Signa-bot code for project BioRobotics, at University of Twente.
Dependencies: mbed QEI MODSERIAL FastPWM ttmath Math
Motor_tryout.cpp@19:9c8ab7922191, 2019-10-25 (annotated)
- Committer:
- Feike
- Date:
- Fri Oct 25 07:18:00 2019 +0000
- Revision:
- 19:9c8ab7922191
- Parent:
- 18:ab0fe311e7f3
- Child:
- 21:c826abca79c3
QEI 1
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 | 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; |
Feike | 18:ab0fe311e7f3 | 40 | float y2; |
Feike | 18:ab0fe311e7f3 | 41 | float y1; |
Feike | 18:ab0fe311e7f3 | 42 | float z1; |
Feike | 18:ab0fe311e7f3 | 43 | float z2; |
Feike | 18:ab0fe311e7f3 | 44 | float rje2; |
Feike | 18:ab0fe311e7f3 | 45 | float rje; |
Feike | 18:ab0fe311e7f3 | 46 | float r2; |
Feike | 18:ab0fe311e7f3 | 47 | float r; |
Feike | 19:9c8ab7922191 | 48 | |
Feike | 18:ab0fe311e7f3 | 49 | float z0=-172; |
Feike | 18:ab0fe311e7f3 | 50 | float y0=0; |
Feike | 18:ab0fe311e7f3 | 51 | float x0=0; |
Feike | 19:9c8ab7922191 | 52 | |
Feike | 18:ab0fe311e7f3 | 53 | float theta1; |
Feike | 18:ab0fe311e7f3 | 54 | float theta2; |
Feike | 18:ab0fe311e7f3 | 55 | float theta3; |
Feike | 18:ab0fe311e7f3 | 56 | float oldtheta1=0; |
Feike | 18:ab0fe311e7f3 | 57 | float oldtheta2=0; |
Feike | 18:ab0fe311e7f3 | 58 | float oldtheta3=0; |
Feike | 19:9c8ab7922191 | 59 | |
Feike | 18:ab0fe311e7f3 | 60 | float delta_calcangleyz(float x0, float y0, float z0) { |
Feike | 18:ab0fe311e7f3 | 61 | float y2 = y0 + le; |
Feike | 18:ab0fe311e7f3 | 62 | float y1 = f; |
Feike | 18:ab0fe311e7f3 | 63 | float z1 = 0.0; |
Feike | 18:ab0fe311e7f3 | 64 | float z2 = z0; |
Feike | 18:ab0fe311e7f3 | 65 | float rje2 = re*re - x0*x0; |
Feike | 18:ab0fe311e7f3 | 66 | float rje = sqrt(rje2); |
Feike | 18:ab0fe311e7f3 | 67 | float r2 = (y1-y2)*(y1-y2) + (z1-z0)*(z1-z0); |
Feike | 18:ab0fe311e7f3 | 68 | float r = sqrt(r2); |
Feike | 18:ab0fe311e7f3 | 69 | |
Feike | 19:9c8ab7922191 | 70 | if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) { |
Feike | 19:9c8ab7922191 | 71 | int check = 1; |
Feike | 19:9c8ab7922191 | 72 | pc.printf("\n\rPunt bestaat niet"); |
Feike | 19:9c8ab7922191 | 73 | } |
Feike | 19:9c8ab7922191 | 74 | else { |
Feike | 19:9c8ab7922191 | 75 | float alpha = acos((r2 + rf*rf -rje2)/(2*rf*r)); |
Feike | 19:9c8ab7922191 | 76 | float beta = atan((z1-z2)/(y1-y2)); |
Feike | 19:9c8ab7922191 | 77 | if(beta<0) { |
Feike | 18:ab0fe311e7f3 | 78 | beta = beta + pi; |
Feike | 18:ab0fe311e7f3 | 79 | } |
Feike | 19:9c8ab7922191 | 80 | float theta1 = (beta - alpha)*180.0/pi; |
Feike | 19:9c8ab7922191 | 81 | return theta1; |
Feike | 18:ab0fe311e7f3 | 82 | } |
