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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@21:d266d1e503ce, 2017-10-06 (annotated)
- Committer:
- tvlogman
- Date:
- Fri Oct 06 08:34:14 2017 +0000
- Revision:
- 21:d266d1e503ce
- Parent:
- 20:4ce3fb543a45
- Child:
- 22:2e473e9798c0
Working P-controller implemented. Note that setting motor magnitude pin to anything under 0.35 doesn't seem to do much - that needs a fix.
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 | 15:b76b8cff4d8f | 7 | enum robotStates {KILLED, ACTIVE}; |
tvlogman | 15:b76b8cff4d8f | 8 | robotStates currentState = KILLED; |
tvlogman | 8:0067469c3389 | 9 | |
tvlogman | 12:0462757e1ed2 | 10 | QEI Encoder(D12,D13,NC,64, QEI::X4_ENCODING); |
tvlogman | 10:e23cbcdde7e3 | 11 | MODSERIAL pc(USBTX, USBRX); |
tvlogman | 8:0067469c3389 | 12 | |
tvlogman | 14:664870b5d153 | 13 | // Defining outputs |
tvlogman | 13:83e3672b24ee | 14 | DigitalOut motor1_direction(D4); |
tvlogman | 13:83e3672b24ee | 15 | PwmOut motor1_pwm(D5); |
tvlogman | 14:664870b5d153 | 16 | |
tvlogman | 14:664870b5d153 | 17 | // Defining inputs |
tvlogman | 14:664870b5d153 | 18 | InterruptIn sw2(SW2); |
tvlogman | 15:b76b8cff4d8f | 19 | InterruptIn sw3(SW3); |
tvlogman | 16:27430afe663e | 20 | InterruptIn button1(D2); |
tvlogman | 21:d266d1e503ce | 21 | AnalogIn pot1(A0); |
tvlogman | 21:d266d1e503ce | 22 | AnalogIn pot2(A1); |
tvlogman | 15:b76b8cff4d8f | 23 | |
tvlogman | 16:27430afe663e | 24 | // PWM settings |
tvlogman | 16:27430afe663e | 25 | float pwmPeriod = 1.0/5000.0; |
tvlogman | 16:27430afe663e | 26 | int frequency_pwm = 10000; //10kHz PWM |
tvlogman | 14:664870b5d153 | 27 | |
tvlogman | 16:27430afe663e | 28 | volatile float x; |
tvlogman | 16:27430afe663e | 29 | volatile float x_prev =0; |
tvlogman | 16:27430afe663e | 30 | volatile float y; // filtered 'output' of ReadAnalogInAndFilter |
tvlogman | 14:664870b5d153 | 31 | |
tvlogman | 17:616ce7bc1f96 | 32 | // Initializing encoder |
tvlogman | 10:e23cbcdde7e3 | 33 | Ticker encoderTicker; |
tvlogman | 19:f08b5cd2b7ce | 34 | Ticker controllerTicker; |
tvlogman | 10:e23cbcdde7e3 | 35 | volatile int counts = 0; |
tvlogman | 12:0462757e1ed2 | 36 | volatile float revs = 0.00; |
tvlogman | 7:1bffab95fc5f | 37 | |
tvlogman | 19:f08b5cd2b7ce | 38 | // MOTOR CONTROL PART |
tvlogman | 19:f08b5cd2b7ce | 39 | |
tvlogman | 20:4ce3fb543a45 | 40 | bool m1_direction = false; |
tvlogman | 21:d266d1e503ce | 41 | int posRevRange = 5; // describes the ends of the position range in complete motor output shaft revolutions in both directions |
tvlogman | 21:d266d1e503ce | 42 | const float maxAngle = 2*3.14*posRevRange; // max angle in radians |
tvlogman | 20:4ce3fb543a45 | 43 | |
tvlogman | 21:d266d1e503ce | 44 | // Function getReferencePosition returns reference angle within range |
tvlogman | 21:d266d1e503ce | 45 | float getReferencePosition(){ |
