Roger Weng / Mbed 2 deprecated Speed_control

Robotic final work

Dependencies:   mbed

Fork of Speed_control by Robotics Term Project

main.cpp@1:571a7ee6023d, 2016-05-27 (annotated)

Committer:
smilestone520
Date:
Fri May 27 16:26:14 2016 +0000
Revision:
1:571a7ee6023d
Parent:
0:51ebb68301ec
Child:
2:12c55b0c9cc2
Child:
4:1125b24078a3
kkk;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
smilestone520 0:51ebb68301ec 1 /*DCMotor*/
smilestone520 0:51ebb68301ec 2 // transfer function 10400/s+21.28
smilestone520 0:51ebb68301ec 3 // motor direction v1(vR) < 0
smilestone520 0:51ebb68301ec 4 // motor direction v2(vL) > 0
smilestone520 0:51ebb68301ec 5 // speed limitatino 300 rpm
smilestone520 0:51ebb68301ec 6
smilestone520 0:51ebb68301ec 7 #include "mbed.h"
smilestone520 0:51ebb68301ec 8
smilestone520 0:51ebb68301ec 9 //The number will be compiled as type "double" in default
smilestone520 0:51ebb68301ec 10 //Add a "f" after the number can make it compiled as type "float"
smilestone520 0:51ebb68301ec 11 #define Ts 0.02f //period of timer1 (s)
smilestone520 0:51ebb68301ec 12 #define Kp1 0.0048f //0.0048f
smilestone520 0:51ebb68301ec 13 #define Kp2 0.0048f //0.0048f
smilestone520 0:51ebb68301ec 14 #define Ki 0.002754f //0.1023f
smilestone520 0:51ebb68301ec 15
smilestone520 0:51ebb68301ec 16 Serial bluetooth(D10,D2); //宣告藍牙腳位
smilestone520 1:571a7ee6023d 17 //Serial pc(D1, D0);
smilestone520 1:571a7ee6023d 18 PwmOut servo(A0);
smilestone520 0:51ebb68301ec 19 PwmOut pwm1(D7);
smilestone520 0:51ebb68301ec 20 PwmOut pwm1n(D11);
smilestone520 0:51ebb68301ec 21 PwmOut pwm2(D8);
smilestone520 0:51ebb68301ec 22 PwmOut pwm2n(A3);
smilestone520 0:51ebb68301ec 23
smilestone520 0:51ebb68301ec 24 DigitalOut led1(A4);
smilestone520 0:51ebb68301ec 25 DigitalOut led2(A5);
smilestone520 0:51ebb68301ec 26
smilestone520 0:51ebb68301ec 27 //Motor1 sensor
smilestone520 0:51ebb68301ec 28 InterruptIn HallA_1(A1);
smilestone520 0:51ebb68301ec 29 InterruptIn HallB_1(A2);
smilestone520 0:51ebb68301ec 30 //Motor2 sensor
smilestone520 0:51ebb68301ec 31 InterruptIn HallA_2(D13);
smilestone520 0:51ebb68301ec 32 InterruptIn HallB_2(D12);
smilestone520 0:51ebb68301ec 33
smilestone520 0:51ebb68301ec 34
smilestone520 0:51ebb68301ec 35 Ticker timer1;
smilestone520 0:51ebb68301ec 36 void timer1_interrupt(void);
smilestone520 0:51ebb68301ec 37 int timer1_counter;
smilestone520 0:51ebb68301ec 38
smilestone520 0:51ebb68301ec 39 void CN_interrupt(void);
smilestone520 0:51ebb68301ec 40
smilestone520 0:51ebb68301ec 41 void init_TIMER(void);
smilestone520 0:51ebb68301ec 42 void init_PWM(void);
smilestone520 0:51ebb68301ec 43 void init_CN(void);
smilestone520 0:51ebb68301ec 44 void init_BLUETOOTH(void);
smilestone520 0:51ebb68301ec 45
smilestone520 0:51ebb68301ec 46 int8_t stateA_1=0, stateB_1=0, stateA_2=0, stateB_2=0;
smilestone520 0:51ebb68301ec 47 int8_t state_1 = 0, state_1_old = 0, state_2 = 0, state_2_old = 0;
