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Signa-bot code for project BioRobotics, at University of Twente.
Dependencies: mbed QEI MODSERIAL FastPWM ttmath Math
Motor_tryout.cpp@31:3c13f1c35ee5, 2019-10-31 (annotated)
- Committer:
- viviien
- Date:
- Thu Oct 31 12:42:24 2019 +0000
- Revision:
- 31:3c13f1c35ee5
- Parent:
- 30:390cab7cd6e6
- Child:
- 32:60a71dcfdb7a
Steps versie zonder timer die werkt;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Feike | 4:bd21569250c7 | 1 | #include "mbed.h" |
Feike | 8:017b813c72bb | 2 | #include "MODSERIAL.h" |
Feike | 12:2382468d36a4 | 3 | #include "QEI.h" |
Feike | 18:ab0fe311e7f3 | 4 | #include "Math.h" |
Feike | 18:ab0fe311e7f3 | 5 | #include "ttmath.h" |
Feike | 18:ab0fe311e7f3 | 6 | |
Feike | 17:6da57acb7bea | 7 | MODSERIAL pc(USBTX, USBRX); |
Feike | 18:ab0fe311e7f3 | 8 | //Serial term (USBTX, USBRX); |
Feike | 17:6da57acb7bea | 9 | PwmOut motor1_pwm(PTC2); |
Feike | 17:6da57acb7bea | 10 | DigitalOut motor1_dir(PTC3); |
Feike | 18:ab0fe311e7f3 | 11 | PwmOut motor2_pwm(PTA2); |
Feike | 18:ab0fe311e7f3 | 12 | DigitalOut motor2_dir(PTB23); |
Feike | 18:ab0fe311e7f3 | 13 | PwmOut motor3_pwm(PTC4); |
Feike | 18:ab0fe311e7f3 | 14 | DigitalOut motor3_dir(PTC12); |
Feike | 4:bd21569250c7 | 15 | |
viviien | 30:390cab7cd6e6 | 16 | AnalogIn potmeter1(A1); |
viviien | 30:390cab7cd6e6 | 17 | |
viviien | 30:390cab7cd6e6 | 18 | |
viviien | 30:390cab7cd6e6 | 19 | |
viviien | 23:18b0be02187f | 20 | QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING); |
viviien | 23:18b0be02187f | 21 | QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING); |
viviien | 23:18b0be02187f | 22 | QEI Encoder3(D2,D3,NC,64,QEI::X4_ENCODING); |
Feike | 7:e119b12e5e7f | 23 | |
viviien | 25:eb3204e45d33 | 24 | float steps1 = 0; |
viviien | 25:eb3204e45d33 | 25 | float steps2 = 0; |
viviien | 25:eb3204e45d33 | 26 | float steps3 = 0; |
Feike | 19:9c8ab7922191 | 27 | int check; |
Feike | 13:18dd7a15603f | 28 | int quit; |
Feike | 19:9c8ab7922191 | 29 | int limit_pos = 8400; |
Feike | 19:9c8ab7922191 | 30 | float steps; |
Feike | 19:9c8ab7922191 | 31 | int g = 0; |
Feike | 19:9c8ab7922191 | 32 | |
Feike | 19:9c8ab7922191 | 33 | bool check1; |
Feike | 19:9c8ab7922191 | 34 | bool check2; |
Feike | 19:9c8ab7922191 | 35 | bool check3; |
Feike | 18:ab0fe311e7f3 | 36 | int counts1 = 0; |
Feike | 18:ab0fe311e7f3 | 37 | int counts2 = 0; |
Feike | 18:ab0fe311e7f3 | 38 | int counts3 = 0; |
viviien | 27:3eb181cbe183 | 39 | |
Feike | 13:18dd7a15603f | 40 | |
Feike | 18:ab0fe311e7f3 | 41 | const float le = 15.0; |
Feike | 18:ab0fe311e7f3 | 42 | const float f = 37.5; |
Feike | 18:ab0fe311e7f3 | 43 | const float re = 174.0; |
Feike | 18:ab0fe311e7f3 | 44 | const float rf = 50.0; |
Feike | 18:ab0fe311e7f3 | 45 | const float pi = 3.14159265358979323846; |
viviien | 22:9f911405e096 | 46 | const float cospi = -0.5; |
viviien | 22:9f911405e096 | 47 | const float sinpi = 0.8660254; |
Feike | 18:ab0fe311e7f3 | 48 | float y2; |
Feike | 18:ab0fe311e7f3 | 49 | float y1; |
Feike | 18:ab0fe311e7f3 | 50 | float z1; |
Feike | 18:ab0fe311e7f3 | 51 | float z2; |
Feike | 18:ab0fe311e7f3 | 52 | float rje2; |
Feike | 18:ab0fe311e7f3 | 53 | float rje; |
Feike | 18:ab0fe311e7f3 | 54 | float r2; |
Feike | 18:ab0fe311e7f3 | 55 | float r; |
Feike | 19:9c8ab7922191 | 56 | |
