Signa-bot code for project BioRobotics, at University of Twente.
Dependencies: mbed QEI MODSERIAL FastPWM ttmath Math
Motor_tryout.cpp
- Committer:
- viviien
- Date:
- 2019-10-29
- Revision:
- 27:3eb181cbe183
- Parent:
- 26:432d3519ba86
- Child:
- 28:43a1d67ff8ea
File content as of revision 27:3eb181cbe183:
#include "mbed.h" #include "MODSERIAL.h" #include "QEI.h" #include "Math.h" #include "ttmath.h" MODSERIAL pc(USBTX, USBRX); //Serial term (USBTX, USBRX); PwmOut motor1_pwm(PTC2); DigitalOut motor1_dir(PTC3); PwmOut motor2_pwm(PTA2); DigitalOut motor2_dir(PTB23); PwmOut motor3_pwm(PTC4); DigitalOut motor3_dir(PTC12); QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING); QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING); QEI Encoder3(D2,D3,NC,64,QEI::X4_ENCODING); float steps1 = 0; float steps2 = 0; float steps3 = 0; int check; int quit; int limit_pos = 8400; float steps; int g = 0; bool check1; bool check2; bool check3; int counts1 = 0; int counts2 = 0; int counts3 = 0; const float le = 15.0; const float f = 37.5; const float re = 174.0; const float rf = 50.0; const float pi = 3.14159265358979323846; const float cospi = -0.5; const float sinpi = 0.8660254; float y2; float y1; float z1; float z2; float rje2; float rje; float r2; float r; float z0=-172; float y0=0; float x0=0; float x00; float y00; float z00; float theta1; float theta2; float theta3; float oldtheta1=0; float oldtheta2=0; float oldtheta3=0; Ticker pulses; void getpulses() { counts1 = Encoder1.getPulses(); counts2 = Encoder2.getPulses(); counts3 = Encoder3.getPulses(); } float delta_calcangleyz(float x00, float y00, float z00) { float y2 = y00 + le; float y1 = f; float z1 = 0.0; float z2 = z00; float rje2 = re*re - x00*x00; float rje = sqrt(rje2); float r2 = (y1-y2)*(y1-y2) + (z1-z00)*(z1-z00); float r = sqrt(r2); if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) { int check = 1; pc.printf("\n\rPunt bestaat niet"); } else { float alpha = acos((r2 + rf*rf -rje2)/(2*rf*r)); float beta = atan((z1-z2)/(y1-y2)); if(beta<0) { beta = beta + pi; } float theta1 = (beta - alpha)*180.0/pi; return theta1; } } float delta_calcinverse(float x00, float y00, float z00) { theta1 = theta2 = theta3 = 0; x00=x0; y00=y0; z00=z0; theta1 = delta_calcangleyz(x00, y00, z00); if (check == 0) { x00=x0*cospi+y0*sinpi; y00=y0*cospi-x0*sinpi; z00=z0; theta2 = delta_calcangleyz(x00, y00, z00); x00=x0*cospi-y0*sinpi; y00=y0*cospi+y0*sinpi; z00=z0; theta3 = delta_calcangleyz(x00, y00, z00); } return theta1, theta2, theta3; } float anglestep(float angle) { float steps; steps = angle / 360 * 8400; return steps; } float movefunctioninit () { theta1 = delta_calcinverse(x00,y00,z00); pc.printf("\n\r de hoeken zijn(%f, %f, %f)", theta1, theta2, theta3); pc.printf("\n\r coordinaten(%f, %f, %f)", x0, y0, z0); theta1 = theta1 - oldtheta1; theta2 = theta2 - oldtheta2; theta3 = theta3 - oldtheta3; steps1 = anglestep(theta1); steps2 = anglestep(theta2); steps3 = anglestep(theta3); pc.printf("\n\rsteps1 %f, steps2 %f, steps3 %f", steps1, steps2, steps3); // Set the direction of the motors. if (theta1 < 0) { motor1_dir.write(1); } else { motor1_dir.write(0); } if (theta2 < 0) { motor2_dir.write(0); } else { motor2_dir.write(1); } if (theta3 < 0) { motor3_dir.write(0); } else { motor3_dir.write(1); } int frequency_pwm = 10000; //10 kHz PWM motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f motor1_pwm.write(0.57); // write Duty Cycle motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f motor2_pwm.write(0.57); // write Duty Cycle motor3_pwm.period(1.0/(double)frequency_pwm); // T=1/f motor3_pwm.write(0.57); // write Duty Cycle check1 = true; check2 = true; check3 = true; Encoder1.reset(); Encoder2.reset(); Encoder3.reset(); } float movefunction() { while (check1 || check2 || check3) { pc.printf("\n\rcounts1 %i, counts2 %i, counts3 %i", counts1, counts2, counts3); if(abs(counts1)>=abs(steps1)) { pc.printf("\n 1 is false"); motor1_pwm.write(0); check1=false; pc.printf("\n\rcounts1 %i", counts1); } if (abs(counts2)>=abs(steps2)) { pc.printf("\n 2 is false"); motor2_pwm.write(0); check2=false; pc.printf("\n\rcounts2 %i", counts2); } if (abs(counts3)>=abs(steps3)) { pc.printf("\n 3 is false"); motor3_pwm.write(0); check3=false; pc.printf("\n\rcounts3 %i", counts3); } } pc.printf("\n\rcounts1 %i, counts2 %i, counts3 %i", counts1, counts2, counts3); wait(3.0); pc.printf("\n\rcounts1 %i, counts2 %i, counts3 %i", counts1, counts2, counts3); } int main(void) { pc.baud(115200); char cc = pc.getc(); while(true) { pulses.attach(&getpulses, 1.0/10000); Encoder1.reset(); Encoder2.reset(); Encoder3.reset(); counts1 = Encoder1.getPulses(); counts2 = Encoder2.getPulses(); counts3 = Encoder3.getPulses(); delta_calcinverse(x0,y0,z0); oldtheta1 = theta1; oldtheta2 = theta2; oldtheta3 = theta3; char cc = pc.getc(); if (cc=='d') { x0=x0+5.0f; if (x0>=-75 && x0<=75) { movefunctioninit (); movefunction (); } else { x0=x0-5.0f; } } if (cc=='a') { x0=x0-5.0f; if (x0>=-75 && x0<=75) { movefunctioninit (); movefunction (); } else { x0=x0+5.0f; } } if (cc=='w') { y0=y0+5.0f; if (y0>=-75 && y0<=75) { movefunctioninit (); movefunction (); } else { y0=y0-5.0f; } } if (cc=='s') { y0=y0-5.0f; if (y0>=-75 && y0<=75) { movefunctioninit (); movefunction (); } else { y0=y0+5.0f; } } if (cc=='u') { z0=z0+5.0f; if (z0>=-210 && z0<=-130) { movefunctioninit (); movefunction (); } else { z0=z0-5.0f; } } if (cc=='j') { z0=z0-5.0f; if (z0>=-210 && z0<=-130) { movefunctioninit (); movefunction (); } else { z0=z0+5.0f; } } } }