PID controller voor 1 motor die een hoek van 20 graden draait, niet werkend.
Dependencies: MODSERIAL QEI mbed biquadFilter
Inverse Kinematics + PID Controller
main.cpp@9:334b1596637b, 2016-10-26 (annotated)
- Committer:
- willem_hoitzing
- Date:
- Wed Oct 26 14:00:22 2016 +0000
- Revision:
- 9:334b1596637b
- Parent:
- 8:008a7bf80fa0
- Child:
- 10:f60f9849980a
Inverse Kinematics, PID controller zonder biquad, uitgeschreven.; Werkt nog niet
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
willem_hoitzing | 0:26ce65a63616 | 1 | #include "stdio.h" |
willem_hoitzing | 0:26ce65a63616 | 2 | #include "math.h" |
willem_hoitzing | 0:26ce65a63616 | 3 | #include "mbed.h" |
willem_hoitzing | 0:26ce65a63616 | 4 | #include "QEI.h" |
willem_hoitzing | 0:26ce65a63616 | 5 | #include "MODSERIAL.h" |
willem_hoitzing | 3:6ba52d1ae499 | 6 | #include "BiQuad.h" |
willem_hoitzing | 0:26ce65a63616 | 7 | |
willem_hoitzing | 0:26ce65a63616 | 8 | MODSERIAL pc(USBTX, USBRX); |
willem_hoitzing | 2:0a976fb06ff8 | 9 | QEI wheel_M1 (D13, D12, NC, 32); |
willem_hoitzing | 2:0a976fb06ff8 | 10 | QEI wheel_M2 (D10, D11, NC, 32); |
willem_hoitzing | 2:0a976fb06ff8 | 11 | PwmOut pwm_M1 (D6); |
willem_hoitzing | 2:0a976fb06ff8 | 12 | PwmOut pwm_M2 (D5); |
willem_hoitzing | 2:0a976fb06ff8 | 13 | DigitalOut dir_M1 (D7); |
willem_hoitzing | 2:0a976fb06ff8 | 14 | DigitalOut dir_M2 (D4); |
willem_hoitzing | 7:1444604f10d4 | 15 | |
willem_hoitzing | 7:1444604f10d4 | 16 | DigitalOut ledg (LED_GREEN); |
willem_hoitzing | 7:1444604f10d4 | 17 | DigitalOut ledr (LED_RED); |
willem_hoitzing | 7:1444604f10d4 | 18 | DigitalOut ledb (LED_BLUE); |
willem_hoitzing | 7:1444604f10d4 | 19 | InterruptIn knop_biceps(SW2); |
willem_hoitzing | 7:1444604f10d4 | 20 | InterruptIn knop_triceps(SW3); |
willem_hoitzing | 7:1444604f10d4 | 21 | InterruptIn knop_switch(D9); |
willem_hoitzing | 0:26ce65a63616 | 22 | |
willem_hoitzing | 9:334b1596637b | 23 | volatile float q1 = 0; |
willem_hoitzing | 9:334b1596637b | 24 | volatile float q2 = 0; |
willem_hoitzing | 9:334b1596637b | 25 | volatile float q1_begin; |
willem_hoitzing | 9:334b1596637b | 26 | volatile float q2_begin; |
willem_hoitzing | 9:334b1596637b | 27 | volatile float l1 = 0.3626; |
willem_hoitzing | 9:334b1596637b | 28 | volatile float l2 = 0.420; |
willem_hoitzing | 9:334b1596637b | 29 | volatile float q1_v; |
willem_hoitzing | 9:334b1596637b | 30 | volatile float q2_v; |
willem_hoitzing | 9:334b1596637b | 31 | float q1_ref = 0; |
willem_hoitzing | 9:334b1596637b | 32 | float q2_ref = 0; |
willem_hoitzing | 9:334b1596637b | 33 | float q1_error = 0; |
willem_hoitzing | 9:334b1596637b | 34 | float q2_error = 0; |
willem_hoitzing | 9:334b1596637b | 35 | float q1_error_prev = 0; |
willem_hoitzing | 9:334b1596637b | 36 | float q2_error_prev = 0; |
willem_hoitzing | 9:334b1596637b | 37 | float q1DerivativeError = 0; |
