PRBS signal on Haptic_hid with output signal of position
Dependencies: MODSERIAL USBDevice compensation_tables mbed-dsp mbed
Fork of haptic_hid by
main.cpp@3:10863117020c, 2017-06-19 (annotated)
- Committer:
- JKaal
- Date:
- Mon Jun 19 07:40:22 2017 +0000
- Revision:
- 3:10863117020c
- Parent:
- 2:bf29d24b69dd
- Child:
- 4:9d37f163d64c
PRBS signal on haptic_hid with output signal
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tomlankhorst | 0:f3cf9865b7be | 1 | #include "mbed.h" |
tomlankhorst | 0:f3cf9865b7be | 2 | #include "arm_math.h" |
vsluiter | 1:24b7ab90081a | 3 | //#include "USBHID.h" |
tomlankhorst | 0:f3cf9865b7be | 4 | #include <math.h> |
tomlankhorst | 0:f3cf9865b7be | 5 | #include <string> |
tomlankhorst | 0:f3cf9865b7be | 6 | #include <stdlib.h> |
tomlankhorst | 0:f3cf9865b7be | 7 | #include "MODSERIAL.h" |
tomlankhorst | 0:f3cf9865b7be | 8 | #include "speedestimator.h" |
tomlankhorst | 0:f3cf9865b7be | 9 | #include "position_sensor_error.h" |
tomlankhorst | 0:f3cf9865b7be | 10 | #include "cogging_compensation.h" |
tomlankhorst | 0:f3cf9865b7be | 11 | #include "main.h" |
JKaal | 3:10863117020c | 12 | Ticker tickObject; |
JKaal | 3:10863117020c | 13 | |
JKaal | 3:10863117020c | 14 | #include <iostream> |
JKaal | 3:10863117020c | 15 | |
JKaal | 3:10863117020c | 16 | using namespace std; |
JKaal | 3:10863117020c | 17 | const int n = 1000; |
JKaal | 3:10863117020c | 18 | int k = 0; |
JKaal | 3:10863117020c | 19 | int z = 0; |
JKaal | 3:10863117020c | 20 | int prbstest[n]; |
JKaal | 3:10863117020c | 21 | int status; |
JKaal | 3:10863117020c | 22 | int statusnew; |
JKaal | 3:10863117020c | 23 | const int p = 2*n; |
JKaal | 3:10863117020c | 24 | int positievec[p]; |
JKaal | 3:10863117020c | 25 | int q = 0; |
tomlankhorst | 0:f3cf9865b7be | 26 | |
tomlankhorst | 0:f3cf9865b7be | 27 | /** Main function |
tomlankhorst | 0:f3cf9865b7be | 28 | * Bootstraps the system |
tomlankhorst | 0:f3cf9865b7be | 29 | */ |
JKaal | 3:10863117020c | 30 | typedef enum z_state{/*Z_ZERO,Z_B,Z_K,Z_OFF*/Z_I,Z_NUL}z_states; |
vsluiter | 1:24b7ab90081a | 31 | |
vsluiter | 1:24b7ab90081a | 32 | void SetImpedance(float i, float b, float k, float pos) |
vsluiter | 1:24b7ab90081a | 33 | { |
vsluiter | 1:24b7ab90081a | 34 | ZControl_I = i; |
vsluiter | 1:24b7ab90081a | 35 | ZControl_B = b; |
vsluiter | 1:24b7ab90081a | 36 | ZControl_K = k; |
vsluiter | 1:24b7ab90081a | 37 | ZControl_RefPos = pos; |
vsluiter | 1:24b7ab90081a | 38 | } |
vsluiter | 1:24b7ab90081a | 39 | |
vsluiter | 1:24b7ab90081a | 40 | void blink(void) |
vsluiter | 1:24b7ab90081a | 41 | { |
JKaal | 3:10863117020c | 42 | static z_states localstate=Z_I; |
vsluiter | 1:24b7ab90081a | 43 | switch(localstate) |
vsluiter | 1:24b7ab90081a | 44 | { |
JKaal | 3:10863117020c | 45 | /*case Z_ZERO: |