Feike | 18:ab0fe311e7f3 | 83 | } |
Feike | 18:ab0fe311e7f3 | 84 | |
Feike | 18:ab0fe311e7f3 | 85 | float delta_calcinverse(float x0, float y0, float z0) { |
Feike | 19:9c8ab7922191 | 86 | theta1 = theta2 = theta3 = 0; |
Feike | 19:9c8ab7922191 | 87 | theta1 = delta_calcangleyz(x0, y0, z0); |
Feike | 19:9c8ab7922191 | 88 | |
Feike | 19:9c8ab7922191 | 89 | if (check == 0) { |
Feike | 19:9c8ab7922191 | 90 | theta2 = delta_calcangleyz(x0*cos(2/3*pi) + y0*sin(2/3*pi), y0*cos(2/3*pi)-x0*sin(2/3*pi), z0); |
Feike | 19:9c8ab7922191 | 91 | theta3 = delta_calcangleyz(x0*cos(2/3*pi) - y0*sin(2/3*pi), y0*cos(2/3*pi)+x0*sin(2/3*pi), z0); |
Feike | 19:9c8ab7922191 | 92 | } |
Feike | 19:9c8ab7922191 | 93 | |
Feike | 18:ab0fe311e7f3 | 94 | return theta1, theta2, theta3; |
Feike | 18:ab0fe311e7f3 | 95 | } |
Feike | 18:ab0fe311e7f3 | 96 | |
Feike | 12:2382468d36a4 | 97 | Ticker pulse; |
Feike | 19:9c8ab7922191 | 98 | void pulseget() { |
Feike | 18:ab0fe311e7f3 | 99 | counts1 = Encoder1.getPulses(); |
Feike | 18:ab0fe311e7f3 | 100 | counts2 = Encoder2.getPulses(); |
Feike | 18:ab0fe311e7f3 | 101 | counts3 = Encoder.getPulses(); |
Feike | 12:2382468d36a4 | 102 | } |
Feike | 12:2382468d36a4 | 103 | |
Feike | 19:9c8ab7922191 | 104 | float anglestep(float angle) { |
Feike | 18:ab0fe311e7f3 | 105 | float steps; |
Feike | 18:ab0fe311e7f3 | 106 | steps = angle / 360 * 8400; |
Feike | 18:ab0fe311e7f3 | 107 | return steps; |
Feike | 17:6da57acb7bea | 108 | } |
Feike | 17:6da57acb7bea | 109 | |
Feike | 12:2382468d36a4 | 110 | // DE MAIN FUNCTIE |
Feike | 4:bd21569250c7 | 111 | int main(void) |
Feike | 18:ab0fe311e7f3 | 112 | { |
Feike | 18:ab0fe311e7f3 | 113 | pc.baud(115200); |
Feike | 18:ab0fe311e7f3 | 114 | |
Feike | 17:6da57acb7bea | 115 | char cc = pc.getc(); |
Feike | 19:9c8ab7922191 | 116 | |
Feike | 19:9c8ab7922191 | 117 | while(true) { |
Feike | 19:9c8ab7922191 | 118 | counts1 = 0; |
Feike | 19:9c8ab7922191 | 119 | counts2 = 0; |
Feike | 19:9c8ab7922191 | 120 | counts3 = 0; |
Feike | 18:ab0fe311e7f3 | 121 | |
Feike | 19:9c8ab7922191 | 122 | delta_calcinverse(x0,y0,z0); |
Feike | 19:9c8ab7922191 | 123 | |
Feike | 19:9c8ab7922191 | 124 | oldtheta1 = theta1; |
Feike | 19:9c8ab7922191 | 125 | oldtheta2 = theta2; |
Feike | 19:9c8ab7922191 | 126 | oldtheta3 = theta3; |
Feike | 19:9c8ab7922191 | 127 | |
Feike | 18:ab0fe311e7f3 | 128 | char cc = pc.getc(); |
Feike | 18:ab0fe311e7f3 | 129 | |
Feike | 18:ab0fe311e7f3 | 130 | |
Feike | 18:ab0fe311e7f3 | 131 | if (cc=='a') { |
Feike | 19:9c8ab7922191 | 132 | check1=true; |
Feike | 19:9c8ab7922191 | 133 | check2=true; |
Feike | 19:9c8ab7922191 | 134 | check3=true; |