willem_hoitzing | 9:334b1596637b | 38 | float q2DerivativeError = 0; |
willem_hoitzing | 9:334b1596637b | 39 | float q1IntError = 0; |
willem_hoitzing | 9:334b1596637b | 40 | float q2IntError = 0; |
willem_hoitzing | 9:334b1596637b | 41 | float TotalError1= 0; |
willem_hoitzing | 9:334b1596637b | 42 | float TotalError2= 0; |
willem_hoitzing | 9:334b1596637b | 43 | float motorValue1Out = 0.0; |
willem_hoitzing | 9:334b1596637b | 44 | float motorValue2Out = 0.0; |
willem_hoitzing | 9:334b1596637b | 45 | volatile float ctrlOutput_M1 = 0; |
willem_hoitzing | 9:334b1596637b | 46 | volatile float ctrlOutput_M2 = 0; |
willem_hoitzing | 9:334b1596637b | 47 | volatile float vx; |
willem_hoitzing | 9:334b1596637b | 48 | volatile float vy; |
willem_hoitzing | 7:1444604f10d4 | 49 | volatile bool translatie_richting = true; //true is verticaal, false is horizontaal |
willem_hoitzing | 0:26ce65a63616 | 50 | |
willem_hoitzing | 9:334b1596637b | 51 | const float TS = 0.02; |
willem_hoitzing | 9:334b1596637b | 52 | const float MotorGain = 8.4; // bij pwm = 1 draait (losse) motor met 8.4 rad/s |
willem_hoitzing | 3:6ba52d1ae499 | 53 | |
willem_hoitzing | 4:a5f3e1838e3e | 54 | Ticker update_encoder_ticker; |
willem_hoitzing | 5:0251fde34cdc | 55 | volatile bool go_flag_update_encoder = false; |
willem_hoitzing | 5:0251fde34cdc | 56 | void flag_update_encoder() |
willem_hoitzing | 5:0251fde34cdc | 57 | { |
willem_hoitzing | 5:0251fde34cdc | 58 | go_flag_update_encoder = true; |
willem_hoitzing | 5:0251fde34cdc | 59 | } |
willem_hoitzing | 5:0251fde34cdc | 60 | |
willem_hoitzing | 4:a5f3e1838e3e | 61 | void update_encoder() |
willem_hoitzing | 2:0a976fb06ff8 | 62 | { |
willem_hoitzing | 5:0251fde34cdc | 63 | q1 = wheel_M1.getPulses()/(1334.355/2); |
willem_hoitzing | 5:0251fde34cdc | 64 | q2 = wheel_M2.getPulses()/(1334.355/2); |
willem_hoitzing | 9:334b1596637b | 65 | //pc.printf("q1 = %f \tq1_ref = %f \tPID1 = %f \tq2 = %f \tq2_ref = %f \tPID2 = %f \ttotalerror1 = %f \ttotalerror2 = %f\n\r",q1, q1_ref, ctrlOutput_M1,q2,q2_ref,ctrlOutput_M2,TotalError1,TotalError2); |
willem_hoitzing | 9:334b1596637b | 66 | pc.printf("vx = %f \tvy = %f \tq1_v = %f \tq2_v = %f\n\r",vx,vy,q1_v,q2_v); |
willem_hoitzing | 7:1444604f10d4 | 67 | } |
willem_hoitzing | 7:1444604f10d4 | 68 | |
willem_hoitzing | 7:1444604f10d4 | 69 | volatile bool go_flag_initialize = false; |
willem_hoitzing | 7:1444604f10d4 | 70 | |
willem_hoitzing | 7:1444604f10d4 | 71 | void flag_initialize() |
willem_hoitzing | 7:1444604f10d4 | 72 | { |
willem_hoitzing | 7:1444604f10d4 | 73 | go_flag_initialize = true; |
willem_hoitzing | 7:1444604f10d4 | 74 | } |
willem_hoitzing | 7:1444604f10d4 | 75 | |
willem_hoitzing | 9:334b1596637b | 76 | Ticker PIDcontrol; |
willem_hoitzing | 9:334b1596637b | 77 | volatile bool go_flag_controller = false; |
willem_hoitzing | 9:334b1596637b | 78 | |
willem_hoitzing | 9:334b1596637b | 79 | void flag_controller() |
