Kojiro Iizuka / PID_Control_SU

a

Dependencies:   PID QEI USBDevice mbed

Fork of PID_Control_SU by naoto tanaka

main.cpp@5:e33d0b05c9ff, 2014-04-21 (annotated)

Committer:
Kojiro
Date:
Mon Apr 21 05:41:22 2014 +0000
Revision:
5:e33d0b05c9ff
Parent:
3:ce85bafa78d7 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NT32 0:b2973a157cb6 1 #include "mbed.h"
NT32 0:b2973a157cb6 2 #include "USBSerial.h"
NT32 0:b2973a157cb6 3 #include "QEI.h"
NT32 0:b2973a157cb6 4 #include "PID.h"
NT32 0:b2973a157cb6 5
NT32 0:b2973a157cb6 6 #define PIDRATE 0.01
NT32 0:b2973a157cb6 7 #define CW 0x01
NT32 0:b2973a157cb6 8 #define CCW 0x02
NT32 0:b2973a157cb6 9 #define STOP 0x03
NT32 0:b2973a157cb6 10 #define FREE 0x00
NT32 0:b2973a157cb6 11
NT32 0:b2973a157cb6 12 #define kc 2.8
NT32 0:b2973a157cb6 13 #define ti 16.0
NT32 0:b2973a157cb6 14 #define td 0.0
NT32 0:b2973a157cb6 15
NT32 0:b2973a157cb6 16 USBSerial vcom;
NT32 0:b2973a157cb6 17 SPI spi(P0_21, NC, P1_20);
NT32 0:b2973a157cb6 18 DigitalOut cs(P1_23);
NT32 0:b2973a157cb6 19
NT32 0:b2973a157cb6 20 Timer timer;
Kojiro 5:e33d0b05c9ff 21 //int i;
NT32 0:b2973a157cb6 22
NT32 0:b2973a157cb6 23 PID controller(kc, ti, td, PIDRATE);
NT32 0:b2973a157cb6 24
NT32 0:b2973a157cb6 25 QEI wheel (P1_15, P0_19, NC, 1, QEI::X4_ENCODING);
NT32 0:b2973a157cb6 26
NT32 0:b2973a157cb6 27 BusOut gled(P0_8, P0_9);
NT32 0:b2973a157cb6 28 BusOut mdrv(P1_27, P1_26);
NT32 0:b2973a157cb6 29
NT32 0:b2973a157cb6 30 DigitalIn SW(P0_1);
NT32 0:b2973a157cb6 31
NT32 2:b46f1a4c42fb 32 void initialize();
NT32 0:b2973a157cb6 33 void pidsetup();
NT32 0:b2973a157cb6 34
NT32 0:b2973a157cb6 35 union MCP4922
NT32 0:b2973a157cb6 36 {
NT32 0:b2973a157cb6 37 uint16_t command;
NT32 0:b2973a157cb6 38 struct
NT32 0:b2973a157cb6 39 {
NT32 0:b2973a157cb6 40 //DAC data bits
NT32 0:b2973a157cb6 41 uint16_t D :12;
NT32 0:b2973a157cb6 42 //Output power down control bit
NT32 0:b2973a157cb6 43 uint8_t SHDN:1;
NT32 0:b2973a157cb6 44 //Outout gain select bit
NT32 0:b2973a157cb6 45 uint8_t GA :1;
NT32 0:b2973a157cb6 46 //Vref input buffer Control bit
NT32 0:b2973a157cb6 47 uint8_t BUF :1;
NT32 0:b2973a157cb6 48 //DACa or DACb select bit
NT32 0:b2973a157cb6 49 uint8_t AB :1;
NT32 0:b2973a157cb6 50 }bit;
NT32 0:b2973a157cb6 51 };
NT32 0:b2973a157cb6 52
NT32 0:b2973a157cb6 53 union MCP4922 dac = {0xF7F};
NT32 0:b2973a157cb6 54
NT32 0:b2973a157cb6 55 int main()
NT32 0:b2973a157cb6 56 {
NT32 0:b2973a157cb6 57 uint8_t i = 0;
NT32 0:b2973a157cb6 58 int epls[2] = {0, 0};
NT32 0:b2973a157cb6 59 float rps = 0;
NT32 2:b46f1a4c42fb 60 initialize();
NT32 0:b2973a157cb6 61 while(SW == 1)
NT32 0:b2973a157cb6 62 {
NT32 0:b2973a157cb6 63 if(i == 100)
NT32 0:b2973a157cb6 64 {