vsluiter | 1:24b7ab90081a | 46 | { |
vsluiter | 2:bf29d24b69dd | 47 | localstate = Z_B; //mass |
vsluiter | 2:bf29d24b69dd | 48 | SetImpedance(0,0.03,0,position); |
vsluiter | 1:24b7ab90081a | 49 | break; |
vsluiter | 1:24b7ab90081a | 50 | } |
vsluiter | 1:24b7ab90081a | 51 | case Z_B: |
vsluiter | 1:24b7ab90081a | 52 | { |
vsluiter | 2:bf29d24b69dd | 53 | localstate = Z_I; //fluid |
vsluiter | 2:bf29d24b69dd | 54 | SetImpedance(0.0009,0.01,0.001,position); |
vsluiter | 1:24b7ab90081a | 55 | break; |
JKaal | 3:10863117020c | 56 | }*/ |
vsluiter | 1:24b7ab90081a | 57 | case Z_I: |
vsluiter | 1:24b7ab90081a | 58 | { |
JKaal | 3:10863117020c | 59 | localstate = Z_NUL;//spring |
JKaal | 3:10863117020c | 60 | SetImpedance(0.00033,0.00033,0.0000034,0); |
vsluiter | 1:24b7ab90081a | 61 | break; |
vsluiter | 1:24b7ab90081a | 62 | } |
JKaal | 3:10863117020c | 63 | case Z_NUL: |
JKaal | 3:10863117020c | 64 | { |
JKaal | 3:10863117020c | 65 | localstate = Z_I;//spring |
JKaal | 3:10863117020c | 66 | SetImpedance(0.00033,0.00033,0.0000034,500); |
JKaal | 3:10863117020c | 67 | break; |
JKaal | 3:10863117020c | 68 | } |
JKaal | 3:10863117020c | 69 | /*case Z_K: |
vsluiter | 1:24b7ab90081a | 70 | { |
vsluiter | 1:24b7ab90081a | 71 | localstate = Z_OFF; |
vsluiter | 1:24b7ab90081a | 72 | SetImpedance(0,0,0,position); |
vsluiter | 1:24b7ab90081a | 73 | driver_enable_a = 0; |
vsluiter | 1:24b7ab90081a | 74 | driver_enable_b = 0; |
vsluiter | 1:24b7ab90081a | 75 | break; |
vsluiter | 1:24b7ab90081a | 76 | } |
vsluiter | 1:24b7ab90081a | 77 | case Z_OFF: |
vsluiter | 1:24b7ab90081a | 78 | { |
JKaal | 3:10863117020c | 79 | localstate = Z_I; |
vsluiter | 1:24b7ab90081a | 80 | SetImpedance(0,0.00,0,position); |
vsluiter | 1:24b7ab90081a | 81 | driver_enable_a = 1; |
vsluiter | 1:24b7ab90081a | 82 | driver_enable_b = 1; |
vsluiter | 1:24b7ab90081a | 83 | break; |
JKaal | 3:10863117020c | 84 | }*/ |
vsluiter | 1:24b7ab90081a | 85 | default: |
vsluiter | 1:24b7ab90081a | 86 | { |
JKaal | 3:10863117020c | 87 | localstate = Z_I; |
vsluiter | 1:24b7ab90081a | 88 | ZControl_I = 0; |
vsluiter | 1:24b7ab90081a | 89 | ZControl_B = 0; |
vsluiter | 1:24b7ab90081a | 90 | ZControl_K = 0; |
vsluiter | 1:24b7ab90081a | 91 | ZControl_RefPos = position; |
vsluiter | 1:24b7ab90081a | 92 | } |
vsluiter | 1:24b7ab90081a | 93 | } |
vsluiter | 1:24b7ab90081a | 94 | info_led_3 != info_led_3; |
vsluiter | 1:24b7ab90081a | 95 | wait_ms(300); //debounce |
vsluiter | 1:24b7ab90081a | 96 | } |
JKaal | 3:10863117020c | 97 | |
JKaal | 3:10863117020c | 98 | void printer(){ |
JKaal | 3:10863117020c | 99 | int positie = GET_POSITION(); |
JKaal | 3:10863117020c | 100 | positievec[q] = positie; |
JKaal | 3:10863117020c | 101 | cout << positievec[q] << ","; |
