PID controller voor 1 motor die een hoek van 20 graden draait, niet werkend.
Dependencies: MODSERIAL QEI mbed biquadFilter
Inverse Kinematics + PID Controller
Diff: main.cpp
- Revision:
- 7:1444604f10d4
- Parent:
- 6:4d254faf2428
- Child:
- 8:008a7bf80fa0
--- a/main.cpp Mon Oct 24 10:50:17 2016 +0000 +++ b/main.cpp Tue Oct 25 13:03:24 2016 +0000 @@ -12,33 +12,47 @@ PwmOut pwm_M2 (D5); DigitalOut dir_M1 (D7); DigitalOut dir_M2 (D4); -InterruptIn knop(SW3); + +DigitalOut ledg (LED_GREEN); +DigitalOut ledr (LED_RED); +DigitalOut ledb (LED_BLUE); +InterruptIn knop_biceps(SW2); +InterruptIn knop_triceps(SW3); +InterruptIn knop_switch(D9); volatile double q1 = 0; volatile double q2 = 0; - -volatile bool go_flag_initialize = false; - -void flag_initialize() -{ - go_flag_initialize = true; -} - +volatile double q1_begin; +volatile double q2_begin; +volatile double l1 = 0.3626; +volatile double l2 = 0.420; +volatile double q1_v; +volatile double q2_v; volatile double q1_ref; volatile double q2_ref; -void initialize() -{ - q1_ref = 0.125; //2*3.1415 /(2*3.1415); - q2_ref = 0*3.1415 /(2*3.1415); -} +volatile double ctrlOutput_M1 = 0; +volatile double ctrlOutput_M2 = 0; +volatile double vx; +volatile double vy; +volatile bool translatie_richting = true; //true is verticaal, false is horizontaal const double TS = 0.02; -const double M1_Kp = 1, M1_Ki = 0.00, M1_Kd = 0; -const double M2_Kp = 0.3, M2_Ki = 0.00, M2_Kd = 0; -const double N = 0; +const double M1_Kp = 0.5, M1_Ki = 0.00, M1_Kd = 0.1; // Waardes vinden? +const double M2_Kp = 0.5, M2_Ki = 0.00, M2_Kd = 0.1; +const double N = 0.1; -volatile double ctrlOutput_M1 = 0; -volatile double ctrlOutput_M2 = 0; +Ticker begin_waarde_q; +int n = 0; +void begin_waarde() +{ + n++; + if(n == 2) + { + q1_begin = wheel_M1.getPulses() / (1334.355/2); + q2_begin = wheel_M2.getPulses() / (1334.355/2); + begin_waarde_q.detach(); + } +} Ticker update_encoder_ticker; volatile bool go_flag_update_encoder = false; @@ -51,7 +65,104 @@ { q1 = wheel_M1.getPulses()/(1334.355/2); q2 = wheel_M2.getPulses()/(1334.355/2); - pc.printf("q1 = %f \tq1_ref = %f \tPID1 = %f \tq2 = %f \tq2_ref = %f \tPID2 = %f\n\r",q1, q1_ref, ctrlOutput_M1,q2,q2_ref,ctrlOutput_M2); + pc.printf("q1 = %f \tq1_ref = %f \tPID1 = %f \tq2 = %f \tq2_ref = %f \tPID2 = %f \tq1_v=%f \tq2_v=%f\n\r",q1, q1_ref, ctrlOutput_M1,q2,q2_ref,ctrlOutput_M2,q1_v,q2_v); +} + +volatile bool go_flag_initialize = false; + +void flag_initialize() +{ + go_flag_initialize = true; +} + +void initialize() +{ + q1_ref = 15*2*3.1415/360; + q2_ref = -30*2*3.1415/360; +} + +void biceps() +{ + if (translatie_richting) { // verticaal / up + vx = 0; + vy = 0.02; + } else { // horizontaal / right + vx = 0.02; + vy = 0; + } +} + +void triceps() +{ + if (translatie_richting) { // verticaal / down + vx = 0; + vy = -0.02; + } else { // horizontaal / left + vx = -0.02; + vy = 0; + } + +} + +void switcher() +{ + if ( (vx == 0) && (vy == 0) ) { + translatie_richting = !translatie_richting; + } else { + vx = 0; + vy = 0; + } + + if (translatie_richting == 1) { + ledr = 1; // blauw - verticaal + ledg = 1; + ledb = 0; + } else { + ledr = 0; // rood - horizontaal + ledg = 1; + ledb = 1; + } +} + +Ticker update_ref_ticker; +volatile double J_1; +volatile double J_2; +volatile double J_3; +volatile double J_4; +volatile bool go_flag_update_ref = false; +void flag_update_ref() +{ + go_flag_update_ref = true; +} + +void update_ref() +{ + q1 = wheel_M1.getPulses() / (1334.355/2); // rad + q2 = wheel_M2.getPulses() / (1334.355/2); + + 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))); + 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))); + 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))); + 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))); + + q1_v = J_1 * vx + J_2 * vy; + q2_v = J_3 * vx + J_4 * vy; + + q1_ref = q1_ref + q1_v*TS + q1_begin; + q2_ref = q2_ref + q2_v*TS + q2_begin; + if ( (q1 > (90*2*3.1415/360)) && (q1_v > 0 ) ) { // WAARDES VINDEN 0.8726 (50 graden) + q1_v = 0; + q2_v = 0; + } else if ( (q1 < -(90*2*3.1415/360)) && (q1_v < 0) ) { + q1_v = 0; + q2_v = 0; + } else if ( (q2 < (-140*2*3.1415/360)) && (q2_v < 0) ) { // WAARDES VINDEN -2.4434 (-140 graden) --> werkelijke max -2.672452 + q1_v = 0; + q2_v = 0; + } else if ( (q2 > 0) && (q2_v > 0) ) { + q1_v = 0; + q2_v = 0; + } } BiQuad pidf_M1; @@ -102,29 +213,40 @@ wheel_M2.reset(); pidf_M1.PIDF(M1_Kp,M1_Ki,M1_Kd,N,TS); pidf_M2.PIDF(M2_Kp,M2_Ki,M2_Kd,N,TS); + knop_biceps.rise(&biceps); + knop_triceps.rise(&triceps); + knop_switch.rise(&switcher); + // flag functions/tickers - update_encoder_ticker.attach(&flag_update_encoder, 0.02f); + update_encoder_ticker.attach(&flag_update_encoder, TS); + update_ref_ticker.attach(&flag_update_ref, TS); PIDcontrol_M1.attach(&flag_M1_controller, TS); PIDcontrol_M2.attach(&flag_M2_controller, TS); - - // initialize function - knop.fall(&flag_initialize); - if (go_flag_initialize == true) { - go_flag_initialize = false; - initialize(); - } + begin_waarde_q.attach(&begin_waarde, 3); while(1) { + + // initialize function + initialize(); + if (go_flag_initialize == true) { + go_flag_initialize = false; + initialize(); + } // update encoder if (go_flag_update_encoder == true) { go_flag_update_encoder = false; update_encoder(); } + // update joint positions/velocities + if (go_flag_update_ref == true) { + go_flag_update_ref = false; + update_ref(); + } // controller M1 if (go_flag_M1_controller == true) { go_flag_M1_controller = false; M1_controller(); - } + } // controller M2 if (go_flag_M2_controller == true) { go_flag_M2_controller = false;