Revision 12:38afe92e67d0, committed 2020-03-09

Comitter:

le1917

Date:

Mon Mar 09 15:02:47 2020 +0000

Parent:

11:038d3ba0d720

Child:

13:f6e37c21d31d

Commit message:

Merger Motor with Noe - seems to work;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ES_CW2_Starter_STARFISH/MotorControl.h	Mon Mar 09 15:02:47 2020 +0000
@@ -0,0 +1,293 @@
+//Photointerrupter input pins
+#define I1pin D3
+#define I2pin D6
+#define I3pin D5
+
+//Incremental encoder input pins
+#define CHApin   D12
+#define CHBpin   D11
+
+//Motor Drive output pins   //Mask in output byte
+#define L1Lpin D1           //0x01
+#define L1Hpin A3           //0x02
+#define L2Lpin D0           //0x04
+#define L2Hpin A6          //0x08
+#define L3Lpin D10           //0x10
+#define L3Hpin D2          //0x20
+
+#define PWMpin D9
+
+//Motor current sense
+#define MCSPpin   A1
+#define MCSNpin   A0
+
+//Test outputs
+#define TP0pin D4
+#define TP1pin D13
+#define TP2pin A2
+
+//Mapping from sequential drive states to motor phase outputs
+/*
+State   L1  L2  L3
+0       H   -   L
+1       -   H   L
+2       L   H   -
+3       L   -   H
+4       -   L   H
+5       H   L   -
+6       -   -   -
+7       -   -   -
+*/
+//Drive state to output table
+const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
+
+//Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
+const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
+//const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
+
+// MOTOR PARAMETERS //
+const float kp_vel = 0.05;
+//const float ki_vel = 0.03;
+//const float kd_vel = 0.03;
+
+const float ki_vel = 0;
+const float kd_vel = 0;
+
+const float kp_pos = 0.05;
+const float kd_pos = 0;
+const float pwm_period  =0.25f;
+
+int target_velocity = 30;
+float target_position = 500;
+
+// GLOBAL VARIABLES MOTOR //
+int position = 0;
+bool direction = 1;
+int lead = 2;
+
+volatile int8_t orState = 0;    //Rotot offset at motor state 0
+volatile int8_t intState = 0;
+volatile int8_t intStateOld = 0;
+
+//Status LED
+DigitalOut led1(LED1);
+
+//Photointerrupter inputs
+InterruptIn I1(I1pin);
+InterruptIn I2(I2pin);
+InterruptIn I3(I3pin);
+
+//Motor Drive outputs
+DigitalOut L1L(L1Lpin);
+DigitalOut L1H(L1Hpin);
+DigitalOut L2L(L2Lpin);
+DigitalOut L2H(L2Hpin);
+DigitalOut L3L(L3Lpin);
+DigitalOut L3H(L3Hpin);
+
+DigitalOut TP1(TP1pin);
+PwmOut MotorPWM(PWMpin);
+
+Ticker motorCtrlTicker;
+Thread thread_motorCtrl (osPriorityNormal,1024);
+
+// DEBUG //
+float velocity_global = 0;
+
+//Set a given drive state
+void motorOut(int8_t driveState)
+{
+
+    //Lookup the output byte from the drive state.
+    int8_t driveOut = driveTable[driveState & 0x07];
+
+    //Turn off first
+    if (~driveOut & 0x01) L1L = 0;
+    if (~driveOut & 0x02) L1H = 1;
+    if (~driveOut & 0x04) L2L = 0;
+    if (~driveOut & 0x08) L2H = 1;
+    if (~driveOut & 0x10) L3L = 0;
+    if (~driveOut & 0x20) L3H = 1;
+
+    //Then turn on
+    if (driveOut & 0x01) L1L = 1;
+    if (driveOut & 0x02) L1H = 0;
+    if (driveOut & 0x04) L2L = 1;
+    if (driveOut & 0x08) L2H = 0;
+    if (driveOut & 0x10) L3L = 1;
+    if (driveOut & 0x20) L3H = 0;
+}
+
+//Convert photointerrupter inputs to a rotor state
+inline int8_t readRotorState()
+{
+    return stateMap[I1 + 2*I2 + 4*I3];
+}
+
+
+void move()
+{
+    intState = readRotorState();
+
+    // Updates direction only if statechanges by 1
+    // If state chance is missed then interrupt is unchanged
+    if( intState == 0 && intStateOld == 5) {
+        direction = 1;
+        position++;
+    } else if( intState == 5 && intStateOld == 0) {