JKaal | 3:10863117020c | 102 | q = q+1; |
JKaal | 3:10863117020c | 103 | } |
JKaal | 3:10863117020c | 104 | |
tomlankhorst | 0:f3cf9865b7be | 105 | int main() |
tomlankhorst | 0:f3cf9865b7be | 106 | { |
tomlankhorst | 0:f3cf9865b7be | 107 | // Initialize system |
JKaal | 3:10863117020c | 108 | //initialiseer_prbs(); |
tomlankhorst | 0:f3cf9865b7be | 109 | initialize_io(); |
tomlankhorst | 0:f3cf9865b7be | 110 | calibrate_current_sensor(); |
tomlankhorst | 0:f3cf9865b7be | 111 | calibrate_position(); |
tomlankhorst | 0:f3cf9865b7be | 112 | |
JKaal | 3:10863117020c | 113 | for (int i = 0; i <= n; i++) { |
JKaal | 3:10863117020c | 114 | prbstest[i] = rand() % 2; |
JKaal | 3:10863117020c | 115 | cout << prbstest[i] << ",";//"\r\n"; |
JKaal | 3:10863117020c | 116 | } |
JKaal | 3:10863117020c | 117 | |
JKaal | 3:10863117020c | 118 | while(z<=n){ |
JKaal | 3:10863117020c | 119 | //torque_controller.attach_us(&torque_control, TORQUE_CONTROLLER_INTERVAL_US); |
JKaal | 3:10863117020c | 120 | //tickObject.attach_us(&printer, 100000); |
JKaal | 3:10863117020c | 121 | torque_control(); |
JKaal | 3:10863117020c | 122 | printer(); |
JKaal | 3:10863117020c | 123 | cout << z << ";\r\n"; |
JKaal | 3:10863117020c | 124 | z = z+1; |
JKaal | 3:10863117020c | 125 | wait_us(TORQUE_CONTROLLER_INTERVAL_US); |
JKaal | 3:10863117020c | 126 | |
JKaal | 3:10863117020c | 127 | } |
vsluiter | 1:24b7ab90081a | 128 | |
vsluiter | 1:24b7ab90081a | 129 | //send_report.length = 16; |
vsluiter | 1:24b7ab90081a | 130 | //recv_report.length = 16; |
vsluiter | 1:24b7ab90081a | 131 | |
JKaal | 3:10863117020c | 132 | cout << "\r\n"; |
JKaal | 3:10863117020c | 133 | /* |
JKaal | 3:10863117020c | 134 | for(int k=0; k <= n; k++) { |
JKaal | 3:10863117020c | 135 | status = prbstest[k]; |
JKaal | 3:10863117020c | 136 | int kplus = k+1; |
JKaal | 3:10863117020c | 137 | statusnew = prbstest[kplus]; |
JKaal | 3:10863117020c | 138 | if (status == statusnew){ |
JKaal | 3:10863117020c | 139 | //cout << "equal:\r\n"; |
JKaal | 3:10863117020c | 140 | //cout << status << " " << k << "\r\n"; |
JKaal | 3:10863117020c | 141 | //cout << statusnew << " " << kplus << "\r\n"; |
JKaal | 3:10863117020c | 142 | } |
JKaal | 3:10863117020c | 143 | else if (status != statusnew){ |
JKaal | 3:10863117020c | 144 | //cout << "unequal:\r\n"; |
JKaal | 3:10863117020c | 145 | //cout << status << " " << k << "\r\n"; |
JKaal | 3:10863117020c | 146 | //cout << statusnew << " " << kplus << "\r\n"; |
JKaal | 3:10863117020c | 147 | blink(); |
JKaal | 3:10863117020c | 148 | } |
JKaal | 3:10863117020c | 149 | }*/ |
JKaal | 3:10863117020c | 150 | cout << positievec; |
JKaal | 3:10863117020c | 151 | |
vsluiter | 1:24b7ab90081a | 152 | while(1) { |
tomlankhorst | 0:f3cf9865b7be | 153 | int32_t abspos = ABSPOS(); |