Feike | 18:ab0fe311e7f3 | 57 | float z0=-172; |
Feike | 18:ab0fe311e7f3 | 58 | float y0=0; |
Feike | 18:ab0fe311e7f3 | 59 | float x0=0; |
viviien | 21:c826abca79c3 | 60 | float x00; |
viviien | 21:c826abca79c3 | 61 | float y00; |
viviien | 21:c826abca79c3 | 62 | float z00; |
Feike | 19:9c8ab7922191 | 63 | |
Feike | 18:ab0fe311e7f3 | 64 | float theta1; |
Feike | 18:ab0fe311e7f3 | 65 | float theta2; |
Feike | 18:ab0fe311e7f3 | 66 | float theta3; |
Feike | 18:ab0fe311e7f3 | 67 | float oldtheta1=0; |
Feike | 18:ab0fe311e7f3 | 68 | float oldtheta2=0; |
Feike | 18:ab0fe311e7f3 | 69 | float oldtheta3=0; |
Feike | 19:9c8ab7922191 | 70 | |
viviien | 28:43a1d67ff8ea | 71 | // Constant values for PI |
viviien | 30:390cab7cd6e6 | 72 | float Kp; |
viviien | 30:390cab7cd6e6 | 73 | float Kd; |
viviien | 30:390cab7cd6e6 | 74 | |
viviien | 30:390cab7cd6e6 | 75 | float Ts = 0.0025; |
viviien | 28:43a1d67ff8ea | 76 | float error1 = 0; |
viviien | 30:390cab7cd6e6 | 77 | float error2 = 0; |
viviien | 30:390cab7cd6e6 | 78 | float error3 = 0; |
viviien | 28:43a1d67ff8ea | 79 | |
viviien | 30:390cab7cd6e6 | 80 | float newmotor1 = 1; |
viviien | 30:390cab7cd6e6 | 81 | float newmotor2 = 1; |
viviien | 30:390cab7cd6e6 | 82 | float newmotor3 = 1; |
viviien | 30:390cab7cd6e6 | 83 | |
viviien | 30:390cab7cd6e6 | 84 | float u_k1 = 0; |
viviien | 30:390cab7cd6e6 | 85 | float u_k2 = 0; |
viviien | 30:390cab7cd6e6 | 86 | float u_k3 = 0; |
viviien | 30:390cab7cd6e6 | 87 | |
viviien | 30:390cab7cd6e6 | 88 | float u_d1 = 0; |
viviien | 30:390cab7cd6e6 | 89 | float u_d2 = 0; |
viviien | 30:390cab7cd6e6 | 90 | float u_d3 = 0; |
viviien | 30:390cab7cd6e6 | 91 | |
viviien | 30:390cab7cd6e6 | 92 | float lasterror1 = 0; |
viviien | 30:390cab7cd6e6 | 93 | float lasterror2 = 0; |
viviien | 30:390cab7cd6e6 | 94 | float lasterror3 = 0; |
viviien | 30:390cab7cd6e6 | 95 | |
viviien | 30:390cab7cd6e6 | 96 | float derivative1 = 0; |
viviien | 30:390cab7cd6e6 | 97 | float derivative2 = 0; |
viviien | 30:390cab7cd6e6 | 98 | float derivative3 = 0; |
viviien | 30:390cab7cd6e6 | 99 | |
viviien | 31:3c13f1c35ee5 | 100 | //bool timer = false; |
viviien | 30:390cab7cd6e6 | 101 | |
viviien | 30:390cab7cd6e6 | 102 | Ticker motor_timer; |
viviien | 30:390cab7cd6e6 | 103 | void motor() |
viviien | 30:390cab7cd6e6 | 104 | { |
viviien | 30:390cab7cd6e6 | 105 | counts1 = Encoder1.getPulses(); |
viviien | 30:390cab7cd6e6 | 106 | counts2 = Encoder2.getPulses(); |
viviien | 30:390cab7cd6e6 | 107 | counts3 = Encoder3.getPulses(); |
viviien | 30:390cab7cd6e6 | 108 | |
viviien | 30:390cab7cd6e6 | 109 | // angle1 = counts1/(8400.0)*2.0*pie; |
viviien | 30:390cab7cd6e6 | 110 | // angle2 = counts2/(8400.0)*2.0*pie; |
viviien | 30:390cab7cd6e6 | 111 | // angle3 = counts3/(8400.0)*2.0*pie; |
viviien | 30:390cab7cd6e6 | 112 | |
viviien | 30:390cab7cd6e6 | 113 | // sinewave = sin(time_sin); |
viviien | 29:7eb028b359a1 | 114 | |
viviien | 30:390cab7cd6e6 | 115 | lasterror1 = error1; |
viviien | 30:390cab7cd6e6 | 116 | lasterror2 = error2; |
viviien | 30:390cab7cd6e6 | 117 | lasterror3 = error3; |
viviien | 30:390cab7cd6e6 | 118 | |
viviien | 30:390cab7cd6e6 | 119 | error1 = counts1 - steps1; |
viviien | 30:390cab7cd6e6 | 120 | error2 = counts2 - steps2; |
viviien | 30:390cab7cd6e6 | 121 | error3 = counts3 - steps3; |