Feike | 19:9c8ab7922191 | 135 | |
Feike | 19:9c8ab7922191 | 136 | z0=z0+2.0f; |
Feike | 19:9c8ab7922191 | 137 | |
Feike | 18:ab0fe311e7f3 | 138 | theta1 = delta_calcinverse(x0,y0,z0); |
Feike | 18:ab0fe311e7f3 | 139 | |
Feike | 18:ab0fe311e7f3 | 140 | theta1 = theta1 - oldtheta1; |
Feike | 18:ab0fe311e7f3 | 141 | theta2 = theta2 - oldtheta2; |
Feike | 19:9c8ab7922191 | 142 | theta3 = theta3 - oldtheta3; |
Feike | 18:ab0fe311e7f3 | 143 | |
Feike | 18:ab0fe311e7f3 | 144 | float steps1 = anglestep(theta1); |
Feike | 18:ab0fe311e7f3 | 145 | float steps2 = anglestep(theta2); |
Feike | 18:ab0fe311e7f3 | 146 | float steps3 = anglestep(theta3); |
Feike | 17:6da57acb7bea | 147 | |
Feike | 19:9c8ab7922191 | 148 | motor1_dir.write(1); // positief |
Feike | 19:9c8ab7922191 | 149 | motor2_dir.write(0); // positief |
Feike | 19:9c8ab7922191 | 150 | motor3_dir.write(1); // positief |
Feike | 18:ab0fe311e7f3 | 151 | |
Feike | 19:9c8ab7922191 | 152 | if (steps1>0) { |
Feike | 18:ab0fe311e7f3 | 153 | motor1_dir.write(0); // positief |
Feike | 18:ab0fe311e7f3 | 154 | } |
Feike | 19:9c8ab7922191 | 155 | if (steps1>0) { |
Feike | 19:9c8ab7922191 | 156 | motor2_dir.write(1); // positief |
Feike | 19:9c8ab7922191 | 157 | } |
Feike | 19:9c8ab7922191 | 158 | if (steps1>0) { |
Feike | 19:9c8ab7922191 | 159 | motor3_dir.write(0); // positief |
Feike | 19:9c8ab7922191 | 160 | } |
Feike | 18:ab0fe311e7f3 | 161 | |
Feike | 18:ab0fe311e7f3 | 162 | int frequency_pwm = 10000; //10 kHz PWM |
Feike | 18:ab0fe311e7f3 | 163 | motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
Feike | 18:ab0fe311e7f3 | 164 | motor1_pwm.write(0.7); // write Duty Cycle |
Feike | 18:ab0fe311e7f3 | 165 | |
Feike | 18:ab0fe311e7f3 | 166 | motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
Feike | 18:ab0fe311e7f3 | 167 | motor2_pwm.write(0.7); // write Duty Cycle |
Feike | 18:ab0fe311e7f3 | 168 | |
Feike | 18:ab0fe311e7f3 | 169 | motor3_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
Feike | 18:ab0fe311e7f3 | 170 | motor3_pwm.write(0.7); // write Duty Cycle |
Feike | 19:9c8ab7922191 | 171 | |
Feike | 19:9c8ab7922191 | 172 | wait(1.0/100); |
Feike | 19:9c8ab7922191 | 173 | |
Feike | 18:ab0fe311e7f3 | 174 | |
Feike | 19:9c8ab7922191 | 175 | while (check1 || check2 || check3) { |
Feike | 19:9c8ab7922191 | 176 | counts1 = Encoder1.getPulses(); |
Feike | 19:9c8ab7922191 | 177 | counts2 = Encoder2.getPulses(); |
Feike | 19:9c8ab7922191 | 178 | counts3 = Encoder.getPulses(); |
Feike | 19:9c8ab7922191 | 179 | |
Feike | 19:9c8ab7922191 | 180 | wait(1.0/1000); |
Feike | 19:9c8ab7922191 | 181 | //pc.printf("while"); |
