Sven Kugathasan / Mbed OS SKAFMO_2

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Dependencies:   PID

main.cpp@20:d796667e0c4d, 2017-03-24 (annotated)

Committer:
af2213
Date:
Fri Mar 24 20:15:40 2017 +0000
Revision:
20:d796667e0c4d
Parent:
19:d79692cef6c7
Child:
21:828582e4d4ef
Added attempt at music (if doesn't work try previous)

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"
af2213 18:19d35daed140 11 #include <limits>
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
af2213 18:19d35daed140 32
svenkugi 0:b6deec3905f4 33 //Photointerrupter Inputs as Interrupts
svenkugi 0:b6deec3905f4 34 InterruptIn InterruptI1(D2);
svenkugi 0:b6deec3905f4 35 InterruptIn InterruptI2(D11);
svenkugi 0:b6deec3905f4 36 InterruptIn InterruptI3(D12);
svenkugi 0:b6deec3905f4 37
svenkugi 0:b6deec3905f4 38 //Incremental Encoder Inputs as Interrupts
svenkugi 0:b6deec3905f4 39 InterruptIn InterruptCHA(D7);
svenkugi 0:b6deec3905f4 40 DigitalIn InterruptCHB(D8);
svenkugi 0:b6deec3905f4 41
svenkugi 0:b6deec3905f4 42 //Motor Drive Outputs in PWM
svenkugi 0:b6deec3905f4 43 PwmOut L1L(L1Lpin);
svenkugi 0:b6deec3905f4 44 PwmOut L1H(L1Hpin);
svenkugi 0:b6deec3905f4 45 PwmOut L2L(L2Lpin);
svenkugi 0:b6deec3905f4 46 PwmOut L2H(L2Hpin);
svenkugi 0:b6deec3905f4 47 PwmOut L3L(L3Lpin);
svenkugi 0:b6deec3905f4 48 PwmOut L3H(L3Hpin);
svenkugi 0:b6deec3905f4 49
svenkugi 0:b6deec3905f4 50 //Status LED
svenkugi 10:e974ee1ea1f0 51 //DigitalOut led1(LED1);
svenkugi 10:e974ee1ea1f0 52 DigitalOut led2(LED2);
svenkugi 10:e974ee1ea1f0 53 DigitalOut led3(LED3);
svenkugi 10:e974ee1ea1f0 54
svenkugi 15:b0f63ea39943 55 DigitalOut TIME(D13); //Toggle Digital Pin to measure Interrupt Times
svenkugi 0:b6deec3905f4 56
svenkugi 0:b6deec3905f4 57 //Initialise the serial port
svenkugi 0:b6deec3905f4 58 Serial pc(SERIAL_TX, SERIAL_RX);
svenkugi 0:b6deec3905f4 59
svenkugi 0:b6deec3905f4 60 //Timer
svenkugi 0:b6deec3905f4 61 Timer rps; // Measures Time for complete revolution
svenkugi 0:b6deec3905f4 62 Timer partial_rps; // Measures Time for partial revolutions
svenkugi 0:b6deec3905f4 63 Timer tmp; // Profiler Timer
svenkugi 0:b6deec3905f4 64
svenkugi 0:b6deec3905f4 65 //PID Controller
af2213 18:19d35daed140 66 PID velocity_pid(0.75, 0.025, 0.2, 0.1); // (P, I, D, WAIT)
af2213 19:d79692cef6c7 67 PID dist_pid(2, 0.0, 0.01, 0.1); // (P, I, D, WAIT)
svenkugi 10:e974ee1ea1f0 68
svenkugi 10:e974ee1ea1f0 69 //Initialize Threads
af2213 20:d796667e0c4d 70 //Thread pid_thread(osPriorityNormal, 512, NULL);
svenkugi 15:b0f63ea39943 71 Thread melody_thread(osPriorityNormal, 512, NULL);
svenkugi 0:b6deec3905f4 72
af2213 20:d796667e0c4d 73 typedef struct{
af2213 20:d796667e0c4d 74 char note;
af2213 20:d796667e0c4d 75 uint8_t sharp;
af2213 20:d796667e0c4d 76 float dur;
af2213 20:d796667e0c4d 77 }note_t;
af2213 20:d796667e0c4d 78
af2213 20:d796667e0c4d 79 const float octaveMap[] = {27.50, 30.87, 16.35, 18.35, 20.60, 21.83, 24.50};
af2213 20:d796667e0c4d 80
svenkugi 0:b6deec3905f4 81 /*________________________Motor Drive States__________________________________*/
svenkugi 0:b6deec3905f4 82
svenkugi 0:b6deec3905f4 83 //Mapping from sequential drive states to motor phase outputs
svenkugi 0:b6deec3905f4 84 /*
svenkugi 0:b6deec3905f4 85 State L1 L2 L3
svenkugi 0:b6deec3905f4 86 0 H - L
svenkugi 0:b6deec3905f4 87 1 - H L
svenkugi 0:b6deec3905f4 88 2 L H -
svenkugi 0:b6deec3905f4 89 3 L - H
svenkugi 0:b6deec3905f4 90 4 - L H
svenkugi 0:b6deec3905f4 91 5 H L -
svenkugi 0:b6deec3905f4 92 6 - - -
svenkugi 0:b6deec3905f4 93 7 - - -
svenkugi 0:b6deec3905f4 94 */