viviien | 30:390cab7cd6e6 | 122 | |
viviien | 30:390cab7cd6e6 | 123 | derivative1 = error1 - lasterror1; |
viviien | 30:390cab7cd6e6 | 124 | derivative2 = error2 - lasterror2; |
viviien | 30:390cab7cd6e6 | 125 | derivative3 = error3 - lasterror3; |
viviien | 30:390cab7cd6e6 | 126 | |
viviien | 30:390cab7cd6e6 | 127 | Kp = 50; |
viviien | 31:3c13f1c35ee5 | 128 | Kd = potmeter1 * 1000; |
viviien | 30:390cab7cd6e6 | 129 | |
viviien | 30:390cab7cd6e6 | 130 | |
viviien | 30:390cab7cd6e6 | 131 | // Proportional part |
viviien | 30:390cab7cd6e6 | 132 | u_k1 = Kp * error1; |
viviien | 30:390cab7cd6e6 | 133 | u_k2 = Kp * error2; |
viviien | 30:390cab7cd6e6 | 134 | u_k3 = Kp * error3; |
viviien | 30:390cab7cd6e6 | 135 | |
viviien | 30:390cab7cd6e6 | 136 | u_d1 = Kd * derivative1; |
viviien | 30:390cab7cd6e6 | 137 | u_d2 = Kd * derivative2; |
viviien | 30:390cab7cd6e6 | 138 | u_d3 = Kd * derivative3; |
viviien | 30:390cab7cd6e6 | 139 | |
viviien | 30:390cab7cd6e6 | 140 | newmotor1 = u_k1 + u_d1; |
viviien | 30:390cab7cd6e6 | 141 | newmotor2 = u_k2 + u_d2; |
viviien | 30:390cab7cd6e6 | 142 | newmotor3 = u_k3 + u_d3; |
viviien | 30:390cab7cd6e6 | 143 | |
viviien | 30:390cab7cd6e6 | 144 | if (newmotor1>1.0f){ |
viviien | 30:390cab7cd6e6 | 145 | newmotor1 =1.0f; |
viviien | 23:18b0be02187f | 146 | } |
viviien | 30:390cab7cd6e6 | 147 | if (newmotor1<-1.0f){ |
viviien | 30:390cab7cd6e6 | 148 | newmotor1 = -1.0f; |
viviien | 30:390cab7cd6e6 | 149 | } |
viviien | 30:390cab7cd6e6 | 150 | |
viviien | 30:390cab7cd6e6 | 151 | if (newmotor2>1.0f){ |
viviien | 30:390cab7cd6e6 | 152 | newmotor2 =1.0f; |
viviien | 30:390cab7cd6e6 | 153 | } |
viviien | 30:390cab7cd6e6 | 154 | if (newmotor2<-1.0f){ |
viviien | 30:390cab7cd6e6 | 155 | newmotor2 = -1.0f; |
viviien | 30:390cab7cd6e6 | 156 | } |
viviien | 30:390cab7cd6e6 | 157 | |
viviien | 30:390cab7cd6e6 | 158 | if (newmotor3>1.0f){ |
viviien | 30:390cab7cd6e6 | 159 | newmotor3 =1.0f; |
viviien | 30:390cab7cd6e6 | 160 | } |
viviien | 30:390cab7cd6e6 | 161 | if (newmotor3<-1.0f){ |
viviien | 30:390cab7cd6e6 | 162 | newmotor3 = -1.0f; |
viviien | 30:390cab7cd6e6 | 163 | } |
viviien | 30:390cab7cd6e6 | 164 | |
viviien | 31:3c13f1c35ee5 | 165 | if (timer==true) { |
viviien | 30:390cab7cd6e6 | 166 | motor1_pwm.write(fabs(newmotor1)); |
viviien | 30:390cab7cd6e6 | 167 | motor1_dir.write(newmotor1>0); |
viviien | 30:390cab7cd6e6 | 168 | |
viviien | 30:390cab7cd6e6 | 169 | motor2_pwm.write(fabs(newmotor2)); |
viviien | 30:390cab7cd6e6 | 170 | motor2_dir.write(newmotor2<0); |
viviien | 30:390cab7cd6e6 | 171 | |
viviien | 30:390cab7cd6e6 | 172 | motor3_pwm.write(fabs(newmotor3)); |
viviien | 30:390cab7cd6e6 | 173 | motor3_dir.write(newmotor3>0); |
viviien | 30:390cab7cd6e6 | 174 | } |
viviien | 30:390cab7cd6e6 | 175 | |
viviien | 31:3c13f1c35ee5 | 176 | // else { |
viviien | 31:3c13f1c35ee5 | 177 | // motor1_pwm.write(0); |
viviien | 31:3c13f1c35ee5 | 178 | // motor2_pwm.write(0); |
viviien | 31:3c13f1c35ee5 | 179 | // motor3_pwm.write(0); |
viviien | 31:3c13f1c35ee5 | 180 | // } |
viviien | 30:390cab7cd6e6 | 181 | } |
viviien | 25:eb3204e45d33 | 182 | |
viviien | 28:43a1d67ff8ea | 183 | |
viviien | 21:c826abca79c3 | 184 | float delta_calcangleyz(float x00, float y00, float z00) { |
viviien | 21:c826abca79c3 | 185 | float y2 = y00 + le; |