JKaal | 3:10863117020c | 154 | |
JKaal | 3:10863117020c | 155 | /*if(!user_btn) |
vsluiter | 1:24b7ab90081a | 156 | blink(); |
JKaal | 3:10863117020c | 157 | tickObject.attach(&blink, 5);*/ |
JKaal | 3:10863117020c | 158 | |
JKaal | 3:10863117020c | 159 | //blink(); |
JKaal | 3:10863117020c | 160 | //wait(1); |
JKaal | 3:10863117020c | 161 | |
vsluiter | 1:24b7ab90081a | 162 | //send_report.data[3] = abspos & 0x000000ff; |
vsluiter | 1:24b7ab90081a | 163 | //send_report.data[2] = (abspos & 0x0000ff00) >> 8; |
vsluiter | 1:24b7ab90081a | 164 | //send_report.data[1] = (abspos & 0x00ff0000) >> 16; |
vsluiter | 1:24b7ab90081a | 165 | //send_report.data[0] = (abspos & 0xff000000) >> 24; |
vsluiter | 1:24b7ab90081a | 166 | |
vsluiter | 1:24b7ab90081a | 167 | //for(int i = 4; i < 16; i++){ |
vsluiter | 1:24b7ab90081a | 168 | // send_report.data[i] = 0x0; |
vsluiter | 1:24b7ab90081a | 169 | //} |
vsluiter | 1:24b7ab90081a | 170 | |
tomlankhorst | 0:f3cf9865b7be | 171 | //Send the report |
vsluiter | 1:24b7ab90081a | 172 | //hid.send(&send_report); |
vsluiter | 1:24b7ab90081a | 173 | |
tomlankhorst | 0:f3cf9865b7be | 174 | // Try to read |
vsluiter | 1:24b7ab90081a | 175 | //if(hid.readNB(&recv_report)) { |
vsluiter | 1:24b7ab90081a | 176 | |
vsluiter | 1:24b7ab90081a | 177 | // ZControl_I = (float)1e-6*((recv_report.data[3] << 24) | (recv_report.data[2] << 16) | (recv_report.data[1] << 8) | (recv_report.data[0])); |
vsluiter | 1:24b7ab90081a | 178 | // ZControl_B = (float)1e-6*((recv_report.data[7] << 24) | (recv_report.data[6] << 16) | (recv_report.data[5] << 8) | (recv_report.data[4])); |
vsluiter | 1:24b7ab90081a | 179 | // ZControl_K = (float)1e-6*((recv_report.data[11] << 24) | (recv_report.data[10] << 16) | (recv_report.data[9] << 8) | (recv_report.data[8])); |
vsluiter | 1:24b7ab90081a | 180 | // ZControl_RefPos = (recv_report.data[15] << 24) | (recv_report.data[14] << 16) | (recv_report.data[13] << 8) | (recv_report.data[12]); |
vsluiter | 1:24b7ab90081a | 181 | //} |
vsluiter | 1:24b7ab90081a | 182 | |
tomlankhorst | 0:f3cf9865b7be | 183 | info_led_3 = !info_led_3; |
tomlankhorst | 0:f3cf9865b7be | 184 | wait(0.01); |
tomlankhorst | 0:f3cf9865b7be | 185 | } |
tomlankhorst | 0:f3cf9865b7be | 186 | return 0; |
tomlankhorst | 0:f3cf9865b7be | 187 | } |
tomlankhorst | 0:f3cf9865b7be | 188 | |
JKaal | 3:10863117020c | 189 | /*//create a prbs signal |
JKaal | 3:10863117020c | 190 | void initialiseer_prbs() { |
JKaal | 3:10863117020c | 191 | int prbstest[n] = {}; |
JKaal | 3:10863117020c | 192 | |
JKaal | 3:10863117020c | 193 | for (int i = 0; i <= n; i++) { |
JKaal | 3:10863117020c | 194 | prbstest[i] = rand() % 2; |
JKaal | 3:10863117020c | 195 | cout << prbstest[i]; |
JKaal | 3:10863117020c | 196 | } |
JKaal | 3:10863117020c | 197 | }*/ |
