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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@27:a4228ea8fb8f, 2017-10-13 (annotated)
- Committer:
- tvlogman
- Date:
- Fri Oct 13 11:59:15 2017 +0000
- Revision:
- 27:a4228ea8fb8f
- Parent:
- 26:4f84448b4d46
- Child:
- 28:8cd898ff43a2
Most likely fixed motorValue issue, still testing though.
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 | 15:b76b8cff4d8f | 6 | |
tvlogman | 27:a4228ea8fb8f | 7 | // Defining relevant constant parameters |
tvlogman | 27:a4228ea8fb8f | 8 | const float gearRatio = 131; |
tvlogman | 27:a4228ea8fb8f | 9 | |
tvlogman | 27:a4228ea8fb8f | 10 | // Controller parameters |
tvlogman | 27:a4228ea8fb8f | 11 | const float k_p = 0.5; |
tvlogman | 27:a4228ea8fb8f | 12 | const float k_i = 0; // Still needs a reasonable value |
tvlogman | 27:a4228ea8fb8f | 13 | const float k_d = 0; // Again, still need to pick a reasonable value |
tvlogman | 27:a4228ea8fb8f | 14 | |
tvlogman | 15:b76b8cff4d8f | 15 | enum robotStates {KILLED, ACTIVE}; |
tvlogman | 15:b76b8cff4d8f | 16 | robotStates currentState = KILLED; |
tvlogman | 8:0067469c3389 | 17 | |
tvlogman | 12:0462757e1ed2 | 18 | QEI Encoder(D12,D13,NC,64, QEI::X4_ENCODING); |
tvlogman | 10:e23cbcdde7e3 | 19 | MODSERIAL pc(USBTX, USBRX); |
tvlogman | 27:a4228ea8fb8f | 20 | HIDScope scope(5); |
tvlogman | 8:0067469c3389 | 21 | |
tvlogman | 14:664870b5d153 | 22 | // Defining outputs |
tvlogman | 22:2e473e9798c0 | 23 | |
tvlogman | 22:2e473e9798c0 | 24 | // Leds can be used to indicate status |
tvlogman | 22:2e473e9798c0 | 25 | DigitalOut ledG(LED_GREEN); |
tvlogman | 22:2e473e9798c0 | 26 | DigitalOut ledR(LED_RED); |
tvlogman | 22:2e473e9798c0 | 27 | DigitalOut ledB(LED_BLUE); |
tvlogman | 22:2e473e9798c0 | 28 | |
tvlogman | 13:83e3672b24ee | 29 | DigitalOut motor1_direction(D4); |
tvlogman | 13:83e3672b24ee | 30 | PwmOut motor1_pwm(D5); |
tvlogman | 14:664870b5d153 | 31 | |
tvlogman | 14:664870b5d153 | 32 | // Defining inputs |
tvlogman | 14:664870b5d153 | 33 | InterruptIn sw2(SW2); |
tvlogman | 15:b76b8cff4d8f | 34 | InterruptIn sw3(SW3); |
tvlogman | 16:27430afe663e | 35 | InterruptIn button1(D2); |
tvlogman | 27:a4228ea8fb8f | 36 | InterruptIn button2(D4); |
tvlogman | 21:d266d1e503ce | 37 | AnalogIn pot1(A0); |
tvlogman | 21:d266d1e503ce | 38 | AnalogIn pot2(A1); |
tvlogman | 15:b76b8cff4d8f | 39 | |
tvlogman | 16:27430afe663e | 40 | // PWM settings |
tvlogman | 16:27430afe663e | 41 | float pwmPeriod = 1.0/5000.0; |
tvlogman | 16:27430afe663e | 42 | int frequency_pwm = 10000; //10kHz PWM |
tvlogman | 14:664870b5d153 | 43 | |
tvlogman | 27:a4228ea8fb8f | 44 | |
tvlogman | 27:a4228ea8fb8f | 45 | // Setting up HIDscope |
tvlogman | 16:27430afe663e | 46 | volatile float x; |
tvlogman | 27:a4228ea8fb8f | 47 | volatile float y; |
tvlogman | 27:a4228ea8fb8f | 48 | volatile float z; |
tvlogman | 27:a4228ea8fb8f | 49 | volatile float q; |
tvlogman | 27:a4228ea8fb8f | 50 | volatile float k; |
tvlogman | 27:a4228ea8fb8f | 51 | |