Feike | 18:ab0fe311e7f3 | 186 | float y1 = f; |
Feike | 18:ab0fe311e7f3 | 187 | float z1 = 0.0; |
viviien | 21:c826abca79c3 | 188 | float z2 = z00; |
viviien | 21:c826abca79c3 | 189 | float rje2 = re*re - x00*x00; |
Feike | 18:ab0fe311e7f3 | 190 | float rje = sqrt(rje2); |
viviien | 22:9f911405e096 | 191 | float r2 = (y1-y2)*(y1-y2) + (z1-z00)*(z1-z00); |
Feike | 18:ab0fe311e7f3 | 192 | float r = sqrt(r2); |
Feike | 18:ab0fe311e7f3 | 193 | |
Feike | 19:9c8ab7922191 | 194 | if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) { |
Feike | 19:9c8ab7922191 | 195 | int check = 1; |
Feike | 19:9c8ab7922191 | 196 | pc.printf("\n\rPunt bestaat niet"); |
Feike | 19:9c8ab7922191 | 197 | } |
Feike | 19:9c8ab7922191 | 198 | else { |
Feike | 19:9c8ab7922191 | 199 | float alpha = acos((r2 + rf*rf -rje2)/(2*rf*r)); |
Feike | 19:9c8ab7922191 | 200 | float beta = atan((z1-z2)/(y1-y2)); |
Feike | 19:9c8ab7922191 | 201 | if(beta<0) { |
Feike | 18:ab0fe311e7f3 | 202 | beta = beta + pi; |
Feike | 18:ab0fe311e7f3 | 203 | } |
Feike | 19:9c8ab7922191 | 204 | float theta1 = (beta - alpha)*180.0/pi; |
Feike | 19:9c8ab7922191 | 205 | return theta1; |
viviien | 28:43a1d67ff8ea | 206 | } |
viviien | 22:9f911405e096 | 207 | } |
viviien | 28:43a1d67ff8ea | 208 | |
viviien | 28:43a1d67ff8ea | 209 | |
Feike | 18:ab0fe311e7f3 | 210 | |
viviien | 21:c826abca79c3 | 211 | float delta_calcinverse(float x00, float y00, float z00) { |
viviien | 21:c826abca79c3 | 212 | theta1 = theta2 = theta3 = 0; |
viviien | 22:9f911405e096 | 213 | x00=x0; |
viviien | 22:9f911405e096 | 214 | y00=y0; |
viviien | 22:9f911405e096 | 215 | z00=z0; |
viviien | 21:c826abca79c3 | 216 | theta1 = delta_calcangleyz(x00, y00, z00); |
viviien | 21:c826abca79c3 | 217 | |
viviien | 21:c826abca79c3 | 218 | if (check == 0) { |
viviien | 21:c826abca79c3 | 219 | x00=x0*cospi+y0*sinpi; |
viviien | 21:c826abca79c3 | 220 | y00=y0*cospi-x0*sinpi; |
viviien | 21:c826abca79c3 | 221 | z00=z0; |
viviien | 22:9f911405e096 | 222 | theta2 = delta_calcangleyz(x00, y00, z00); |
viviien | 21:c826abca79c3 | 223 | x00=x0*cospi-y0*sinpi; |
viviien | 21:c826abca79c3 | 224 | y00=y0*cospi+y0*sinpi; |
viviien | 21:c826abca79c3 | 225 | z00=z0; |
viviien | 22:9f911405e096 | 226 | theta3 = delta_calcangleyz(x00, y00, z00); |
viviien | 21:c826abca79c3 | 227 | } |
viviien | 21:c826abca79c3 | 228 | |
viviien | 21:c826abca79c3 | 229 | return theta1, theta2, theta3; |
Feike | 18:ab0fe311e7f3 | 230 | } |
Feike | 18:ab0fe311e7f3 | 231 | |
viviien | 28:43a1d67ff8ea | 232 | //double error; |
Feike | 12:2382468d36a4 | 233 | |
viviien | 28:43a1d67ff8ea | 234 | // Calculate the steps from angle |
Feike | 19:9c8ab7922191 | 235 | float anglestep(float angle) { |
Feike | 18:ab0fe311e7f3 | 236 | float steps; |
Feike | 18:ab0fe311e7f3 | 237 | steps = angle / 360 * 8400; |
Feike | 18:ab0fe311e7f3 | 238 | return steps; |
Feike | 17:6da57acb7bea | 239 | } |
Feike | 17:6da57acb7bea | 240 | |
viviien | 28:43a1d67ff8ea | 241 | // Omschrijving |
viviien | 28:43a1d67ff8ea | 242 | float movefunctioninit () { |
viviien | 21:c826abca79c3 | 243 | |
viviien | 31:3c13f1c35ee5 | 244 | theta1 = delta_calcinverse(x00,y00,z00); |
viviien | 21:c826abca79c3 | 245 | |
viviien | 31:3c13f1c35ee5 | 246 | // theta1 = theta1 - oldtheta1; |
viviien | 31:3c13f1c35ee5 | 247 | // theta2 = theta2 - oldtheta2; |