JKaal | 3:10863117020c | 198 | |
tomlankhorst | 0:f3cf9865b7be | 199 | /** Sample the current sensor to determine the offset |
tomlankhorst | 0:f3cf9865b7be | 200 | */ |
tomlankhorst | 0:f3cf9865b7be | 201 | void calibrate_current_sensor() |
tomlankhorst | 0:f3cf9865b7be | 202 | { |
tomlankhorst | 0:f3cf9865b7be | 203 | driver_enable_a = 0; |
tomlankhorst | 0:f3cf9865b7be | 204 | driver_enable_b = 0; |
tomlankhorst | 0:f3cf9865b7be | 205 | for(int i=0; i<100; i++) { |
tomlankhorst | 0:f3cf9865b7be | 206 | current_sensor_a_offset+= 0.01f*current_sensor_a.read(); |
tomlankhorst | 0:f3cf9865b7be | 207 | current_sensor_b_offset+= 0.01f*current_sensor_b.read(); |
tomlankhorst | 0:f3cf9865b7be | 208 | wait_us(2000); |
tomlankhorst | 0:f3cf9865b7be | 209 | } |
tomlankhorst | 0:f3cf9865b7be | 210 | driver_enable_a = 1; |
tomlankhorst | 0:f3cf9865b7be | 211 | driver_enable_b = 1; |
tomlankhorst | 0:f3cf9865b7be | 212 | } |
tomlankhorst | 0:f3cf9865b7be | 213 | |
tomlankhorst | 0:f3cf9865b7be | 214 | /** Calibrates to find the reference position |
tomlankhorst | 0:f3cf9865b7be | 215 | */ |
tomlankhorst | 0:f3cf9865b7be | 216 | void calibrate_position() |
tomlankhorst | 0:f3cf9865b7be | 217 | { |
tomlankhorst | 0:f3cf9865b7be | 218 | position_ref = 0; |
tomlankhorst | 0:f3cf9865b7be | 219 | driver_vref_ab = 0.5; |
tomlankhorst | 0:f3cf9865b7be | 220 | for(int i = 0; i < 10; i++) { |
tomlankhorst | 0:f3cf9865b7be | 221 | driver_1a = 0.7; |
tomlankhorst | 0:f3cf9865b7be | 222 | driver_2a = 0; |
tomlankhorst | 0:f3cf9865b7be | 223 | driver_1b = 0; |
tomlankhorst | 0:f3cf9865b7be | 224 | driver_2b = 0; |
tomlankhorst | 0:f3cf9865b7be | 225 | wait(0.2); |
tomlankhorst | 0:f3cf9865b7be | 226 | position_ref+= GET_POSITION(); |
tomlankhorst | 0:f3cf9865b7be | 227 | driver_1a = 0; |
tomlankhorst | 0:f3cf9865b7be | 228 | driver_2a = 0; |
tomlankhorst | 0:f3cf9865b7be | 229 | driver_1b = 0.7; |
tomlankhorst | 0:f3cf9865b7be | 230 | driver_2b = 0; |
tomlankhorst | 0:f3cf9865b7be | 231 | wait(0.01); |
tomlankhorst | 0:f3cf9865b7be | 232 | } |
tomlankhorst | 0:f3cf9865b7be | 233 | driver_vref_ab = 1; |
tomlankhorst | 0:f3cf9865b7be | 234 | position_ref = position_ref/10; |
tomlankhorst | 0:f3cf9865b7be | 235 | driver_1b = 0; |
tomlankhorst | 0:f3cf9865b7be | 236 | } |
tomlankhorst | 0:f3cf9865b7be | 237 | |
tomlankhorst | 0:f3cf9865b7be | 238 | /** Initialize I/O (PWM, DigitalIn/Out, AnalogIn) |
tomlankhorst | 0:f3cf9865b7be | 239 | */ |
tomlankhorst | 0:f3cf9865b7be | 240 | void initialize_io() |
tomlankhorst | 0:f3cf9865b7be | 241 | { |
tomlankhorst | 0:f3cf9865b7be | 242 | user_btn.mode(PullUp); |
vsluiter | 1:24b7ab90081a | 243 | //user_btn.rise(blink); |
JKaal | 3:10863117020c | 244 | pc.baud(9600); |