willem_hoitzing | 9:334b1596637b | 80 | { |
willem_hoitzing | 9:334b1596637b | 81 | go_flag_controller = true; |
willem_hoitzing | 9:334b1596637b | 82 | } |
willem_hoitzing | 9:334b1596637b | 83 | |
willem_hoitzing | 9:334b1596637b | 84 | volatile bool active_PID_ticker = false; |
willem_hoitzing | 9:334b1596637b | 85 | |
willem_hoitzing | 9:334b1596637b | 86 | void begin_hoeken() |
willem_hoitzing | 9:334b1596637b | 87 | { |
willem_hoitzing | 9:334b1596637b | 88 | wait(3); |
willem_hoitzing | 9:334b1596637b | 89 | float q1_ref = wheel_M1.getPulses()/(1334.355/2); |
willem_hoitzing | 9:334b1596637b | 90 | float q2_ref = wheel_M2.getPulses()/(1334.355/2); |
willem_hoitzing | 9:334b1596637b | 91 | active_PID_ticker = true; |
willem_hoitzing | 9:334b1596637b | 92 | } |
willem_hoitzing | 9:334b1596637b | 93 | |
willem_hoitzing | 9:334b1596637b | 94 | |
willem_hoitzing | 7:1444604f10d4 | 95 | void initialize() |
willem_hoitzing | 7:1444604f10d4 | 96 | { |
willem_hoitzing | 9:334b1596637b | 97 | dir_M1 = 0; //ccw |
willem_hoitzing | 9:334b1596637b | 98 | dir_M2 = 1; //cw |
willem_hoitzing | 9:334b1596637b | 99 | while (q1 < 20*2*3.1415/360) { |
willem_hoitzing | 9:334b1596637b | 100 | q1 = wheel_M1.getPulses()/(1334.355/2); |
willem_hoitzing | 9:334b1596637b | 101 | pwm_M1 = 0.01; |
willem_hoitzing | 9:334b1596637b | 102 | } |
willem_hoitzing | 9:334b1596637b | 103 | pwm_M1 = 0; |
willem_hoitzing | 9:334b1596637b | 104 | |
willem_hoitzing | 9:334b1596637b | 105 | while (q2 > -45*2*3.1415/360) { |
willem_hoitzing | 9:334b1596637b | 106 | q2 = wheel_M2.getPulses()/(1334.355/2); |
willem_hoitzing | 9:334b1596637b | 107 | pwm_M2 = 0.01; |
willem_hoitzing | 9:334b1596637b | 108 | } |
willem_hoitzing | 9:334b1596637b | 109 | pwm_M2 = 0; |
willem_hoitzing | 9:334b1596637b | 110 | ledg = !ledg; |
willem_hoitzing | 9:334b1596637b | 111 | begin_hoeken(); |
willem_hoitzing | 7:1444604f10d4 | 112 | } |
willem_hoitzing | 7:1444604f10d4 | 113 | |
willem_hoitzing | 9:334b1596637b | 114 | |
willem_hoitzing | 7:1444604f10d4 | 115 | void biceps() |
willem_hoitzing | 7:1444604f10d4 | 116 | { |
willem_hoitzing | 7:1444604f10d4 | 117 | if (translatie_richting) { // verticaal / up |
willem_hoitzing | 7:1444604f10d4 | 118 | vx = 0; |
willem_hoitzing | 7:1444604f10d4 | 119 | vy = 0.02; |
willem_hoitzing | 7:1444604f10d4 | 120 | } else { // horizontaal / right |
willem_hoitzing | 7:1444604f10d4 | 121 | vx = 0.02; |
willem_hoitzing | 7:1444604f10d4 | 122 | vy = 0; |
willem_hoitzing | 7:1444604f10d4 | 123 | } |
willem_hoitzing | 7:1444604f10d4 | 124 | } |
willem_hoitzing | 7:1444604f10d4 | 125 | |
willem_hoitzing | 7:1444604f10d4 | 126 | void triceps() |
willem_hoitzing | 7:1444604f10d4 | 127 | { |
willem_hoitzing | 7:1444604f10d4 | 128 | if (translatie_richting) { // verticaal / down |
willem_hoitzing | 7:1444604f10d4 | 129 | vx = 0; |