viviien | 31:3c13f1c35ee5 | 248 | // theta3 = theta3 - oldtheta3; |
viviien | 31:3c13f1c35ee5 | 249 | // |
viviien | 31:3c13f1c35ee5 | 250 | // steps1 = steps1 + anglestep(theta1); |
viviien | 31:3c13f1c35ee5 | 251 | // steps2 = steps2 + anglestep(theta2); |
viviien | 31:3c13f1c35ee5 | 252 | // steps3 = steps3 + anglestep(theta3); |
viviien | 31:3c13f1c35ee5 | 253 | |
viviien | 31:3c13f1c35ee5 | 254 | steps1 = anglestep(theta1); |
viviien | 31:3c13f1c35ee5 | 255 | steps2 = anglestep(theta2); |
viviien | 31:3c13f1c35ee5 | 256 | steps3 = anglestep(theta3); |
viviien | 31:3c13f1c35ee5 | 257 | |
viviien | 31:3c13f1c35ee5 | 258 | pc.printf("\n\r de hoeken zijn(%f, %f, %f)", theta1, theta2, theta3); |
viviien | 31:3c13f1c35ee5 | 259 | pc.printf("\n\r coordinaten(%f, %f, %f)", x0, y0, z0); |
viviien | 27:3eb181cbe183 | 260 | pc.printf("\n\rsteps1 %f, steps2 %f, steps3 %f", steps1, steps2, steps3); |
viviien | 30:390cab7cd6e6 | 261 | pc.printf("\n\rcounts1 %f, counts2 %f, counts3 %f", counts1, counts2, counts3); |
viviien | 30:390cab7cd6e6 | 262 | |
viviien | 28:43a1d67ff8ea | 263 | |
viviien | 28:43a1d67ff8ea | 264 | |
viviien | 30:390cab7cd6e6 | 265 | // pc.printf("\n\r error1: %f", error1); |
viviien | 30:390cab7cd6e6 | 266 | |
viviien | 27:3eb181cbe183 | 267 | |
viviien | 21:c826abca79c3 | 268 | // Set the direction of the motors. |
viviien | 30:390cab7cd6e6 | 269 | // if (theta1 < 0) { |
viviien | 30:390cab7cd6e6 | 270 | // motor1_dir.write(1); |
viviien | 30:390cab7cd6e6 | 271 | // } |
viviien | 30:390cab7cd6e6 | 272 | // else { |
viviien | 30:390cab7cd6e6 | 273 | // motor1_dir.write(0); |
viviien | 30:390cab7cd6e6 | 274 | // } |
viviien | 30:390cab7cd6e6 | 275 | // |
viviien | 30:390cab7cd6e6 | 276 | // if (theta2 < 0) { |
viviien | 30:390cab7cd6e6 | 277 | // motor2_dir.write(0); |
viviien | 30:390cab7cd6e6 | 278 | // } |
viviien | 30:390cab7cd6e6 | 279 | // else { |
viviien | 30:390cab7cd6e6 | 280 | // motor2_dir.write(1); |
viviien | 30:390cab7cd6e6 | 281 | // } |
viviien | 30:390cab7cd6e6 | 282 | // |
viviien | 30:390cab7cd6e6 | 283 | // if (theta3 < 0) { |
viviien | 30:390cab7cd6e6 | 284 | // motor3_dir.write(0); |
viviien | 30:390cab7cd6e6 | 285 | // } |
viviien | 30:390cab7cd6e6 | 286 | // else { |
viviien | 30:390cab7cd6e6 | 287 | // motor3_dir.write(1); |
viviien | 30:390cab7cd6e6 | 288 | // } |
viviien | 30:390cab7cd6e6 | 289 | // |
viviien | 30:390cab7cd6e6 | 290 | // int frequency_pwm = 10000; //10 kHz PWM |
viviien | 30:390cab7cd6e6 | 291 | // motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 30:390cab7cd6e6 | 292 | // motor1_pwm.write(0.57); // write Duty Cycle |
viviien | 30:390cab7cd6e6 | 293 | // |
viviien | 30:390cab7cd6e6 | 294 | // motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 30:390cab7cd6e6 | 295 | // motor2_pwm.write(0.57); // write Duty Cycle |
viviien | 30:390cab7cd6e6 | 296 | // |
viviien | 30:390cab7cd6e6 | 297 | // motor3_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 30:390cab7cd6e6 | 298 | // motor3_pwm.write(0.57); // write Duty Cycle |
viviien | 30:390cab7cd6e6 | 299 | // |
viviien | 30:390cab7cd6e6 | 300 | // check1 = true; |
viviien | 30:390cab7cd6e6 | 301 | // check2 = true; |
viviien | 30:390cab7cd6e6 | 302 | // check3 = true; |
viviien | 30:390cab7cd6e6 | 303 | // |
