Roger Weng / Mbed 2 deprecated Speed_control

Robotic final work

Dependencies:   mbed

Fork of Speed_control by Robotics Term Project

main.cpp@6:e3cc19965e74, 2016-07-23 (annotated)

Committer:
roger5641
Date:
Sat Jul 23 13:48:41 2016 +0000
Revision:
6:e3cc19965e74
Parent:
5:63c9ab496df9 
Robotics final work

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 5:63c9ab496df9 59 int servo_angle = 70;
smilestone520 1:571a7ee6023d 60 float servo_duty = 0.079;//0.079 +(0.084/180)*angle, -90<angle<90
smilestone520 5:63c9ab496df9 61 int servo_work = 0;
smilestone520 1:571a7ee6023d 62
smilestone520 5:63c9ab496df9 63
smilestone520 5:63c9ab496df9 64 //char Receive_Data[8] = {};
smilestone520 1:571a7ee6023d 65
smilestone520 0:51ebb68301ec 66 int main() {
smilestone520 0:51ebb68301ec 67 init_BLUETOOTH();
smilestone520 0:51ebb68301ec 68 init_TIMER();
smilestone520 0:51ebb68301ec 69 init_PWM();
smilestone520 0:51ebb68301ec 70 init_CN();
smilestone520 0:51ebb68301ec 71
smilestone520 0:51ebb68301ec 72 v1_ref = 0.0;
smilestone520 1:571a7ee6023d 73 v2_ref = 0.0;
smilestone520 1:571a7ee6023d 74
smilestone520 5:63c9ab496df9 75 servo_duty = 0.079 + (0.084/180)*servo_angle; // 要修改
smilestone520 5:63c9ab496df9 76 servo.write(servo_duty);
smilestone520 5:63c9ab496df9 77
smilestone520 1:571a7ee6023d 78 //bluetooth.baud(115200); //設定鮑率
smilestone520 1:571a7ee6023d 79 //pc.baud(57600);
smilestone520 0:51ebb68301ec 80
smilestone520 0:51ebb68301ec 81 while(1)
smilestone520 0:51ebb68301ec 82 {
smilestone520 1:571a7ee6023d 83 if(bluetooth.readable())
smilestone520 0:51ebb68301ec 84 {
smilestone520 5:63c9ab496df9 85 bluetooth.scanf("%f %f %d",&v1_ref,&v2_ref, &servo_work);
smilestone520 5:63c9ab496df9 86 v1_ref = v1_ref - 300.0f;
smilestone520 5:63c9ab496df9 87 v2_ref = v2_ref - 300.0f;
roger5641 3:f30bd4a0d761 88
smilestone520 5:63c9ab496df9 89 if(servo_work == 0)
smilestone520 5:63c9ab496df9 90 servo_angle = 70;
smilestone520 5:63c9ab496df9 91 else
smilestone520 5:63c9ab496df9 92 servo_angle = 20;
smilestone520 0:51ebb68301ec 93 }
smilestone520 0:51ebb68301ec 94 }
smilestone520 0:51ebb68301ec 95 }
smilestone520 0:51ebb68301ec 96
smilestone520 0:51ebb68301ec 97 void timer1_interrupt(void)
roger5641 6:e3cc19965e74 98 {
smilestone520 0:51ebb68301ec 99 //Motor 1
smilestone520 0:51ebb68301ec 100 v1 = (float)v1Count * 50.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
smilestone520 0:51ebb68301ec 101 v1_avg = v1_avg + ( v1 - v1_old[9])/10.0f;
smilestone520 0:51ebb68301ec 102 for(int i = 9; i > 0 ; i--)
smilestone520 0:51ebb68301ec 103 {
smilestone520 0:51ebb68301ec 104 v1_old[i] = v1_old[i-1];
smilestone520 0:51ebb68301ec 105 }
smilestone520 0:51ebb68301ec 106 v1_old[0] = v1;
smilestone520 0:51ebb68301ec 107 v1Count = 0;
smilestone520 0:51ebb68301ec 108
smilestone520 0:51ebb68301ec 109 ///code for PI control///
smilestone520 0:51ebb68301ec 110 v1_err = v1_ref - v1;
smilestone520 0:51ebb68301ec 111
smilestone520 0:51ebb68301ec 112 PIout_1 = PIout_1 + Kp1 * v1_err - Ki * v1_err_old;
smilestone520 0:51ebb68301ec 113 v1_err_old = v1_err;
smilestone520 0:51ebb68301ec 114
smilestone520 0:51ebb68301ec 115 // saturation
smilestone520 0:51ebb68301ec 116 if(PIout_1 >= 0.5f)PIout_1 = 0.5f;
smilestone520 0:51ebb68301ec 117 else if(PIout_1 <= -0.5f)PIout_1 = -0.5f;
smilestone520 0:51ebb68301ec 118 pwm1.write(PIout_1 + 0.5f);
smilestone520 0:51ebb68301ec 119 TIM1->CCER |= 0x4;
smilestone520 0:51ebb68301ec 120
smilestone520 0:51ebb68301ec 121 //Motor 2
