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nytt-test-
...
main
@ -1,13 +1,12 @@
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//EENX15_LQR.ino
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#include <Wire.h>
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int lastCorrectionTime = 0;
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int lastPrintTime = 0;
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static int fastTimer = 10; //ms
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static int slowTimer = 1000; //ms
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static int fastTimer = 80; //ms
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static int slowTimer = 800; //ms
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//lqr
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//lqr stuff
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const uint8_t statesNumber = 4;
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/** Low pass filter angular Position*/
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float angularPositionLP = 0;
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@ -23,14 +22,11 @@ float motorAngularPosition = 0;
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float motorAngularSpeed = 0;
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/** PWM signal applied to the motor's driver 255 is 100% */
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int speed;
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float Va;
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int32_t speed;
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int safe_angle;
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float force;
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int PWM;
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//gyro
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//gyro stuff
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float AccX, AccY, AccZ;
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float GyroX, GyroY, GyroZ;
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float accAngleX, accAngleY, gyroAngleX, gyroAngleY, gyroAngleZ;
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@ -51,7 +47,7 @@ float angle_pitch_output, angle_roll_output;
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long loop_timer;
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int temp;
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//motor
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//motor stuff
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#define encoderA1 2
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#define encoderB1 3
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@ -85,7 +81,7 @@ void setup() {
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Wire.begin();
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Serial.begin(115200);
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while (!Serial)
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delay(10); // will pause until serial console opens
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delay(10); // will pause Zero, Leonardo, etc until serial console opens
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gyro_setup();
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@ -95,6 +91,7 @@ void setup() {
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pinMode(encoderA2, INPUT_PULLUP);
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pinMode(encoderB2, INPUT_PULLUP);
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attachInterrupt(digitalPinToInterrupt(encoderA1), pulseA, RISING);
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//attachInterrupt(digitalPinToInterrupt(encoderB1), pulseB, RISING);
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pinMode(MotorPinA, OUTPUT);
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pinMode(MotorSpeedA, OUTPUT);
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@ -103,7 +100,6 @@ void setup() {
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pinMode(MotorPinB, OUTPUT);
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pinMode(MotorSpeedB, OUTPUT);
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pinMode(MotorBrakeB, OUTPUT);
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}
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void loop() {
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@ -112,12 +108,12 @@ void loop() {
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int m = millis();
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if (m - lastCorrectionTime >= fastTimer) { //run this code every [fastTimer]ms
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if (m - lastCorrectionTime >= fastTimer) { //run this code ever 80ms (12.5hz)
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lastCorrectionTime = m;
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getSpeed();
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setSpeed();
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}
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if (m - lastPrintTime >= slowTimer) { //run this code every [slowTimer]ms
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if (m - lastPrintTime >= slowTimer) { //run this code ever 800ms (1.25hz)
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lastPrintTime = m;
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printInfo();
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}
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@ -143,7 +139,6 @@ void printInfo(){
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Serial.print("pitch Angle measured = "); Serial.println(angle_pitch);
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Serial.print("Position: "); Serial.println(countA);
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Serial.print("Position (m): "); Serial.println(countA/174.76); //r*2pi
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Serial.print("speed (m/s): "); Serial.println(rps * 0.05); //r*rads
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Serial.print("Full Rotations: "); Serial.println(countA/56.0); //ca. 56 tick per rotation
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Serial.print("Rads rotated: "); Serial.println(countA/8.91); //ca. 56 tick per rotation, 6.26 rads per rotation
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Serial.print("RPM: "); Serial.println(rpm); //ca. 56 tick per rotation
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@ -152,37 +147,34 @@ void printInfo(){
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void setSpeed(){
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if(abs(safe_angle)<50 ){
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//speed = 8*safe_angle;
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float position_m = countA/174.76;
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float speed_ms = rps * 0.05;
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float angle_r = angle_pitch_output * 0.318;
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float angle_speed_rs = rps;
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//speed = lqr_fullstate(position_m, speed_ms, angle_r, angle_speed_rs);/// 0.019608; // (0.20*255)
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force = lqr_fullstate(0, 0, angle_r, 0);/// 0.019608; // (0.20*255)
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//speed = -22 * inputToControlSystem(0, 1);
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if(force<0){
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speed = inputToControlSystem(position_m, angle_r);
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speed *= 22;
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if(speed<0){
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digitalWrite(MotorPinB, CW);
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digitalWrite(MotorPinA, CCW);
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speed -= 30;
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}
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else if(force>0){
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else if(speed>0){
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digitalWrite(MotorPinB, CCW);
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digitalWrite(MotorPinA, CW);