+        direction = 0;
+        position--;
+    } else if ( intState == intStateOld + 1 ) {
+        direction = 1;
+        position++;
+    } else if (intState == intStateOld - 1) {
+        direction = 0;
+        position--;
+    }
+
+    
+    intStateOld = intState;
+
+    motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
+}
+
+
+void motorCtrlTick()
+{
+    thread_motorCtrl.signal_set(0x1);
+    //osSignalSet(thread_motorCtrl, 0x1);
+}
+
+float get_y_pos(float e, float change_e)
+{
+    return kp_pos*e + kd_pos*change_e;
+}
+
+float get_motor_out(float velocity_out)
+{
+    float motor_out;
+    if( velocity_out < 0) {
+        motor_out = velocity_out*-1;
+        // motor_out = 0;
+    } else {
+        motor_out = velocity_out;
+    }
+    if (velocity_out > 1 || velocity_out < -1) {
+        motor_out = 1;
+    }
+    return motor_out;
+}
+
+int get_current_position()
+{
+    return position;
+}
+
+void attach_ISR()
+{
+    I1.rise(&move);
+    I1.fall(&move);
+    I2.rise(&move);
+    I2.fall(&move);
+    I3.rise(&move);
+    I3.fall(&move);
+}
+
+
+float combine_speed(float y_pos, float velocity_out, float velocity_error)
+{
+    if(velocity_error >= 0) {
+        if(y_pos < velocity_out) {
+            return y_pos;
+        } else {
+            return velocity_out;
+        }
+    } else {
+        if(y_pos > velocity_out) {
+            return y_pos;
+        } else {
+            return velocity_out;
+        }
+    }
+    return y_pos;
+}
+
+
+void update_lead(float velocity_out)
+{
+    // No functionality for breaking
+    if(velocity_out >= 0) {
+        lead = 2;
+    } else {
+        lead = -2;
+    }
+}
+
+void motorCtrlFn()
+{
+    // motor controller variables
+    float current_position = 0;
+    int previous_position = 0;
+    float velocity = 0;
+    Timer timer_velocity;
+    uint32_t last_time_MtrCtlr;
+    float pos_error_old;
+    int i = 0;
+
+    float velocity_integral=0;
+    float velocity_derivative=0;
+    float last_velocity_error = 0;
+    float velocity_error = 0;
+    float velocity_out = 0;
+    float velocity_factor = 1;
+
+    motorCtrlTicker.attach_us(&motorCtrlTick,100000);
+    pos_error_old = target_position;
+    last_time_MtrCtlr = 0;
+
+    MotorPWM.write(1);
+    MotorPWM.period(pwm_period);
+
+    motorOut(0);
+    wait(3.0);
+    orState = readRotorState();
+
+    if(target_velocity > 0) {
+        lead = 2;
+        motorOut(1);
+    } else {
+        lead = -2;
+        motorOut(5);
+    }
+
+    attach_ISR();
+
+    current_position = get_current_position();
+    previous_position = current_position;
+    timer_velocity.start();
+
+    while(1) {
+        thread_motorCtrl.signal_wait(0x1);
+
+        current_position = get_current_position();
+        velocity_factor = (1000/(timer_velocity.read_ms()-last_time_MtrCtlr));
+        velocity = ((current_position - previous_position)/6)*velocity_factor;
+        last_time_MtrCtlr = timer_velocity.read_ms();
+        previous_position = current_position;
+
+        velocity_error = target_velocity - velocity;
+        velocity_integral += velocity_error;
+        velocity_derivative = velocity_error - velocity_error;
+        velocity_out = (kp_vel*velocity_error) + (ki_vel*velocity_integral) + (kd_vel*velocity_derivative);
+        last_velocity_error = velocity_error;
+
+        velocity_global = velocity;
+
+        float motor_out = get_motor_out(velocity_out);
+
+        update_lead(velocity_out);
+        MotorPWM.period(pwm_period);
+        MotorPWM.write(motor_out);
+
+    }
+}
\ No newline at end of file