viviien | 30:390cab7cd6e6 | 304 | // Encoder1.reset(); |
viviien | 30:390cab7cd6e6 | 305 | // Encoder2.reset(); |
viviien | 30:390cab7cd6e6 | 306 | // Encoder3.reset(); |
viviien | 30:390cab7cd6e6 | 307 | // |
viviien | 28:43a1d67ff8ea | 308 | } |
viviien | 25:eb3204e45d33 | 309 | |
viviien | 28:43a1d67ff8ea | 310 | // Omschrijving |
viviien | 31:3c13f1c35ee5 | 311 | //float movestop() { |
viviien | 31:3c13f1c35ee5 | 312 | //wait(0.6); |
viviien | 31:3c13f1c35ee5 | 313 | //timer = false; |
viviien | 31:3c13f1c35ee5 | 314 | //} |
viviien | 30:390cab7cd6e6 | 315 | // |
viviien | 30:390cab7cd6e6 | 316 | // while (check1 || check2 || check3) { |
viviien | 30:390cab7cd6e6 | 317 | // |
viviien | 30:390cab7cd6e6 | 318 | // int frequency_pwm = 10000; //10 kHz PWM |
viviien | 30:390cab7cd6e6 | 319 | // motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 30:390cab7cd6e6 | 320 | // motor1_pwm.write(newmotor1); // write Duty Cycle |
viviien | 30:390cab7cd6e6 | 321 | // |
viviien | 30:390cab7cd6e6 | 322 | // motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 30:390cab7cd6e6 | 323 | // motor2_pwm.write(newmotor2); // write Duty Cycle |
viviien | 30:390cab7cd6e6 | 324 | // |
viviien | 30:390cab7cd6e6 | 325 | // motor3_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 30:390cab7cd6e6 | 326 | // motor3_pwm.write(newmotor3); // write Duty Cycle |
viviien | 30:390cab7cd6e6 | 327 | // |
viviien | 30:390cab7cd6e6 | 328 | // if (error1==0) { |
viviien | 30:390cab7cd6e6 | 329 | // check1=false; |
viviien | 30:390cab7cd6e6 | 330 | // } |
viviien | 30:390cab7cd6e6 | 331 | // if (error2==0) { |
viviien | 30:390cab7cd6e6 | 332 | // check2=false; |
viviien | 30:390cab7cd6e6 | 333 | // } |
viviien | 30:390cab7cd6e6 | 334 | // if (error3==0) { |
viviien | 30:390cab7cd6e6 | 335 | // check3=false; |
viviien | 30:390cab7cd6e6 | 336 | // } |
viviien | 30:390cab7cd6e6 | 337 | // |
viviien | 30:390cab7cd6e6 | 338 | //// if(abs(counts1)>=abs(steps1)) { |
viviien | 30:390cab7cd6e6 | 339 | //// pc.printf("\n\r 1 is false"); |
viviien | 30:390cab7cd6e6 | 340 | //// motor1_pwm.write(0); |
viviien | 30:390cab7cd6e6 | 341 | //// check1=false; |
viviien | 30:390cab7cd6e6 | 342 | //// pc.printf("\n\rcounts1 %i", counts1); |
viviien | 30:390cab7cd6e6 | 343 | //// } |
viviien | 30:390cab7cd6e6 | 344 | //// |
viviien | 30:390cab7cd6e6 | 345 | //// if (abs(counts2)>=abs(steps2)) { |
viviien | 30:390cab7cd6e6 | 346 | //// pc.printf("\n\r 2 is false"); |
viviien | 30:390cab7cd6e6 | 347 | //// motor2_pwm.write(0); |
viviien | 30:390cab7cd6e6 | 348 | //// check2=false; |
viviien | 30:390cab7cd6e6 | 349 | //// pc.printf("\n\rcounts2 %i", counts2); |
viviien | 30:390cab7cd6e6 | 350 | //// } |
viviien | 30:390cab7cd6e6 | 351 | //// |
viviien | 30:390cab7cd6e6 | 352 | //// if (abs(counts3)>=abs(steps3)) { |
viviien | 30:390cab7cd6e6 | 353 | //// pc.printf("\n\r 3 is false"); |
viviien | 30:390cab7cd6e6 | 354 | //// motor3_pwm.write(0); |
viviien | 30:390cab7cd6e6 | 355 | //// check3=false; |
viviien | 30:390cab7cd6e6 | 356 | //// pc.printf("\n\rcounts3 %i", counts3); |
viviien | 30:390cab7cd6e6 | 357 | //// } |
viviien | 30:390cab7cd6e6 | 358 | // } |
viviien | 30:390cab7cd6e6 | 359 | // wait(1.0); |
viviien | 30:390cab7cd6e6 | 360 | // pc.printf("\n\rdone moving"); |
viviien | 30:390cab7cd6e6 | 361 | //} |