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speed += 30;
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}
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else {
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force = 0;
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speed = 0;
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}
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if(force!=0){
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Va = calc_speed(force, angle_speed_rs);
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}
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else {
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Va = 0;
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}
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Va = abs(Va);
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PWM = 255*Va/12;
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PWM = constrain(PWM, 0, 255);
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analogWrite(MotorSpeedB, PWM); //Wheel close to connections
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analogWrite(MotorSpeedA, PWM); //First experiment wheel
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speed = abs(speed);
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speed = constrain(speed, 0, 250);
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analogWrite(MotorSpeedB, speed); //Wheel close to connections
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analogWrite(MotorSpeedA, speed); //First experiment wheel
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}
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else{
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speed = 0;
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analogWrite(MotorSpeedB, speed);
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analogWrite(MotorSpeedA, speed);
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}
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Serial.print("PWM to motors: "); Serial.println(PWM);
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}
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int directionA(){
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if(digitalRead(encoderA2) == HIGH){
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@ -1,84 +1,125 @@
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//LQR.ino
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//LQR-stuff
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#include "Arduino_skal.h"
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const double matrix_A [16] = { 0.0, 0.0, 0.0, 0.0,
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1.0, -0.20780947085442231, 0.0, -0.52810302415000854,
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0.0, 13.239785742831822, 0.0, 58.601480177829842,
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0.0, 0.0, 1.0, 0.0 };
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// | ///////////////////////////////////
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// | //Row 24-52 in Arduino_skal_data.cpp
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// v ///////////////////////////////////
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const double Arduino_skalModelClass::ConstP rtConstP = {
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// Expression: [100;200]
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// Referenced by: '<Root>/vartejag'
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const double matrix_C [8] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0 };
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{ 100.0, 200.0 },
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const double matrix_L [8] = { 56.7847, 799.5294, -1.4914, -57.4160,
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-1.0363, -16.1071, 57.0075, 870.8172 };
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const double matrix_L_old [8] = { 116.63033952875418, 3387.8673967111704, -1.4473912197449676,
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// Expression: A
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// Referenced by: '<Root>/Gain4'
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{ 0.0, 0.0, 0.0, 0.0, 1.0, -0.20780947085442231, 0.0, -0.52810302415000854,
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0.0, 13.239785742831822, 0.0, 58.601480177829842, 0.0, 0.0, 1.0, 0.0 },
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// Expression: C
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// Referenced by: '<Root>/Gain6'
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{ 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0 },
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// Expression: L
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// Referenced by: '<Root>/Gain2'
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{ 116.63033952875418, 3387.8673967111704, -1.4473912197449676,
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-115.34372132703447, -1.0534041975488044, -48.223441605702455,
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117.16185100039935, 3490.0480780568214 };
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117.16185100039935, 3490.0480780568214 },
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const double matrix_B [4] = { 0.0, 2.078094708544223, 0.0, 5.2810302415000852 };
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// Expression: B
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// Referenced by: '<Root>/Gain3'
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{ 0.0, 2.078094708544223, 0.0, 5.2810302415000852 }
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};
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const double matrix_K_old [4] = {-31.622776601683942, -21.286439360075747, 80.789376267003959, 13.42463576551093};
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const double matrix_K [4] = {-0.0316, -0.3938, 22.9455, 3.0629};
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// | ///////////////////////////////////
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// | //Row 261-264 in Arduino_skal.cpp
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// v ///////////////////////////////////
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double Integrator1_CSTATE [4] = {0.0, 0.0, 0.0, 0.0};
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double Sum3[4];
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double Sum4[4];
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rtX.Integrator1_CSTATE[0] = 0.0;
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rtX.Integrator1_CSTATE[1] = 0.0;
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rtX.Integrator1_CSTATE[2] = 0.0;
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rtX.Integrator1_CSTATE[3] = 0.0;
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double tmp[2];
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double rtb_Saturation = 0.0;
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double saturatedSignalToMotors(){
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rtb_Saturation = ((matrix_K[0] * Integrator1_CSTATE[0] +
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matrix_K[1] * Integrator1_CSTATE[1]) +
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matrix_K[2] * Integrator1_CSTATE[2]) +
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matrix_K[3] * Integrator1_CSTATE[3];
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// | ///////////////////////////////////
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// | //Row 123-124 in Arduino_skal.cpp
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// v ///////////////////////////////////
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real_T tmp[2];
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int rtb_Saturation;
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// | ///////////////////////////////////
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// | //Row 140-143 in Arduino_skal.cpp
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// v ///////////////////////////////////
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// Denna funktion bör anropas när styrka + riktning till motorer ska bestämmas.