tomlankhorst | 0:f3cf9865b7be | 245 | spi.format(14,3); |
tomlankhorst | 0:f3cf9865b7be | 246 | driver_1a.period_us(33); |
tomlankhorst | 0:f3cf9865b7be | 247 | driver_2a.period_us(33); |
tomlankhorst | 0:f3cf9865b7be | 248 | driver_1b.period_us(33); |
tomlankhorst | 0:f3cf9865b7be | 249 | driver_2b.period_us(33); |
tomlankhorst | 0:f3cf9865b7be | 250 | driver_enable_a = 1; |
tomlankhorst | 0:f3cf9865b7be | 251 | driver_enable_b = 1; |
tomlankhorst | 0:f3cf9865b7be | 252 | driver_vref_ab = 1; |
tomlankhorst | 0:f3cf9865b7be | 253 | } |
tomlankhorst | 0:f3cf9865b7be | 254 | |
tomlankhorst | 0:f3cf9865b7be | 255 | /** Torque Controller function, controls the plant |
tomlankhorst | 0:f3cf9865b7be | 256 | * This function is called on an interrupt basis by a Ticker object. |
tomlankhorst | 0:f3cf9865b7be | 257 | * PI current controller and a Park transform for FOC |
tomlankhorst | 0:f3cf9865b7be | 258 | */ |
tomlankhorst | 0:f3cf9865b7be | 259 | void torque_control() |
tomlankhorst | 0:f3cf9865b7be | 260 | { |
tomlankhorst | 0:f3cf9865b7be | 261 | |
tomlankhorst | 0:f3cf9865b7be | 262 | // Get position |
tomlankhorst | 0:f3cf9865b7be | 263 | static int last_position = 0; |
tomlankhorst | 0:f3cf9865b7be | 264 | static float last_speed = 0; |
tomlankhorst | 0:f3cf9865b7be | 265 | static float position_sin; |
tomlankhorst | 0:f3cf9865b7be | 266 | static float position_cos; |
tomlankhorst | 0:f3cf9865b7be | 267 | static float position_theta; |
tomlankhorst | 0:f3cf9865b7be | 268 | static float torque_setpoint; |
tomlankhorst | 0:f3cf9865b7be | 269 | static int position_int; |
tomlankhorst | 0:f3cf9865b7be | 270 | position = GET_POSITION(); |
tomlankhorst | 0:f3cf9865b7be | 271 | #if ENABLE_POSITION_COMPENSATION == 1 |
tomlankhorst | 0:f3cf9865b7be | 272 | position += position_sensor_error[position]; |
tomlankhorst | 0:f3cf9865b7be | 273 | #endif |
tomlankhorst | 0:f3cf9865b7be | 274 | // Antialias |
tomlankhorst | 0:f3cf9865b7be | 275 | if(position - last_position > POSITION_ANTIALIAS) { |
tomlankhorst | 0:f3cf9865b7be | 276 | position_offset_count--; |
tomlankhorst | 0:f3cf9865b7be | 277 | last_position+=8192; |
tomlankhorst | 0:f3cf9865b7be | 278 | } |
tomlankhorst | 0:f3cf9865b7be | 279 | if(position - last_position < -POSITION_ANTIALIAS) { |
tomlankhorst | 0:f3cf9865b7be | 280 | position_offset_count++; |
tomlankhorst | 0:f3cf9865b7be | 281 | last_position-=8192; |
tomlankhorst | 0:f3cf9865b7be | 282 | } |
tomlankhorst | 0:f3cf9865b7be | 283 | |
tomlankhorst | 0:f3cf9865b7be | 284 | // Speed and position processing |
tomlankhorst | 0:f3cf9865b7be | 285 | static speedEstimator speed_estimator(position); |
tomlankhorst | 0:f3cf9865b7be | 286 | speed = 0.00076699f*speed_estimator.get(position+POSITION_RESOLUTION*position_offset_count); // rad/s |
