ECE4333 - 2018 - Ahmed & Brandon / Mbed OS MbedOS_Robot_Team

ManualControl

Dependencies:   TPixy-Interface

Fork of MbedOS_Robot by ECE4333 - 2018 - Ahmed & Brandon

PiControlThread.cpp@16:58ec2b891a25, 2018-03-11 (annotated)

Committer:
asobhy
Date:
Sun Mar 11 00:37:58 2018 +0000
Revision:
16:58ec2b891a25
Parent:
15:cf67f83d5409
Child:
17:1184df616383
Child:
24:e88753f090b8
final tuning of the first subsystem done

Who changed what in which revision?

UserRevisionLine numberNew contents of line
asobhy 8:a0890fa79084 1 /******************************************************************************/
asobhy 8:a0890fa79084 2 // ECE4333
asobhy 9:fe56b888985c 3 // LAB Partner 1: Ahmed Sobhy - ID: 3594449
asobhy 9:fe56b888985c 4 // LAB Partner 2: Brandon Kingman - ID: 3470444
asobhy 9:fe56b888985c 5 // Project: Autonomous Robot Design
asobhy 9:fe56b888985c 6 // Instructor: Prof. Chris Diduch
asobhy 8:a0890fa79084 7 /******************************************************************************/
asobhy 8:a0890fa79084 8 // filename: PiControlThread.cpp
asobhy 8:a0890fa79084 9 // file content description:
asobhy 8:a0890fa79084 10 // * Function to Create the PiControl Thread
asobhy 8:a0890fa79084 11 // * PiControl Thread
asobhy 8:a0890fa79084 12 // * PiControl ISR
asobhy 8:a0890fa79084 13 // * Variables related to the functionality of the thread
asobhy 8:a0890fa79084 14 /******************************************************************************/
asobhy 8:a0890fa79084 15
asobhy 0:a355e511bc5d 16 #include "mbed.h"
asobhy 0:a355e511bc5d 17 #include "ui.h"
asobhy 9:fe56b888985c 18 #include "Drivers/motor_driver_r.h"
asobhy 9:fe56b888985c 19 #include "Drivers/motor_driver_l.h"
asobhy 0:a355e511bc5d 20 #include "Drivers/DE0_driver.h"
asobhy 1:3e9684e81312 21 #include "PiControlThread.h"
asobhy 7:73fd05fe556a 22 #include "Drivers/PiController.h"
asobhy 15:cf67f83d5409 23 #include "ui.h"
asobhy 15:cf67f83d5409 24 #include "CameraThread.h"
asobhy 0:a355e511bc5d 25
asobhy 10:8919b1b76243 26 // setpoints
asobhy 15:cf67f83d5409 27
asobhy 0:a355e511bc5d 28
asobhy 10:8919b1b76243 29 //
asobhy 9:fe56b888985c 30 int velR, velL;
asobhy 10:8919b1b76243 31
asobhy 10:8919b1b76243 32 // control signal
asobhy 9:fe56b888985c 33 int32_t U_right, U_left;
asobhy 9:fe56b888985c 34
asobhy 9:fe56b888985c 35 sensors_t sensors;
asobhy 0:a355e511bc5d 36
asobhy 8:a0890fa79084 37 int time_passed = 0;
asobhy 8:a0890fa79084 38
asobhy 0:a355e511bc5d 39 void PiControlThread(void const *);
asobhy 0:a355e511bc5d 40 void PeriodicInterruptISR(void);
asobhy 0:a355e511bc5d 41
asobhy 10:8919b1b76243 42 // steering gain
asobhy 16:58ec2b891a25 43 float Ks = 0.15;
asobhy 10:8919b1b76243 44
asobhy 10:8919b1b76243 45 // distance gain
asobhy 16:58ec2b891a25 46 float Kd = 10;
asobhy 10:8919b1b76243 47
asobhy 10:8919b1b76243 48 // overall robot required speed
asobhy 10:8919b1b76243 49 int Setpoint;
asobhy 10:8919b1b76243 50
asobhy 0:a355e511bc5d 51 osThreadId PiControlId;
asobhy 0:a355e511bc5d 52
asobhy 0:a355e511bc5d 53 /******************************************************************************/
asobhy 0:a355e511bc5d 54 // osPriorityIdle = -3, ///< priority: idle (lowest)
asobhy 0:a355e511bc5d 55 // osPriorityLow = -2, ///< priority: low
asobhy 0:a355e511bc5d 56 // osPriorityBelowNormal = -1, ///< priority: below normal
asobhy 0:a355e511bc5d 57 // osPriorityNormal = 0, ///< priority: normal (default)
asobhy 0:a355e511bc5d 58 // osPriorityAboveNormal = +1, ///< priority: above normal
asobhy 0:a355e511bc5d 59 // osPriorityHigh = +2, ///< priority: high
asobhy 0:a355e511bc5d 60 // osPriorityRealtime = +3, ///< priority: realtime (highest)