willem_hoitzing | 7:1444604f10d4 | 130 | vy = -0.02; |
willem_hoitzing | 7:1444604f10d4 | 131 | } else { // horizontaal / left |
willem_hoitzing | 7:1444604f10d4 | 132 | vx = -0.02; |
willem_hoitzing | 7:1444604f10d4 | 133 | vy = 0; |
willem_hoitzing | 7:1444604f10d4 | 134 | } |
willem_hoitzing | 7:1444604f10d4 | 135 | |
willem_hoitzing | 7:1444604f10d4 | 136 | } |
willem_hoitzing | 7:1444604f10d4 | 137 | |
willem_hoitzing | 7:1444604f10d4 | 138 | void switcher() |
willem_hoitzing | 7:1444604f10d4 | 139 | { |
willem_hoitzing | 7:1444604f10d4 | 140 | if ( (vx == 0) && (vy == 0) ) { |
willem_hoitzing | 7:1444604f10d4 | 141 | translatie_richting = !translatie_richting; |
willem_hoitzing | 7:1444604f10d4 | 142 | } else { |
willem_hoitzing | 7:1444604f10d4 | 143 | vx = 0; |
willem_hoitzing | 7:1444604f10d4 | 144 | vy = 0; |
willem_hoitzing | 7:1444604f10d4 | 145 | } |
willem_hoitzing | 7:1444604f10d4 | 146 | |
willem_hoitzing | 7:1444604f10d4 | 147 | if (translatie_richting == 1) { |
willem_hoitzing | 7:1444604f10d4 | 148 | ledr = 1; // blauw - verticaal |
willem_hoitzing | 7:1444604f10d4 | 149 | ledg = 1; |
willem_hoitzing | 7:1444604f10d4 | 150 | ledb = 0; |
willem_hoitzing | 7:1444604f10d4 | 151 | } else { |
willem_hoitzing | 7:1444604f10d4 | 152 | ledr = 0; // rood - horizontaal |
willem_hoitzing | 7:1444604f10d4 | 153 | ledg = 1; |
willem_hoitzing | 7:1444604f10d4 | 154 | ledb = 1; |
willem_hoitzing | 7:1444604f10d4 | 155 | } |
willem_hoitzing | 7:1444604f10d4 | 156 | } |
willem_hoitzing | 7:1444604f10d4 | 157 | |
willem_hoitzing | 7:1444604f10d4 | 158 | Ticker update_ref_ticker; |
willem_hoitzing | 9:334b1596637b | 159 | volatile float J_1; |
willem_hoitzing | 9:334b1596637b | 160 | volatile float J_2; |
willem_hoitzing | 9:334b1596637b | 161 | volatile float J_3; |
willem_hoitzing | 9:334b1596637b | 162 | volatile float J_4; |
willem_hoitzing | 7:1444604f10d4 | 163 | volatile bool go_flag_update_ref = false; |
willem_hoitzing | 7:1444604f10d4 | 164 | void flag_update_ref() |
willem_hoitzing | 7:1444604f10d4 | 165 | { |
willem_hoitzing | 7:1444604f10d4 | 166 | go_flag_update_ref = true; |
willem_hoitzing | 7:1444604f10d4 | 167 | } |
willem_hoitzing | 7:1444604f10d4 | 168 | |
willem_hoitzing | 7:1444604f10d4 | 169 | void update_ref() |
willem_hoitzing | 7:1444604f10d4 | 170 | { |
willem_hoitzing | 7:1444604f10d4 | 171 | q1 = wheel_M1.getPulses() / (1334.355/2); // rad |
willem_hoitzing | 7:1444604f10d4 | 172 | q2 = wheel_M2.getPulses() / (1334.355/2); |
willem_hoitzing | 7:1444604f10d4 | 173 | |
willem_hoitzing | 7:1444604f10d4 | 174 | J_1 = -(l2*sin(q1 + q2))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); |
willem_hoitzing | 7:1444604f10d4 | 175 | J_2 = (l2*cos(q1 + q2))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); |
willem_hoitzing | 7:1444604f10d4 | 176 | J_3 = (l2*sin(q1 + q2) + l1*sin(q1))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); |