smilestone520 0:51ebb68301ec 122 v2 = (float)v2Count * 50.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
smilestone520 0:51ebb68301ec 123 v2_avg = v2_avg + ( v2 - v2_old[9])/10.0f;
smilestone520 0:51ebb68301ec 124 for(int i = 9; i > 0; i--)
smilestone520 0:51ebb68301ec 125 {
smilestone520 0:51ebb68301ec 126 v2_old[i] = v2_old[i-1];
smilestone520 0:51ebb68301ec 127 }
smilestone520 0:51ebb68301ec 128 v2_old[0] = v2;
smilestone520 0:51ebb68301ec 129 v2Count = 0;
smilestone520 0:51ebb68301ec 130
smilestone520 0:51ebb68301ec 131 ///code for PI control///
smilestone520 0:51ebb68301ec 132 v2_err = v2_ref - v2;
smilestone520 0:51ebb68301ec 133
smilestone520 0:51ebb68301ec 134 PIout_2 = PIout_2 + Kp2 * v2_err - Ki * v2_err_old;
smilestone520 0:51ebb68301ec 135 v2_err_old = v2_err;
smilestone520 0:51ebb68301ec 136
smilestone520 0:51ebb68301ec 137 //saturation
smilestone520 0:51ebb68301ec 138 if(PIout_2 >= 0.5f)PIout_2 = 0.5f;
smilestone520 0:51ebb68301ec 139 else if(PIout_2 <= -0.5f)PIout_2 = -0.5f;
smilestone520 0:51ebb68301ec 140 pwm2.write(PIout_2 + 0.5f);
smilestone520 0:51ebb68301ec 141 TIM1->CCER |= 0x40;
smilestone520 0:51ebb68301ec 142
smilestone520 0:51ebb68301ec 143 timer1_counter ++;
smilestone520 0:51ebb68301ec 144 if (timer1_counter == 50)
smilestone520 0:51ebb68301ec 145 {
smilestone520 0:51ebb68301ec 146 timer1_counter = 0;
smilestone520 0:51ebb68301ec 147 if(bluetooth.writeable())
smilestone520 0:51ebb68301ec 148 {
smilestone520 0:51ebb68301ec 149 bluetooth.printf("V1: %4.2f V2: %4.2f\n",v1_avg,v2_avg);
smilestone520 0:51ebb68301ec 150 }
smilestone520 0:51ebb68301ec 151 }
smilestone520 1:571a7ee6023d 152
roger5641 2:12c55b0c9cc2 153 servo_duty = 0.079 + (0.084/180)*servo_angle; // 要修改
smilestone520 1:571a7ee6023d 154 servo.write(servo_duty);
smilestone520 5:63c9ab496df9 155
roger5641 2:12c55b0c9cc2 156
smilestone520 0:51ebb68301ec 157 }
smilestone520 0:51ebb68301ec 158
smilestone520 0:51ebb68301ec 159 void CN_interrupt(void)
smilestone520 0:51ebb68301ec 160 {
smilestone520 0:51ebb68301ec 161 //Motor 1
smilestone520 0:51ebb68301ec 162 stateA_1 = HallA_1.read();
smilestone520 0:51ebb68301ec 163 stateB_1 = HallB_1.read();
smilestone520 0:51ebb68301ec 164
smilestone520 0:51ebb68301ec 165 ///code for state determination///
smilestone520 0:51ebb68301ec 166 if (stateA_1 == 0)
smilestone520 0:51ebb68301ec 167 {
smilestone520 0:51ebb68301ec 168 if (stateB_1 == 0)
smilestone520 0:51ebb68301ec 169 state_1 = 0;
smilestone520 0:51ebb68301ec 170 else
smilestone520 0:51ebb68301ec 171 state_1 = 1;
smilestone520 0:51ebb68301ec 172 }
smilestone520 0:51ebb68301ec 173 else
smilestone520 0:51ebb68301ec 174 {
smilestone520 0:51ebb68301ec 175 if (stateB_1 == 1)
smilestone520 0:51ebb68301ec 176 state_1 = 2;
smilestone520 0:51ebb68301ec 177 else
smilestone520 0:51ebb68301ec 178 state_1 = 3;
smilestone520 0:51ebb68301ec 179 }
smilestone520 0:51ebb68301ec 180
smilestone520 0:51ebb68301ec 181 //Forward: v1Count +1
smilestone520 0:51ebb68301ec 182 //Inverse: v1Count -1
smilestone520 0:51ebb68301ec 183 if ( (state_1 == (state_1_old + 1)) || (state_1 == 0 && state_1_old == 3) )
smilestone520 0:51ebb68301ec 184 v1Count++;
smilestone520 0:51ebb68301ec 185 else if ( (state_1 == (state_1_old - 1)) || (state_1 == 3 && state_1_old == 0))
smilestone520 0:51ebb68301ec 186 v1Count--;
smilestone520 0:51ebb68301ec 187
smilestone520 0:51ebb68301ec 188 state_1_old = state_1;
smilestone520 0:51ebb68301ec 189
