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@32:1bb406d2b3c3, 2017-10-20 (annotated)
- Committer:
- tvlogman
- Date:
- Fri Oct 20 12:24:37 2017 +0000
- Revision:
- 32:1bb406d2b3c3
- Parent:
- 31:cc08254ab7b5
- Child:
- 33:6f4858b98fe5
Broke it... gets strange error saying that class constructor for "Noncopyable" class is inaccessible.;
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 | 31:cc08254ab7b5 | 8 | #include "motorConfig.h" |
tvlogman | 32:1bb406d2b3c3 | 9 | #include "errorFetch.h" |
tvlogman | 15:b76b8cff4d8f | 10 | |
tvlogman | 27:a4228ea8fb8f | 11 | // Defining relevant constant parameters |
tvlogman | 27:a4228ea8fb8f | 12 | const float gearRatio = 131; |
tvlogman | 27:a4228ea8fb8f | 13 | |
tvlogman | 27:a4228ea8fb8f | 14 | // Controller parameters |
tvlogman | 28:8cd898ff43a2 | 15 | const float k_p = 1; |
tvlogman | 27:a4228ea8fb8f | 16 | const float k_i = 0; // Still needs a reasonable value |
tvlogman | 27:a4228ea8fb8f | 17 | const float k_d = 0; // Again, still need to pick a reasonable value |
tvlogman | 27:a4228ea8fb8f | 18 | |
tvlogman | 32:1bb406d2b3c3 | 19 | QEI Encoder1(D12,D13,NC,64, QEI::X4_ENCODING); |
tvlogman | 32:1bb406d2b3c3 | 20 | QEI Encoder2(D11,D10,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 inputs |
tvlogman | 14:664870b5d153 | 25 | InterruptIn sw2(SW2); |
tvlogman | 15:b76b8cff4d8f | 26 | InterruptIn sw3(SW3); |
tvlogman | 16:27430afe663e | 27 | InterruptIn button1(D2); |
tvlogman | 28:8cd898ff43a2 | 28 | InterruptIn button2(D3); |
tvlogman | 32:1bb406d2b3c3 | 29 | AnalogIn pot2(A3); |
tvlogman | 32:1bb406d2b3c3 | 30 | AnalogIn emg0( A0 ); |
tvlogman | 32:1bb406d2b3c3 | 31 | //AnalogIn emg1( A1 ); |
tvlogman | 15:b76b8cff4d8f | 32 | |
tvlogman | 16:27430afe663e | 33 | // PWM settings |
tvlogman | 16:27430afe663e | 34 | float pwmPeriod = 1.0/5000.0; |
tvlogman | 16:27430afe663e | 35 | int frequency_pwm = 10000; //10kHz PWM |
tvlogman | 14:664870b5d153 | 36 | |
tvlogman | 27:a4228ea8fb8f | 37 | |
tvlogman | 27:a4228ea8fb8f | 38 | // Setting up HIDscope |
tvlogman | 16:27430afe663e | 39 | volatile float x; |
tvlogman | 27:a4228ea8fb8f | 40 | volatile float y; |
tvlogman | 27:a4228ea8fb8f | 41 | volatile float z; |
tvlogman | 27:a4228ea8fb8f | 42 | volatile float q; |
tvlogman | 27:a4228ea8fb8f | 43 | volatile float k; |
tvlogman | 27:a4228ea8fb8f | 44 | |
tvlogman | 27:a4228ea8fb8f | 45 | void sendDataToPc(float data1, float data2, float data3, float data4, float data5){ |
tvlogman | 27:a4228ea8fb8f | 46 | // Capture data |
tvlogman | 27:a4228ea8fb8f | 47 | x = data1; |
tvlogman | 27:a4228ea8fb8f | 48 | y = data2; |
tvlogman | 27:a4228ea8fb8f | 49 | z = data3; |
tvlogman | 27:a4228ea8fb8f | 50 | q = data4; |
tvlogman | 27:a4228ea8fb8f | 51 | k = data5; |
tvlogman | 27:a4228ea8fb8f | 52 | scope.set(0, x); |
tvlogman | 27:a4228ea8fb8f | 53 | scope.set(1, y); |
tvlogman | 27:a4228ea8fb8f | 54 | scope.set(2, z); |
tvlogman | 27:a4228ea8fb8f | 55 | scope.set(3, q); |
tvlogman | 27:a4228ea8fb8f | 56 | scope.set(4, z); |
tvlogman | 27:a4228ea8fb8f | 57 | scope.send(); // send what's in scope memory to PC |
tvlogman | 27:a4228ea8fb8f | 58 | } |
tvlogman | 14:664870b5d153 | 59 | |
tvlogman | 17:616ce7bc1f96 | 60 | // Initializing encoder |
tvlogman | 10:e23cbcdde7e3 | 61 | Ticker encoderTicker; |
tvlogman | 19:f08b5cd2b7ce | 62 | Ticker controllerTicker; |
tvlogman | 10:e23cbcdde7e3 | 63 | volatile int counts = 0; |
tvlogman | 12:0462757e1ed2 | 64 | volatile float revs = 0.00; |
tvlogman | 7:1bffab95fc5f | 65 | |