--- a/ES_CW2_Starter_STARFISH/import.h	Fri Mar 06 14:27:16 2020 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,8 +0,0 @@
-#include "mbed.h"
-#include "SHA256.h"
-#include "rtos.h"
-#include <stdlib.h>
-#include <string>
-#include "mutexes.h"
-#include "SerialCommunication.h"
-#include "CryptoMining.h"

--- a/ES_CW2_Starter_STARFISH/main.cpp	Fri Mar 06 14:27:16 2020 +0000
+++ b/ES_CW2_Starter_STARFISH/main.cpp	Mon Mar 09 15:02:47 2020 +0000
@@ -1,170 +1,28 @@
-
-#include "import.h"
+#include "mbed.h"
+#include "SHA256.h"
+#include "rtos.h"
+#include <stdlib.h>
+#include <string>
+#include "mutexes.h"
+#include "SerialCommunication.h"
+#include "CryptoMining.h"
+#include "MotorControl.h"
 
 // Declaration of threads
 Thread thread_crypto;
 Thread thread_processor;
 
-
 // Timing variables for printing calculation rate
 Timer timer_nonce;
 uint32_t previous_time;
 
 
-//Photointerrupter input pins
-#define I1pin D3
-#define I2pin D6
-#define I3pin D5
-
-//Incremental encoder input pins
-#define CHApin D12
-#define CHBpin D11
-
-//Motor Drive output pins   //Mask in output byte
-#define L1Lpin D1  //0x01
-#define L1Hpin A3  //0x02
-#define L2Lpin D0  //0x04
-#define L2Hpin A6  //0x08
-#define L3Lpin D10 //0x10
-#define L3Hpin D2  //0x20
-
-#define PWMpin D9
-
-//Motor current sense
-#define MCSPpin A1
-#define MCSNpin A0
-
-//Test outputs
-#define TP0pin D4
-#define TP1pin D13
-#define TP2pin A2
-
-//Mapping from sequential drive states to motor phase outputs
-/*
-State   L1  L2  L3
-0       H   -   L
-1       -   H   L
-2       L   H   -
-3       L   -   H
-4       -   L   H
-5       H   L   -
-6       -   -   -
-7       -   -   -
-*/
-//Drive state to output table
-const int8_t driveTable[] = {0x12, 0x18, 0x09, 0x21, 0x24, 0x06, 0x00, 0x00};
-
-//Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
-const int8_t stateMap[] = {0x07, 0x05, 0x03, 0x04, 0x01, 0x00, 0x02, 0x07};
-//const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
-
-//Phase lead to make motor spin
-const int8_t lead = 2; //2 for forwards, -2 for backwards
-
-//Status LED
-DigitalOut led1(LED1);
-
-//Photointerrupter inputs
-InterruptIn I1(I1pin);
-InterruptIn I2(I2pin);
-InterruptIn I3(I3pin);
-
-//Motor Drive outputs
-DigitalOut L1L(L1Lpin);
-DigitalOut L1H(L1Hpin);
-DigitalOut L2L(L2Lpin);
-DigitalOut L2H(L2Hpin);
-DigitalOut L3L(L3Lpin);
-DigitalOut L3H(L3Hpin);
-
-DigitalOut TP1(TP1pin);
-PwmOut MotorPWM(PWMpin);
-
-int8_t orState = 0; //Rotot offset at motor state 0
-int8_t intState = 0;
-int8_t intStateOld = 0;
-
-//Set a given drive state
-void motorOut(int8_t driveState)
-{
-
-    //Lookup the output byte from the drive state.
-    int8_t driveOut = driveTable[driveState & 0x07];
