Vivien van Veldhuizen / Mbed 2 deprecated Signa-bot

Signa-bot code for project BioRobotics, at University of Twente.

Dependencies:   mbed QEI MODSERIAL FastPWM ttmath Math

Motor_tryout.cpp@22:9f911405e096, 2019-10-25 (annotated)

Committer:
viviien
Date:
Fri Oct 25 11:44:33 2019 +0000
Revision:
22:9f911405e096
Parent:
21:c826abca79c3
Child:
23:18b0be02187f
Bijna zoals de oude

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Feike 4:bd21569250c7 1 #include "mbed.h"
Feike 8:017b813c72bb 2 #include "MODSERIAL.h"
Feike 18:ab0fe311e7f3 3 #include "QEI1.h"
Feike 18:ab0fe311e7f3 4 #include "QEI2.h"
Feike 12:2382468d36a4 5 #include "QEI.h"
Feike 18:ab0fe311e7f3 6 #include "Math.h"
Feike 18:ab0fe311e7f3 7 #include "ttmath.h"
Feike 18:ab0fe311e7f3 8
Feike 17:6da57acb7bea 9 MODSERIAL pc(USBTX, USBRX);
Feike 18:ab0fe311e7f3 10 //Serial term (USBTX, USBRX);
Feike 17:6da57acb7bea 11 PwmOut motor1_pwm(PTC2);
Feike 17:6da57acb7bea 12 DigitalOut motor1_dir(PTC3);
Feike 18:ab0fe311e7f3 13 PwmOut motor2_pwm(PTA2);
Feike 18:ab0fe311e7f3 14 DigitalOut motor2_dir(PTB23);
Feike 18:ab0fe311e7f3 15 PwmOut motor3_pwm(PTC4);
Feike 18:ab0fe311e7f3 16 DigitalOut motor3_dir(PTC12);
Feike 4:bd21569250c7 17
Feike 18:ab0fe311e7f3 18 QEI1 Encoder1(D12,D13,NC,64,QEI1::X4_ENCODING);
Feike 18:ab0fe311e7f3 19 QEI2 Encoder2(D10,D11,NC,64,QEI2::X4_ENCODING);
Feike 18:ab0fe311e7f3 20 QEI Encoder(D2,D3,NC,64,QEI::X4_ENCODING);
Feike 7:e119b12e5e7f 21
Feike 19:9c8ab7922191 22 int check;
Feike 13:18dd7a15603f 23 int quit;
Feike 19:9c8ab7922191 24 int limit_pos = 8400;
Feike 19:9c8ab7922191 25 float steps;
Feike 19:9c8ab7922191 26 int g = 0;
Feike 19:9c8ab7922191 27
Feike 19:9c8ab7922191 28 bool check1;
Feike 19:9c8ab7922191 29 bool check2;
Feike 19:9c8ab7922191 30 bool check3;
Feike 18:ab0fe311e7f3 31 int counts1 = 0;
Feike 18:ab0fe311e7f3 32 int counts2 = 0;
Feike 18:ab0fe311e7f3 33 int counts3 = 0;
Feike 13:18dd7a15603f 34
Feike 18:ab0fe311e7f3 35 const float le = 15.0;
Feike 18:ab0fe311e7f3 36 const float f = 37.5;
Feike 18:ab0fe311e7f3 37 const float re = 174.0;
Feike 18:ab0fe311e7f3 38 const float rf = 50.0;
Feike 18:ab0fe311e7f3 39 const float pi = 3.14159265358979323846;
viviien 22:9f911405e096 40 const float cospi = -0.5;
viviien 22:9f911405e096 41 const float sinpi = 0.8660254;
Feike 18:ab0fe311e7f3 42 float y2;
Feike 18:ab0fe311e7f3 43 float y1;
Feike 18:ab0fe311e7f3 44 float z1;
Feike 18:ab0fe311e7f3 45 float z2;
Feike 18:ab0fe311e7f3 46 float rje2;
Feike 18:ab0fe311e7f3 47 float rje;
Feike 18:ab0fe311e7f3 48 float r2;
Feike 18:ab0fe311e7f3 49 float r;
Feike 19:9c8ab7922191 50
Feike 18:ab0fe311e7f3 51 float z0=-172;
Feike 18:ab0fe311e7f3 52 float y0=0;
Feike 18:ab0fe311e7f3 53 float x0=0;
viviien 21:c826abca79c3 54 float x00;
viviien 21:c826abca79c3 55 float y00;
viviien 21:c826abca79c3 56 float z00;
Feike 19:9c8ab7922191 57
Feike 18:ab0fe311e7f3 58 float theta1;
Feike 18:ab0fe311e7f3 59 float theta2;
Feike 18:ab0fe311e7f3 60 float theta3;
Feike 18:ab0fe311e7f3 61 float oldtheta1=0;
Feike 18:ab0fe311e7f3 62 float oldtheta2=0;
Feike 18:ab0fe311e7f3 63 float oldtheta3=0;
Feike 19:9c8ab7922191 64
viviien 21:c826abca79c3 65 float delta_calcangleyz(float x00, float y00, float z00) {
viviien 21:c826abca79c3 66 float y2 = y00 + le;
Feike 18:ab0fe311e7f3 67 float y1 = f;
Feike 18:ab0fe311e7f3 68 float z1 = 0.0;