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int saturatedSignalToMotors(){
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rtb_Saturation = ((-31.622776601683942 * rtX.Integrator1_CSTATE[0] +
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-21.286439360075747 * rtX.Integrator1_CSTATE[1]) +
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80.789376267003959 * rtX.Integrator1_CSTATE[2]) +
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13.42463576551093 * rtX.Integrator1_CSTATE[3];
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if (0.0 - rtb_Saturation > 11.5) {
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rtb_Saturation = 3.0;
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rtb_Saturation = 11.5;
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} else if (0.0 - rtb_Saturation < -11.5) {
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rtb_Saturation = -3.0;
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rtb_Saturation = -11.5;
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} else {
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rtb_Saturation = 0.0 - rtb_Saturation;
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}
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Serial.print("Saturation = "); Serial.println(rtb_Saturation);
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return rtb_Saturation;
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}
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double inputToControlSystem(float position_m, float angle_r){
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// | ///////////////////////////////////
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// | //Row 165-188 in Arduino_skal.cpp
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// v ///////////////////////////////////
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int inputToControlSystem(float position_m, float angle_r){
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float posAndAng[] = {position_m, angle_r};
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for (int i = 0; i < 2; i++) {
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tmp[i] = posAndAng[i] - (((matrix_C[i + 2] *
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Integrator1_CSTATE[1] + matrix_C[i] *
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Integrator1_CSTATE[0]) + matrix_C[i + 4] *
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Integrator1_CSTATE[2]) + matrix_C[i + 6] *
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Integrator1_CSTATE[3]);
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for (i = 0; i < 2; i++) {
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tmp[i] = rtConstP.posAndAng[i] - (((rtConstP.Gain6_Gain[i + 2] *
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rtX.Integrator1_CSTATE[1] + rtConstP.Gain6_Gain[i] *
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rtX.Integrator1_CSTATE[0]) + rtConstP.Gain6_Gain[i + 4] *
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rtX.Integrator1_CSTATE[2]) + rtConstP.Gain6_Gain[i + 6] *
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rtX.Integrator1_CSTATE[3]);
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}
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for (int i = 0; i < 4; i++) {
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// End of Sum: '<Root>/Sum2'
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for (i = 0; i < 4; i++) {
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// Sum: '<Root>/Sum4' incorporates:
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// Gain: '<Root>/Gain2'
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// Gain: '<Root>/Gain3'
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// Gain: '<Root>/Gain4'
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// Integrator: '<Root>/Integrator1'
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// Sum: '<Root>/Sum3'
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Sum3[i] = ((matrix_L[i + 4] * tmp[1] + matrix_L[i]
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* tmp[0]) + matrix_B[i] * rtb_Saturation);
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Sum4[i] = Sum3[i] +
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(matrix_A[i + 12] * Integrator1_CSTATE[3] +
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(matrix_A[i + 8] * Integrator1_CSTATE[2] +
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(matrix_A[i + 4] * Integrator1_CSTATE[1] +
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matrix_A[i] * Integrator1_CSTATE[0])));
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rtDW.Sum4[i] = ((rtConstP.Gain2_Gain[i + 4] * tmp[1] + rtConstP.Gain2_Gain[i]
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* tmp[0]) + rtConstP.Gain3_Gain[i] * rtb_Saturation) +
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(rtConstP.Gain4_Gain[i + 12] * rtX.Integrator1_CSTATE[3] +
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(rtConstP.Gain4_Gain[i + 8] * rtX.Integrator1_CSTATE[2] +
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(rtConstP.Gain4_Gain[i + 4] * rtX.Integrator1_CSTATE[1] +
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rtConstP.Gain4_Gain[i] * rtX.Integrator1_CSTATE[0])));
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}
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Serial.print("Sum3 0 = "); Serial.println(Sum3[0]);
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Serial.print("Sum3 1 = "); Serial.println(Sum3[1]);
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Serial.print("Sum3 2 = "); Serial.println(Sum3[2]);
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Serial.print("Sum3 3 = "); Serial.println(Sum3[3]);
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Serial.print("Sum4 0 = "); Serial.println(Sum4[0]);
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Serial.print("Sum4 1 = "); Serial.println(Sum4[1]);
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Serial.print("Sum4 2 = "); Serial.println(Sum4[2]);
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Serial.print("Sum4 3 = "); Serial.println(Sum4[3]);
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Arduino_skal_derivatives();
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/*
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Integrator1_CSTATE[0] = rtDW.Sum4[0];
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Integrator1_CSTATE[1] = rtDW.Sum4[1];
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Integrator1_CSTATE[2] = rtDW.Sum4[2];
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Integrator1_CSTATE[3] = rtDW.Sum4[3];