svenkugi 0:b6deec3905f4 95
svenkugi 0:b6deec3905f4 96 //Drive state to output table
svenkugi 0:b6deec3905f4 97 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
svenkugi 0:b6deec3905f4 98
svenkugi 0:b6deec3905f4 99 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
svenkugi 0:b6deec3905f4 100 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
svenkugi 0:b6deec3905f4 101
svenkugi 0:b6deec3905f4 102 /*____________________Global Variable Initialization__________________________*/
svenkugi 0:b6deec3905f4 103
svenkugi 10:e974ee1ea1f0 104 //Rotor Direction Default
svenkugi 10:e974ee1ea1f0 105 const int8_t lead = -2; //Phase lead to make motor spin: 2 for forwards, -2 for backwards
svenkugi 10:e974ee1ea1f0 106 int8_t direction = 1; //+1: Backwards rotation; -1 for Forwards Rotation
svenkugi 0:b6deec3905f4 107
svenkugi 10:e974ee1ea1f0 108 //Optical Disk States
svenkugi 10:e974ee1ea1f0 109 uint8_t orState=0; //Offset of Motor Field and Optical Disk
svenkugi 10:e974ee1ea1f0 110 uint8_t intState=0; //Current Optical Disk state
svenkugi 10:e974ee1ea1f0 111 const uint8_t num_states = 6; //Number of states in one rotation
svenkugi 0:b6deec3905f4 112
svenkugi 0:b6deec3905f4 113 uint32_t count = 0; //Counts number of states traversed
svenkugi 0:b6deec3905f4 114 int8_t completed = 0; //Checks if rotation completed
svenkugi 0:b6deec3905f4 115 int8_t driveto = 0; //Holds value of new motor drive state
svenkugi 0:b6deec3905f4 116
svenkugi 10:e974ee1ea1f0 117 //Angular Velocity Variables
svenkugi 10:e974ee1ea1f0 118 float PWM_freq = 0.001f; //500Hz (> Motor LP cut-off frequency = 10Hz)
svenkugi 10:e974ee1ea1f0 119
svenkugi 10:e974ee1ea1f0 120 float dutyout = 1.0f; //Initialized at 50% duty cycle
svenkugi 10:e974ee1ea1f0 121 float dutyout_max = 1.0f; //Maximum Duty Cycle will enable maximum speed
svenkugi 10:e974ee1ea1f0 122
svenkugi 10:e974ee1ea1f0 123 float angular_vel = 0.0f; //Revolution per second (Measured over 360)
svenkugi 10:e974ee1ea1f0 124 float partial_vel = 0.0f; //Revolution per second (Measured over 360/117)
svenkugi 10:e974ee1ea1f0 125
svenkugi 10:e974ee1ea1f0 126 float vel_target = 0.0f; //Target Speed
svenkugi 10:e974ee1ea1f0 127 float vel_max = 100; //Maximum Speed at 3.0V achievable is ~60 rps
svenkugi 10:e974ee1ea1f0 128
svenkugi 10:e974ee1ea1f0 129 //Position Variables
svenkugi 10:e974ee1ea1f0 130 uint32_t revstates_count = 0; //Global Variable to pass into interrupt
svenkugi 10:e974ee1ea1f0 131 uint8_t pulse_count = 0; //Max.Pulse count = 117
svenkugi 10:e974ee1ea1f0 132
svenkugi 10:e974ee1ea1f0 133 float total_rev = 0.0f;
svenkugi 10:e974ee1ea1f0 134 float partial_rev = 0.0f;
svenkugi 10:e974ee1ea1f0 135
svenkugi 10:e974ee1ea1f0 136 float rev_target = 0.0f; //Target Rotations
af2213 17:209ac0b10ba1 137 uint8_t revstates_max = 0;
af2213 17:209ac0b10ba1 138
svenkugi 0:b6deec3905f4 139 //Debug Variables
svenkugi 0:b6deec3905f4 140 bool flag = false;
svenkugi 10:e974ee1ea1f0 141 float test_time = 0.0f;
svenkugi 10:e974ee1ea1f0 142 int8_t test = 0;
af2213 20:d796667e0c4d 143 int songLen = 0;
svenkugi 0:b6deec3905f4 144
af2213 18:19d35daed140 145 // Timer interrupt
af2213 18:19d35daed140 146 Ticker calcPID_timer;
svenkugi 16:d426b65b4ace 147
svenkugi 0:b6deec3905f4 148 /*_____Basic Functions (Motor Drive, Synchronization, Reading Rotor State)____*/
svenkugi 0:b6deec3905f4 149
svenkugi 0:b6deec3905f4 150 //Set a given drive state
svenkugi 0:b6deec3905f4 151 void motorOut(int8_t driveState){
svenkugi 0:b6deec3905f4 152
svenkugi 0:b6deec3905f4 153 //Lookup the output byte from the drive state.