viviien | 22:9f911405e096 | 362 | |
viviien | 28:43a1d67ff8ea | 363 | |
viviien | 28:43a1d67ff8ea | 364 | /////////////////// |
viviien | 28:43a1d67ff8ea | 365 | // MAIN FUNCTION // |
viviien | 28:43a1d67ff8ea | 366 | /////////////////// |
viviien | 28:43a1d67ff8ea | 367 | |
viviien | 22:9f911405e096 | 368 | int main(void) { |
viviien | 30:390cab7cd6e6 | 369 | motor_timer.attach(&motor, 0.002); |
viviien | 26:432d3519ba86 | 370 | |
viviien | 28:43a1d67ff8ea | 371 | pc.baud(115200); |
Feike | 17:6da57acb7bea | 372 | char cc = pc.getc(); |
viviien | 30:390cab7cd6e6 | 373 | |
viviien | 30:390cab7cd6e6 | 374 | int frequency_pwm = 10000; //10 kHz PWM |
viviien | 30:390cab7cd6e6 | 375 | // motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 30:390cab7cd6e6 | 376 | // motor1_pwm.write(newmotor1); // write Duty Cycle |
viviien | 30:390cab7cd6e6 | 377 | // |
viviien | 30:390cab7cd6e6 | 378 | // motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 30:390cab7cd6e6 | 379 | // motor2_pwm.write(newmotor2); // write Duty Cycle |
viviien | 30:390cab7cd6e6 | 380 | // |
viviien | 30:390cab7cd6e6 | 381 | // motor3_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
viviien | 30:390cab7cd6e6 | 382 | // motor3_pwm.write(newmotor3); // write Duty Cycle |
Feike | 19:9c8ab7922191 | 383 | |
viviien | 28:43a1d67ff8ea | 384 | while(true){ |
viviien | 29:7eb028b359a1 | 385 | pc.printf("\n\r----------------------------------------------------------"); |
viviien | 29:7eb028b359a1 | 386 | pc.printf("\n\r----------------------------------------------------------"); |
viviien | 30:390cab7cd6e6 | 387 | |
viviien | 28:43a1d67ff8ea | 388 | |
viviien | 28:43a1d67ff8ea | 389 | delta_calcinverse(x0,y0,z0); |
viviien | 26:432d3519ba86 | 390 | |
viviien | 28:43a1d67ff8ea | 391 | oldtheta1 = theta1; |
viviien | 28:43a1d67ff8ea | 392 | oldtheta2 = theta2; |
viviien | 28:43a1d67ff8ea | 393 | oldtheta3 = theta3; |
viviien | 30:390cab7cd6e6 | 394 | |
viviien | 28:43a1d67ff8ea | 395 | char cc = pc.getc(); |
viviien | 28:43a1d67ff8ea | 396 | |
viviien | 31:3c13f1c35ee5 | 397 | // timer = true; |
viviien | 30:390cab7cd6e6 | 398 | |
viviien | 30:390cab7cd6e6 | 399 | |
viviien | 28:43a1d67ff8ea | 400 | if (cc=='d') { |
viviien | 28:43a1d67ff8ea | 401 | x0=x0+5.0f; |
viviien | 28:43a1d67ff8ea | 402 | if (x0>=-75 && x0<=75){ |
viviien | 28:43a1d67ff8ea | 403 | movefunctioninit (); |
viviien | 31:3c13f1c35ee5 | 404 | // movestop(); |
viviien | 28:43a1d67ff8ea | 405 | } |
viviien | 28:43a1d67ff8ea | 406 | else { |
viviien | 31:3c13f1c35ee5 | 407 | // timer = false; |
viviien | 28:43a1d67ff8ea | 408 | x0=x0-5.0f; |
viviien | 30:390cab7cd6e6 | 409 | |
viviien | 28:43a1d67ff8ea | 410 | } |
viviien | 22:9f911405e096 | 411 | } |
viviien | 28:43a1d67ff8ea | 412 | |
viviien | 28:43a1d67ff8ea | 413 | if (cc=='a') { |
viviien | 28:43a1d67ff8ea | 414 | x0=x0-5.0f; |
viviien | 28:43a1d67ff8ea | 415 | if (x0>=-75 && x0<=75){ |
viviien | 28:43a1d67ff8ea | 416 | movefunctioninit (); |
viviien | 31:3c13f1c35ee5 | 417 | // movestop(); |
viviien | 28:43a1d67ff8ea | 418 | } |
viviien | 28:43a1d67ff8ea | 419 | else { |
viviien | 31:3c13f1c35ee5 | 420 | // timer = false; |
viviien | 28:43a1d67ff8ea | 421 | x0=x0+5.0f; |
viviien | 21:c826abca79c3 | 422 | } |
viviien | 28:43a1d67ff8ea | 423 | } |