viviien 21:c826abca79c3 69 float z2 = z00;
viviien 21:c826abca79c3 70 float rje2 = re*re - x00*x00;
Feike 18:ab0fe311e7f3 71 float rje = sqrt(rje2);
viviien 22:9f911405e096 72 float r2 = (y1-y2)*(y1-y2) + (z1-z00)*(z1-z00);
Feike 18:ab0fe311e7f3 73 float r = sqrt(r2);
Feike 18:ab0fe311e7f3 74
Feike 19:9c8ab7922191 75 if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) {
Feike 19:9c8ab7922191 76 int check = 1;
Feike 19:9c8ab7922191 77 pc.printf("\n\rPunt bestaat niet");
Feike 19:9c8ab7922191 78 }
Feike 19:9c8ab7922191 79 else {
Feike 19:9c8ab7922191 80 float alpha = acos((r2 + rf*rf -rje2)/(2*rf*r));
Feike 19:9c8ab7922191 81 float beta = atan((z1-z2)/(y1-y2));
Feike 19:9c8ab7922191 82 if(beta<0) {
Feike 18:ab0fe311e7f3 83 beta = beta + pi;
Feike 18:ab0fe311e7f3 84 }
Feike 19:9c8ab7922191 85 float theta1 = (beta - alpha)*180.0/pi;
Feike 19:9c8ab7922191 86 return theta1;
viviien 22:9f911405e096 87 }
Feike 18:ab0fe311e7f3 88 }
Feike 18:ab0fe311e7f3 89
viviien 21:c826abca79c3 90 float delta_calcinverse(float x00, float y00, float z00) {
viviien 21:c826abca79c3 91 theta1 = theta2 = theta3 = 0;
viviien 22:9f911405e096 92 x00=x0;
viviien 22:9f911405e096 93 y00=y0;
viviien 22:9f911405e096 94 z00=z0;
viviien 21:c826abca79c3 95 theta1 = delta_calcangleyz(x00, y00, z00);
viviien 21:c826abca79c3 96
viviien 21:c826abca79c3 97 if (check == 0) {
viviien 21:c826abca79c3 98 x00=x0*cospi+y0*sinpi;
viviien 21:c826abca79c3 99 y00=y0*cospi-x0*sinpi;
viviien 21:c826abca79c3 100 z00=z0;
viviien 22:9f911405e096 101 theta2 = delta_calcangleyz(x00, y00, z00);
viviien 21:c826abca79c3 102 x00=x0*cospi-y0*sinpi;
viviien 21:c826abca79c3 103 y00=y0*cospi+y0*sinpi;
viviien 21:c826abca79c3 104 z00=z0;
viviien 22:9f911405e096 105 theta3 = delta_calcangleyz(x00, y00, z00);
viviien 21:c826abca79c3 106 }
viviien 21:c826abca79c3 107
viviien 21:c826abca79c3 108 return theta1, theta2, theta3;
Feike 18:ab0fe311e7f3 109 }
Feike 18:ab0fe311e7f3 110
viviien 21:c826abca79c3 111 //Ticker pulse;
Feike 19:9c8ab7922191 112 void pulseget() {
Feike 18:ab0fe311e7f3 113 counts1 = Encoder1.getPulses();
Feike 18:ab0fe311e7f3 114 counts2 = Encoder2.getPulses();
Feike 18:ab0fe311e7f3 115 counts3 = Encoder.getPulses();
Feike 12:2382468d36a4 116 }
Feike 12:2382468d36a4 117
Feike 19:9c8ab7922191 118 float anglestep(float angle) {
Feike 18:ab0fe311e7f3 119 float steps;
Feike 18:ab0fe311e7f3 120 steps = angle / 360 * 8400;
Feike 18:ab0fe311e7f3 121 return steps;
Feike 17:6da57acb7bea 122 }
Feike 17:6da57acb7bea 123
viviien 21:c826abca79c3 124
viviien 22:9f911405e096 125 float movefunction() {
viviien 21:c826abca79c3 126
viviien 22:9f911405e096 127 theta1 = delta_calcinverse(x00,y00,z00);
viviien 21:c826abca79c3 128 pc.printf("\n\r de hoeken zijn(%f, %f, %f)", theta1, theta2, theta3);
viviien 21:c826abca79c3 129 pc.printf("\n\r coordinaten(%f, %f, %f)", x0, y0, z0);
viviien 21:c826abca79c3 130
viviien 21:c826abca79c3 131 theta1 = theta1 - oldtheta1;
viviien 21:c826abca79c3 132 theta2 = theta2 - oldtheta2;
viviien 21:c826abca79c3 133 theta3 = theta3 - oldtheta3;
viviien 21:c826abca79c3 134
viviien 21:c826abca79c3 135 float steps1 = anglestep(theta1);
viviien 21:c826abca79c3 136 float steps2 = anglestep(theta2);
viviien 21:c826abca79c3 137 float steps3 = anglestep(theta3);
viviien 21:c826abca79c3 138
viviien 21:c826abca79c3 139 // Set the direction of the motors.