smilestone520 0:51ebb68301ec 48
smilestone520 0:51ebb68301ec 49 int v1Count = 0;
smilestone520 0:51ebb68301ec 50 int v2Count = 0;
smilestone520 0:51ebb68301ec 51
smilestone520 0:51ebb68301ec 52 float v1 = 0.0, v1_ref = 0.0;
smilestone520 0:51ebb68301ec 53 float v1_err = 0.0, v1_err_old = 0.0, PIout_1 = 0.0;
smilestone520 0:51ebb68301ec 54 float v1_old[10] = {}, v1_avg = 0.0;
smilestone520 0:51ebb68301ec 55 float v2 = 0.0, v2_ref = 0.0;
smilestone520 0:51ebb68301ec 56 float v2_err = 0.0, v2_err_old = 0.0, PIout_2 = 0.0;
smilestone520 0:51ebb68301ec 57 float v2_old[10] = {}, v2_avg = 0.0;
smilestone520 1:571a7ee6023d 58
smilestone520 1:571a7ee6023d 59 int servo_angle = 87;
smilestone520 1:571a7ee6023d 60 float servo_duty = 0.079;//0.079 +(0.084/180)*angle, -90<angle<90
smilestone520 1:571a7ee6023d 61
smilestone520 1:571a7ee6023d 62 char Receive_Data[8] = {};
smilestone520 1:571a7ee6023d 63
smilestone520 0:51ebb68301ec 64 int main() {
smilestone520 0:51ebb68301ec 65 init_BLUETOOTH();
smilestone520 0:51ebb68301ec 66 init_TIMER();
smilestone520 0:51ebb68301ec 67 init_PWM();
smilestone520 0:51ebb68301ec 68 init_CN();
smilestone520 0:51ebb68301ec 69
smilestone520 0:51ebb68301ec 70 v1_ref = 0.0;
smilestone520 1:571a7ee6023d 71 v2_ref = 0.0;
smilestone520 1:571a7ee6023d 72
smilestone520 1:571a7ee6023d 73 //bluetooth.baud(115200); //設定鮑率
smilestone520 1:571a7ee6023d 74 //pc.baud(57600);
smilestone520 0:51ebb68301ec 75
smilestone520 0:51ebb68301ec 76 while(1)
smilestone520 0:51ebb68301ec 77 {
smilestone520 1:571a7ee6023d 78 if(bluetooth.readable())
smilestone520 0:51ebb68301ec 79 {
smilestone520 0:51ebb68301ec 80 bluetooth.scanf("%f%f",&v1_ref,&v2_ref);
smilestone520 1:571a7ee6023d 81 v1_ref = v1_ref - 300.0f;
smilestone520 0:51ebb68301ec 82 v2_ref = v2_ref - 300.0f;
smilestone520 0:51ebb68301ec 83 }
smilestone520 1:571a7ee6023d 84 /*if(pc.readable())
smilestone520 1:571a7ee6023d 85 {
smilestone520 1:571a7ee6023d 86 bluetooth.putc(pc.getc());
smilestone520 1:571a7ee6023d 87 }
smilestone520 1:571a7ee6023d 88 if(bluetooth.readable())
smilestone520 1:571a7ee6023d 89 {
smilestone520 1:571a7ee6023d 90 pc.putc(bluetooth.getc());
smilestone520 1:571a7ee6023d 91 }*/
smilestone520 0:51ebb68301ec 92 }
smilestone520 0:51ebb68301ec 93 }
smilestone520 0:51ebb68301ec 94
smilestone520 0:51ebb68301ec 95 void timer1_interrupt(void)
smilestone520 0:51ebb68301ec 96 {
smilestone520 1:571a7ee6023d 97
smilestone520 1:571a7ee6023d 98 /*for(int i=0; i<8; i++)
smilestone520 1:571a7ee6023d 99 {
smilestone520 1:571a7ee6023d 100 Receive_Data[i] = bluetooth.getc();
smilestone520 1:571a7ee6023d 101 }
smilestone520 1:571a7ee6023d 102 //read data from matlab
smilestone520 1:571a7ee6023d 103 //distance_target
smilestone520 1:571a7ee6023d 104 v1_ref = (Receive_Data[1]-0x30)*100 + (Receive_Data[2]-0x30)*10 + (Receive_Data[3]-0x30);
smilestone520 1:571a7ee6023d 105
smilestone520 1:571a7ee6023d 106 if(Receive_Data[0] == '-')v1_ref = -1* v1_ref;