tvlogman | 27:a4228ea8fb8f | 52 | void sendDataToPc(float data1, float data2, float data3, float data4, float data5){ |
tvlogman | 27:a4228ea8fb8f | 53 | // Capture data |
tvlogman | 27:a4228ea8fb8f | 54 | x = data1; |
tvlogman | 27:a4228ea8fb8f | 55 | y = data2; |
tvlogman | 27:a4228ea8fb8f | 56 | z = data3; |
tvlogman | 27:a4228ea8fb8f | 57 | q = data4; |
tvlogman | 27:a4228ea8fb8f | 58 | k = data5; |
tvlogman | 27:a4228ea8fb8f | 59 | scope.set(0, x); |
tvlogman | 27:a4228ea8fb8f | 60 | scope.set(1, y); |
tvlogman | 27:a4228ea8fb8f | 61 | scope.set(2, z); |
tvlogman | 27:a4228ea8fb8f | 62 | scope.set(3, q); |
tvlogman | 27:a4228ea8fb8f | 63 | scope.set(4, z); |
tvlogman | 27:a4228ea8fb8f | 64 | scope.send(); // send what's in scope memory to PC |
tvlogman | 27:a4228ea8fb8f | 65 | } |
tvlogman | 14:664870b5d153 | 66 | |
tvlogman | 17:616ce7bc1f96 | 67 | // Initializing encoder |
tvlogman | 10:e23cbcdde7e3 | 68 | Ticker encoderTicker; |
tvlogman | 19:f08b5cd2b7ce | 69 | Ticker controllerTicker; |
tvlogman | 10:e23cbcdde7e3 | 70 | volatile int counts = 0; |
tvlogman | 12:0462757e1ed2 | 71 | volatile float revs = 0.00; |
tvlogman | 7:1bffab95fc5f | 72 | |
tvlogman | 19:f08b5cd2b7ce | 73 | // MOTOR CONTROL PART |
tvlogman | 27:a4228ea8fb8f | 74 | bool r_direction = false; |
tvlogman | 27:a4228ea8fb8f | 75 | int posRevRange = 2; // describes the ends of the position range in complete motor output shaft revolutions in both directions |
tvlogman | 21:d266d1e503ce | 76 | const float maxAngle = 2*3.14*posRevRange; // max angle in radians |
tvlogman | 22:2e473e9798c0 | 77 | const float Ts = 0.1; |
tvlogman | 20:4ce3fb543a45 | 78 | |
tvlogman | 27:a4228ea8fb8f | 79 | // Function getReferencePosition returns reference angle based on potmeter 1 |
tvlogman | 21:d266d1e503ce | 80 | float getReferencePosition(){ |
tvlogman | 27:a4228ea8fb8f | 81 | float r; |
tvlogman | 27:a4228ea8fb8f | 82 | if(r_direction == false){ |
tvlogman | 19:f08b5cd2b7ce | 83 | // Clockwise rotation yields positive reference |
tvlogman | 21:d266d1e503ce | 84 | r = maxAngle*pot1.read(); |
tvlogman | 19:f08b5cd2b7ce | 85 | } |
tvlogman | 27:a4228ea8fb8f | 86 | if(r_direction == true){ |
tvlogman | 19:f08b5cd2b7ce | 87 | // Counterclockwise rotation yields negative reference |
tvlogman | 21:d266d1e503ce | 88 | r = -1*maxAngle*pot1.read(); |
tvlogman | 19:f08b5cd2b7ce | 89 | } |
tvlogman | 19:f08b5cd2b7ce | 90 | return r; |
tvlogman | 19:f08b5cd2b7ce | 91 | } |
tvlogman | 19:f08b5cd2b7ce | 92 | |
tvlogman | 27:a4228ea8fb8f | 93 | // Initializing position and integral errors to zero |
tvlogman | 25:df780572cfc8 | 94 | float e_pos = 0; |
tvlogman | 25:df780572cfc8 | 95 | float e_int = 0; |
tvlogman | 25:df780572cfc8 | 96 | float e_der = 0; |
tvlogman | 24:672abc3f02b7 | 97 | float e_prev = 0; |
tvlogman | 22:2e473e9798c0 | 98 | |
tvlogman | 21:d266d1e503ce | 99 | // readEncoder reads counts and revs and logs results to serial window |
tvlogman | 25:df780572cfc8 | 100 | void getError(float &e_pos, float &e_int, float &e_der){ |
