Control up to two motors using filtered EMG signals and a PID controller
Dependencies: FastPWM HIDScope MODSERIAL QEI Matrix biquadFilter controller errorFetch mbed motorConfig refGen MatrixMath inverseKinematics
Fork of Minor_test_serial by
main.cpp@30:65f0c9ecf810, 2017-10-16 (annotated)
- Committer:
- tvlogman
- Date:
- Mon Oct 16 09:42:04 2017 +0000
- Revision:
- 30:65f0c9ecf810
- Parent:
- 29:9aa4d63a9bd1
- Child:
- 31:cc08254ab7b5
Now with the controller contained in a seperate library;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:c8f15874531b | 1 | #include "mbed.h" |
vsluiter | 0:c8f15874531b | 2 | #include "MODSERIAL.h" |
tvlogman | 8:0067469c3389 | 3 | #include "HIDScope.h" |
tvlogman | 9:5f0e796c9489 | 4 | #include "QEI.h" |
tvlogman | 15:b76b8cff4d8f | 5 | #include "FastPWM.h" |
tvlogman | 29:9aa4d63a9bd1 | 6 | #include "refGen.h" |
tvlogman | 30:65f0c9ecf810 | 7 | #include "controller.h" |
tvlogman | 15:b76b8cff4d8f | 8 | |
tvlogman | 27:a4228ea8fb8f | 9 | // Defining relevant constant parameters |
tvlogman | 27:a4228ea8fb8f | 10 | const float gearRatio = 131; |
tvlogman | 27:a4228ea8fb8f | 11 | |
tvlogman | 27:a4228ea8fb8f | 12 | // Controller parameters |
tvlogman | 28:8cd898ff43a2 | 13 | const float k_p = 1; |
tvlogman | 27:a4228ea8fb8f | 14 | const float k_i = 0; // Still needs a reasonable value |
tvlogman | 27:a4228ea8fb8f | 15 | const float k_d = 0; // Again, still need to pick a reasonable value |
tvlogman | 27:a4228ea8fb8f | 16 | |
tvlogman | 15:b76b8cff4d8f | 17 | enum robotStates {KILLED, ACTIVE}; |
tvlogman | 15:b76b8cff4d8f | 18 | robotStates currentState = KILLED; |
tvlogman | 8:0067469c3389 | 19 | |
tvlogman | 12:0462757e1ed2 | 20 | QEI Encoder(D12,D13,NC,64, QEI::X4_ENCODING); |
tvlogman | 10:e23cbcdde7e3 | 21 | MODSERIAL pc(USBTX, USBRX); |
tvlogman | 27:a4228ea8fb8f | 22 | HIDScope scope(5); |
tvlogman | 8:0067469c3389 | 23 | |
tvlogman | 14:664870b5d153 | 24 | // Defining outputs |
tvlogman | 22:2e473e9798c0 | 25 | |
tvlogman | 22:2e473e9798c0 | 26 | // Leds can be used to indicate status |
tvlogman | 22:2e473e9798c0 | 27 | DigitalOut ledG(LED_GREEN); |
tvlogman | 22:2e473e9798c0 | 28 | DigitalOut ledR(LED_RED); |
tvlogman | 22:2e473e9798c0 | 29 | DigitalOut ledB(LED_BLUE); |
tvlogman | 22:2e473e9798c0 | 30 | |
tvlogman | 13:83e3672b24ee | 31 | DigitalOut motor1_direction(D4); |
tvlogman | 13:83e3672b24ee | 32 | PwmOut motor1_pwm(D5); |
tvlogman | 14:664870b5d153 | 33 | |
tvlogman | 14:664870b5d153 | 34 | // Defining inputs |
tvlogman | 14:664870b5d153 | 35 | InterruptIn sw2(SW2); |
tvlogman | 15:b76b8cff4d8f | 36 | InterruptIn sw3(SW3); |
tvlogman | 16:27430afe663e | 37 | InterruptIn button1(D2); |
tvlogman | 28:8cd898ff43a2 | 38 | InterruptIn button2(D3); |
tvlogman | 21:d266d1e503ce | 39 | AnalogIn pot2(A1); |
tvlogman | 15:b76b8cff4d8f | 40 | |
tvlogman | 16:27430afe663e | 41 | // PWM settings |
tvlogman | 16:27430afe663e | 42 | float pwmPeriod = 1.0/5000.0; |
tvlogman | 16:27430afe663e | 43 | int frequency_pwm = 10000; //10kHz PWM |
tvlogman | 14:664870b5d153 | 44 | |
tvlogman | 27:a4228ea8fb8f | 45 | |