svenkugi 0:b6deec3905f4 154 int8_t driveOut = driveTable[driveState & 0x07];
svenkugi 0:b6deec3905f4 155
svenkugi 0:b6deec3905f4 156 //Turn off first (PWM)
svenkugi 0:b6deec3905f4 157 if (~driveOut & 0x01) L1L = 0;
svenkugi 0:b6deec3905f4 158 if (~driveOut & 0x02) L1H.write(dutyout); L1H.period(PWM_freq);
svenkugi 0:b6deec3905f4 159 if (~driveOut & 0x04) L2L = 0;
svenkugi 0:b6deec3905f4 160 if (~driveOut & 0x08) L2H.write(dutyout); L2H.period(PWM_freq);
svenkugi 0:b6deec3905f4 161 if (~driveOut & 0x10) L3L = 0;
svenkugi 0:b6deec3905f4 162 if (~driveOut & 0x20) L3H.write(dutyout); L3H.period(PWM_freq);
svenkugi 0:b6deec3905f4 163
svenkugi 0:b6deec3905f4 164 //Then turn on (PWM)
svenkugi 0:b6deec3905f4 165 if (driveOut & 0x01) L1L.write(dutyout); L1L.period(PWM_freq);
svenkugi 0:b6deec3905f4 166 if (driveOut & 0x02) L1H = 0;
svenkugi 0:b6deec3905f4 167 if (driveOut & 0x04) L2L.write(dutyout); L2L.period(PWM_freq);
svenkugi 0:b6deec3905f4 168 if (driveOut & 0x08) L2H = 0;
svenkugi 0:b6deec3905f4 169 if (driveOut & 0x10) L3L.write(dutyout); L3L.period(PWM_freq);
svenkugi 0:b6deec3905f4 170 if (driveOut & 0x20) L3H = 0;
svenkugi 3:7ee013b0976e 171
svenkugi 0:b6deec3905f4 172 }
af2213 18:19d35daed140 173
svenkugi 0:b6deec3905f4 174 //Convert photointerrupter inputs to a rotor state
svenkugi 0:b6deec3905f4 175 inline int8_t readRotorState(){
svenkugi 10:e974ee1ea1f0 176 return stateMap[InterruptI1.read() + 2*InterruptI2.read() + 4*InterruptI3.read()];
svenkugi 0:b6deec3905f4 177 }
svenkugi 0:b6deec3905f4 178
af2213 20:d796667e0c4d 179 float returnNote(note_t n)
af2213 20:d796667e0c4d 180 {
af2213 20:d796667e0c4d 181 unsigned octMult = 4;
af2213 20:d796667e0c4d 182 //for (uint8_t i=0; i<n.oct; ++i){
af2213 20:d796667e0c4d 183 //octMult = octMult << 1;
af2213 20:d796667e0c4d 184 //}
af2213 20:d796667e0c4d 185 return 1.0f/( octMult*octaveMap[n.note - 'A']);
af2213 20:d796667e0c4d 186 }
af2213 20:d796667e0c4d 187
af2213 20:d796667e0c4d 188 void playMelody(note_t* song){
af2213 20:d796667e0c4d 189 for (int i=0; i<songLen; ++i){
af2213 20:d796667e0c4d 190 PWM_freq = returnNote(song[i]);
af2213 20:d796667e0c4d 191 wait(song[i].dur);
af2213 20:d796667e0c4d 192 }
af2213 20:d796667e0c4d 193 delete[] song;
af2213 20:d796667e0c4d 194 }
af2213 20:d796667e0c4d 195
af2213 18:19d35daed140 196 void calculatePID(){
af2213 18:19d35daed140 197 TIME = 1;
af2213 18:19d35daed140 198 //Calculate new PID Control Point
af2213 19:d79692cef6c7 199 if((total_rev/rev_target) > 0.75f){
af2213 18:19d35daed140 200 dist_pid.setProcessValue(total_rev);
af2213 18:19d35daed140 201 dutyout = dist_pid.compute();
af2213 18:19d35daed140 202 }
af2213 18:19d35daed140 203 else{
af2213 18:19d35daed140 204 velocity_pid.setProcessValue(partial_vel);
af2213 18:19d35daed140 205 dutyout = velocity_pid.compute();
af2213 18:19d35daed140 206 }
af2213 18:19d35daed140 207 TIME =0;
af2213 18:19d35daed140 208 }
af2213 18:19d35daed140 209
svenkugi 0:b6deec3905f4 210 //Basic synchronisation routine
svenkugi 0:b6deec3905f4 211 int8_t motorHome() {
svenkugi 10:e974ee1ea1f0 212 //Put the motor in drive state X (e.g. 5) to avoid initial jitter
svenkugi 10:e974ee1ea1f0 213 //Set to maximum speed to get maximum momentum
svenkugi 0:b6deec3905f4 214 dutyout = 1.0f;
svenkugi 0:b6deec3905f4 215 motorOut(5);
svenkugi 0:b6deec3905f4 216 wait(1.0);
svenkugi 0:b6deec3905f4 217
svenkugi 0:b6deec3905f4 218 //Put the motor in drive state 0 and wait for it to stabilise
svenkugi 0:b6deec3905f4 219 motorOut(0);
svenkugi 0:b6deec3905f4 220 wait(1.0);
svenkugi 0:b6deec3905f4 221
svenkugi 0:b6deec3905f4 222 //Get the rotor state
svenkugi 0:b6deec3905f4 223 return readRotorState();
svenkugi 0:b6deec3905f4 224 }
svenkugi 0:b6deec3905f4 225
svenkugi 0:b6deec3905f4 226 /*________________Advanced Functions (Speed and Position Control)_____________*/
svenkugi 0:b6deec3905f4 227
svenkugi 10:e974ee1ea1f0 228 // Function involves PID
af2213 18:19d35daed140 229 void position_control(float rev, float vel){