NT32 0:b2973a157cb6 65 i = 0;
NT32 0:b2973a157cb6 66 vcom.printf("\033[%d;%dH", 0, 0);
Kojiro 3:ce85bafa78d7 67 vcom.printf("DAC.d :%012d", dac.bit.D);
NT32 0:b2973a157cb6 68 vcom.printf("rps :%12.4f", rps);
NT32 0:b2973a157cb6 69 }
NT32 0:b2973a157cb6 70 i++;
NT32 0:b2973a157cb6 71 gled = i;
NT32 0:b2973a157cb6 72
NT32 0:b2973a157cb6 73 epls[1] = wheel.getPulses();
NT32 0:b2973a157cb6 74 rps = ((float)(epls[1] - epls[0]) / PIDRATE) / 3600;
NT32 0:b2973a157cb6 75 epls[0] = epls[1];
NT32 0:b2973a157cb6 76 controller.setProcessValue(rps);
NT32 0:b2973a157cb6 77 dac.bit.D = (int)controller.compute();
NT32 0:b2973a157cb6 78 cs = 0;
NT32 0:b2973a157cb6 79 spi.write(dac.command);
NT32 0:b2973a157cb6 80 cs = 1;
NT32 0:b2973a157cb6 81 wait(PIDRATE);
NT32 0:b2973a157cb6 82 }
NT32 0:b2973a157cb6 83 pidsetup();
NT32 0:b2973a157cb6 84 i = 0;
NT32 0:b2973a157cb6 85 rps = 0;
NT32 0:b2973a157cb6 86 epls[0] = 0;
NT32 0:b2973a157cb6 87 timer.reset();
NT32 0:b2973a157cb6 88 timer.start();
NT32 0:b2973a157cb6 89 while(1)
NT32 0:b2973a157cb6 90 {
NT32 0:b2973a157cb6 91 if(SW == 0)
NT32 0:b2973a157cb6 92 {
NT32 0:b2973a157cb6 93 timer.stop();
NT32 0:b2973a157cb6 94 pidsetup();
NT32 0:b2973a157cb6 95 timer.reset();
NT32 0:b2973a157cb6 96 timer.start();
NT32 0:b2973a157cb6 97 }
NT32 2:b46f1a4c42fb 98
NT32 0:b2973a157cb6 99 i++;
NT32 0:b2973a157cb6 100 gled = i;
NT32 0:b2973a157cb6 101 epls[1] = wheel.getPulses();
NT32 0:b2973a157cb6 102 rps = ((float)(epls[1] - epls[0]) / PIDRATE) / 3600;
NT32 0:b2973a157cb6 103 epls[0] = epls[1];
NT32 0:b2973a157cb6 104 controller.setProcessValue(rps);
NT32 0:b2973a157cb6 105 dac.bit.D = (int)controller.compute();
NT32 0:b2973a157cb6 106 cs = 0;
NT32 0:b2973a157cb6 107 spi.write(dac.command);
NT32 0:b2973a157cb6 108 cs = 1;
NT32 2:b46f1a4c42fb 109 if(i == 10)
NT32 2:b46f1a4c42fb 110 {
NT32 2:b46f1a4c42fb 111 vcom.printf("%d,%d,%f\n" , timer.read_ms(), dac.bit.D, rps);
NT32 2:b46f1a4c42fb 112 i = 0;
NT32 2:b46f1a4c42fb 113 }
NT32 0:b2973a157cb6 114 wait(PIDRATE);
NT32 0:b2973a157cb6 115
NT32 0:b2973a157cb6 116 }
NT32 0:b2973a157cb6 117
NT32 0:b2973a157cb6 118 }
NT32 0:b2973a157cb6 119
NT32 2:b46f1a4c42fb 120 void initialize()
NT32 2:b46f1a4c42fb 121 {
NT32 2:b46f1a4c42fb 122 SW.mode(PullUp);
NT32 2:b46f1a4c42fb 123 mdrv = CW;
NT32 2:b46f1a4c42fb 124 cs = 1;
NT32 2:b46f1a4c42fb 125 dac.bit.AB = 0;
NT32 2:b46f1a4c42fb 126 dac.bit.BUF = 1;
NT32 2:b46f1a4c42fb 127 dac.bit.GA = 1;
NT32 2:b46f1a4c42fb 128 dac.bit.SHDN = 1;
NT32 2:b46f1a4c42fb 129 dac.bit.D = 0;
NT32 2:b46f1a4c42fb 130 spi.format(16,0);
NT32 2:b46f1a4c42fb 131 spi.frequency(20000000);
NT32 2:b46f1a4c42fb 132 cs = 0;
NT32 2:b46f1a4c42fb 133 spi.write(dac.command);