tvlogman | 19:f08b5cd2b7ce | 46 | double r; |
tvlogman | 20:4ce3fb543a45 | 47 | if(m1_direction == false){ |
tvlogman | 19:f08b5cd2b7ce | 48 | // Clockwise rotation yields positive reference |
tvlogman | 21:d266d1e503ce | 49 | r = maxAngle*pot1.read(); |
tvlogman | 19:f08b5cd2b7ce | 50 | } |
tvlogman | 20:4ce3fb543a45 | 51 | if(m1_direction == true){ |
tvlogman | 19:f08b5cd2b7ce | 52 | // Counterclockwise rotation yields negative reference |
tvlogman | 21:d266d1e503ce | 53 | r = -1*maxAngle*pot1.read(); |
tvlogman | 19:f08b5cd2b7ce | 54 | } |
tvlogman | 19:f08b5cd2b7ce | 55 | return r; |
tvlogman | 19:f08b5cd2b7ce | 56 | } |
tvlogman | 19:f08b5cd2b7ce | 57 | |
tvlogman | 21:d266d1e503ce | 58 | // readEncoder reads counts and revs and logs results to serial window |
tvlogman | 21:d266d1e503ce | 59 | float getError(){ |
tvlogman | 21:d266d1e503ce | 60 | counts = Encoder.getPulses(); |
tvlogman | 21:d266d1e503ce | 61 | double motor1Position = 2*3.14*(counts/(131*64.0f)); |
tvlogman | 21:d266d1e503ce | 62 | pc.printf("%0.2f revolutions \r\n", motor1Position); |
tvlogman | 21:d266d1e503ce | 63 | float posError = getReferencePosition() - motor1Position; |
tvlogman | 21:d266d1e503ce | 64 | pc.printf("Error is %0.2f \r \n", posError); |
tvlogman | 21:d266d1e503ce | 65 | return posError; |
tvlogman | 21:d266d1e503ce | 66 | } |
tvlogman | 21:d266d1e503ce | 67 | |
tvlogman | 21:d266d1e503ce | 68 | // motorController sets a motorValue based on the position error. Sign indicates direction and magnitude indicates speed. Right now this is a simple feedforward |
tvlogman | 21:d266d1e503ce | 69 | float motorController(float posError){ |
tvlogman | 21:d266d1e503ce | 70 | float k_p = 5*pot2.read(); // use potmeter 2 to adjust k_p within range 0 to 1 |
tvlogman | 21:d266d1e503ce | 71 | double motorValue = (posError*k_p)/maxAngle + 0.35; // motorValue is the normalized voltage applied to motor magnitude pin between -1 and 1 added 0.35 as motorvalue of 0.35 does nothing |
tvlogman | 19:f08b5cd2b7ce | 72 | return motorValue; |
tvlogman | 10:e23cbcdde7e3 | 73 | } |
tvlogman | 14:664870b5d153 | 74 | |
tvlogman | 19:f08b5cd2b7ce | 75 | // setMotor1 sets the direction and magnitude pins of motor1 depending on the given motorValue. Negative motorValue means clockwise rotation |
tvlogman | 19:f08b5cd2b7ce | 76 | void setMotor1(float motorValue){ |
tvlogman | 19:f08b5cd2b7ce | 77 | switch(currentState){ |
tvlogman | 19:f08b5cd2b7ce | 78 | case KILLED: |
tvlogman | 19:f08b5cd2b7ce | 79 | motor1_pwm.write(0.0); |
tvlogman | 19:f08b5cd2b7ce | 80 | break; |
tvlogman | 19:f08b5cd2b7ce | 81 | case ACTIVE: |
tvlogman | 19:f08b5cd2b7ce | 82 | // Set motor direction |
tvlogman | 19:f08b5cd2b7ce | 83 | if (motorValue >=0){ |
tvlogman | 19:f08b5cd2b7ce | 84 | motor1_direction = 0; |
tvlogman | 19:f08b5cd2b7ce | 85 | } |
tvlogman | 19:f08b5cd2b7ce | 86 | else { |
