for %.3f number of rotations\r\n",r);
svenkugi 10:e974ee1ea1f0 386 }
af2213 12:943207547cb1 387 else{
af2213 12:943207547cb1 388 pc.printf("Invalid input\r\n");
af2213 12:943207547cb1 389 }
svenkugi 10:e974ee1ea1f0 390 }
af2213 12:943207547cb1 391 else if(r_loc==0 && v_loc!=-1 && v_loc < input.length()-1){ //check if first letter is R and V is also present
af2213 12:943207547cb1 392 pc.printf("Checking for combined R and V input type...\r\n");
svenkugi 10:e974ee1ea1f0 393
af2213 12:943207547cb1 394 for(int j=1; j<v_loc;j++){
af2213 12:943207547cb1 395 if(!isdigit(input[j]) && input[j]!='-' && input[j]!='.'){
af2213 12:943207547cb1 396 r_val=false;
af2213 12:943207547cb1 397 }
svenkugi 10:e974ee1ea1f0 398 }
af2213 12:943207547cb1 399 for(int j=v_loc+1; j<input.length();j++){
af2213 12:943207547cb1 400 if(!isdigit(input[j]) && input[j]!='-' && input[j]!='.'){
af2213 12:943207547cb1 401 v_val=false;
svenkugi 10:e974ee1ea1f0 402 }
svenkugi 10:e974ee1ea1f0 403 }
af2213 12:943207547cb1 404
af2213 12:943207547cb1 405 if(r_val==true && v_val==true){
af2213 12:943207547cb1 406 r=atof(input.substr(1,v_loc-1).c_str());
af2213 12:943207547cb1 407 v=atof(input.substr(v_loc+1).c_str());
af2213 12:943207547cb1 408 if(v<0){
af2213 12:943207547cb1 409 v=abs(v);
af2213 12:943207547cb1 410 }
af2213 12:943207547cb1 411
af2213 12:943207547cb1 412 pc.printf("Spin for %.3f number of rotations at %.3f speed \r\n",r,v);
svenkugi 10:e974ee1ea1f0 413 }
af2213 12:943207547cb1 414 else{
af2213 12:943207547cb1 415 pc.printf("Invalid input\r\n");
svenkugi 10:e974ee1ea1f0 416 }
svenkugi 10:e974ee1ea1f0 417 }
af2213 12:943207547cb1 418 else if(v_loc==0 && input.length()>1){ //check if first letter is V
af2213 12:943207547cb1 419 pc.printf("Checking for sole V input type...\r\n");
af2213 12:943207547cb1 420 for(int j=1; j<input.length();j++){
af2213 12:943207547cb1 421 if(!isdigit(input[j]) && input[j]!='-' && input[j]!='.'){
af2213 12:943207547cb1 422 v_val=false;
af2213 12:943207547cb1 423 }
af2213 12:943207547cb1 424 }
af2213 12:943207547cb1 425 if(v_val==true){
af2213 12:943207547cb1 426 v=atof(input.substr(1).c_str());
af2213 12:943207547cb1 427 pc.printf("Spin at %.3f speed\r\n",v);
af2213 12:943207547cb1 428 }
af2213 12:943207547cb1 429 else{
af2213 12:943207547cb1 430 pc.printf("Invalid input\r\n");
af2213 12:943207547cb1 431 }
svenkugi 10:e974ee1ea1f0 432 }
af2213 12:943207547cb1 433 else{
af2213 12:943207547cb1 434 pc.printf("Invalid input\r\n");
af2213 12:943207547cb1 435 }
svenkugi 10:e974ee1ea1f0 436 }
svenkugi 10:e974ee1ea1f0 437 }
svenkugi 10:e974ee1ea1f0 438 }
svenkugi 10:e974ee1ea1f0 439
svenkugi 15:b0f63ea39943 440
svenkugi 15:b0f63ea39943 441 int main(){
svenkugi 15:b0f63ea39943 442
svenkugi 15:b0f63ea39943 443 //Start of Program
svenkugi 15:b0f63ea39943 444 pc.printf("STARTING SKAFMO BRUSHLESS MOTOR PROJECT! \n\r");
svenkugi 15:b0f63ea39943 445 led3 = 0;
svenkugi 15:b0f63ea39943 446
svenkugi 15:b0f63ea39943 447 //Run the motor synchronisation: orState is subtracted from future rotor state inputs
svenkugi 15:b0f63ea39943 448 orState = motorHome();
svenkugi 15:b0f63ea39943 449 pc.printf("Synchronization Complete: Rotor and Motor aligned with Offset: %x\n\r",orState);
svenkugi 15:b0f63ea39943 450
svenkugi 15:b0f63ea39943 451 //Interrupts (Optical Disk State Change): Drives to next state, Measures whole revolution count, Measures angular velocity over a whole revolution
svenkugi 15:b0f63ea39943 452 InterruptI1.rise(&changestate_isr);
svenkugi 15:b0f63ea39943 453 InterruptI1.fall(&changestate_isr);
svenkugi 15:b0f63ea39943 454 InterruptI2.rise(&changestate_isr);
svenkugi 15:b0f63ea39943 455 InterruptI2.fall(&changestate_isr);
svenkugi 15:b0f63ea39943 456 InterruptI3.rise(&changestate_isr);
svenkugi 15:b0f63ea39943 457 InterruptI3.fall(&changestate_isr);
svenkugi 15:b0f63ea39943 458
svenkugi 15:b0f63ea39943 459 //Interrupts (Incremental Encoder CHA Phase)