willem_hoitzing | 7:1444604f10d4 | 177 | J_4 = -(l2*cos(q1 + q2) + l1*cos(q1))/(l2*sin(q1 + q2)*(l2*cos(q1 + q2) + l1*cos(q1)) - l2*cos(q1 + q2)*(l2*sin(q1 + q2) + l1*sin(q1))); |
willem_hoitzing | 7:1444604f10d4 | 178 | |
willem_hoitzing | 7:1444604f10d4 | 179 | q1_v = J_1 * vx + J_2 * vy; |
willem_hoitzing | 7:1444604f10d4 | 180 | q2_v = J_3 * vx + J_4 * vy; |
willem_hoitzing | 7:1444604f10d4 | 181 | |
willem_hoitzing | 7:1444604f10d4 | 182 | if ( (q1 > (90*2*3.1415/360)) && (q1_v > 0 ) ) { // WAARDES VINDEN 0.8726 (50 graden) |
willem_hoitzing | 7:1444604f10d4 | 183 | q1_v = 0; |
willem_hoitzing | 7:1444604f10d4 | 184 | q2_v = 0; |
willem_hoitzing | 7:1444604f10d4 | 185 | } else if ( (q1 < -(90*2*3.1415/360)) && (q1_v < 0) ) { |
willem_hoitzing | 7:1444604f10d4 | 186 | q1_v = 0; |
willem_hoitzing | 7:1444604f10d4 | 187 | q2_v = 0; |
willem_hoitzing | 7:1444604f10d4 | 188 | } else if ( (q2 < (-140*2*3.1415/360)) && (q2_v < 0) ) { // WAARDES VINDEN -2.4434 (-140 graden) --> werkelijke max -2.672452 |
willem_hoitzing | 7:1444604f10d4 | 189 | q1_v = 0; |
willem_hoitzing | 7:1444604f10d4 | 190 | q2_v = 0; |
willem_hoitzing | 7:1444604f10d4 | 191 | } else if ( (q2 > 0) && (q2_v > 0) ) { |
willem_hoitzing | 7:1444604f10d4 | 192 | q1_v = 0; |
willem_hoitzing | 7:1444604f10d4 | 193 | q2_v = 0; |
willem_hoitzing | 7:1444604f10d4 | 194 | } |
willem_hoitzing | 9:334b1596637b | 195 | |
willem_hoitzing | 9:334b1596637b | 196 | q1_ref = q1 + q1_v*TS; |
willem_hoitzing | 9:334b1596637b | 197 | q2_ref = q2 + q2_v*TS; |
willem_hoitzing | 2:0a976fb06ff8 | 198 | } |
willem_hoitzing | 2:0a976fb06ff8 | 199 | |
willem_hoitzing | 9:334b1596637b | 200 | void PID(float q1,float q1_ref,float q2,float q2_ref,float TS,float &motorValue1Out, float &motorValue2Out) |
willem_hoitzing | 9:334b1596637b | 201 | { |
willem_hoitzing | 9:334b1596637b | 202 | // linear feedback control |
willem_hoitzing | 9:334b1596637b | 203 | float q1_error = q1_ref - q1; //referencePosition1 - Position1; // proportional angular error in radians |
willem_hoitzing | 9:334b1596637b | 204 | float q2_error = q2_ref - q2; //referencePosition1 - Position1; // proportional angular error in radians |
willem_hoitzing | 9:334b1596637b | 205 | float Kp = 1; |
willem_hoitzing | 5:0251fde34cdc | 206 | |
willem_hoitzing | 9:334b1596637b | 207 | float q1IntError = q1IntError + q1_error*TS; // integrated error in radians |
willem_hoitzing | 9:334b1596637b | 208 | float q2IntError = q2IntError + q2_error*TS; // integrated error in radians |
willem_hoitzing | 9:334b1596637b | 209 | float Ki = 0.1; |
willem_hoitzing | 9:334b1596637b | 210 | |
willem_hoitzing | 9:334b1596637b | 211 | float q1DerivativeError = (q1_error - q1_error_prev)/TS; // derivative of error in radians |
willem_hoitzing | 9:334b1596637b | 212 | float q2DerivativeError = (q2_error - q2_error_prev)/TS; // derivative of error in radians |