viviien 21:c826abca79c3 140 if (theta1 < 0) {
viviien 21:c826abca79c3 141 motor1_dir.write(1);
viviien 21:c826abca79c3 142 }
viviien 21:c826abca79c3 143 else {
viviien 21:c826abca79c3 144 motor1_dir.write(0);
viviien 21:c826abca79c3 145 }
viviien 21:c826abca79c3 146
viviien 21:c826abca79c3 147 if (theta2 < 0) {
viviien 21:c826abca79c3 148 motor2_dir.write(0);
viviien 21:c826abca79c3 149 }
viviien 21:c826abca79c3 150 else {
viviien 21:c826abca79c3 151 motor2_dir.write(1);
viviien 21:c826abca79c3 152 }
viviien 21:c826abca79c3 153
viviien 21:c826abca79c3 154 if (theta3 < 0) {
viviien 21:c826abca79c3 155 motor3_dir.write(0);
viviien 21:c826abca79c3 156 }
viviien 21:c826abca79c3 157 else {
viviien 21:c826abca79c3 158 motor3_dir.write(1);
viviien 21:c826abca79c3 159 }
viviien 21:c826abca79c3 160
viviien 21:c826abca79c3 161 int frequency_pwm = 10000; //10 kHz PWM
viviien 21:c826abca79c3 162 motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f
viviien 21:c826abca79c3 163 motor1_pwm.write(0.7); // write Duty Cycle
viviien 21:c826abca79c3 164
viviien 21:c826abca79c3 165 motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f
viviien 21:c826abca79c3 166 motor2_pwm.write(0.7); // write Duty Cycle
viviien 21:c826abca79c3 167
viviien 21:c826abca79c3 168 motor3_pwm.period(1.0/(double)frequency_pwm); // T=1/f
viviien 22:9f911405e096 169 motor3_pwm.write(0.7); // write Duty Cycle
viviien 22:9f911405e096 170
viviien 22:9f911405e096 171 check1 = true;
viviien 22:9f911405e096 172 check2 = true;
viviien 22:9f911405e096 173 check3 = true;
viviien 21:c826abca79c3 174
viviien 21:c826abca79c3 175 while (check1 || check2 || check3) {
viviien 21:c826abca79c3 176 counts1 = Encoder1.getPulses();
viviien 21:c826abca79c3 177 counts2 = Encoder2.getPulses();
viviien 21:c826abca79c3 178 counts3 = Encoder.getPulses();
viviien 21:c826abca79c3 179
viviien 21:c826abca79c3 180 wait(1.0/500);
viviien 21:c826abca79c3 181
viviien 21:c826abca79c3 182 if(abs(counts1)>=abs(steps1)) {
viviien 21:c826abca79c3 183 motor1_pwm.write(0);
viviien 21:c826abca79c3 184 check1=false;
viviien 21:c826abca79c3 185 counts1=0;
viviien 21:c826abca79c3 186 wait(1.0/100);
viviien 21:c826abca79c3 187 }
viviien 21:c826abca79c3 188 if (abs(counts2)>=abs(steps2)) {
viviien 21:c826abca79c3 189 motor2_pwm.write(0);
viviien 21:c826abca79c3 190 check2=false;
viviien 21:c826abca79c3 191 counts2=0;
viviien 21:c826abca79c3 192 wait(1.0/100);
viviien 21:c826abca79c3 193 }
viviien 21:c826abca79c3 194 if (abs(counts3)>=abs(steps3)) {
viviien 21:c826abca79c3 195 motor3_pwm.write(0);
viviien 21:c826abca79c3 196 check3=false;
viviien 21:c826abca79c3 197 //pc.printf("\n\rsteps %f, counts %f", steps3, counts3);
viviien 21:c826abca79c3 198 counts3=0;
viviien 21:c826abca79c3 199 wait(1.0/100);
viviien 21:c826abca79c3 200 }
viviien 21:c826abca79c3 201 }
viviien 22:9f911405e096 202 }
viviien 22:9f911405e096 203
viviien 22:9f911405e096 204 int main(void) {