tvlogman | 27:a4228ea8fb8f | 101 | // Getting encoder counts and calculating motor position |
tvlogman | 21:d266d1e503ce | 102 | counts = Encoder.getPulses(); |
tvlogman | 27:a4228ea8fb8f | 103 | double motor1Position = 2*3.14*(counts/(gearRatio*64.0f)); |
tvlogman | 27:a4228ea8fb8f | 104 | |
tvlogman | 27:a4228ea8fb8f | 105 | // Computing position error |
tvlogman | 25:df780572cfc8 | 106 | e_pos = getReferencePosition() - motor1Position; |
tvlogman | 27:a4228ea8fb8f | 107 | |
tvlogman | 27:a4228ea8fb8f | 108 | // Limiting the integral error to prevent integrator saturation |
tvlogman | 27:a4228ea8fb8f | 109 | if(fabs(e_int) <= 5){ |
tvlogman | 27:a4228ea8fb8f | 110 | e_int = e_int + Ts*e_pos; |
tvlogman | 27:a4228ea8fb8f | 111 | } |
tvlogman | 27:a4228ea8fb8f | 112 | |
tvlogman | 27:a4228ea8fb8f | 113 | // Derivative error |
tvlogman | 26:4f84448b4d46 | 114 | e_der = (e_pos - e_prev)/Ts; |
tvlogman | 27:a4228ea8fb8f | 115 | e_prev = e_pos; // Store current position error as we'll need it to compute the next derivative error |
tvlogman | 21:d266d1e503ce | 116 | } |
tvlogman | 21:d266d1e503ce | 117 | |
tvlogman | 21:d266d1e503ce | 118 | // motorController sets a motorValue based on the position error. Sign indicates direction and magnitude indicates speed. Right now this is a simple feedforward |
tvlogman | 27:a4228ea8fb8f | 119 | float motorController(float e_pos, float e_int, float e_der){ |
tvlogman | 27:a4228ea8fb8f | 120 | float motorValue; |
tvlogman | 27:a4228ea8fb8f | 121 | if(e_pos >= 0){ |
tvlogman | 27:a4228ea8fb8f | 122 | // Positive error yields positive motor value = counterclockwise rotation |
tvlogman | 27:a4228ea8fb8f | 123 | motorValue = -1*((e_pos*k_p) + k_i*e_int + k_d*e_der + 0.45); |
tvlogman | 27:a4228ea8fb8f | 124 | } |
tvlogman | 27:a4228ea8fb8f | 125 | else { |
tvlogman | 27:a4228ea8fb8f | 126 | // Negative error yields negative motor value = clockwise rotation |
tvlogman | 27:a4228ea8fb8f | 127 | motorValue = 1*((e_pos*k_p) + k_i*e_int + k_d*e_der + 0.45); |
tvlogman | 27:a4228ea8fb8f | 128 | } |
tvlogman | 27:a4228ea8fb8f | 129 | |
tvlogman | 19:f08b5cd2b7ce | 130 | return motorValue; |
tvlogman | 10:e23cbcdde7e3 | 131 | } |
tvlogman | 14:664870b5d153 | 132 | |
tvlogman | 19:f08b5cd2b7ce | 133 | // setMotor1 sets the direction and magnitude pins of motor1 depending on the given motorValue. Negative motorValue means clockwise rotation |
tvlogman | 19:f08b5cd2b7ce | 134 | void setMotor1(float motorValue){ |
tvlogman | 19:f08b5cd2b7ce | 135 | switch(currentState){ |
tvlogman | 19:f08b5cd2b7ce | 136 | case KILLED: |
tvlogman | 19:f08b5cd2b7ce | 137 | motor1_pwm.write(0.0); |
tvlogman | 22:2e473e9798c0 | 138 | ledR = 0; |
tvlogman | 22:2e473e9798c0 | 139 | ledG = 1; |
tvlogman | 22:2e473e9798c0 | 140 | ledB = 1; |
tvlogman | 19:f08b5cd2b7ce | 141 | break; |
tvlogman | 19:f08b5cd2b7ce | 142 | case ACTIVE: |
tvlogman | 19:f08b5cd2b7ce | 143 | // Set motor direction |
tvlogman | 19:f08b5cd2b7ce | 144 | if (motorValue >=0){ |
tvlogman | 19:f08b5cd2b7ce | 145 | motor1_direction = 0; |
tvlogman | 19:f08b5cd2b7ce | 146 | } |