tvlogman | 27:a4228ea8fb8f | 46 | // Setting up HIDscope |
tvlogman | 16:27430afe663e | 47 | volatile float x; |
tvlogman | 27:a4228ea8fb8f | 48 | volatile float y; |
tvlogman | 27:a4228ea8fb8f | 49 | volatile float z; |
tvlogman | 27:a4228ea8fb8f | 50 | volatile float q; |
tvlogman | 27:a4228ea8fb8f | 51 | volatile float k; |
tvlogman | 27:a4228ea8fb8f | 52 | |
tvlogman | 27:a4228ea8fb8f | 53 | void sendDataToPc(float data1, float data2, float data3, float data4, float data5){ |
tvlogman | 27:a4228ea8fb8f | 54 | // Capture data |
tvlogman | 27:a4228ea8fb8f | 55 | x = data1; |
tvlogman | 27:a4228ea8fb8f | 56 | y = data2; |
tvlogman | 27:a4228ea8fb8f | 57 | z = data3; |
tvlogman | 27:a4228ea8fb8f | 58 | q = data4; |
tvlogman | 27:a4228ea8fb8f | 59 | k = data5; |
tvlogman | 27:a4228ea8fb8f | 60 | scope.set(0, x); |
tvlogman | 27:a4228ea8fb8f | 61 | scope.set(1, y); |
tvlogman | 27:a4228ea8fb8f | 62 | scope.set(2, z); |
tvlogman | 27:a4228ea8fb8f | 63 | scope.set(3, q); |
tvlogman | 27:a4228ea8fb8f | 64 | scope.set(4, z); |
tvlogman | 27:a4228ea8fb8f | 65 | scope.send(); // send what's in scope memory to PC |
tvlogman | 27:a4228ea8fb8f | 66 | } |
tvlogman | 14:664870b5d153 | 67 | |
tvlogman | 17:616ce7bc1f96 | 68 | // Initializing encoder |
tvlogman | 10:e23cbcdde7e3 | 69 | Ticker encoderTicker; |
tvlogman | 19:f08b5cd2b7ce | 70 | Ticker controllerTicker; |
tvlogman | 10:e23cbcdde7e3 | 71 | volatile int counts = 0; |
tvlogman | 12:0462757e1ed2 | 72 | volatile float revs = 0.00; |
tvlogman | 7:1bffab95fc5f | 73 | |
tvlogman | 19:f08b5cd2b7ce | 74 | // MOTOR CONTROL PART |
tvlogman | 27:a4228ea8fb8f | 75 | bool r_direction = false; |
tvlogman | 27:a4228ea8fb8f | 76 | int posRevRange = 2; // describes the ends of the position range in complete motor output shaft revolutions in both directions |
tvlogman | 21:d266d1e503ce | 77 | const float maxAngle = 2*3.14*posRevRange; // max angle in radians |
tvlogman | 22:2e473e9798c0 | 78 | const float Ts = 0.1; |
tvlogman | 20:4ce3fb543a45 | 79 | |
tvlogman | 27:a4228ea8fb8f | 80 | // Function getReferencePosition returns reference angle based on potmeter 1 |
tvlogman | 29:9aa4d63a9bd1 | 81 | refGen ref(A0); |
tvlogman | 29:9aa4d63a9bd1 | 82 | |
tvlogman | 29:9aa4d63a9bd1 | 83 | //ref.getReferencePosition(maxAngle); |
tvlogman | 19:f08b5cd2b7ce | 84 | |
tvlogman | 27:a4228ea8fb8f | 85 | // Initializing position and integral errors to zero |
tvlogman | 25:df780572cfc8 | 86 | float e_pos = 0; |
tvlogman | 25:df780572cfc8 | 87 | float e_int = 0; |
tvlogman | 25:df780572cfc8 | 88 | float e_der = 0; |
tvlogman | 24:672abc3f02b7 | 89 | float e_prev = 0; |
tvlogman | 22:2e473e9798c0 | 90 | |
tvlogman | 21:d266d1e503ce | 91 | // readEncoder reads counts and revs and logs results to serial window |
tvlogman | 25:df780572cfc8 | 92 | void getError(float &e_pos, float &e_int, float &e_der){ |
tvlogman | 27:a4228ea8fb8f | 93 | // Getting encoder counts and calculating motor position |
tvlogman | 21:d266d1e503ce | 94 | counts = Encoder.getPulses(); |
tvlogman | 27:a4228ea8fb8f | 95 | double motor1Position = 2*3.14*(counts/(gearRatio*64.0f)); |
tvlogman | 27:a4228ea8fb8f | 96 | |