asobhy 0:a355e511bc5d 61 /******************************************************************************/
asobhy 0:a355e511bc5d 62
asobhy 0:a355e511bc5d 63 // Declare PeriodicInterruptThread as a thread/process
asobhy 0:a355e511bc5d 64 osThreadDef(PiControlThread, osPriorityRealtime, 1024);
asobhy 0:a355e511bc5d 65
asobhy 0:a355e511bc5d 66 Ticker PeriodicInt; // Declare a timer interrupt: PeriodicInt
asobhy 0:a355e511bc5d 67
asobhy 0:a355e511bc5d 68 DigitalOut led3(LED3);
asobhy 0:a355e511bc5d 69
asobhy 7:73fd05fe556a 70 /*******************************************************************************
asobhy 7:73fd05fe556a 71 * @brief function that creates a thread for the PI controller. It initializes
asobhy 7:73fd05fe556a 72 * the PI controller's gains and initializes the DC Motor. It also
asobhy 7:73fd05fe556a 73 * initializes the PIControllerThread runs at 50ms period
asobhy 7:73fd05fe556a 74 * @param none
asobhy 7:73fd05fe556a 75 * @return none
asobhy 7:73fd05fe556a 76 *******************************************************************************/
asobhy 0:a355e511bc5d 77 void PiControlThreadInit()
asobhy 0:a355e511bc5d 78 {
asobhy 4:417e475239c7 79 DE0_init(); // initialize FPGA
asobhy 9:fe56b888985c 80 motorDriver_R_init(); // initialize motorDriver
asobhy 9:fe56b888985c 81 motorDriver_L_init(); // initialize motorDriver
asobhy 6:e7ce340fe91e 82 // Kp,Ki
asobhy 6:e7ce340fe91e 83 PiController_init(1,0.4); // initialize the PI Controller gains and initialize variables
asobhy 0:a355e511bc5d 84
asobhy 0:a355e511bc5d 85 PiControlId = osThreadCreate(osThread(PiControlThread), NULL);
asobhy 0:a355e511bc5d 86
asobhy 0:a355e511bc5d 87 // Specify address of the PeriodicInt ISR as PiControllerISR, specify the interval
asobhy 0:a355e511bc5d 88 // in seconds between interrupts, and start interrupt generation:
asobhy 1:3e9684e81312 89 PeriodicInt.attach(&PeriodicInterruptISR, 0.05); // 50ms sampling rate
asobhy 4:417e475239c7 90
asobhy 0:a355e511bc5d 91 }
asobhy 0:a355e511bc5d 92
asobhy 0:a355e511bc5d 93 /*******************************************************************************
asobhy 7:73fd05fe556a 94 * @brief This is the PI controller thread. It reads several values from the
asobhy 7:73fd05fe556a 95 * FPGA such as speed, time and other sensors data
asobhy 7:73fd05fe556a 96 * @param none
asobhy 7:73fd05fe556a 97 * @return none
asobhy 0:a355e511bc5d 98 *******************************************************************************/
asobhy 0:a355e511bc5d 99 void PiControlThread(void const *argument)
asobhy 1:3e9684e81312 100 {
asobhy 3:4def4ca68910 101
asobhy 0:a355e511bc5d 102 while (true)
asobhy 0:a355e511bc5d 103 {
asobhy 0:a355e511bc5d 104 osSignalWait(0x01, osWaitForever); // Go to sleep until signal, SignalPi, is received.
asobhy 0:a355e511bc5d 105
asobhy 14:5777377537a2 106 // Get incremental position and time from QEI
asobhy 9:fe56b888985c 107 DE0_read(&sensors);
asobhy 9:fe56b888985c 108
asobhy 15:cf67f83d5409 109 // might not be needed
asobhy 15:cf67f83d5409 110 sensors.dp_right = SaturateValue(sensors.dp_right, 560);
asobhy 15:cf67f83d5409 111 sensors.dp_left = SaturateValue(sensors.dp_left, 560);
asobhy 9:fe56b888985c 112
asobhy 14:5777377537a2 113 // Maximum velocity at dPostition = 560 is vel = 703
asobhy 9:fe56b888985c 114 velR = (float)((6135.92 * sensors.dp_right) / sensors.dt_right) ;
asobhy 1:3e9684e81312 115
asobhy 14:5777377537a2 116 // Maximum velocity at dPostition = 560 is vel = 703
asobhy 9:fe56b888985c 117 velL = (float)((6135.92 * sensors.dp_left) / sensors.dt_left) ;
asobhy 9:fe56b888985c 118
asobhy 10:8919b1b76243 119 /*********************Differential Start*******************************/