NT32 2:b46f1a4c42fb 134 cs = 1;
NT32 2:b46f1a4c42fb 135 //Revolution per second input from 0.0 to 50.0rev/sec
NT32 2:b46f1a4c42fb 136 controller.setInputLimits(0.0, 30.0);
NT32 2:b46f1a4c42fb 137 //DAC output from 0.0 to 4096.0
NT32 2:b46f1a4c42fb 138 controller.setOutputLimits(0.0, 4095.0);
NT32 2:b46f1a4c42fb 139 //If there's a bias.
NT32 2:b46f1a4c42fb 140 controller.setBias(1000.0);
NT32 2:b46f1a4c42fb 141 controller.setMode(AUTO_MODE);
NT32 2:b46f1a4c42fb 142 //We want the process variable to be 12rev/sec
NT32 2:b46f1a4c42fb 143 controller.setSetPoint(12.0);
NT32 2:b46f1a4c42fb 144 }
NT32 2:b46f1a4c42fb 145
NT32 0:b2973a157cb6 146 void pidsetup()
NT32 0:b2973a157cb6 147 {
NT32 0:b2973a157cb6 148 char str[64] = {'\0'}, *erstr;
NT32 0:b2973a157cb6 149 float tmp[3];
NT32 0:b2973a157cb6 150 dac.bit.D = 0;
NT32 0:b2973a157cb6 151 cs = 0;
NT32 0:b2973a157cb6 152 spi.write(dac.command);
NT32 0:b2973a157cb6 153 cs = 1;
NT32 0:b2973a157cb6 154 controller.reset();
NT32 0:b2973a157cb6 155 vcom.printf("\033[2J");
NT32 0:b2973a157cb6 156 vcom.printf("\033[%d;%dH", 0, 0);
NT32 0:b2973a157cb6 157
NT32 0:b2973a157cb6 158 //Output bias
NT32 1:6d5c35b995fb 159 // vcom.printf("Input the bias for the controller output\n");
NT32 1:6d5c35b995fb 160 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 161 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 162 // tmp[0] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 163 // controller.setBias(tmp[0]);
NT32 1:6d5c35b995fb 164 // vcom.printf("Output bias : %15f\n", tmp[0]);
NT32 1:6d5c35b995fb 165 controller.setBias(200);
NT32 0:b2973a157cb6 166
NT32 0:b2973a157cb6 167 //Input limits
NT32 1:6d5c35b995fb 168 // vcom.printf("Input the minimum inputlimit\n");
NT32 1:6d5c35b995fb 169 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 170 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 171 // tmp[0] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 172 // vcom.printf("Minimum input limit : %15f\n", tmp[0]);
NT32 0:b2973a157cb6 173 vcom.printf("Input the maximum inputlimit\n");
NT32 0:b2973a157cb6 174 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 175 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 176 tmp[1] = strtof(str, &erstr);
NT32 0:b2973a157cb6 177 vcom.printf("Maximum input limit : %15f\n", tmp[1]);
NT32 1:6d5c35b995fb 178 // controller.setInputLimits(tmp[0], tmp[1]);
NT32 1:6d5c35b995fb 179 controller.setInputLimits(0,tmp[1]);
NT32 0:b2973a157cb6 180
NT32 0:b2973a157cb6 181 //Output limits
NT32 1:6d5c35b995fb 182 // vcom.printf("Input the minimum outputlimit\n");