tomlankhorst | 0:f3cf9865b7be | 287 | LOWPASSIIR(acceleration, TORQUE_CONTROLLER_INTERVAL_INV*(speed - last_speed), 0.005f); |
tomlankhorst | 0:f3cf9865b7be | 288 | last_position = position; |
tomlankhorst | 0:f3cf9865b7be | 289 | last_speed = speed; |
tomlankhorst | 0:f3cf9865b7be | 290 | position_theta = fmod(1.0f*(position-position_ref+8192),163.84f); |
tomlankhorst | 0:f3cf9865b7be | 291 | position_int = floor(position_theta); |
tomlankhorst | 0:f3cf9865b7be | 292 | position_theta *= ELECTRICAL_POSITION_TO_RAD; |
tomlankhorst | 0:f3cf9865b7be | 293 | position_sin = arm_sin_f32(position_theta); |
tomlankhorst | 0:f3cf9865b7be | 294 | position_cos = arm_cos_f32(position_theta); |
tomlankhorst | 0:f3cf9865b7be | 295 | |
tomlankhorst | 0:f3cf9865b7be | 296 | // Impedance controller... |
JKaal | 3:10863117020c | 297 | if(prbstest[z] == 1){ |
JKaal | 3:10863117020c | 298 | torque = -0.1;//-ZControl_K*0.00076699f*(ABSPOS()-ZControl_RefPos) - ZControl_B*speed - ZControl_I*acceleration; |
JKaal | 3:10863117020c | 299 | cout << torque << ",";//"\r\n"; |
JKaal | 3:10863117020c | 300 | } |
JKaal | 3:10863117020c | 301 | else if(prbstest[z] == 0){ |
JKaal | 3:10863117020c | 302 | torque = 0.1; |
JKaal | 3:10863117020c | 303 | cout << torque << ",";//"\r\n"; |
JKaal | 3:10863117020c | 304 | } |
tomlankhorst | 0:f3cf9865b7be | 305 | |
tomlankhorst | 0:f3cf9865b7be | 306 | // Preprocess torque command |
tomlankhorst | 0:f3cf9865b7be | 307 | torque_setpoint = (torque > TORQUE_LIMIT) ? TORQUE_LIMIT : (torque < -TORQUE_LIMIT ? -TORQUE_LIMIT : torque); |
tomlankhorst | 0:f3cf9865b7be | 308 | #if ENABLE_COGGING_COMPENSATION == 1 |
tomlankhorst | 0:f3cf9865b7be | 309 | torque_setpoint+= CC_GAIN*(cogging_compensation[position_int]); |
tomlankhorst | 0:f3cf9865b7be | 310 | #endif |
tomlankhorst | 0:f3cf9865b7be | 311 | |
tomlankhorst | 0:f3cf9865b7be | 312 | /** |
tomlankhorst | 0:f3cf9865b7be | 313 | *F| / Stribeck + Coulomb + Viscous |
tomlankhorst | 0:f3cf9865b7be | 314 | * |\_/ |
tomlankhorst | 0:f3cf9865b7be | 315 | * |____v_ */ |
tomlankhorst | 0:f3cf9865b7be | 316 | |
tomlankhorst | 0:f3cf9865b7be | 317 | #if ENABLE_FRICTION_COMPENSATION == 1 |
tomlankhorst | 0:f3cf9865b7be | 318 | torque_setpoint+= tanh(COULOMB_VELOCITY_CONST*speed) * (COULOMB_FRICTION + (STRIBECK_FRICTION-COULOMB_FRICTION)*exp(-abs(speed/STRIBECK_VELOCITY_CONST))) + (speed > 0 ? VISCOUS_FRICTION_COEF_FWD : VISCOUS_FRICTION_COEF_REV)*speed; |
tomlankhorst | 0:f3cf9865b7be | 319 | #endif |
tomlankhorst | 0:f3cf9865b7be | 320 | #if ENABLE_DITHER == 1 |
tomlankhorst | 0:f3cf9865b7be | 321 | dither_tick++; |
tomlankhorst | 0:f3cf9865b7be | 322 | if(dither_tick > DITHER_TICKS) { |
tomlankhorst | 0:f3cf9865b7be | 323 | dither_tick = 0; |
tomlankhorst | 0:f3cf9865b7be | 324 | } else { |