willem_hoitzing | 9:334b1596637b | 213 | float Kd = 0.0; |
willem_hoitzing | 9:334b1596637b | 214 | |
willem_hoitzing | 9:334b1596637b | 215 | TotalError1 = q1_error * Kp + q1IntError * Ki + q1DerivativeError * Kd; //total controller output = motor input |
willem_hoitzing | 9:334b1596637b | 216 | TotalError2 = q2_error * Kp + q2IntError * Ki + q2DerivativeError * Kd; //total controller output = motor input |
willem_hoitzing | 9:334b1596637b | 217 | |
willem_hoitzing | 9:334b1596637b | 218 | if (TotalError1 < 0) { |
willem_hoitzing | 9:334b1596637b | 219 | TotalError1=0; |
willem_hoitzing | 9:334b1596637b | 220 | } |
willem_hoitzing | 9:334b1596637b | 221 | else { |
willem_hoitzing | 9:334b1596637b | 222 | TotalError1=TotalError1; |
willem_hoitzing | 9:334b1596637b | 223 | } |
willem_hoitzing | 9:334b1596637b | 224 | if (TotalError2 < 0) { |
willem_hoitzing | 9:334b1596637b | 225 | TotalError2=0; |
willem_hoitzing | 9:334b1596637b | 226 | } |
willem_hoitzing | 9:334b1596637b | 227 | else { |
willem_hoitzing | 9:334b1596637b | 228 | TotalError2=TotalError2; |
willem_hoitzing | 9:334b1596637b | 229 | } |
willem_hoitzing | 9:334b1596637b | 230 | |
willem_hoitzing | 9:334b1596637b | 231 | motorValue1Out = TotalError1/MotorGain; |
willem_hoitzing | 9:334b1596637b | 232 | motorValue2Out = TotalError2/MotorGain; |
willem_hoitzing | 9:334b1596637b | 233 | |
willem_hoitzing | 9:334b1596637b | 234 | q1_error_prev = q1_error; |
willem_hoitzing | 9:334b1596637b | 235 | q2_error_prev = q2_error; |
willem_hoitzing | 5:0251fde34cdc | 236 | } |
willem_hoitzing | 5:0251fde34cdc | 237 | |
willem_hoitzing | 9:334b1596637b | 238 | void Controller() |
willem_hoitzing | 5:0251fde34cdc | 239 | { |
willem_hoitzing | 9:334b1596637b | 240 | PID(q1,q1_ref,q2,q2_ref,TS,motorValue1Out,motorValue2Out); |
willem_hoitzing | 9:334b1596637b | 241 | ctrlOutput_M1 = motorValue1Out; |
willem_hoitzing | 9:334b1596637b | 242 | ctrlOutput_M2 = motorValue2Out; |
willem_hoitzing | 9:334b1596637b | 243 | |
willem_hoitzing | 5:0251fde34cdc | 244 | if (ctrlOutput_M1 < 0) { |
willem_hoitzing | 3:6ba52d1ae499 | 245 | dir_M1 = 1; |
willem_hoitzing | 5:0251fde34cdc | 246 | } else { |
willem_hoitzing | 2:0a976fb06ff8 | 247 | dir_M1 = 0; |
willem_hoitzing | 2:0a976fb06ff8 | 248 | } |
willem_hoitzing | 6:4d254faf2428 | 249 | pwm_M1 = abs(ctrlOutput_M1); |
willem_hoitzing | 9:334b1596637b | 250 | if (pwm_M1 <= 0) { |
willem_hoitzing | 8:008a7bf80fa0 | 251 | pwm_M1 = 0; |
willem_hoitzing | 9:334b1596637b | 252 | } else { |
willem_hoitzing | 9:334b1596637b | 253 | pwm_M1 = pwm_M1 + 0.05; |
willem_hoitzing | 8:008a7bf80fa0 | 254 | } |
willem_hoitzing | 5:0251fde34cdc | 255 | |
willem_hoitzing | 5:0251fde34cdc | 256 | if (ctrlOutput_M2 < 0) { |
willem_hoitzing | 3:6ba52d1ae499 | 257 | dir_M2 = 1; |
willem_hoitzing | 5:0251fde34cdc | 258 | } else { |