NT32 1:6d5c35b995fb 183 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 184 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 185 // tmp[0] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 186 // vcom.printf("Minimum output limit : %15f\n", tmp[0]);
NT32 1:6d5c35b995fb 187 // vcom.printf("Input the maximum outputlimit\n");
NT32 1:6d5c35b995fb 188 // vcom.printf("within 15 figures.\n");
NT32 1:6d5c35b995fb 189 // vcom.scanf("%s", str);
NT32 1:6d5c35b995fb 190 // tmp[1] = strtof(str, &erstr);
NT32 1:6d5c35b995fb 191 // vcom.printf("Maximum output limit : %15f\n", tmp[1]);
NT32 1:6d5c35b995fb 192 // controller.setOutputLimits(tmp[0], tmp[1]);
NT32 1:6d5c35b995fb 193 controller.setOutputLimits(0, 4095);
NT32 0:b2973a157cb6 194
NT32 0:b2973a157cb6 195 //Setpoint
NT32 0:b2973a157cb6 196 vcom.printf("Input the setpoint\n");
NT32 0:b2973a157cb6 197 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 198 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 199 tmp[0] = strtof(str, &erstr);
NT32 0:b2973a157cb6 200 controller.setSetPoint(tmp[0]);
NT32 0:b2973a157cb6 201 vcom.printf("Setpoint : %15f\n", tmp[0]);
NT32 0:b2973a157cb6 202
NT32 0:b2973a157cb6 203 //tuning parameter
NT32 0:b2973a157cb6 204 vcom.printf("Input the proportional gain\n");
NT32 0:b2973a157cb6 205 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 206 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 207 tmp[0] = strtof(str, &erstr);
NT32 0:b2973a157cb6 208 vcom.printf("proportional gain : %15f\n", tmp[0]);
NT32 0:b2973a157cb6 209 vcom.printf("Input the integral gain\n");
NT32 0:b2973a157cb6 210 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 211 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 212 tmp[1] = strtof(str, &erstr);
NT32 0:b2973a157cb6 213 vcom.printf("integral gain : %15f\n", tmp[1]);
NT32 0:b2973a157cb6 214 vcom.printf("Input the derivative gain\n");
NT32 0:b2973a157cb6 215 vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 216 vcom.scanf("%s", str);
NT32 0:b2973a157cb6 217 tmp[2] = strtof(str, &erstr);
NT32 0:b2973a157cb6 218 vcom.printf("derivative gain : %15f\n", tmp[2]);
NT32 0:b2973a157cb6 219 controller.setTunings(tmp[0], tmp[1], tmp[2]);
NT32 0:b2973a157cb6 220
NT32 0:b2973a157cb6 221 //interval
NT32 0:b2973a157cb6 222 // vcom.printf("Input the interval seconds\n");
NT32 0:b2973a157cb6 223 // vcom.printf("within 15 figures.\n");
NT32 0:b2973a157cb6 224 // vcom.scanf("%s", str);
NT32 0:b2973a157cb6 225 // tmp[0] = strtof(str, &erstr);
NT32 0:b2973a157cb6 226 controller.setInterval(PIDRATE);
NT32 0:b2973a157cb6 227 vcom.printf("\033[2J");
NT32 0:b2973a157cb6 228
NT32 0:b2973a157cb6 229
NT32 0:b2973a157cb6 230
NT32 0:b2973a157cb6 231 //PID mode
NT32 0:b2973a157cb6 232 controller.setMode(AUTO_MODE);
NT32 0:b2973a157cb6 233 }