smilestone520 1:571a7ee6023d 107 else v1_ref = v1_ref;
smilestone520 1:571a7ee6023d 108
smilestone520 1:571a7ee6023d 109 //ang_rel_target
smilestone520 1:571a7ee6023d 110 v2_ref = (Receive_Data[5]-0x30)*100 + (Receive_Data[6]-0x30)*10 + (Receive_Data[7]-0x30);
smilestone520 1:571a7ee6023d 111
smilestone520 1:571a7ee6023d 112 if(Receive_Data[4] == '-')v2_ref = -1* v2_ref;
smilestone520 1:571a7ee6023d 113 else v2_ref = v2_ref;*/
smilestone520 1:571a7ee6023d 114
smilestone520 0:51ebb68301ec 115 //Motor 1
smilestone520 0:51ebb68301ec 116 v1 = (float)v1Count * 50.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
smilestone520 0:51ebb68301ec 117 v1_avg = v1_avg + ( v1 - v1_old[9])/10.0f;
smilestone520 0:51ebb68301ec 118 for(int i = 9; i > 0 ; i--)
smilestone520 0:51ebb68301ec 119 {
smilestone520 0:51ebb68301ec 120 v1_old[i] = v1_old[i-1];
smilestone520 0:51ebb68301ec 121 }
smilestone520 0:51ebb68301ec 122 v1_old[0] = v1;
smilestone520 0:51ebb68301ec 123 v1Count = 0;
smilestone520 0:51ebb68301ec 124
smilestone520 0:51ebb68301ec 125 ///code for PI control///
smilestone520 0:51ebb68301ec 126 v1_err = v1_ref - v1;
smilestone520 0:51ebb68301ec 127
smilestone520 0:51ebb68301ec 128 PIout_1 = PIout_1 + Kp1 * v1_err - Ki * v1_err_old;
smilestone520 0:51ebb68301ec 129 v1_err_old = v1_err;
smilestone520 0:51ebb68301ec 130
smilestone520 0:51ebb68301ec 131 // saturation
smilestone520 0:51ebb68301ec 132 if(PIout_1 >= 0.5f)PIout_1 = 0.5f;
smilestone520 0:51ebb68301ec 133 else if(PIout_1 <= -0.5f)PIout_1 = -0.5f;
smilestone520 0:51ebb68301ec 134 pwm1.write(PIout_1 + 0.5f);
smilestone520 0:51ebb68301ec 135 TIM1->CCER |= 0x4;
smilestone520 0:51ebb68301ec 136
smilestone520 0:51ebb68301ec 137 //Motor 2
smilestone520 0:51ebb68301ec 138 v2 = (float)v2Count * 50.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
smilestone520 0:51ebb68301ec 139 v2_avg = v2_avg + ( v2 - v2_old[9])/10.0f;
smilestone520 0:51ebb68301ec 140 for(int i = 9; i > 0; i--)
smilestone520 0:51ebb68301ec 141 {
smilestone520 0:51ebb68301ec 142 v2_old[i] = v2_old[i-1];
smilestone520 0:51ebb68301ec 143 }
smilestone520 0:51ebb68301ec 144 v2_old[0] = v2;
smilestone520 0:51ebb68301ec 145 v2Count = 0;
smilestone520 0:51ebb68301ec 146
smilestone520 0:51ebb68301ec 147 ///code for PI control///
smilestone520 0:51ebb68301ec 148 v2_err = v2_ref - v2;
smilestone520 0:51ebb68301ec 149
smilestone520 0:51ebb68301ec 150 PIout_2 = PIout_2 + Kp2 * v2_err - Ki * v2_err_old;
smilestone520 0:51ebb68301ec 151 v2_err_old = v2_err;
smilestone520 0:51ebb68301ec 152
smilestone520 0:51ebb68301ec 153 //saturation
smilestone520 0:51ebb68301ec 154 if(PIout_2 >= 0.5f)PIout_2 = 0.5f;
smilestone520 0:51ebb68301ec 155 else if(PIout_2 <= -0.5f)PIout_2 = -0.5f;
smilestone520 0:51ebb68301ec 156 pwm2.write(PIout_2 + 0.5f);
smilestone520 0:51ebb68301ec 157 TIM1->CCER |= 0x40;
smilestone520 0:51ebb68301ec 158