Feike | 18:ab0fe311e7f3 | 182 | if(abs(counts1)>=abs(steps1)) { |
Feike | 18:ab0fe311e7f3 | 183 | motor1_pwm.write(0); |
Feike | 19:9c8ab7922191 | 184 | check1=false; |
Feike | 19:9c8ab7922191 | 185 | counts1=0; |
Feike | 18:ab0fe311e7f3 | 186 | } |
Feike | 18:ab0fe311e7f3 | 187 | if (abs(counts2)>=abs(steps2)) { |
Feike | 18:ab0fe311e7f3 | 188 | motor2_pwm.write(0); |
Feike | 19:9c8ab7922191 | 189 | check2=false; |
Feike | 19:9c8ab7922191 | 190 | counts2=0; |
Feike | 18:ab0fe311e7f3 | 191 | } |
Feike | 18:ab0fe311e7f3 | 192 | if (abs(counts3)>=abs(steps3)) { |
Feike | 18:ab0fe311e7f3 | 193 | motor3_pwm.write(0); |
Feike | 19:9c8ab7922191 | 194 | check3=false; |
Feike | 19:9c8ab7922191 | 195 | counts3=0; |
Feike | 19:9c8ab7922191 | 196 | } |
Feike | 19:9c8ab7922191 | 197 | } |
Feike | 19:9c8ab7922191 | 198 | } |
Feike | 19:9c8ab7922191 | 199 | |
Feike | 19:9c8ab7922191 | 200 | if (cc=='d') { |
Feike | 19:9c8ab7922191 | 201 | |
Feike | 19:9c8ab7922191 | 202 | check1=true; |
Feike | 19:9c8ab7922191 | 203 | check2=true; |
Feike | 19:9c8ab7922191 | 204 | check3=true; |
Feike | 19:9c8ab7922191 | 205 | |
Feike | 19:9c8ab7922191 | 206 | x0=x0-2.0f; |
Feike | 19:9c8ab7922191 | 207 | |
Feike | 19:9c8ab7922191 | 208 | theta1 = delta_calcinverse(x0,y0,z0); |
Feike | 19:9c8ab7922191 | 209 | pc.printf("\n\r de hoeken zijn(%f, %f, %f)", theta1, theta2, theta3); |
Feike | 19:9c8ab7922191 | 210 | pc.printf("\n\r coordinaten(%f, %f, %f)", x0, y0, z0); |
Feike | 19:9c8ab7922191 | 211 | |
Feike | 19:9c8ab7922191 | 212 | theta1 = theta1 - oldtheta1; |
Feike | 19:9c8ab7922191 | 213 | theta2 = theta2 - oldtheta2; |
Feike | 19:9c8ab7922191 | 214 | theta3 = theta3 - oldtheta3; |
Feike | 19:9c8ab7922191 | 215 | |
Feike | 19:9c8ab7922191 | 216 | float steps1 = anglestep(theta1); |
Feike | 19:9c8ab7922191 | 217 | float steps2 = anglestep(theta2); |
Feike | 19:9c8ab7922191 | 218 | float steps3 = anglestep(theta3); |
Feike | 19:9c8ab7922191 | 219 | |
Feike | 19:9c8ab7922191 | 220 | //pc.printf("\n\r (%f, %f, %f)", steps1, steps2, steps3); |
Feike | 19:9c8ab7922191 | 221 | |
Feike | 19:9c8ab7922191 | 222 | |
Feike | 19:9c8ab7922191 | 223 | motor1_dir.write(0); // positief |
Feike | 19:9c8ab7922191 | 224 | motor2_dir.write(1); // positief |
Feike | 19:9c8ab7922191 | 225 | motor3_dir.write(0); // positief |
Feike | 19:9c8ab7922191 | 226 | |
Feike | 19:9c8ab7922191 | 227 | if (steps1<0) { |
Feike | 19:9c8ab7922191 | 228 | motor1_dir.write(1); // positief |
Feike | 19:9c8ab7922191 | 229 | } |
Feike | 19:9c8ab7922191 | 230 | if (steps1<0) { |
Feike | 19:9c8ab7922191 | 231 | motor2_dir.write(0); // positief |