svenkugi 15:b0f63ea39943 460 InterruptCHA.rise(&pid_isr);
svenkugi 15:b0f63ea39943 461
svenkugi 15:b0f63ea39943 462 //Initial Target Settings
svenkugi 15:b0f63ea39943 463 //float rotation_set = 100.00;
svenkugi 15:b0f63ea39943 464 //float velocity_set = 10.00;
svenkugi 15:b0f63ea39943 465
svenkugi 15:b0f63ea39943 466 // Melody in a Thread
svenkugi 15:b0f63ea39943 467 // PID in Thread
svenkugi 15:b0f63ea39943 468
svenkugi 15:b0f63ea39943 469 //If speed not defined, use vel_max! If Rotation not defined, use revstates_max
svenkugi 15:b0f63ea39943 470 //float rotation_set = revstates_max;
svenkugi 15:b0f63ea39943 471 //float velocity_set = vel_max;
svenkugi 15:b0f63ea39943 472
svenkugi 15:b0f63ea39943 473
svenkugi 15:b0f63ea39943 474 serial_com();
svenkugi 15:b0f63ea39943 475
svenkugi 15:b0f63ea39943 476 //position_control(rotation_set, velocity_set);
svenkugi 15:b0f63ea39943 477
svenkugi 15:b0f63ea39943 478 }
svenkugi 15:b0f63ea39943 479
svenkugi 15:b0f63ea39943 480
svenkugi 15:b0f63ea39943 481
svenkugi 0:b6deec3905f4 482 /*_______________________Testing and Tuning Function__________________________*/
svenkugi 0:b6deec3905f4 483
svenkugi 0:b6deec3905f4 484 /*Measures Angular Velocity using PhotoInterrupters by checking time taken to go
svenkugi 0:b6deec3905f4 485 from State 4 to State 4 in this case. Avoid sensor phasing as it measures one
svenkugi 0:b6deec3905f4 486 complete cycle */
svenkugi 0:b6deec3905f4 487
svenkugi 0:b6deec3905f4 488 void meas_velocity(){
svenkugi 0:b6deec3905f4 489
svenkugi 0:b6deec3905f4 490 intState = readRotorState();
svenkugi 10:e974ee1ea1f0 491 driveto = (intState-orState+(direction*lead)+6)%6;
svenkugi 0:b6deec3905f4 492 motorOut(driveto);
svenkugi 0:b6deec3905f4 493
svenkugi 0:b6deec3905f4 494 while (1) {
svenkugi 0:b6deec3905f4 495
svenkugi 0:b6deec3905f4 496 pc.printf("Rotations per second: %f \n\r", angular_vel);
svenkugi 0:b6deec3905f4 497
svenkugi 0:b6deec3905f4 498 }
svenkugi 0:b6deec3905f4 499 }
svenkugi 0:b6deec3905f4 500
svenkugi 10:e974ee1ea1f0 501 // Function has no PID
svenkugi 10:e974ee1ea1f0 502 void rotation_control(int8_t num_revs, int8_t sign){
svenkugi 10:e974ee1ea1f0 503
svenkugi 10:e974ee1ea1f0 504 revstates_count = num_revs*num_states;
svenkugi 10:e974ee1ea1f0 505
svenkugi 10:e974ee1ea1f0 506 intState = readRotorState();
svenkugi 10:e974ee1ea1f0 507 driveto = (intState-orState+(sign*lead)+6)%6;
svenkugi 10:e974ee1ea1f0 508 motorOut(driveto);
svenkugi 10:e974ee1ea1f0 509
svenkugi 10:e974ee1ea1f0 510 while(!completed){
svenkugi 10:e974ee1ea1f0 511
svenkugi 10:e974ee1ea1f0 512 //pc.printf("Angular velocity: %f \n", angular_vel);
svenkugi 10:e974ee1ea1f0 513 pc.printf("Partial Angular: %f \n", partial_vel);
svenkugi 10:e974ee1ea1f0 514 //pc.printf("Count: %d \r\n", (count/6));
svenkugi 10:e974ee1ea1f0 515
svenkugi 10:e974ee1ea1f0 516 }
svenkugi 10:e974ee1ea1f0 517 }
svenkugi 10:e974ee1ea1f0 518
svenkugi 0:b6deec3905f4 519 void PID_tuning(){
svenkugi 0:b6deec3905f4 520
svenkugi 0:b6deec3905f4 521 dutyout = 0.5;
svenkugi 0:b6deec3905f4 522
svenkugi 0:b6deec3905f4 523 intState = readRotorState();
svenkugi 0:b6deec3905f4 524 driveto = (intState-orState+lead+6)%6;
svenkugi 0:b6deec3905f4 525 motorOut(driveto);
svenkugi 0:b6deec3905f4 526
svenkugi 0:b6deec3905f4 527 while (1) {
svenkugi 0:b6deec3905f4 528
svenkugi 0:b6deec3905f4 529 // Testing Step Response by increasing D.C. from 0.5 to 0.7
svenkugi 0:b6deec3905f4 530 // Gradient is equal to Kc
svenkugi 0:b6deec3905f4 531
svenkugi 0:b6deec3905f4 532 if(count > 3000){
svenkugi 0:b6deec3905f4 533 dutyout = 0.7;
svenkugi 0:b6deec3905f4 534 }
svenkugi 0:b6deec3905f4 535
svenkugi 0:b6deec3905f4 536 pc.printf("Duty Cycle: %f ", dutyout);
svenkugi 0:b6deec3905f4 537 pc.printf("Rotations per second: %f ", angular_vel);
svenkugi 0:b6deec3905f4 538 pc.printf("Count: %d \n\r", count);
svenkugi 0:b6deec3905f4 539
svenkugi 0:b6deec3905f4 540 }
svenkugi 3:7ee013b0976e 541 }