smilestone520 0:51ebb68301ec 159 timer1_counter ++;
smilestone520 0:51ebb68301ec 160 if (timer1_counter == 50)
smilestone520 0:51ebb68301ec 161 {
smilestone520 0:51ebb68301ec 162 timer1_counter = 0;
smilestone520 0:51ebb68301ec 163 if(bluetooth.writeable())
smilestone520 0:51ebb68301ec 164 {
smilestone520 0:51ebb68301ec 165 bluetooth.printf("V1: %4.2f V2: %4.2f\n",v1_avg,v2_avg);
smilestone520 0:51ebb68301ec 166 }
smilestone520 0:51ebb68301ec 167 }
smilestone520 1:571a7ee6023d 168
smilestone520 1:571a7ee6023d 169 /*servo_duty = 0.079 + (0.084/180)*servo_angle; // 要修改
smilestone520 1:571a7ee6023d 170 servo.write(servo_duty);
smilestone520 1:571a7ee6023d 171 servo = 1;
smilestone520 1:571a7ee6023d 172 wait(0.1);
smilestone520 1:571a7ee6023d 173 servo = 0;
smilestone520 1:571a7ee6023d 174 */
smilestone520 0:51ebb68301ec 175 }
smilestone520 0:51ebb68301ec 176
smilestone520 0:51ebb68301ec 177 void CN_interrupt(void)
smilestone520 0:51ebb68301ec 178 {
smilestone520 0:51ebb68301ec 179 //Motor 1
smilestone520 0:51ebb68301ec 180 stateA_1 = HallA_1.read();
smilestone520 0:51ebb68301ec 181 stateB_1 = HallB_1.read();
smilestone520 0:51ebb68301ec 182
smilestone520 0:51ebb68301ec 183 ///code for state determination///
smilestone520 0:51ebb68301ec 184 if (stateA_1 == 0)
smilestone520 0:51ebb68301ec 185 {
smilestone520 0:51ebb68301ec 186 if (stateB_1 == 0)
smilestone520 0:51ebb68301ec 187 state_1 = 0;
smilestone520 0:51ebb68301ec 188 else
smilestone520 0:51ebb68301ec 189 state_1 = 1;
smilestone520 0:51ebb68301ec 190 }
smilestone520 0:51ebb68301ec 191 else
smilestone520 0:51ebb68301ec 192 {
smilestone520 0:51ebb68301ec 193 if (stateB_1 == 1)
smilestone520 0:51ebb68301ec 194 state_1 = 2;
smilestone520 0:51ebb68301ec 195 else
smilestone520 0:51ebb68301ec 196 state_1 = 3;
smilestone520 0:51ebb68301ec 197 }
smilestone520 0:51ebb68301ec 198
smilestone520 0:51ebb68301ec 199 //Forward: v1Count +1
smilestone520 0:51ebb68301ec 200 //Inverse: v1Count -1
smilestone520 0:51ebb68301ec 201 if ( (state_1 == (state_1_old + 1)) || (state_1 == 0 && state_1_old == 3) )
smilestone520 0:51ebb68301ec 202 v1Count++;
smilestone520 0:51ebb68301ec 203 else if ( (state_1 == (state_1_old - 1)) || (state_1 == 3 && state_1_old == 0))
smilestone520 0:51ebb68301ec 204 v1Count--;
smilestone520 0:51ebb68301ec 205
smilestone520 0:51ebb68301ec 206 state_1_old = state_1;
smilestone520 0:51ebb68301ec 207
smilestone520 0:51ebb68301ec 208 //Motor 2
smilestone520 0:51ebb68301ec 209 stateA_2 = HallA_2.read();
smilestone520 0:51ebb68301ec 210 stateB_2 = HallB_2.read();
smilestone520 0:51ebb68301ec 211
smilestone520 0:51ebb68301ec 212 ///code for state determination///
smilestone520 0:51ebb68301ec 213 if (stateA_2 == 0)
smilestone520 0:51ebb68301ec 214 {
smilestone520 0:51ebb68301ec 215 if (stateB_2 == 0)
smilestone520 0:51ebb68301ec 216 state_2 = 0;
smilestone520 0:51ebb68301ec 217 else
smilestone520 0:51ebb68301ec 218 state_2 = 1;