tvlogman | 27:a4228ea8fb8f | 97 | // Computing position error |
tvlogman | 29:9aa4d63a9bd1 | 98 | e_pos = ref.getReferencePosition(maxAngle, r_direction) - motor1Position; |
tvlogman | 27:a4228ea8fb8f | 99 | |
tvlogman | 27:a4228ea8fb8f | 100 | // Limiting the integral error to prevent integrator saturation |
tvlogman | 27:a4228ea8fb8f | 101 | if(fabs(e_int) <= 5){ |
tvlogman | 27:a4228ea8fb8f | 102 | e_int = e_int + Ts*e_pos; |
tvlogman | 27:a4228ea8fb8f | 103 | } |
tvlogman | 27:a4228ea8fb8f | 104 | |
tvlogman | 27:a4228ea8fb8f | 105 | // Derivative error |
tvlogman | 26:4f84448b4d46 | 106 | e_der = (e_pos - e_prev)/Ts; |
tvlogman | 27:a4228ea8fb8f | 107 | e_prev = e_pos; // Store current position error as we'll need it to compute the next derivative error |
tvlogman | 21:d266d1e503ce | 108 | } |
tvlogman | 21:d266d1e503ce | 109 | |
tvlogman | 21:d266d1e503ce | 110 | // motorController sets a motorValue based on the position error. Sign indicates direction and magnitude indicates speed. Right now this is a simple feedforward |
tvlogman | 30:65f0c9ecf810 | 111 | controller motorController1(k_p, k_d, k_i); |
tvlogman | 14:664870b5d153 | 112 | |
tvlogman | 19:f08b5cd2b7ce | 113 | // setMotor1 sets the direction and magnitude pins of motor1 depending on the given motorValue. Negative motorValue means clockwise rotation |
tvlogman | 19:f08b5cd2b7ce | 114 | void setMotor1(float motorValue){ |
tvlogman | 19:f08b5cd2b7ce | 115 | switch(currentState){ |
tvlogman | 19:f08b5cd2b7ce | 116 | case KILLED: |
tvlogman | 19:f08b5cd2b7ce | 117 | motor1_pwm.write(0.0); |
tvlogman | 28:8cd898ff43a2 | 118 | // Set motor direction |
tvlogman | 28:8cd898ff43a2 | 119 | if (motorValue >=0){ |
tvlogman | 29:9aa4d63a9bd1 | 120 | // corresponds to CW rotation of motor axle |
tvlogman | 29:9aa4d63a9bd1 | 121 | motor1_direction = 0; |
tvlogman | 28:8cd898ff43a2 | 122 | } else if(motorValue < 0){ |
tvlogman | 29:9aa4d63a9bd1 | 123 | // corresponds to CCW rotation of motor axle |
tvlogman | 28:8cd898ff43a2 | 124 | motor1_direction = 1; |
tvlogman | 28:8cd898ff43a2 | 125 | pc.printf("Bah!"); |
tvlogman | 28:8cd898ff43a2 | 126 | } |
tvlogman | 22:2e473e9798c0 | 127 | ledR = 0; |
tvlogman | 22:2e473e9798c0 | 128 | ledG = 1; |
tvlogman | 22:2e473e9798c0 | 129 | ledB = 1; |
tvlogman | 19:f08b5cd2b7ce | 130 | break; |
tvlogman | 19:f08b5cd2b7ce | 131 | case ACTIVE: |
tvlogman | 28:8cd898ff43a2 | 132 | pc.printf("Got into ACTIVE \r\n"); |
tvlogman | 19:f08b5cd2b7ce | 133 | // Set motor direction |
tvlogman | 19:f08b5cd2b7ce | 134 | if (motorValue >=0){ |
tvlogman | 29:9aa4d63a9bd1 | 135 | // corresponds to CW rotation of motor axle |
tvlogman | 28:8cd898ff43a2 | 136 | motor1_direction.write(0); |
tvlogman | 28:8cd898ff43a2 | 137 | } else if(motorValue < 0){ |
tvlogman | 29:9aa4d63a9bd1 | 138 | // corresponds to CCW rotation of motor axle |
tvlogman | 28:8cd898ff43a2 | 139 | motor1_direction.write(1); |
tvlogman | 19:f08b5cd2b7ce | 140 | } |
tvlogman | 28:8cd898ff43a2 | 141 | |
tvlogman | 19:f08b5cd2b7ce | 142 | // Set motor speed |
tvlogman | 19:f08b5cd2b7ce | 143 | if (fabs(motorValue)>1){ |