tomlankhorst | 0:f3cf9865b7be | 325 | torque_setpoint+=DITHER_FORCE*sin(2*PI/DITHER_TICKS*dither_tick); |
tomlankhorst | 0:f3cf9865b7be | 326 | } |
tomlankhorst | 0:f3cf9865b7be | 327 | #endif |
tomlankhorst | 0:f3cf9865b7be | 328 | |
tomlankhorst | 0:f3cf9865b7be | 329 | // Transform torque command |
tomlankhorst | 0:f3cf9865b7be | 330 | static float current_a_setpoint; |
tomlankhorst | 0:f3cf9865b7be | 331 | static float current_b_setpoint; |
tomlankhorst | 0:f3cf9865b7be | 332 | arm_inv_park_f32(0, torque_setpoint, ¤t_a_setpoint, ¤t_b_setpoint, position_sin, position_cos); |
tomlankhorst | 0:f3cf9865b7be | 333 | |
tomlankhorst | 0:f3cf9865b7be | 334 | // PI Controller |
tomlankhorst | 0:f3cf9865b7be | 335 | static float current_a_error; |
tomlankhorst | 0:f3cf9865b7be | 336 | static float current_b_error; |
tomlankhorst | 0:f3cf9865b7be | 337 | static float current_a_int_error = 0; |
tomlankhorst | 0:f3cf9865b7be | 338 | static float current_b_int_error = 0; |
tomlankhorst | 0:f3cf9865b7be | 339 | current_a_error = current_a_setpoint - GET_CURRENT_A(); |
tomlankhorst | 0:f3cf9865b7be | 340 | current_b_error = current_b_setpoint - GET_CURRENT_B(); |
tomlankhorst | 0:f3cf9865b7be | 341 | |
tomlankhorst | 0:f3cf9865b7be | 342 | if(!(current_a_int_error > CURRENT_CONTROLLER_I_LIMIT && current_a_error > 0) && !(current_a_int_error < -CURRENT_CONTROLLER_I_LIMIT && current_a_error < 0)) |
tomlankhorst | 0:f3cf9865b7be | 343 | current_a_int_error += TORQUE_CONTROLLER_INTERVAL_US*1e-6*current_a_error; |
tomlankhorst | 0:f3cf9865b7be | 344 | if(!(current_b_int_error > CURRENT_CONTROLLER_I_LIMIT && current_b_error > 0) && !(current_b_int_error < -CURRENT_CONTROLLER_I_LIMIT && current_b_error < 0)) |
tomlankhorst | 0:f3cf9865b7be | 345 | current_b_int_error += TORQUE_CONTROLLER_INTERVAL_US*1e-6*current_b_error; |
tomlankhorst | 0:f3cf9865b7be | 346 | |
tomlankhorst | 0:f3cf9865b7be | 347 | current_a_error *= CURRENT_CONTROLLER_KP; |
tomlankhorst | 0:f3cf9865b7be | 348 | current_b_error *= CURRENT_CONTROLLER_KP; |
tomlankhorst | 0:f3cf9865b7be | 349 | current_a_error += CURRENT_CONTROLLER_KI*current_a_int_error; |
tomlankhorst | 0:f3cf9865b7be | 350 | current_b_error += CURRENT_CONTROLLER_KI*current_b_int_error; |
tomlankhorst | 0:f3cf9865b7be | 351 | |
tomlankhorst | 0:f3cf9865b7be | 352 | // Apply voltages |
tomlankhorst | 0:f3cf9865b7be | 353 | driver_1a = current_a_error > 0 ? current_a_error : 0; |
tomlankhorst | 0:f3cf9865b7be | 354 | driver_2a = current_a_error < 0 ? -current_a_error : 0; |
tomlankhorst | 0:f3cf9865b7be | 355 | driver_1b = current_b_error > 0 ? current_b_error : 0; |
tomlankhorst | 0:f3cf9865b7be | 356 | driver_2b = current_b_error < 0 ? -current_b_error : 0; |
tomlankhorst | 0:f3cf9865b7be | 357 | } |