embedded code for bounding robot
Fork of bounding by
main.cpp
- Committer:
- calisch
- Date:
- 2013-11-23
- Revision:
- 1:e549754ca234
- Parent:
- 0:fc382eeb78ad
- Child:
- 2:17379e2a6f7d
File content as of revision 1:e549754ca234:
#include "mbed.h" #include "QEI.h" #define CONTROL_PERIOD 0.002 // 500Hz *** #define SAVE_PERIOD 0.005 // 200HZ //think about start up and shut down sequences // 500 x 3 array of degree values const float trajectory[500][3] = { 1,1,0, 1,1,0, 1,1,0, 1,1,0, 1,1,0, 1,1,0, 2,2,0, 2,2,0, 3,3,0, 3,3,0, 3,3,0, 4,4,0, 4,4,0, 5,5,0, 5,5,0, 6,6,0, 6,6,0, 7,7,0, 7,7,0, 7,7,0, 8,8,0, 8,8,0, 9,9,0, 9,9,0, 10,10,0, 10,10,0, 11,11,0, 11,11,0, 11,11,0, 12,12,0, 12,12,0, 13,13,0, 13,13,0, 14,14,0, 14,14,0, 14,14,0, 15,15,0, 15,15,0, 16,16,0, 16,16,0, 17,17,0, 17,17,0, 18,18,0, 18,18,0, 18,18,0, 19,19,0, 19,19,0, 20,20,0, 20,20,0, 21,21,0, 21,21,0, 22,22,0, 22,22,0, 22,22,0, 23,23,0, 23,23,0, 24,24,0, 24,24,0, 25,25,0, 25,25,0, 25,25,0, 26,26,0, 26,26,0, 27,27,0, 27,27,0, 28,28,0, 28,28,0, 29,29,0, 29,29,0, 29,29,0, 30,30,0, 30,30,0, 31,31,0, 31,31,0, 32,32,0, 32,32,0, 33,33,0, 33,33,0, 33,33,0, 34,34,0, 34,34,0, 35,35,0, 35,35,0, 36,36,0, 36,36,0, 36,36,0, 37,37,0, 37,37,0, 38,38,0, 38,38,0, 39,39,0, 39,39,0, 40,40,0, 40,40,0, 40,40,0, 41,41,0, 41,41,0, 42,42,0, 42,42,0, 43,43,0, 43,43,0, 44,44,0, 44,44,0, 44,44,0, 45,45,0, 45,45,0, 46,46,0, 46,46,0, 47,47,0, 47,47,0, 47,47,0, 48,48,0, 48,48,0, 49,49,0, 49,49,0, 50,50,0, 50,50,0, 51,51,0, 51,51,0, 51,51,0, 52,52,0, 52,52,0, 53,53,0, 53,53,0, 53,53,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 55,55,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 54,54,0, 53,53,0, 53,53,0, 53,53,0, 52,52,0, 52,52,0, 51,51,0, 51,51,0, 51,51,0, 50,50,0, 50,50,0, 49,49,0, 49,49,0, 48,48,0, 48,48,0, 47,47,0, 47,47,0, 47,47,0, 46,46,0, 46,46,0, 45,45,0, 45,45,0, 44,44,0, 44,44,0, 43,43,0, 43,43,0, 43,43,0, 42,42,0, 42,42,0, 41,41,0, 41,41,0, 40,40,0, 40,40,0, 40,40,0, 39,39,0, 39,39,0, 38,38,0, 38,38,0, 37,37,0, 37,37,0, 36,36,0, 36,36,0, 36,36,0, 35,35,0, 35,35,0, 34,34,0, 34,34,0, 33,33,0, 33,33,0, 33,33,0, 32,32,0, 32,32,0, 31,31,0, 31,31,0, 30,30,0, 30,30,0, 29,29,0, 29,29,0, 29,29,0, 28,28,0, 28,28,0, 27,27,0, 27,27,0, 26,26,0, 26,26,0, 25,25,0, 25,25,0, 25,25,0, 24,24,0, 24,24,0, 23,23,0, 23,23,0, 22,22,0, 22,22,0, 21,21,0, 21,21,0, 21,21,0, 20,20,0, 20,20,0, 19,19,0, 19,19,0, 18,18,0, 18,18,0, 18,18,0, 17,17,0, 17,17,0, 16,16,0, 16,16,0, 15,15,0, 15,15,0, 14,14,0, 14,14,0, 14,14,0, 13,13,0, 13,13,0, 12,12,0, 12,12,0, 11,11,0, 11,11,0, 10,10,0, 10,10,0, 10,10,0, 9,9,0, 9,9,0, 8,8,0, 8,8,0, 7,7,0, 7,7,0, 7,7,0, 6,6,0, 6,6,0, 5,5,0, 5,5,0, 4,4,0, 4,4,0, 3,3,0, 3,3,0, 3,3,0, 2,2,0, 2,2,0, 1,1,0, 1,1,0, 1,1,0 }; Ticker tick; Ticker tock; Timer t; Serial pc(USBTX, USBRX); // tx, rx LocalFileSystem local("data"); // Create the local filesystem under the name "local" // Declare Three Encoders QEI rear_encoder(p22, p23, NC, 1200, QEI::X4_ENCODING); // rear leg QEI front_encoder(p5, p6, NC, 1200, QEI::X4_ENCODING); // front leg QEI spine_encoder(p9, p10, NC, 1200, QEI::X4_ENCODING); // spine // Specify pinout DigitalOut rear_motorA(p15); DigitalOut rear_motorB(p16); PwmOut rear_motorPWM(p24); AnalogIn rear_cs(p20); DigitalOut front_motorA(p7); DigitalOut front_motorB(p8); PwmOut front_motorPWM(p25); AnalogIn front_cs(p19); DigitalOut spine_motorA(p11); DigitalOut spine_motorB(p12); PwmOut spine_motorPWM(p26); AnalogIn spine_cs(p18); //number domains for abstraction const int rear = 0; const int front = 1; const int spine = 2; // Sensing Variables volatile int i = 0; volatile float w = 0; volatile int id = 4000; volatile int sign = 0; volatile int n[3] = {0,0,0}; //encoder values volatile int last_n[3] = {0,0,0}; //previous encoder values volatile float avg_current[3] = {0,0,0}; //integration of current in time // Output Variables volatile float pwm = 0; // Control Constants const float R = 2.3/1000.0; // [kohm] const float Kv = 0.1682; const int Vs = 18; // [V] const float n2d = 3.3333; const float integ_alpha = .5; //peristence of current integration. 