tvlogman | 19:f08b5cd2b7ce | 144 | motor1_pwm = 1; |
tvlogman | 19:f08b5cd2b7ce | 145 | } |
tvlogman | 19:f08b5cd2b7ce | 146 | else { |
tvlogman | 29:9aa4d63a9bd1 | 147 | motor1_pwm.write(fabs(motorValue) + 0.4); |
tvlogman | 22:2e473e9798c0 | 148 | } |
tvlogman | 22:2e473e9798c0 | 149 | ledR = 1; |
tvlogman | 22:2e473e9798c0 | 150 | ledG = 1; |
tvlogman | 22:2e473e9798c0 | 151 | ledB = 0; |
tvlogman | 19:f08b5cd2b7ce | 152 | break; |
tvlogman | 19:f08b5cd2b7ce | 153 | } |
tvlogman | 19:f08b5cd2b7ce | 154 | } |
tvlogman | 19:f08b5cd2b7ce | 155 | |
tvlogman | 19:f08b5cd2b7ce | 156 | void measureAndControl(){ |
tvlogman | 26:4f84448b4d46 | 157 | getError(e_pos, e_int, e_der); |
tvlogman | 30:65f0c9ecf810 | 158 | float motorValue = motorController1.control(e_pos, e_int, e_der); |
tvlogman | 29:9aa4d63a9bd1 | 159 | float r = ref.getReferencePosition(maxAngle, r_direction); |
tvlogman | 27:a4228ea8fb8f | 160 | sendDataToPc(r, e_pos, e_int, e_der, motorValue); |
tvlogman | 28:8cd898ff43a2 | 161 | pc.printf("Motorvalue is %.2f \r\n", motorValue); |
tvlogman | 28:8cd898ff43a2 | 162 | pc.printf("Error is %.2f \r\n", e_pos); |
tvlogman | 28:8cd898ff43a2 | 163 | pc.printf("Reference is %.2f \r\n", r); |
tvlogman | 28:8cd898ff43a2 | 164 | pc.printf("motor1 direction is %d \r\n", motor1_direction.read()); |
tvlogman | 19:f08b5cd2b7ce | 165 | setMotor1(motorValue); |
tvlogman | 19:f08b5cd2b7ce | 166 | } |
tvlogman | 19:f08b5cd2b7ce | 167 | |
tvlogman | 14:664870b5d153 | 168 | void killSwitch(){ |
tvlogman | 15:b76b8cff4d8f | 169 | pc.printf("Motors turned off"); |
tvlogman | 15:b76b8cff4d8f | 170 | currentState = KILLED; |
tvlogman | 14:664870b5d153 | 171 | } |
tvlogman | 14:664870b5d153 | 172 | |
tvlogman | 15:b76b8cff4d8f | 173 | void turnMotorsOn(){ |
tvlogman | 15:b76b8cff4d8f | 174 | pc.printf("Motors turned on"); |
tvlogman | 15:b76b8cff4d8f | 175 | currentState = ACTIVE; |
tvlogman | 15:b76b8cff4d8f | 176 | } |
tvlogman | 15:b76b8cff4d8f | 177 | |
tvlogman | 27:a4228ea8fb8f | 178 | void rSwitchDirection(){ |
tvlogman | 27:a4228ea8fb8f | 179 | r_direction = !r_direction; |
tvlogman | 27:a4228ea8fb8f | 180 | pc.printf("Switched reference direction! \r\n"); |
tvlogman | 14:664870b5d153 | 181 | } |
vsluiter | 0:c8f15874531b | 182 | |
tvlogman | 21:d266d1e503ce | 183 | |
vsluiter | 0:c8f15874531b | 184 | int main() |
tvlogman | 10:e23cbcdde7e3 | 185 | { |
tvlogman | 19:f08b5cd2b7ce | 186 | pc.printf("Main function"); |
tvlogman | 20:4ce3fb543a45 | 187 | motor1_direction = 0; // False = clockwise rotation |
tvlogman | 13:83e3672b24ee | 188 | motor1_pwm.period(pwmPeriod);//T=1/f |
tvlogman | 14:664870b5d153 | 189 | sw2.fall(&killSwitch); |
tvlogman | 15:b76b8cff4d8f | 190 | sw3.fall(&turnMotorsOn); |
tvlogman | 27:a4228ea8fb8f | 191 | button2.rise(&rSwitchDirection); |
vsluiter | 0:c8f15874531b | 192 | pc.baud(115200); |
tvlogman | 22:2e473e9798c0 | 193 | controllerTicker.attach(measureAndControl, Ts); |
tvlogman | 15:b76b8cff4d8f | 194 | |
tvlogman | 19:f08b5cd2b7ce | 195 | pc.printf("Encoder ticker attached and baudrate set"); |
vsluiter | 0:c8f15874531b | 196 | } |
tvlogman | 7:1bffab95fc5f | 197 |