-
-    //Turn off first
-    if (~driveOut & 0x01)
-        L1L = 0;
-    if (~driveOut & 0x02)
-        L1H = 1;
-    if (~driveOut & 0x04)
-        L2L = 0;
-    if (~driveOut & 0x08)
-        L2H = 1;
-    if (~driveOut & 0x10)
-        L3L = 0;
-    if (~driveOut & 0x20)
-        L3H = 1;
-
-    //Then turn on
-    if (driveOut & 0x01)
-        L1L = 1;
-    if (driveOut & 0x02)
-        L1H = 0;
-    if (driveOut & 0x04)
-        L2L = 1;
-    if (driveOut & 0x08)
-        L2H = 0;
-    if (driveOut & 0x10)
-        L3L = 1;
-    if (driveOut & 0x20)
-        L3H = 0;
-}
-
-//Convert photointerrupter inputs to a rotor state
-inline int8_t readRotorState()
-{
-    return stateMap[I1 + 2 * I2 + 4 * I3];
-}
-
-//Basic synchronisation routine
-int8_t motorHome()
-{
-    //Put the motor in drive state 0 and wait for it to stabilise
-    motorOut(0);
-    wait(2.0);
-
-    //Get the rotor state
-    return readRotorState();
-}
-
-void move()
-{
-    intState = readRotorState();
-    motorOut((intState - orState + lead + 6) % 6); //+6 to make sure the remainder is positive
-    intStateOld = intState;
-}
-
-
 //Main
 int main()
 {
     pc.attach(&serialISR);
-    const int32_t PWM_PRD = 2500;
-    MotorPWM.period_us(PWM_PRD);
-    MotorPWM.pulsewidth_us(PWM_PRD);
 
-    pc.printf("Hello\n\r");
-
-    //Run the motor synchronisation
-    orState = motorHome();
-    pc.printf("Rotor origin: %x\n\r", orState);
-
-    I1.rise(&move);
-    I1.fall(&move);
-    I2.rise(&move);
-    I2.fall(&move);
-    I3.rise(&move);
-    I3.fall(&move);
+    thread_motorCtrl.start(motorCtrlFn);
 
     // Initialize threads and timers
     timer_nonce.start();
@@ -172,26 +30,23 @@
     thread_processor.start(thread_processor_callback);
     uint8_t hash[32];
 
-    while (1)
-    {
+    while (1) {
         // Set main as lowest priority thread
 
         NewKey_mutex.lock();
-        *key = NewKey; 
+        *key = NewKey;
         NewKey_mutex.unlock();
 
         SHA256::computeHash(hash, (uint8_t *)sequence, 64);
         *nonce = *nonce + 1;
 
-        if ((hash[0] == 0) && (hash[1] == 0))
-        {
+        if ((hash[0] == 0) && (hash[1] == 0)) {
             last_nonce_number = successful_nonce;
             putMessageCrypto(*nonce);
             successful_nonce++;
         }
 
-        if ((timer_nonce.read_ms() - previous_time) > 1000)
-        {
+        if ((timer_nonce.read_ms() - previous_time) > 1000) {
             //pc.printf("Computation Rate: %lu computation /sec\n\r", (*nonce - last_nonce_number));
             last_nonce_number = *nonce;
             previous_time = timer_nonce.read_ms();
@@ -199,4 +54,4 @@
     }
 
     return 0;
-}
+}
\ No newline at end of file