smilestone520 0:51ebb68301ec 219 }
smilestone520 0:51ebb68301ec 220 else
smilestone520 0:51ebb68301ec 221 {
smilestone520 0:51ebb68301ec 222 if (stateB_2 == 1)
smilestone520 0:51ebb68301ec 223 state_2 = 2;
smilestone520 0:51ebb68301ec 224 else
smilestone520 0:51ebb68301ec 225 state_2 = 3;
smilestone520 0:51ebb68301ec 226 }
smilestone520 0:51ebb68301ec 227
smilestone520 0:51ebb68301ec 228 //Forward: v2Count +1
smilestone520 0:51ebb68301ec 229 //Inverse: v2Count -1
smilestone520 0:51ebb68301ec 230 if ( (state_2 == (state_2_old + 1)) || (state_2 == 0 && state_2_old == 3) )
smilestone520 0:51ebb68301ec 231 v2Count++;
smilestone520 0:51ebb68301ec 232 else if ( (state_2 == (state_2_old - 1)) || (state_2 == 3 && state_2_old == 0) )
smilestone520 0:51ebb68301ec 233 v2Count--;
smilestone520 0:51ebb68301ec 234
smilestone520 0:51ebb68301ec 235 state_2_old = state_2;
smilestone520 1:571a7ee6023d 236
smilestone520 1:571a7ee6023d 237
smilestone520 0:51ebb68301ec 238 }
smilestone520 0:51ebb68301ec 239
smilestone520 0:51ebb68301ec 240 void init_TIMER(void)
smilestone520 0:51ebb68301ec 241 {
smilestone520 0:51ebb68301ec 242 timer1.attach_us(&timer1_interrupt, 20000);//10ms interrupt period (100 Hz)
smilestone520 0:51ebb68301ec 243 timer1_counter = 0;
smilestone520 0:51ebb68301ec 244 }
smilestone520 0:51ebb68301ec 245
smilestone520 0:51ebb68301ec 246 void init_PWM(void)
smilestone520 0:51ebb68301ec 247 {
smilestone520 0:51ebb68301ec 248 pwm1.period_us(50);
smilestone520 0:51ebb68301ec 249 pwm1.write(0.5);
smilestone520 0:51ebb68301ec 250 TIM1->CCER |= 0x4;
smilestone520 0:51ebb68301ec 251
smilestone520 0:51ebb68301ec 252 pwm2.period_us(50);
smilestone520 0:51ebb68301ec 253 pwm2.write(0.5);
smilestone520 0:51ebb68301ec 254 TIM1->CCER |= 0x40;
smilestone520 0:51ebb68301ec 255 }
smilestone520 0:51ebb68301ec 256
smilestone520 0:51ebb68301ec 257 void init_CN(void)
smilestone520 0:51ebb68301ec 258 {
smilestone520 0:51ebb68301ec 259 HallA_1.rise(&CN_interrupt);
smilestone520 0:51ebb68301ec 260 HallA_1.fall(&CN_interrupt);
smilestone520 0:51ebb68301ec 261 HallB_1.rise(&CN_interrupt);
smilestone520 0:51ebb68301ec 262 HallB_1.fall(&CN_interrupt);
smilestone520 0:51ebb68301ec 263
smilestone520 0:51ebb68301ec 264 HallA_2.rise(&CN_interrupt);
smilestone520 0:51ebb68301ec 265 HallA_2.fall(&CN_interrupt);
smilestone520 0:51ebb68301ec 266 HallB_2.rise(&CN_interrupt);
smilestone520 0:51ebb68301ec 267 HallB_2.fall(&CN_interrupt);
smilestone520 0:51ebb68301ec 268
smilestone520 0:51ebb68301ec 269 stateA_1 = HallA_1.read();
smilestone520 0:51ebb68301ec 270 stateB_1 = HallB_1.read();
smilestone520 0:51ebb68301ec 271 stateA_2 = HallA_2.read();
smilestone520 0:51ebb68301ec 272 stateB_2 = HallB_2.read();
smilestone520 0:51ebb68301ec 273 }
smilestone520 0:51ebb68301ec 274 void init_BLUETOOTH(void)
smilestone520 0:51ebb68301ec 275 {
smilestone520 0:51ebb68301ec 276 bluetooth.baud(115200);
smilestone520 1:571a7ee6023d 277 }