asobhy 10:8919b1b76243 120 // Inputs are Speed Setpoint and Steering Setpoint
asobhy 10:8919b1b76243 121 // The Inputs for the Steering are specified in the CameraThread
asobhy 10:8919b1b76243 122 // and set at the center.
asobhy 10:8919b1b76243 123 // The distance between the object and the image should be set to 1 meter
asobhy 10:8919b1b76243 124 // If distance decrease then speed should stop.
asobhy 10:8919b1b76243 125 // If distance increase then speed should increase.
asobhy 10:8919b1b76243 126
asobhy 14:5777377537a2 127 // If object is moving away from the the robot increase robot speed
asobhy 15:cf67f83d5409 128 cameraData_mutex.lock();
asobhy 14:5777377537a2 129 if(DistanceError > 0)
asobhy 10:8919b1b76243 130 {
asobhy 14:5777377537a2 131 // Proportional controller
asobhy 10:8919b1b76243 132 Setpoint = (Kd*DistanceError);
asobhy 15:cf67f83d5409 133 Setpoint = SaturateValue(Setpoint,560);
asobhy 10:8919b1b76243 134 }
asobhy 14:5777377537a2 135 // If object is at the set distance limit or less then do not move.
asobhy 10:8919b1b76243 136 else if(DistanceError <= 0)
asobhy 10:8919b1b76243 137 {
asobhy 10:8919b1b76243 138 Setpoint = 0;
asobhy 10:8919b1b76243 139 }
asobhy 10:8919b1b76243 140
asobhy 14:5777377537a2 141 // Decoupled drive
asobhy 10:8919b1b76243 142 setpointR = Setpoint + (Ks*SteeringError);
asobhy 10:8919b1b76243 143 setpointL = Setpoint - (Ks*SteeringError);
asobhy 15:cf67f83d5409 144 cameraData_mutex.unlock();
asobhy 14:5777377537a2 145
asobhy 14:5777377537a2 146 // Make sure our limit is not exceeded
asobhy 14:5777377537a2 147 setpointR = SaturateValue(setpointR, 560);
asobhy 14:5777377537a2 148 setpointL = SaturateValue(setpointL, 560);
asobhy 14:5777377537a2 149
asobhy 14:5777377537a2 150 /*********************Differential End*********************************/
asobhy 14:5777377537a2 151
asobhy 9:fe56b888985c 152 U_right = PiControllerR(setpointR,sensors.dp_right);
asobhy 9:fe56b888985c 153 U_left = PiControllerL(setpointL,sensors.dp_left);
asobhy 1:3e9684e81312 154
asobhy 14:5777377537a2 155 // Set speed and direction for right motor
asobhy 9:fe56b888985c 156 if (U_right >= 0)
asobhy 0:a355e511bc5d 157 {
asobhy 9:fe56b888985c 158 motorDriver_R_forward(U_right);
asobhy 9:fe56b888985c 159 }
asobhy 9:fe56b888985c 160 else if (U_right < 0)
asobhy 9:fe56b888985c 161 {
asobhy 9:fe56b888985c 162 motorDriver_R_reverse(U_right);
asobhy 0:a355e511bc5d 163 }
asobhy 9:fe56b888985c 164
asobhy 14:5777377537a2 165 // Set speed and direction of left motor
asobhy 9:fe56b888985c 166 if (U_left >= 0)
asobhy 0:a355e511bc5d 167 {
asobhy 9:fe56b888985c 168 motorDriver_L_forward(U_left);
asobhy 9:fe56b888985c 169 }
asobhy 9:fe56b888985c 170 else if (U_left < 0)
asobhy 9:fe56b888985c 171 {
asobhy 9:fe56b888985c 172 motorDriver_L_reverse(U_left);
asobhy 7:73fd05fe556a 173 }
asobhy 3:4def4ca68910 174
asobhy 0:a355e511bc5d 175 }
asobhy 1:3e9684e81312 176
asobhy 0:a355e511bc5d 177 }
asobhy 0:a355e511bc5d 178
asobhy 0:a355e511bc5d 179 /*******************************************************************************
asobhy 7:73fd05fe556a 180 * @brief The ISR below signals the PIControllerThread. it is setup to run
asobhy 7:73fd05fe556a 181 * every 50ms
asobhy 7:73fd05fe556a 182 * @param none
asobhy 7:73fd05fe556a 183 * @return none
asobhy 0:a355e511bc5d 184 *******************************************************************************/
asobhy 0:a355e511bc5d 185 void PeriodicInterruptISR(void)
asobhy 0:a355e511bc5d 186 {
asobhy 0:a355e511bc5d 187 // Send signal to the thread with ID, PeriodicInterruptId, i.e., PeriodicInterruptThread.
asobhy 0:a355e511bc5d 188 osSignalSet(PiControlId,0x1);
asobhy 0:a355e511bc5d 189 }
asobhy 1:3e9684e81312 190