svenkugi 0:b6deec3905f4 230
af2213 18:19d35daed140 231 completed = 0;
af2213 18:19d35daed140 232 dutyout = 1.0f;
af2213 18:19d35daed140 233 count = 0;
af2213 18:19d35daed140 234
af2213 18:19d35daed140 235 rev_target = rev;
af2213 18:19d35daed140 236 vel_target = vel;
af2213 18:19d35daed140 237 pc.printf("rev %f\r\n", rev);
af2213 18:19d35daed140 238 pc.printf("vel %f\r\n", vel);
svenkugi 0:b6deec3905f4 239
svenkugi 10:e974ee1ea1f0 240 //Reverses motor direction if forwards rotation requested
af2213 18:19d35daed140 241 if (rev_target < 0.0f || vel_target < 0.0f){
af2213 18:19d35daed140 242 direction = -1;
af2213 18:19d35daed140 243 if (rev_target < 0.0f)
af2213 18:19d35daed140 244 rev_target = rev_target * -1;
af2213 18:19d35daed140 245 else
af2213 18:19d35daed140 246 vel_target = vel_target * -1;
svenkugi 0:b6deec3905f4 247 }
af2213 18:19d35daed140 248 else{
af2213 18:19d35daed140 249 direction = 1;
svenkugi 3:7ee013b0976e 250 }
svenkugi 3:7ee013b0976e 251
af2213 18:19d35daed140 252 pc.printf("vel_target %f\r\n", vel_target);
af2213 18:19d35daed140 253 pc.printf("dir %d\r\n", direction);
af2213 18:19d35daed140 254
af2213 18:19d35daed140 255 pc.printf("Waiting for stabilize... %d\r\n", direction);
af2213 18:19d35daed140 256 dutyout = 0.0f;
af2213 19:d79692cef6c7 257 velocity_pid.reset();
af2213 19:d79692cef6c7 258 dist_pid.reset();
af2213 18:19d35daed140 259 wait(3);
af2213 18:19d35daed140 260 motorHome();
af2213 18:19d35daed140 261 pc.printf("Restarting... %d\r\n", direction);
af2213 18:19d35daed140 262
af2213 18:19d35daed140 263 velocity_pid.reset();
af2213 19:d79692cef6c7 264 //velocity_pid.setInputLimits(0.0, 50);
svenkugi 0:b6deec3905f4 265 velocity_pid.setOutputLimits(0.0, 1.0);
svenkugi 0:b6deec3905f4 266 velocity_pid.setMode(1);
svenkugi 0:b6deec3905f4 267 velocity_pid.setSetPoint(vel_target);
svenkugi 0:b6deec3905f4 268
af2213 18:19d35daed140 269 dist_pid.reset();
af2213 19:d79692cef6c7 270 //dist_pid.setInputLimits(0.0, rev_target);
svenkugi 10:e974ee1ea1f0 271 dist_pid.setOutputLimits(0.0, 1.0);
svenkugi 0:b6deec3905f4 272 dist_pid.setMode(1);
svenkugi 0:b6deec3905f4 273 dist_pid.setSetPoint(rev_target);
af2213 18:19d35daed140 274
af2213 18:19d35daed140 275 dutyout = 0.3f;
svenkugi 0:b6deec3905f4 276 intState = readRotorState();
svenkugi 4:5eb8ac894d0f 277 driveto = (intState-orState+(direction*lead)+6)%6;
svenkugi 10:e974ee1ea1f0 278 motorOut(driveto);
svenkugi 10:e974ee1ea1f0 279
af2213 19:d79692cef6c7 280 calcPID_timer.attach(&calculatePID, 0.05);
svenkugi 0:b6deec3905f4 281 }
svenkugi 0:b6deec3905f4 282
svenkugi 0:b6deec3905f4 283 void changestate_isr(){
svenkugi 0:b6deec3905f4 284
svenkugi 10:e974ee1ea1f0 285 //led2 = !led2;
svenkugi 0:b6deec3905f4 286 // Profiling: Test time duration of ISR
svenkugi 0:b6deec3905f4 287 /*if(test == 0){
svenkugi 0:b6deec3905f4 288 tmp.start();
svenkugi 0:b6deec3905f4 289 test = 1;
svenkugi 0:b6deec3905f4 290 }
svenkugi 0:b6deec3905f4 291
svenkugi 0:b6deec3905f4 292 else{
svenkugi 0:b6deec3905f4 293 tmp.stop();
svenkugi 0:b6deec3905f4 294 test_time = tmp.read();
svenkugi 0:b6deec3905f4 295 tmp.reset();
svenkugi 0:b6deec3905f4 296 test = 0;
svenkugi 0:b6deec3905f4 297 }*/
svenkugi 0:b6deec3905f4 298
svenkugi 0:b6deec3905f4 299 // Measure time for 360 Rotation
svenkugi 0:b6deec3905f4 300 if(driveto == 0x04){ //Next time drivestate=4, 360 degrees revolution
svenkugi 10:e974ee1ea1f0 301 pulse_count = 0;
svenkugi 10:e974ee1ea1f0 302 /*if(flag){
svenkugi 0:b6deec3905f4 303 rps.stop();
svenkugi 0:b6deec3905f4 304 angular_vel = 1/(rps.read());
svenkugi 0:b6deec3905f4 305 rps.reset();
svenkugi 0:b6deec3905f4 306 flag = 0;
svenkugi 10:e974ee1ea1f0 307 }*/
svenkugi 0:b6deec3905f4 308 }
svenkugi 0:b6deec3905f4 309
svenkugi 10:e974ee1ea1f0 310 /*if(driveto == 0x04){ //First time drivestate=4, Timer started at 0 degrees
svenkugi 10:e974ee1ea1f0 311 pulse_count = 0; //Synchronize Quadrature Encoder with PhotoInterrupter
svenkugi 0:b6deec3905f4 312 rps.start();