0->all past, 1->all present const float stall_current = 5; //Amps // Control Parameters float rear_Kp = 0.001; float rear_Ks_p = 250.0; float rear_Ks_d = 25.0; float front_Kp = 0.001; float front_Ks_p = 250.0; float front_Ks_d = 25.0; float spine_Kp = 0.001; float spine_Ks_p = 200.0; float spine_Ks_d = 20.0; float rear_n_d = 0.0*n2d; float front_n_d = 0.0*n2d; float spine_n_d = 0.0*n2d; float rear_w_d = 0; float front_w_d = 0; float spine_w_d = 0; //control flow volatile int current_sample = 0; volatile int current_loop = 0; const int n_samples = 500; const int n_loops = 1; FILE *fp = fopen("/data/out.txt", "w"); // Open "out.txt" on the local file system for writing int read_current(int which_domain) { int current = 0; if (which_domain == rear) { // rear current = rear_cs.read()*23570; } else if (which_domain == front) { // front current = front_cs.read()*23570; } else if (which_domain == spine){ // spine current = spine_cs.read()*23570; } avg_current[which_domain] = (1-integ_alpha)*avg_current[which_domain] + integ_alpha*current; //integrate return current; //mA } void updateMotor(int which_motor, float power) { int dir = 0; if (power < 0) { power = -power; dir = 0; } else { dir = 1; } if (power > 1) { power = 1; } if (power < 0) { power = 0; } if (which_motor == 1) { // rear if (dir == 1) { rear_motorA = 0; rear_motorB = 1; } else { rear_motorA = 1; rear_motorB = 0; } rear_motorPWM.write(power); } else if (which_motor == 2) { // front if (dir == 1) { front_motorA = 0; front_motorB = 1; } else { front_motorA = 1; front_motorB = 0; } front_motorPWM.write(power); } else if (which_motor == 3) { // spine if (dir == 1) { spine_motorA = 0; spine_motorB = 1; } else { spine_motorA = 1; spine_motorB = 0; } spine_motorPWM.write(power); } } float updateEncoder(int which_encoder) { last_n[which_encoder] = n[which_encoder]; if(which_encoder == rear){ n[which_encoder] = rear_encoder.getPulses(); } else if(which_encoder == front){ n[which_encoder] = front_encoder.getPulses(); } else if(which_encoder == spine){ n[which_encoder] = spine_encoder.getPulses(); } w = (n[which_encoder]-last_n[which_encoder])*1.047; //steps/s --> rad/s return w; } void control() { rear_n_d = -trajectory[current_sample][rear]*n2d; front_n_d = -trajectory[current_sample][front]*n2d; spine_n_d = -trajectory[current_sample][spine]*n2d; // rear i = read_current(rear); w = updateEncoder(rear); id = rear_Ks_p*(rear_n_d-n[rear]) + rear_Ks_d*(rear_w_d-w); sign = abs(id)/id; id = abs(id); pwm = sign*(id*R-sign*Kv*w+rear_Kp*(id-i))/Vs; if (avg_current[rear] > stall_current){pwm = 0;} updateMotor(rear,pwm); // front i = read_current(front); w = updateEncoder(front); id = front_Ks_p*(front_n_d-n[front]) + front_Ks_d*(front_w_d-w); sign = abs(id)/id; id = abs(id); pwm = sign*(id*R-sign*Kv*w+front_Kp*(id-i))/Vs; if (avg_current[rear] > stall_current){pwm = 0;} updateMotor(front,pwm); // spine i = read_current(spine); w = updateEncoder(spine); id = spine_Ks_p*(spine_n_d-n[spine]) + spine_Ks_d*(spine_w_d-w); sign = abs(id)/id; id = abs(id); pwm = sign*(id*R-sign*Kv*w+spine_Kp*(id-i))/Vs; if (avg_current[rear] > stall_current){pwm = 0;} updateMotor(spine,pwm); //step to next control point if (current_sample == n_samples){ if (current_loop == n_loops){ //done fclose(fp); pwm = 0; updateMotor(rear,pwm); updateMotor(front,pwm); } else{ //end of loop, ready for next current_sample = 0; current_loop++; } } else{ //middle of loop current_sample++; } } void save() { fprintf(fp, "%i %i %i %i\n", t.read_ms(), n[rear], n[front], n[spine]); } int main() { rear_motorPWM.period(0.00005); //20kHz front_motorPWM.period(0.00005); //20kHz spine_motorPWM.period(0.00005); //20kHz tick.attach(&control,CONTROL_PERIOD); tock.attach(&save,SAVE_PERIOD); t.start(); while(1) { //DEBUG // pc.printf("%i %f %i %f %i %i\n", t.read_ms(), pwm, n, w, id, i); } }