viviien | 28:43a1d67ff8ea | 424 | |
viviien | 28:43a1d67ff8ea | 425 | if (cc=='w'){ |
viviien | 28:43a1d67ff8ea | 426 | y0=y0+5.0f; |
viviien | 28:43a1d67ff8ea | 427 | if (y0>=-75 && y0<=75){ |
viviien | 28:43a1d67ff8ea | 428 | movefunctioninit (); |
viviien | 31:3c13f1c35ee5 | 429 | // movestop(); |
viviien | 28:43a1d67ff8ea | 430 | } |
viviien | 28:43a1d67ff8ea | 431 | else { |
viviien | 31:3c13f1c35ee5 | 432 | // timer = false; |
viviien | 28:43a1d67ff8ea | 433 | y0=y0-5.0f; |
viviien | 21:c826abca79c3 | 434 | } |
viviien | 28:43a1d67ff8ea | 435 | } |
viviien | 28:43a1d67ff8ea | 436 | |
viviien | 28:43a1d67ff8ea | 437 | if (cc=='s'){ |
viviien | 28:43a1d67ff8ea | 438 | y0=y0-5.0f; |
viviien | 28:43a1d67ff8ea | 439 | if (y0>=-75 && y0<=75) { |
viviien | 28:43a1d67ff8ea | 440 | movefunctioninit (); |
viviien | 31:3c13f1c35ee5 | 441 | // movestop(); |
viviien | 28:43a1d67ff8ea | 442 | } |
viviien | 28:43a1d67ff8ea | 443 | else { |
viviien | 31:3c13f1c35ee5 | 444 | // timer = false; |
viviien | 28:43a1d67ff8ea | 445 | y0=y0+5.0f; |
Feike | 19:9c8ab7922191 | 446 | } |
viviien | 28:43a1d67ff8ea | 447 | } |
viviien | 28:43a1d67ff8ea | 448 | |
viviien | 28:43a1d67ff8ea | 449 | if (cc=='u') |
viviien | 28:43a1d67ff8ea | 450 | { |
viviien | 31:3c13f1c35ee5 | 451 | z0=z0+1.0f; |
viviien | 28:43a1d67ff8ea | 452 | if (z0>=-210 && z0<=-130) { |
viviien | 28:43a1d67ff8ea | 453 | movefunctioninit (); |
viviien | 31:3c13f1c35ee5 | 454 | pc.printf("\n\r de hoeken zijn(%f, %f, %f)", theta1, theta2, theta3); |
viviien | 31:3c13f1c35ee5 | 455 | pc.printf("\n\r coordinaten(%f, %f, %f)", x0, y0, z0); |
viviien | 31:3c13f1c35ee5 | 456 | pc.printf("\n\rsteps1 %f, steps2 %f, steps3 %f", steps1, steps2, steps3); |
viviien | 31:3c13f1c35ee5 | 457 | pc.printf("\n\rcounts1 %f, counts2 %f, counts3 %f", counts1, counts2, counts3); |
viviien | 31:3c13f1c35ee5 | 458 | // movestop(); |
viviien | 30:390cab7cd6e6 | 459 | // for (float i=0.0; i<5; i++) { |
viviien | 30:390cab7cd6e6 | 460 | // pc.printf("\n\r dit is error1 %f, error2 %f, error3 %f", error1, error2, error3); |
viviien | 30:390cab7cd6e6 | 461 | // wait(1.0/10.0); |
viviien | 30:390cab7cd6e6 | 462 | // } |
viviien | 28:43a1d67ff8ea | 463 | } |
viviien | 28:43a1d67ff8ea | 464 | else{ |
viviien | 31:3c13f1c35ee5 | 465 | pc.printf("else statement"); |
viviien | 31:3c13f1c35ee5 | 466 | // timer = false; |
viviien | 28:43a1d67ff8ea | 467 | z0=z0-5.0f; |
viviien | 21:c826abca79c3 | 468 | } |
viviien | 28:43a1d67ff8ea | 469 | } |
viviien | 28:43a1d67ff8ea | 470 | |
viviien | 28:43a1d67ff8ea | 471 | if (cc=='j') |
viviien | 28:43a1d67ff8ea | 472 | { |
viviien | 31:3c13f1c35ee5 | 473 | z0=z0-1.0f; |
viviien | 28:43a1d67ff8ea | 474 | if (z0>=-210 && z0<=-130){ |
viviien | 28:43a1d67ff8ea | 475 | movefunctioninit (); |
viviien | 31:3c13f1c35ee5 | 476 | // movestop(); |
viviien | 28:43a1d67ff8ea | 477 | } |
viviien | 28:43a1d67ff8ea | 478 | else { |
viviien | 31:3c13f1c35ee5 | 479 | // timer = false; |
viviien | 28:43a1d67ff8ea | 480 | z0=z0+5.0f; |
viviien | 28:43a1d67ff8ea | 481 | } |
viviien | 28:43a1d67ff8ea | 482 | } |
viviien | 28:43a1d67ff8ea | 483 | // end while |
viviien | 21:c826abca79c3 | 484 | } |
viviien | 29:7eb028b359a1 | 485 | |
viviien | 28:43a1d67ff8ea | 486 | // end main |
viviien | 22:9f911405e096 | 487 | } |