svenkugi 0:b6deec3905f4 313 flag = 1;
svenkugi 10:e974ee1ea1f0 314 }*/
svenkugi 0:b6deec3905f4 315
svenkugi 0:b6deec3905f4 316 // Measure number of revolutions
svenkugi 0:b6deec3905f4 317 count++;
svenkugi 0:b6deec3905f4 318
af2213 18:19d35daed140 319 if (rev_target == std::numeric_limits<float>::max()){
af2213 18:19d35daed140 320 total_rev = 0.0f;
af2213 18:19d35daed140 321 }
af2213 18:19d35daed140 322
af2213 17:209ac0b10ba1 323 //Turn-off when target reached (if target is 0, never end)
af2213 18:19d35daed140 324 if(completed || total_rev >= rev_target){
svenkugi 0:b6deec3905f4 325 completed = 1;
af2213 18:19d35daed140 326 total_rev = 0;
af2213 18:19d35daed140 327 count = 0;
svenkugi 0:b6deec3905f4 328 dutyout = 0;
svenkugi 0:b6deec3905f4 329 motorOut(0);
svenkugi 10:e974ee1ea1f0 330 led3 = 0;
af2213 18:19d35daed140 331 partial_rev = 0;
af2213 18:19d35daed140 332 calcPID_timer.detach();
svenkugi 0:b6deec3905f4 333 }
svenkugi 0:b6deec3905f4 334 else{
svenkugi 0:b6deec3905f4 335 intState = readRotorState();
svenkugi 10:e974ee1ea1f0 336 driveto = (intState-orState+(direction*lead)+6)%6;
svenkugi 0:b6deec3905f4 337 motorOut(driveto);
svenkugi 0:b6deec3905f4 338 }
svenkugi 0:b6deec3905f4 339
svenkugi 0:b6deec3905f4 340 }
svenkugi 0:b6deec3905f4 341
svenkugi 0:b6deec3905f4 342 void pid_isr(){
svenkugi 0:b6deec3905f4 343 //117 Pulses per revolution
svenkugi 0:b6deec3905f4 344 pulse_count++;
svenkugi 0:b6deec3905f4 345
svenkugi 0:b6deec3905f4 346 //Measure Time to do 3 degrees of rotation
svenkugi 0:b6deec3905f4 347 if(test == 0){
svenkugi 0:b6deec3905f4 348 partial_rps.start();
svenkugi 0:b6deec3905f4 349 test = 1;
svenkugi 0:b6deec3905f4 350 }
svenkugi 0:b6deec3905f4 351 else{
svenkugi 0:b6deec3905f4 352 partial_rps.stop();
svenkugi 10:e974ee1ea1f0 353 partial_vel = 1/((117.0f * partial_rps.read()));
svenkugi 0:b6deec3905f4 354 partial_rps.reset();
svenkugi 0:b6deec3905f4 355 test = 0;
svenkugi 0:b6deec3905f4 356 }
svenkugi 0:b6deec3905f4 357
svenkugi 0:b6deec3905f4 358 //Partial Revolution Count
svenkugi 0:b6deec3905f4 359 partial_rev = pulse_count/117.0f;
svenkugi 0:b6deec3905f4 360
svenkugi 0:b6deec3905f4 361 //Total Revolution Count
svenkugi 0:b6deec3905f4 362 total_rev = (count/6.0f) + partial_rev;
svenkugi 0:b6deec3905f4 363
svenkugi 0:b6deec3905f4 364 }
svenkugi 0:b6deec3905f4 365
svenkugi 10:e974ee1ea1f0 366 /*__________________________Main Function_____________________________________*/
svenkugi 10:e974ee1ea1f0 367
svenkugi 15:b0f63ea39943 368 void serial_com(){
svenkugi 10:e974ee1ea1f0 369
af2213 12:943207547cb1 370 pc.baud(9600);
af2213 12:943207547cb1 371 float r=0;
af2213 12:943207547cb1 372 float v=0; //velocity
af2213 12:943207547cb1 373 bool r_val=true;
af2213 12:943207547cb1 374 bool v_val=true;
af2213 18:19d35daed140 375 int16_t t_loc=0;
af2213 18:19d35daed140 376 int16_t r_loc=0;
af2213 18:19d35daed140 377 int16_t v_loc=0;
af2213 18:19d35daed140 378 char buf[20];
svenkugi 10:e974ee1ea1f0 379
af2213 17:209ac0b10ba1 380 bool note_marker;
af2213 17:209ac0b10ba1 381 bool dur_marker;
af2213 17:209ac0b10ba1 382 bool accent_marker;
af2213 17:209ac0b10ba1 383 string note="";
af2213 18:19d35daed140 384 uint8_t duration=0;
svenkugi 10:e974ee1ea1f0 385
af2213 12:943207547cb1 386 string input;
af2213 12:943207547cb1 387 while(1){
af2213 12:943207547cb1 388 r=0;
af2213 12:943207547cb1 389 v=0;
af2213 12:943207547cb1 390 r_val=true;
af2213 12:943207547cb1 391 v_val=true;
af2213 17:209ac0b10ba1 392 note_marker=false;
af2213 17:209ac0b10ba1 393 dur_marker=false;
af2213 17:209ac0b10ba1 394 accent_marker=false;
af2213 12:943207547cb1 395 pc.printf("Please enter something\r\n");
af2213 12:943207547cb1 396 pc.scanf("%s",&buf);
af2213 12:943207547cb1 397 input=buf;
af2213 12:943207547cb1 398 pc.printf("The input string is %s\r\n",buf);
af2213 12:943207547cb1 399
af2213 12:943207547cb1 400 t_loc=input.find('T');
af2213 12:943207547cb1 401 r_loc=input.find('R');
af2213 12:943207547cb1 402 v_loc=input.find('V');