smilestone520 0:51ebb68301ec 190 //Motor 2
smilestone520 0:51ebb68301ec 191 stateA_2 = HallA_2.read();
smilestone520 0:51ebb68301ec 192 stateB_2 = HallB_2.read();
smilestone520 0:51ebb68301ec 193
smilestone520 0:51ebb68301ec 194 ///code for state determination///
smilestone520 0:51ebb68301ec 195 if (stateA_2 == 0)
smilestone520 0:51ebb68301ec 196 {
smilestone520 0:51ebb68301ec 197 if (stateB_2 == 0)
smilestone520 0:51ebb68301ec 198 state_2 = 0;
smilestone520 0:51ebb68301ec 199 else
smilestone520 0:51ebb68301ec 200 state_2 = 1;
smilestone520 0:51ebb68301ec 201 }
smilestone520 0:51ebb68301ec 202 else
smilestone520 0:51ebb68301ec 203 {
smilestone520 0:51ebb68301ec 204 if (stateB_2 == 1)
smilestone520 0:51ebb68301ec 205 state_2 = 2;
smilestone520 0:51ebb68301ec 206 else
smilestone520 0:51ebb68301ec 207 state_2 = 3;
smilestone520 0:51ebb68301ec 208 }
smilestone520 0:51ebb68301ec 209
smilestone520 0:51ebb68301ec 210 //Forward: v2Count +1
smilestone520 0:51ebb68301ec 211 //Inverse: v2Count -1
smilestone520 0:51ebb68301ec 212 if ( (state_2 == (state_2_old + 1)) || (state_2 == 0 && state_2_old == 3) )
smilestone520 0:51ebb68301ec 213 v2Count++;
smilestone520 0:51ebb68301ec 214 else if ( (state_2 == (state_2_old - 1)) || (state_2 == 3 && state_2_old == 0) )
smilestone520 0:51ebb68301ec 215 v2Count--;
smilestone520 0:51ebb68301ec 216
smilestone520 0:51ebb68301ec 217 state_2_old = state_2;
smilestone520 1:571a7ee6023d 218
smilestone520 1:571a7ee6023d 219
smilestone520 0:51ebb68301ec 220 }
smilestone520 0:51ebb68301ec 221
smilestone520 0:51ebb68301ec 222 void init_TIMER(void)
smilestone520 0:51ebb68301ec 223 {
smilestone520 0:51ebb68301ec 224 timer1.attach_us(&timer1_interrupt, 20000);//10ms interrupt period (100 Hz)
smilestone520 0:51ebb68301ec 225 timer1_counter = 0;
smilestone520 0:51ebb68301ec 226 }
smilestone520 0:51ebb68301ec 227
smilestone520 0:51ebb68301ec 228 void init_PWM(void)
smilestone520 0:51ebb68301ec 229 {
smilestone520 0:51ebb68301ec 230 pwm1.period_us(50);
smilestone520 0:51ebb68301ec 231 pwm1.write(0.5);
smilestone520 0:51ebb68301ec 232 TIM1->CCER |= 0x4;
smilestone520 0:51ebb68301ec 233
smilestone520 0:51ebb68301ec 234 pwm2.period_us(50);
smilestone520 0:51ebb68301ec 235 pwm2.write(0.5);
smilestone520 0:51ebb68301ec 236 TIM1->CCER |= 0x40;
smilestone520 0:51ebb68301ec 237 }
smilestone520 0:51ebb68301ec 238
smilestone520 0:51ebb68301ec 239 void init_CN(void)
smilestone520 0:51ebb68301ec 240 {
smilestone520 0:51ebb68301ec 241 HallA_1.rise(&CN_interrupt);
smilestone520 0:51ebb68301ec 242 HallA_1.fall(&CN_interrupt);
smilestone520 0:51ebb68301ec 243 HallB_1.rise(&CN_interrupt);
smilestone520 0:51ebb68301ec 244 HallB_1.fall(&CN_interrupt);
smilestone520 0:51ebb68301ec 245
smilestone520 0:51ebb68301ec 246 HallA_2.rise(&CN_interrupt);
smilestone520 0:51ebb68301ec 247 HallA_2.fall(&CN_interrupt);
smilestone520 0:51ebb68301ec 248 HallB_2.rise(&CN_interrupt);
smilestone520 0:51ebb68301ec 249 HallB_2.fall(&CN_interrupt);
smilestone520 0:51ebb68301ec 250
smilestone520 0:51ebb68301ec 251 stateA_1 = HallA_1.read();
smilestone520 0:51ebb68301ec 252 stateB_1 = HallB_1.read();
smilestone520 0:51ebb68301ec 253 stateA_2 = HallA_2.read();
smilestone520 0:51ebb68301ec 254 stateB_2 = HallB_2.read();
smilestone520 0:51ebb68301ec 255 }
smilestone520 0:51ebb68301ec 256 void init_BLUETOOTH(void)
smilestone520 0:51ebb68301ec 257 {
smilestone520 0:51ebb68301ec 258 bluetooth.baud(115200);
smilestone520 1:571a7ee6023d 259 }