willem_hoitzing | 3:6ba52d1ae499 | 259 | dir_M2 = 0; |
willem_hoitzing | 2:0a976fb06ff8 | 260 | } |
willem_hoitzing | 6:4d254faf2428 | 261 | pwm_M2 = abs(ctrlOutput_M2); |
willem_hoitzing | 9:334b1596637b | 262 | if (pwm_M2 <= 0) { |
willem_hoitzing | 8:008a7bf80fa0 | 263 | pwm_M2 = 0; |
willem_hoitzing | 9:334b1596637b | 264 | } else { |
willem_hoitzing | 9:334b1596637b | 265 | pwm_M2 = pwm_M2 + 0.05; |
willem_hoitzing | 8:008a7bf80fa0 | 266 | } |
willem_hoitzing | 0:26ce65a63616 | 267 | } |
willem_hoitzing | 0:26ce65a63616 | 268 | |
willem_hoitzing | 0:26ce65a63616 | 269 | int main() |
willem_hoitzing | 0:26ce65a63616 | 270 | { |
willem_hoitzing | 0:26ce65a63616 | 271 | pc.baud(115200); |
willem_hoitzing | 5:0251fde34cdc | 272 | wheel_M1.reset(); |
willem_hoitzing | 5:0251fde34cdc | 273 | wheel_M2.reset(); |
willem_hoitzing | 7:1444604f10d4 | 274 | knop_biceps.rise(&biceps); |
willem_hoitzing | 7:1444604f10d4 | 275 | knop_triceps.rise(&triceps); |
willem_hoitzing | 7:1444604f10d4 | 276 | knop_switch.rise(&switcher); |
willem_hoitzing | 7:1444604f10d4 | 277 | |
willem_hoitzing | 5:0251fde34cdc | 278 | // flag functions/tickers |
willem_hoitzing | 7:1444604f10d4 | 279 | update_encoder_ticker.attach(&flag_update_encoder, TS); |
willem_hoitzing | 7:1444604f10d4 | 280 | update_ref_ticker.attach(&flag_update_ref, TS); |
willem_hoitzing | 9:334b1596637b | 281 | // initialize -> beginposities |
willem_hoitzing | 9:334b1596637b | 282 | initialize(); |
willem_hoitzing | 5:0251fde34cdc | 283 | |
willem_hoitzing | 9:334b1596637b | 284 | if (active_PID_ticker == true) { |
willem_hoitzing | 9:334b1596637b | 285 | PIDcontrol.attach(&flag_controller, TS); |
willem_hoitzing | 9:334b1596637b | 286 | } |
willem_hoitzing | 8:008a7bf80fa0 | 287 | |
willem_hoitzing | 5:0251fde34cdc | 288 | while(1) { |
willem_hoitzing | 9:334b1596637b | 289 | |
willem_hoitzing | 5:0251fde34cdc | 290 | // update encoder |
willem_hoitzing | 5:0251fde34cdc | 291 | if (go_flag_update_encoder == true) { |
willem_hoitzing | 5:0251fde34cdc | 292 | go_flag_update_encoder = false; |
willem_hoitzing | 5:0251fde34cdc | 293 | update_encoder(); |
willem_hoitzing | 5:0251fde34cdc | 294 | } |
willem_hoitzing | 7:1444604f10d4 | 295 | // update joint positions/velocities |
willem_hoitzing | 7:1444604f10d4 | 296 | if (go_flag_update_ref == true) { |
willem_hoitzing | 7:1444604f10d4 | 297 | go_flag_update_ref = false; |
willem_hoitzing | 7:1444604f10d4 | 298 | update_ref(); |
willem_hoitzing | 7:1444604f10d4 | 299 | } |
willem_hoitzing | 9:334b1596637b | 300 | // controller M1+M2 |
willem_hoitzing | 9:334b1596637b | 301 | if (go_flag_controller == true) { |
willem_hoitzing | 9:334b1596637b | 302 | go_flag_controller = false; |
willem_hoitzing | 9:334b1596637b | 303 | Controller(); |
willem_hoitzing | 5:0251fde34cdc | 304 | } |
willem_hoitzing | 5:0251fde34cdc | 305 | } |
willem_hoitzing | 0:26ce65a63616 | 306 | } |