af2213 12:943207547cb1 403 pc.printf("Location of T is %d\r\n",t_loc);
af2213 12:943207547cb1 404 pc.printf("Location of R is %d\r\n",r_loc);
af2213 12:943207547cb1 405 pc.printf("Location of V is %d\r\n",v_loc);
svenkugi 10:e974ee1ea1f0 406
af2213 17:209ac0b10ba1 407 if(t_loc==0 && input.length()>1){ //if melody marker present and there is something after it
af2213 17:209ac0b10ba1 408 printf("Note sequence detected\r\n");
af2213 20:d796667e0c4d 409 //note_t* song = (note_t*)malloc(sizeof(note_t)*input.length());
af2213 20:d796667e0c4d 410 note_t* song = new note_t[input.length()];
af2213 20:d796667e0c4d 411 songLen = input.length();
af2213 20:d796667e0c4d 412 uint8_t noteIter = 0;
af2213 17:209ac0b10ba1 413 for(int i=1;i<input.length();i++){
af2213 17:209ac0b10ba1 414
af2213 17:209ac0b10ba1 415 if(accent_marker==false && dur_marker==false && note_marker==false &&
af2213 17:209ac0b10ba1 416 (input[i]=='A' || input[i]=='B' || input[i]=='C' || input[i]=='D' || input[i]=='E' || input[i]=='F' || input[i]=='G')){
af2213 17:209ac0b10ba1 417 note_marker=true;
af2213 17:209ac0b10ba1 418 }
af2213 17:209ac0b10ba1 419 else if(note_marker==true && (input[i]=='^' || input[i]=='#')){
af2213 17:209ac0b10ba1 420 accent_marker=true;
af2213 17:209ac0b10ba1 421 }
af2213 17:209ac0b10ba1 422 else if((note_marker==true && isdigit(input[i]) && accent_marker==false) ||
af2213 17:209ac0b10ba1 423 (note_marker==true && isdigit(input[i]) && accent_marker==true)){
af2213 17:209ac0b10ba1 424 dur_marker=true;
af2213 17:209ac0b10ba1 425 }
af2213 17:209ac0b10ba1 426
af2213 17:209ac0b10ba1 427 if(note_marker==true && accent_marker==true && dur_marker == true){
af2213 17:209ac0b10ba1 428 note=input.substr(i-2,2);
af2213 17:209ac0b10ba1 429 printf("The note is %s\r\n",note.c_str());
af2213 17:209ac0b10ba1 430 duration=atof(input.substr(i,1).c_str());
af2213 17:209ac0b10ba1 431 printf("Duration is %d\r\n",duration);
af2213 17:209ac0b10ba1 432 note_marker=false;
af2213 17:209ac0b10ba1 433 dur_marker=false;
af2213 17:209ac0b10ba1 434 accent_marker=false;
af2213 20:d796667e0c4d 435
af2213 20:d796667e0c4d 436 song[noteIter].note = note[0];
af2213 20:d796667e0c4d 437 song[noteIter].sharp = 1;
af2213 20:d796667e0c4d 438 song[noteIter].dur = duration;
af2213 20:d796667e0c4d 439 noteIter++;
af2213 17:209ac0b10ba1 440 }
af2213 17:209ac0b10ba1 441 else if(note_marker==true && dur_marker==true && accent_marker==false){
af2213 17:209ac0b10ba1 442 note=input.substr(i-1,1);
af2213 17:209ac0b10ba1 443 printf("The note is %s\r\n",note.c_str());
af2213 17:209ac0b10ba1 444 duration=atof(input.substr(i,1).c_str());
af2213 17:209ac0b10ba1 445 printf("Duration is %d\r\n",duration);
af2213 17:209ac0b10ba1 446 note_marker=false;
af2213 17:209ac0b10ba1 447 dur_marker=false;
af2213 17:209ac0b10ba1 448 accent_marker=false;
af2213 20:d796667e0c4d 449
af2213 20:d796667e0c4d 450 song[noteIter].note = note[0];
af2213 20:d796667e0c4d 451 song[noteIter].sharp = 0;
af2213 20:d796667e0c4d 452 song[noteIter].dur = duration;
af2213 20:d796667e0c4d 453 noteIter++;
af2213 17:209ac0b10ba1 454 }
af2213 17:209ac0b10ba1 455 }
af2213 20:d796667e0c4d 456 melody_thread.start(callback(playMelody, song));
af2213 17:209ac0b10ba1 457 }
af2213 12:943207547cb1 458 else if(t_loc==-1){ //if no melody marker present
af2213 12:943207547cb1 459 pc.printf("Note sequence NOT detected\r\n");
af2213 12:943207547cb1 460
af2213 12:943207547cb1 461 if(r_loc==0 && v_loc==-1 && input.length()>1){ //check if first letter is R
af2213 12:943207547cb1 462 pc.printf("Checking for sole R input type...\r\n");
svenkugi 10:e974ee1ea1f0 463
af2213 12:943207547cb1 464 for(int j=1; j<input.length();j++){
af2213 12:943207547cb1 465 if(!isdigit(input[j]) && input[j]!='-' && input[j]!='.'){
af2213 12:943207547cb1 466 r_val=false;
af2213 12:943207547cb1 467 }
svenkugi 10:e974ee1ea1f0 468 }
af2213 12:943207547cb1 469
af2213 12:943207547cb1 470 if(r_val==true){
af2213 12:943207547cb1 471 r=atof(input.substr(1).c_str());