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*/
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return saturatedSignalToMotors();
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}
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void Arduino_skal_derivatives()
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// | ///////////////////////////////////
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// | //Row 215-225 in Arduino_skal.cpp
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// v ///////////////////////////////////
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void Arduino_skalModelClass::Arduino_skal_derivatives()
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{
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for (int i = 0; i < 4; i++) {
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Integrator1_CSTATE[i] = Sum4[i] * fastTimer/1000.0;
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Serial.print("Integrator: "); Serial.println(Integrator1_CSTATE[i]);
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}
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Arduino_skalModelClass::XDot *_rtXdot;
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_rtXdot = ((XDot *) (&rtM)->derivs);
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// Derivatives for Integrator: '<Root>/Integrator1'
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_rtXdot->Integrator1_CSTATE[0] = rtDW.Sum4[0];
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_rtXdot->Integrator1_CSTATE[1] = rtDW.Sum4[1];
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_rtXdot->Integrator1_CSTATE[2] = rtDW.Sum4[2];
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_rtXdot->Integrator1_CSTATE[3] = rtDW.Sum4[3];
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}
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@ -1,4 +1,4 @@
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//gyro.ino
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//gyroscope stuff
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#include <Adafruit_MPU6050.h>
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#include <Adafruit_Sensor.h>
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@ -16,7 +16,7 @@ void gyro_setup(){
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}
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Serial.println("MPU6050 Found!");
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mpu.setAccelerometerRange(MPU6050_RANGE_16_G);
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mpu.setAccelerometerRange(MPU6050_RANGE_4_G);
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Serial.print("Accelerometer range set to: ");
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switch (mpu.getAccelerometerRange()) {
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case MPU6050_RANGE_2_G:
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@ -32,7 +32,7 @@ void gyro_setup(){
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Serial.println("+-16G");
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break;
|
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}
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mpu.setGyroRange(MPU6050_RANGE_2000_DEG);
|
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mpu.setGyroRange(MPU6050_RANGE_500_DEG);
|
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Serial.print("Gyro range set to: ");
|
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switch (mpu.getGyroRange()) {
|
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case MPU6050_RANGE_250_DEG:
|
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@ -1,34 +0,0 @@
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//lqr_fullstate.ino
|
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float lqr_fullstate(float position_m, float speed_ms, float angle_r, float angle_speed_rs){
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const float matrix_K [4] = {-0.7071, -1.7751, 34.5368, 4.8793};
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float result;
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result = matrix_K[0] * position_m +
|
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matrix_K[1] * speed_ms +
|
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matrix_K[2] * angle_r +
|
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matrix_K[3] * angle_speed_rs;
|
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Serial.print("K calculation (force): "); Serial.println(result);
|
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return result;
|
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}
|
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float calc_speed(float input, float angle_speed_rs) {
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/*
|
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float scale = 1.5;
|
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input = abs(input)*0.30796; // scale down to rad/s (78,53/255)
|
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Serial.print("input: "); Serial.println(input);
|
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float result = 3145.84/(pow((90.75 - input),1.00715)); // break out x from response graph
|
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result *= scale;
|
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Serial.print("calcspeed: "); Serial.println(result);
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return result;
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*/
|
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float I = (1/3)*1.74;
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float km = 0.91*0.01;
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float ke = 8.68*0.001*2*PI/60;
|
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float Ir = I;
|
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float Omega= angle_speed_rs;
|
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|
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float result = (km*ke/(Ir*5-km))*Omega;
|
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Serial.print("RESULT");
|
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Serial.print(result);
|
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return result;
|
||||
|
||||
}
|
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106
EENX15_LQR/rtwtypes.h
Normal file
106
EENX15_LQR/rtwtypes.h
Normal file
@ -0,0 +1,106 @@
|
||||
//
|
||||
// Academic License - for use in teaching, academic research, and meeting
|
||||
// course requirements at degree granting institutions only. Not for
|
||||
// government, commercial, or other organizational use.