tvlogman | 19:f08b5cd2b7ce | 87 | motor1_direction = 1; |
tvlogman | 19:f08b5cd2b7ce | 88 | } |
tvlogman | 19:f08b5cd2b7ce | 89 | // Set motor speed |
tvlogman | 19:f08b5cd2b7ce | 90 | if (fabs(motorValue)>1){ |
tvlogman | 19:f08b5cd2b7ce | 91 | motor1_pwm = 1; |
tvlogman | 19:f08b5cd2b7ce | 92 | } |
tvlogman | 19:f08b5cd2b7ce | 93 | else { |
tvlogman | 19:f08b5cd2b7ce | 94 | motor1_pwm.write(fabs(motorValue)); |
tvlogman | 19:f08b5cd2b7ce | 95 | } |
tvlogman | 19:f08b5cd2b7ce | 96 | break; |
tvlogman | 19:f08b5cd2b7ce | 97 | } |
tvlogman | 19:f08b5cd2b7ce | 98 | } |
tvlogman | 19:f08b5cd2b7ce | 99 | |
tvlogman | 19:f08b5cd2b7ce | 100 | void measureAndControl(){ |
tvlogman | 21:d266d1e503ce | 101 | float posError = getError(); |
tvlogman | 21:d266d1e503ce | 102 | float motorValue = motorController(posError); |
tvlogman | 19:f08b5cd2b7ce | 103 | pc.printf("Motorvalue is %.2f \r \n", motorValue); |
tvlogman | 21:d266d1e503ce | 104 | pc.printf("Position error is %.2f \r \n", posError); |
tvlogman | 19:f08b5cd2b7ce | 105 | pc.printf("Motor direction is %d \r \n", motor1_direction); |
tvlogman | 19:f08b5cd2b7ce | 106 | setMotor1(motorValue); |
tvlogman | 19:f08b5cd2b7ce | 107 | } |
tvlogman | 19:f08b5cd2b7ce | 108 | |
tvlogman | 14:664870b5d153 | 109 | void killSwitch(){ |
tvlogman | 15:b76b8cff4d8f | 110 | pc.printf("Motors turned off"); |
tvlogman | 15:b76b8cff4d8f | 111 | currentState = KILLED; |
tvlogman | 14:664870b5d153 | 112 | } |
tvlogman | 14:664870b5d153 | 113 | |
tvlogman | 15:b76b8cff4d8f | 114 | void turnMotorsOn(){ |
tvlogman | 15:b76b8cff4d8f | 115 | pc.printf("Motors turned on"); |
tvlogman | 15:b76b8cff4d8f | 116 | currentState = ACTIVE; |
tvlogman | 15:b76b8cff4d8f | 117 | } |
tvlogman | 15:b76b8cff4d8f | 118 | |
tvlogman | 15:b76b8cff4d8f | 119 | |
tvlogman | 14:664870b5d153 | 120 | void M1switchDirection(){ |
tvlogman | 20:4ce3fb543a45 | 121 | m1_direction = !m1_direction; |
tvlogman | 14:664870b5d153 | 122 | } |
vsluiter | 0:c8f15874531b | 123 | |
tvlogman | 21:d266d1e503ce | 124 | |
tvlogman | 19:f08b5cd2b7ce | 125 | |
vsluiter | 0:c8f15874531b | 126 | int main() |
tvlogman | 10:e23cbcdde7e3 | 127 | { |
tvlogman | 19:f08b5cd2b7ce | 128 | pc.printf("Main function"); |
tvlogman | 20:4ce3fb543a45 | 129 | motor1_direction = 0; // False = clockwise rotation |
tvlogman | 13:83e3672b24ee | 130 | motor1_pwm.period(pwmPeriod);//T=1/f |
tvlogman | 14:664870b5d153 | 131 | sw2.fall(&killSwitch); |
tvlogman | 15:b76b8cff4d8f | 132 | sw3.fall(&turnMotorsOn); |
tvlogman | 16:27430afe663e | 133 | button1.rise(&M1switchDirection); |
vsluiter | 0:c8f15874531b | 134 | pc.baud(115200); |
tvlogman | 19:f08b5cd2b7ce | 135 | controllerTicker.attach(measureAndControl, 0.1); |
tvlogman | 15:b76b8cff4d8f | 136 | |
tvlogman | 19:f08b5cd2b7ce | 137 | pc.printf("Encoder ticker attached and baudrate set"); |
vsluiter | 0:c8f15874531b | 138 | } |
tvlogman | 7:1bffab95fc5f | 139 |