af2213 12:943207547cb1 472 pc.printf("Spin for %.3f number of rotations\r\n",r);
af2213 18:19d35daed140 473 position_control((float) r, vel_max);
svenkugi 10:e974ee1ea1f0 474 }
af2213 12:943207547cb1 475 else{
af2213 12:943207547cb1 476 pc.printf("Invalid input\r\n");
af2213 12:943207547cb1 477 }
svenkugi 10:e974ee1ea1f0 478 }
af2213 12:943207547cb1 479 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 480 pc.printf("Checking for combined R and V input type...\r\n");
svenkugi 10:e974ee1ea1f0 481
af2213 12:943207547cb1 482 for(int j=1; j<v_loc;j++){
af2213 12:943207547cb1 483 if(!isdigit(input[j]) && input[j]!='-' && input[j]!='.'){
af2213 12:943207547cb1 484 r_val=false;
af2213 12:943207547cb1 485 }
svenkugi 10:e974ee1ea1f0 486 }
af2213 12:943207547cb1 487 for(int j=v_loc+1; j<input.length();j++){
af2213 12:943207547cb1 488 if(!isdigit(input[j]) && input[j]!='-' && input[j]!='.'){
af2213 12:943207547cb1 489 v_val=false;
svenkugi 10:e974ee1ea1f0 490 }
svenkugi 10:e974ee1ea1f0 491 }
af2213 12:943207547cb1 492
af2213 12:943207547cb1 493 if(r_val==true && v_val==true){
af2213 12:943207547cb1 494 r=atof(input.substr(1,v_loc-1).c_str());
af2213 12:943207547cb1 495 v=atof(input.substr(v_loc+1).c_str());
af2213 12:943207547cb1 496 if(v<0){
af2213 12:943207547cb1 497 v=abs(v);
af2213 12:943207547cb1 498 }
af2213 18:19d35daed140 499 pc.printf("Spin for %.3f number of rotations at %.3f speed \r\n",r,v);
af2213 12:943207547cb1 500
af2213 18:19d35daed140 501 position_control((float) r, (float) v);
svenkugi 10:e974ee1ea1f0 502 }
af2213 12:943207547cb1 503 else{
af2213 12:943207547cb1 504 pc.printf("Invalid input\r\n");
svenkugi 10:e974ee1ea1f0 505 }
svenkugi 10:e974ee1ea1f0 506 }
af2213 12:943207547cb1 507 else if(v_loc==0 && input.length()>1){ //check if first letter is V
af2213 12:943207547cb1 508 pc.printf("Checking for sole V input type...\r\n");
af2213 12:943207547cb1 509 for(int j=1; j<input.length();j++){
af2213 12:943207547cb1 510 if(!isdigit(input[j]) && input[j]!='-' && input[j]!='.'){
af2213 12:943207547cb1 511 v_val=false;
af2213 12:943207547cb1 512 }
af2213 12:943207547cb1 513 }
af2213 12:943207547cb1 514 if(v_val==true){
af2213 12:943207547cb1 515 v=atof(input.substr(1).c_str());
af2213 18:19d35daed140 516 pc.printf("Spin at %.3f speed\r\n",v);
af2213 18:19d35daed140 517 position_control(std::numeric_limits<float>::max(),(float)v);
af2213 12:943207547cb1 518 }
af2213 12:943207547cb1 519 else{
af2213 12:943207547cb1 520 pc.printf("Invalid input\r\n");
af2213 12:943207547cb1 521 }
svenkugi 10:e974ee1ea1f0 522 }
af2213 12:943207547cb1 523 else{
af2213 12:943207547cb1 524 pc.printf("Invalid input\r\n");
af2213 12:943207547cb1 525 }
svenkugi 10:e974ee1ea1f0 526 }
svenkugi 10:e974ee1ea1f0 527 }
svenkugi 10:e974ee1ea1f0 528 }
svenkugi 10:e974ee1ea1f0 529
svenkugi 15:b0f63ea39943 530
svenkugi 15:b0f63ea39943 531 int main(){
svenkugi 15:b0f63ea39943 532
svenkugi 15:b0f63ea39943 533 //Start of Program
svenkugi 15:b0f63ea39943 534 pc.printf("STARTING SKAFMO BRUSHLESS MOTOR PROJECT! \n\r");
svenkugi 15:b0f63ea39943 535 led3 = 0;
svenkugi 15:b0f63ea39943 536
svenkugi 15:b0f63ea39943 537 //Run the motor synchronisation: orState is subtracted from future rotor state inputs
svenkugi 15:b0f63ea39943 538 orState = motorHome();
af2213 19:d79692cef6c7 539 pc.printf("Synchronization Complete: Rotor and Motor aligned with Offset: %d \r\n",orState);
svenkugi 15:b0f63ea39943 540
svenkugi 15:b0f63ea39943 541 //Interrupts (Optical Disk State Change): Drives to next state, Measures whole revolution count, Measures angular velocity over a whole revolution
svenkugi 15:b0f63ea39943 542 InterruptI1.rise(&changestate_isr);
svenkugi 15:b0f63ea39943 543 InterruptI1.fall(&changestate_isr);
svenkugi 15:b0f63ea39943 544 InterruptI2.rise(&changestate_isr);
svenkugi 15:b0f63ea39943 545 InterruptI2.fall(&changestate_isr);
svenkugi 15:b0f63ea39943 546 InterruptI3.rise(&changestate_isr);
svenkugi 15:b0f63ea39943 547 InterruptI3.fall(&changestate_isr);