Feike | 19:9c8ab7922191 | 232 | } |
Feike | 19:9c8ab7922191 | 233 | if (steps1<0) { |
Feike | 19:9c8ab7922191 | 234 | motor3_dir.write(1); // positief |
Feike | 19:9c8ab7922191 | 235 | } |
Feike | 19:9c8ab7922191 | 236 | |
Feike | 19:9c8ab7922191 | 237 | int frequency_pwm = 10000; //10 kHz PWM |
Feike | 19:9c8ab7922191 | 238 | motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
Feike | 19:9c8ab7922191 | 239 | motor1_pwm.write(0.7); // write Duty Cycle |
Feike | 19:9c8ab7922191 | 240 | |
Feike | 19:9c8ab7922191 | 241 | motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
Feike | 19:9c8ab7922191 | 242 | motor2_pwm.write(0.7); // write Duty Cycle |
Feike | 19:9c8ab7922191 | 243 | |
Feike | 19:9c8ab7922191 | 244 | motor3_pwm.period(1.0/(double)frequency_pwm); // T=1/f |
Feike | 19:9c8ab7922191 | 245 | motor3_pwm.write(0.7); // write Duty Cycle |
Feike | 19:9c8ab7922191 | 246 | |
Feike | 19:9c8ab7922191 | 247 | while (check1 || check2 || check3) { |
Feike | 19:9c8ab7922191 | 248 | counts1 = Encoder1.getPulses(); |
Feike | 19:9c8ab7922191 | 249 | counts2 = Encoder2.getPulses(); |
Feike | 19:9c8ab7922191 | 250 | counts3 = Encoder.getPulses(); |
Feike | 19:9c8ab7922191 | 251 | |
Feike | 19:9c8ab7922191 | 252 | wait(1.0/500); |
Feike | 19:9c8ab7922191 | 253 | //pc.printf("while"); |
Feike | 19:9c8ab7922191 | 254 | if(abs(counts1)>=abs(steps1)) { |
Feike | 19:9c8ab7922191 | 255 | motor1_pwm.write(0); |
Feike | 19:9c8ab7922191 | 256 | check1=false; |
Feike | 19:9c8ab7922191 | 257 | counts1=0; |
Feike | 19:9c8ab7922191 | 258 | wait(1.0/100); |
Feike | 19:9c8ab7922191 | 259 | } |
Feike | 19:9c8ab7922191 | 260 | if (abs(counts2)>=abs(steps2)) { |
Feike | 19:9c8ab7922191 | 261 | motor2_pwm.write(0); |
Feike | 19:9c8ab7922191 | 262 | check2=false; |
Feike | 19:9c8ab7922191 | 263 | counts2=0; |
Feike | 19:9c8ab7922191 | 264 | wait(1.0/100); |
Feike | 19:9c8ab7922191 | 265 | } |
Feike | 19:9c8ab7922191 | 266 | if (abs(counts3)>=abs(steps3)) { |
Feike | 19:9c8ab7922191 | 267 | motor3_pwm.write(0); |
Feike | 19:9c8ab7922191 | 268 | check3=false; |
Feike | 19:9c8ab7922191 | 269 | //pc.printf("\n\rsteps %f, counts %f", steps3, counts3); |
Feike | 19:9c8ab7922191 | 270 | counts3=0; |
Feike | 19:9c8ab7922191 | 271 | wait(1.0/100); |
Feike | 18:ab0fe311e7f3 | 272 | } |
Feike | 8:017b813c72bb | 273 | } |
Feike | 18:ab0fe311e7f3 | 274 | |
Feike | 18:ab0fe311e7f3 | 275 | } |
Feike | 18:ab0fe311e7f3 | 276 | |
Feike | 18:ab0fe311e7f3 | 277 | |
Feike | 18:ab0fe311e7f3 | 278 | wait(1.0/100); |
Feike | 18:ab0fe311e7f3 | 279 | } |
Feike | 18:ab0fe311e7f3 | 280 | } |