|
||||
//
|
||||
// File: rtwtypes.h
|
||||
//
|
||||
// Code generated for Simulink model 'Arduino_skal'.
|
||||
//
|
||||
// Model version : 1.1
|
||||
// Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
|
||||
// C/C++ source code generated on : Thu Apr 15 22:06:00 2021
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: AMD->x86-64 (Windows64)
|
||||
// Code generation objectives:
|
||||
// 1. Execution efficiency
|
||||
// 2. RAM efficiency
|
||||
// Validation result: Not run
|
||||
//
|
||||
|
||||
#ifndef RTWTYPES_H
|
||||
#define RTWTYPES_H
|
||||
|
||||
// Logical type definitions
|
||||
#if (!defined(__cplusplus))
|
||||
#ifndef false
|
||||
#define false (0U)
|
||||
#endif
|
||||
|
||||
#ifndef true
|
||||
#define true (1U)
|
||||
#endif
|
||||
#endif
|
||||
|
||||
//=======================================================================*
|
||||
// Target hardware information
|
||||
// Device type: AMD->x86-64 (Windows64)
|
||||
// Number of bits: char: 8 short: 16 int: 32
|
||||
// long: 32 long long: 64
|
||||
// native word size: 64
|
||||
// Byte ordering: LittleEndian
|
||||
// Signed integer division rounds to: Zero
|
||||
// Shift right on a signed integer as arithmetic shift: on
|
||||
// =======================================================================
|
||||
|
||||
//=======================================================================*
|
||||
// Fixed width word size data types: *
|
||||
// int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
|
||||
// uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
|
||||
// real32_T, real64_T - 32 and 64 bit floating point numbers *
|
||||
// =======================================================================
|
||||
typedef signed char int8_T;
|
||||
typedef unsigned char uint8_T;
|
||||
typedef short int16_T;
|
||||
typedef unsigned short uint16_T;
|
||||
typedef int int32_T;
|
||||
typedef unsigned int uint32_T;
|
||||
typedef long long int64_T;
|
||||
typedef unsigned long long uint64_T;
|
||||
typedef float real32_T;
|
||||
typedef double real64_T;
|
||||
|
||||
//===========================================================================*
|
||||
// Generic type definitions: boolean_T, char_T, byte_T, int_T, uint_T, *
|
||||
// real_T, time_T, ulong_T, ulonglong_T. *
|
||||
// ===========================================================================
|
||||
typedef double real_T;
|
||||
typedef double time_T;
|
||||
typedef unsigned char boolean_T;
|
||||
typedef int int_T;
|
||||
typedef unsigned int uint_T;
|
||||
typedef unsigned long ulong_T;
|
||||
typedef unsigned long long ulonglong_T;
|
||||
typedef char char_T;
|
||||
typedef unsigned char uchar_T;
|
||||
typedef char_T byte_T;
|
||||
|
||||
//=======================================================================*
|
||||
// Min and Max: *
|
||||
// int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
|
||||
// uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
|
||||
// =======================================================================
|
||||
#define MAX_int8_T ((int8_T)(127))
|
||||
#define MIN_int8_T ((int8_T)(-128))
|
||||
#define MAX_uint8_T ((uint8_T)(255U))
|
||||
#define MAX_int16_T ((int16_T)(32767))
|
||||
#define MIN_int16_T ((int16_T)(-32768))
|
||||
#define MAX_uint16_T ((uint16_T)(65535U))
|
||||
#define MAX_int32_T ((int32_T)(2147483647))
|
||||
#define MIN_int32_T ((int32_T)(-2147483647-1))
|
||||
#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU))
|
||||
#define MAX_int64_T ((int64_T)(9223372036854775807LL))
|
||||
#define MIN_int64_T ((int64_T)(-9223372036854775807LL-1LL))
|
||||
#define MAX_uint64_T ((uint64_T)(0xFFFFFFFFFFFFFFFFULL))
|
||||
|
||||
// Block D-Work pointer type
|
||||
typedef void * pointer_T;
|
||||
|
||||
#endif // RTWTYPES_H
|
||||
|
||||
//
|
||||
// File trailer for generated code.
|
||||
//
|
||||
// [EOF]
|
||||
//
|
||||
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Reference in New Issue
Block a user