Feike 18:ab0fe311e7f3 205 pc.baud(115200);
Feike 18:ab0fe311e7f3 206
Feike 17:6da57acb7bea 207 char cc = pc.getc();
Feike 19:9c8ab7922191 208
Feike 19:9c8ab7922191 209 while(true) {
Feike 19:9c8ab7922191 210 counts1 = 0;
Feike 19:9c8ab7922191 211 counts2 = 0;
Feike 19:9c8ab7922191 212 counts3 = 0;
Feike 18:ab0fe311e7f3 213
Feike 19:9c8ab7922191 214 delta_calcinverse(x0,y0,z0);
Feike 19:9c8ab7922191 215
Feike 19:9c8ab7922191 216 oldtheta1 = theta1;
Feike 19:9c8ab7922191 217 oldtheta2 = theta2;
viviien 21:c826abca79c3 218 oldtheta3 = theta3;
Feike 18:ab0fe311e7f3 219 char cc = pc.getc();
Feike 18:ab0fe311e7f3 220
viviien 21:c826abca79c3 221 if (cc=='d') {
viviien 22:9f911405e096 222 x0=x0+2.0f;
viviien 22:9f911405e096 223 if (x0>=-75 && x0<=75) {
viviien 22:9f911405e096 224 movefunction ();
viviien 22:9f911405e096 225 }
viviien 22:9f911405e096 226 else {
viviien 22:9f911405e096 227 x0=x0-2.0f;
viviien 22:9f911405e096 228 }
viviien 21:c826abca79c3 229 }
Feike 19:9c8ab7922191 230
viviien 21:c826abca79c3 231 if (cc=='a') {
viviien 21:c826abca79c3 232 x0=x0-2.0f;
viviien 21:c826abca79c3 233 if (x0>=-75 && x0<=75) {
viviien 21:c826abca79c3 234 movefunction ();
viviien 21:c826abca79c3 235 }
viviien 21:c826abca79c3 236 else {
viviien 21:c826abca79c3 237 x0=x0+2.0f;
viviien 21:c826abca79c3 238 }
viviien 21:c826abca79c3 239 }
viviien 21:c826abca79c3 240
viviien 21:c826abca79c3 241 if (cc=='w') {
viviien 21:c826abca79c3 242 y0=y0+2.0f;
viviien 21:c826abca79c3 243 if (y0>=-75 && y0<=75) {
viviien 21:c826abca79c3 244 movefunction ();
viviien 21:c826abca79c3 245 }
viviien 21:c826abca79c3 246 else {
viviien 21:c826abca79c3 247 y0=y0-2.0f;
viviien 21:c826abca79c3 248 }
Feike 19:9c8ab7922191 249 }
Feike 19:9c8ab7922191 250
viviien 21:c826abca79c3 251 if (cc=='s') {
viviien 21:c826abca79c3 252 y0=y0-2.0f;
viviien 21:c826abca79c3 253 if (y0>=-75 && y0<=75) {
viviien 21:c826abca79c3 254 movefunction ();
viviien 21:c826abca79c3 255 }
viviien 21:c826abca79c3 256 else {
viviien 21:c826abca79c3 257 y0=y0+2.0f;
Feike 19:9c8ab7922191 258 }
viviien 21:c826abca79c3 259 }
viviien 21:c826abca79c3 260
viviien 21:c826abca79c3 261 if (cc=='u') {
viviien 21:c826abca79c3 262 z0=z0+2.0f;
viviien 21:c826abca79c3 263 if (z0>=-210 && z0<=-130) {
viviien 21:c826abca79c3 264 movefunction ();
viviien 21:c826abca79c3 265 }
viviien 21:c826abca79c3 266 else {
viviien 21:c826abca79c3 267 z0=z0-2.0f;
viviien 21:c826abca79c3 268 }
viviien 21:c826abca79c3 269 }
Feike 18:ab0fe311e7f3 270
viviien 21:c826abca79c3 271 if (cc=='j') {
viviien 21:c826abca79c3 272 z0=z0-2.0f;
viviien 21:c826abca79c3 273 if (z0>=-210 && z0<=-130) {
viviien 21:c826abca79c3 274 movefunction ();
viviien 21:c826abca79c3 275 }
viviien 21:c826abca79c3 276 else {
viviien 21:c826abca79c3 277 z0=z0+2.0f;
Feike 18:ab0fe311e7f3 278 }
viviien 21:c826abca79c3 279 }
viviien 22:9f911405e096 280 }
viviien 22:9f911405e096 281 }