tvlogman | 19:f08b5cd2b7ce | 66 | // MOTOR CONTROL PART |
tvlogman | 27:a4228ea8fb8f | 67 | bool r_direction = false; |
tvlogman | 27:a4228ea8fb8f | 68 | int posRevRange = 2; // describes the ends of the position range in complete motor output shaft revolutions in both directions |
tvlogman | 21:d266d1e503ce | 69 | const float maxAngle = 2*3.14*posRevRange; // max angle in radians |
tvlogman | 22:2e473e9798c0 | 70 | const float Ts = 0.1; |
tvlogman | 20:4ce3fb543a45 | 71 | |
tvlogman | 27:a4228ea8fb8f | 72 | // Function getReferencePosition returns reference angle based on potmeter 1 |
tvlogman | 32:1bb406d2b3c3 | 73 | refGen ref1(A1); |
tvlogman | 29:9aa4d63a9bd1 | 74 | |
tvlogman | 29:9aa4d63a9bd1 | 75 | //ref.getReferencePosition(maxAngle); |
tvlogman | 19:f08b5cd2b7ce | 76 | |
tvlogman | 21:d266d1e503ce | 77 | // readEncoder reads counts and revs and logs results to serial window |
tvlogman | 32:1bb406d2b3c3 | 78 | errorFetch err1(Encoder1, gearRatio, Ts, ref1); |
tvlogman | 21:d266d1e503ce | 79 | |
tvlogman | 31:cc08254ab7b5 | 80 | // Generate a PID controller with the specified values of k_p, k_d and k_i |
tvlogman | 30:65f0c9ecf810 | 81 | controller motorController1(k_p, k_d, k_i); |
tvlogman | 14:664870b5d153 | 82 | |
tvlogman | 19:f08b5cd2b7ce | 83 | // setMotor1 sets the direction and magnitude pins of motor1 depending on the given motorValue. Negative motorValue means clockwise rotation |
tvlogman | 31:cc08254ab7b5 | 84 | motorConfig motor1(LED_GREEN,LED_RED,LED_BLUE,D5,D4); |
tvlogman | 19:f08b5cd2b7ce | 85 | |
tvlogman | 19:f08b5cd2b7ce | 86 | void measureAndControl(){ |
tvlogman | 32:1bb406d2b3c3 | 87 | err1.fetchError(); |
tvlogman | 32:1bb406d2b3c3 | 88 | float motorValue = motorController1.control(err1.e_pos, err1.e_int, err1.e_der); |
tvlogman | 32:1bb406d2b3c3 | 89 | float r = ref1.getReferencePosition(ref.maxAngle, ref1.r_direction); |
tvlogman | 32:1bb406d2b3c3 | 90 | sendDataToPc(r, err1.e_pos, emg0.read(), err1.e_der, motorValue); |
tvlogman | 28:8cd898ff43a2 | 91 | pc.printf("Motorvalue is %.2f \r\n", motorValue); |
tvlogman | 28:8cd898ff43a2 | 92 | pc.printf("Error is %.2f \r\n", e_pos); |
tvlogman | 28:8cd898ff43a2 | 93 | pc.printf("Reference is %.2f \r\n", r); |
tvlogman | 31:cc08254ab7b5 | 94 | //pc.printf("motor1 direction is %d \r\n", motor1_direction.read()); |
tvlogman | 31:cc08254ab7b5 | 95 | motor1.setMotor(motorValue); |
tvlogman | 15:b76b8cff4d8f | 96 | } |
tvlogman | 15:b76b8cff4d8f | 97 | |
tvlogman | 27:a4228ea8fb8f | 98 | void rSwitchDirection(){ |
tvlogman | 27:a4228ea8fb8f | 99 | r_direction = !r_direction; |
tvlogman | 27:a4228ea8fb8f | 100 | pc.printf("Switched reference direction! \r\n"); |
tvlogman | 14:664870b5d153 | 101 | } |
vsluiter | 0:c8f15874531b | 102 | |
tvlogman | 21:d266d1e503ce | 103 | |
vsluiter | 0:c8f15874531b | 104 | int main() |
tvlogman | 10:e23cbcdde7e3 | 105 | { |
tvlogman | 19:f08b5cd2b7ce | 106 | pc.printf("Main function"); |
tvlogman | 31:cc08254ab7b5 | 107 | sw2.fall(&motor1,&motorConfig::killSwitch); |
tvlogman | 31:cc08254ab7b5 | 108 | sw3.fall(&motor1, &motorConfig::turnMotorOn); |
tvlogman | 27:a4228ea8fb8f | 109 | button2.rise(&rSwitchDirection); |
vsluiter | 0:c8f15874531b | 110 | pc.baud(115200); |
tvlogman | 22:2e473e9798c0 | 111 | controllerTicker.attach(measureAndControl, Ts); |
tvlogman | 15:b76b8cff4d8f | 112 | |
tvlogman | 19:f08b5cd2b7ce | 113 | pc.printf("Encoder ticker attached and baudrate set"); |
vsluiter | 0:c8f15874531b | 114 | } |
tvlogman | 7:1bffab95fc5f | 115 |