svenkugi 15:b0f63ea39943 548
svenkugi 15:b0f63ea39943 549 //Interrupts (Incremental Encoder CHA Phase)
svenkugi 15:b0f63ea39943 550 InterruptCHA.rise(&pid_isr);
svenkugi 15:b0f63ea39943 551
svenkugi 15:b0f63ea39943 552 //Initial Target Settings
af2213 17:209ac0b10ba1 553 //float rotation_set = 100.00;
af2213 17:209ac0b10ba1 554 //float velocity_set = 10.00;
af2213 17:209ac0b10ba1 555
svenkugi 15:b0f63ea39943 556 // Melody in a Thread
svenkugi 15:b0f63ea39943 557 // PID in Thread
svenkugi 15:b0f63ea39943 558
svenkugi 15:b0f63ea39943 559 //If speed not defined, use vel_max! If Rotation not defined, use revstates_max
svenkugi 15:b0f63ea39943 560 //float rotation_set = revstates_max;
svenkugi 15:b0f63ea39943 561 //float velocity_set = vel_max;
svenkugi 15:b0f63ea39943 562
svenkugi 15:b0f63ea39943 563
af2213 17:209ac0b10ba1 564 //pid_thread.join();
af2213 17:209ac0b10ba1 565 serial_com();
svenkugi 15:b0f63ea39943 566
svenkugi 15:b0f63ea39943 567 }
svenkugi 15:b0f63ea39943 568
svenkugi 15:b0f63ea39943 569
svenkugi 15:b0f63ea39943 570
svenkugi 0:b6deec3905f4 571 /*_______________________Testing and Tuning Function__________________________*/
svenkugi 0:b6deec3905f4 572
svenkugi 0:b6deec3905f4 573 /*Measures Angular Velocity using PhotoInterrupters by checking time taken to go
svenkugi 0:b6deec3905f4 574 from State 4 to State 4 in this case. Avoid sensor phasing as it measures one
svenkugi 0:b6deec3905f4 575 complete cycle */
svenkugi 0:b6deec3905f4 576
svenkugi 0:b6deec3905f4 577 void meas_velocity(){
svenkugi 0:b6deec3905f4 578
svenkugi 0:b6deec3905f4 579 intState = readRotorState();
svenkugi 10:e974ee1ea1f0 580 driveto = (intState-orState+(direction*lead)+6)%6;
svenkugi 0:b6deec3905f4 581 motorOut(driveto);
svenkugi 0:b6deec3905f4 582
svenkugi 0:b6deec3905f4 583 while (1) {
svenkugi 0:b6deec3905f4 584
svenkugi 0:b6deec3905f4 585 pc.printf("Rotations per second: %f \n\r", angular_vel);
svenkugi 0:b6deec3905f4 586
svenkugi 0:b6deec3905f4 587 }
svenkugi 0:b6deec3905f4 588 }
svenkugi 0:b6deec3905f4 589
svenkugi 10:e974ee1ea1f0 590 // Function has no PID
svenkugi 10:e974ee1ea1f0 591 void rotation_control(int8_t num_revs, int8_t sign){
svenkugi 10:e974ee1ea1f0 592
svenkugi 10:e974ee1ea1f0 593 revstates_count = num_revs*num_states;
svenkugi 10:e974ee1ea1f0 594
svenkugi 10:e974ee1ea1f0 595 intState = readRotorState();
svenkugi 10:e974ee1ea1f0 596 driveto = (intState-orState+(sign*lead)+6)%6;
svenkugi 10:e974ee1ea1f0 597 motorOut(driveto);
svenkugi 10:e974ee1ea1f0 598
svenkugi 10:e974ee1ea1f0 599 while(!completed){
svenkugi 10:e974ee1ea1f0 600
svenkugi 10:e974ee1ea1f0 601 //pc.printf("Angular velocity: %f \n", angular_vel);
svenkugi 10:e974ee1ea1f0 602 pc.printf("Partial Angular: %f \n", partial_vel);
svenkugi 10:e974ee1ea1f0 603 //pc.printf("Count: %d \r\n", (count/6));
svenkugi 10:e974ee1ea1f0 604
svenkugi 10:e974ee1ea1f0 605 }
svenkugi 10:e974ee1ea1f0 606 }
svenkugi 10:e974ee1ea1f0 607
svenkugi 0:b6deec3905f4 608 void PID_tuning(){
svenkugi 0:b6deec3905f4 609
svenkugi 0:b6deec3905f4 610 dutyout = 0.5;
svenkugi 0:b6deec3905f4 611
svenkugi 0:b6deec3905f4 612 intState = readRotorState();
svenkugi 0:b6deec3905f4 613 driveto = (intState-orState+lead+6)%6;
svenkugi 0:b6deec3905f4 614 motorOut(driveto);
svenkugi 0:b6deec3905f4 615
svenkugi 0:b6deec3905f4 616 while (1) {
svenkugi 0:b6deec3905f4 617
svenkugi 0:b6deec3905f4 618 // Testing Step Response by increasing D.C. from 0.5 to 0.7
svenkugi 0:b6deec3905f4 619 // Gradient is equal to Kc
svenkugi 0:b6deec3905f4 620
svenkugi 0:b6deec3905f4 621 if(count > 3000){
svenkugi 0:b6deec3905f4 622 dutyout = 0.7;
svenkugi 0:b6deec3905f4 623 }
svenkugi 0:b6deec3905f4 624
svenkugi 0:b6deec3905f4 625 pc.printf("Duty Cycle: %f ", dutyout);
svenkugi 0:b6deec3905f4 626 pc.printf("Rotations per second: %f ", angular_vel);
svenkugi 0:b6deec3905f4 627 pc.printf("Count: %d \n\r", count);
svenkugi 0:b6deec3905f4 628
svenkugi 0:b6deec3905f4 629 }
svenkugi 3:7ee013b0976e 630 }