tvlogman | 19:f08b5cd2b7ce | 147 | else { |
tvlogman | 19:f08b5cd2b7ce | 148 | motor1_direction = 1; |
tvlogman | 19:f08b5cd2b7ce | 149 | } |
tvlogman | 19:f08b5cd2b7ce | 150 | // Set motor speed |
tvlogman | 19:f08b5cd2b7ce | 151 | if (fabs(motorValue)>1){ |
tvlogman | 19:f08b5cd2b7ce | 152 | motor1_pwm = 1; |
tvlogman | 19:f08b5cd2b7ce | 153 | } |
tvlogman | 19:f08b5cd2b7ce | 154 | else { |
tvlogman | 19:f08b5cd2b7ce | 155 | motor1_pwm.write(fabs(motorValue)); |
tvlogman | 22:2e473e9798c0 | 156 | } |
tvlogman | 22:2e473e9798c0 | 157 | ledR = 1; |
tvlogman | 22:2e473e9798c0 | 158 | ledG = 1; |
tvlogman | 22:2e473e9798c0 | 159 | ledB = 0; |
tvlogman | 19:f08b5cd2b7ce | 160 | break; |
tvlogman | 19:f08b5cd2b7ce | 161 | } |
tvlogman | 19:f08b5cd2b7ce | 162 | } |
tvlogman | 19:f08b5cd2b7ce | 163 | |
tvlogman | 19:f08b5cd2b7ce | 164 | void measureAndControl(){ |
tvlogman | 26:4f84448b4d46 | 165 | getError(e_pos, e_int, e_der); |
tvlogman | 26:4f84448b4d46 | 166 | float motorValue = motorController(e_pos, e_int, e_der); |
tvlogman | 27:a4228ea8fb8f | 167 | float r = getReferencePosition(); |
tvlogman | 27:a4228ea8fb8f | 168 | sendDataToPc(r, e_pos, e_int, e_der, motorValue); |
tvlogman | 19:f08b5cd2b7ce | 169 | setMotor1(motorValue); |
tvlogman | 19:f08b5cd2b7ce | 170 | } |
tvlogman | 19:f08b5cd2b7ce | 171 | |
tvlogman | 14:664870b5d153 | 172 | void killSwitch(){ |
tvlogman | 15:b76b8cff4d8f | 173 | pc.printf("Motors turned off"); |
tvlogman | 15:b76b8cff4d8f | 174 | currentState = KILLED; |
tvlogman | 14:664870b5d153 | 175 | } |
tvlogman | 14:664870b5d153 | 176 | |
tvlogman | 15:b76b8cff4d8f | 177 | void turnMotorsOn(){ |
tvlogman | 15:b76b8cff4d8f | 178 | pc.printf("Motors turned on"); |
tvlogman | 15:b76b8cff4d8f | 179 | currentState = ACTIVE; |
tvlogman | 15:b76b8cff4d8f | 180 | } |
tvlogman | 15:b76b8cff4d8f | 181 | |
tvlogman | 27:a4228ea8fb8f | 182 | void rSwitchDirection(){ |
tvlogman | 27:a4228ea8fb8f | 183 | r_direction = !r_direction; |
tvlogman | 27:a4228ea8fb8f | 184 | pc.printf("Switched reference direction! \r\n"); |
tvlogman | 14:664870b5d153 | 185 | } |
vsluiter | 0:c8f15874531b | 186 | |
tvlogman | 21:d266d1e503ce | 187 | |
vsluiter | 0:c8f15874531b | 188 | int main() |
tvlogman | 10:e23cbcdde7e3 | 189 | { |
tvlogman | 19:f08b5cd2b7ce | 190 | pc.printf("Main function"); |
tvlogman | 20:4ce3fb543a45 | 191 | motor1_direction = 0; // False = clockwise rotation |
tvlogman | 13:83e3672b24ee | 192 | motor1_pwm.period(pwmPeriod);//T=1/f |
tvlogman | 14:664870b5d153 | 193 | sw2.fall(&killSwitch); |
tvlogman | 15:b76b8cff4d8f | 194 | sw3.fall(&turnMotorsOn); |
tvlogman | 27:a4228ea8fb8f | 195 | button2.rise(&rSwitchDirection); |
vsluiter | 0:c8f15874531b | 196 | pc.baud(115200); |
tvlogman | 22:2e473e9798c0 | 197 | controllerTicker.attach(measureAndControl, Ts); |
tvlogman | 15:b76b8cff4d8f | 198 | |
tvlogman | 19:f08b5cd2b7ce | 199 | pc.printf("Encoder ticker attached and baudrate set"); |
vsluiter | 0:c8f15874531b | 200 | } |
tvlogman | 7:1bffab95fc5f | 201 |