Close-loop position OK :D
This commit is contained in:
Lucien Renaud
parent
f28a03ff05
commit
1bcd56e5f5
@ -1,223 +1,128 @@
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#include "linearHallSensor.h"
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float norm(float x, float in_min, float in_max)
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float norm(float x, float in_min, float in_max, float out_min = -1.0, float out_max = 1.0)
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{
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return (float)(x + 1.0) * (2.0) / (float)(in_max - in_min) -1.0;
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return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
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}
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LinearHallSensor::LinearHallSensor(uint8_t ch1, uint8_t ch2)
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LinearHallSensor::LinearHallSensor(uint8_t ch1, uint8_t ch2, float minPos, float maxPos)
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{
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_analogPin1 = ch1;
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_analogPin2 = ch2;
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_minPositionEndValue = minPos;
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_maxPositionEndValue = maxPos;
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}
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void LinearHallSensor::init(BLDCMotor motor)
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{
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int senseA = analogRead(A0);
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int senseB = analogRead(A1);
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MotionControlType prevController = motor.controller;
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motor.controller = MotionControlType::angle_openloop;
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float prevVoltageLimit = motor.voltage_limit;
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motor.voltage_limit = 0.8;
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int minA = senseA, maxA = senseA, minB = senseB, maxB = senseB;
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uint32_t senseA = analogRead(_analogPin1);
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uint32_t senseB = analogRead(_analogPin2);
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// Swipe motor 2 times
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for (float i = -0.55; i <= 2.25; i = i + 0.005)
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_minCh1 = senseA, _maxCh1 = senseA;
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_minCh2 = senseB, _maxCh2 = senseB;
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// Swipe motor
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for (float i = _minPositionEndValue; i <= _maxPositionEndValue; i = i + 0.005)
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{
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motor.move(i);
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senseA = analogRead(A0);
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senseB = analogRead(A1);
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if (senseA > maxA)
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maxA = senseA;
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else if (senseA < minA)
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minA = senseA;
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if (senseB > maxB)
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maxB = senseB;
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else if (senseB < minB)
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minB = senseB;
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delay(1);
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senseA = analogRead(_analogPin1);
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senseB = analogRead(_analogPin2);
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if (senseA > _maxCh1)
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_maxCh1 = senseA;
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else if (senseA < _minCh1)
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_minCh1 = senseA;
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if (senseB > _maxCh1)
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_maxCh1 = senseB;
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else if (senseB < _minCh2)
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_minCh2 = senseB;
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}
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delay(100);
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for (float i = 2.25; i >= -0.55; i = i - 0.005)
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for (float i = _maxPositionEndValue; i >= _minPositionEndValue; i = i - 0.005)
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{
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motor.move(i);
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senseA = analogRead(A0);
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senseB = analogRead(A1);
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if (senseA > maxA)
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maxA = senseA;
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else if (senseA < minA)
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minA = senseA;
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if (senseB > maxB)
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maxB = senseB;
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else if (senseB < minB)
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minB = senseB;
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delay(1);
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senseA = analogRead(_analogPin1);
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senseB = analogRead(_analogPin2);
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if (senseA > _maxCh1)
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_maxCh1 = senseA;
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else if (senseA < _minCh1)
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_minCh1 = senseA;
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if (senseB > _maxCh1)
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_maxCh1 = senseB;
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else if (senseB < _minCh2)
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_minCh2 = senseB;
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}
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_maxCh1 = maxA;
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_maxCh2 = maxB;
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_minCh1 = minA;
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_minCh2 = minB;
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// Min offset with 50 values average
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float sum = 0.0;
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for (uint8_t i = 0; i <= 49; i++)
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{
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_offset = 0.0;
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sum += readSensorCallback();
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}
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_offset = -sum / 50.0;
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// Intialise the state machine variables
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_state = 0; // Set the state machine to 0
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_prevCh1 = analogRead(_analogPin1);
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_prevCh2 = analogRead(_analogPin2);
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_directionCh1 = Direction::UNKNOWN;
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_directionCh2 = Direction::UNKNOWN;
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Serial.println("\n\rmaxA: " + String(_maxCh1) + "\tminA: " + String(_minCh1) + "\tmaxB: " + String(_maxCh2) + "\tminB: " + String(_minCh2));
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Serial.println("Offset: " + String(_offset));
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//measure offset angle
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float normCh1 = norm(_prevCh1, _minCh1, _maxCh1);
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float normCh2 = norm(_prevCh2, _minCh2, _maxCh2);
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float pos = atan2(normCh1, normCh2);
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// Detect max angle
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for (float i = _minPositionEndValue; i <= _maxPositionEndValue; i = i + 0.01)
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{
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motor.move(i);
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delay(1);
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_maxSensor = readSensorCallback();
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}
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Serial.println("current motor angle: " + String(motor.electricalAngle()));
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delay(250);
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_offset = M_PI_2 - pos;
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// take average value of 50 values
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sum = 0.0;
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for (uint8_t i = 0; i <= 49; i++)
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sum += readSensorCallback();
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_maxSensor = sum / 50.0;
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Serial.println("Max sensor: " + String(_maxSensor));
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Serial.println("maxA: " + String(maxA) + "\tminA: " + String(minA) + "\tmaxB: " + String(maxB) + "\tminB: " + String(minB));
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Serial.println("Current Ch1:" + String(_prevCh1) + "\tCh2:" + String(_prevCh2));
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// Recovering previous controller type and go in the middle
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for (float i = _maxPositionEndValue; i >= _minPositionEndValue/2.0; i = i - 0.01)
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{
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motor.move(i);
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delay(1);
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readSensorCallback();
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}
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motor.controller = prevController;
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motor.voltage_limit = prevVoltageLimit;
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}
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float dist_angle(float newAngle, float prevAngle)
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{
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float diff = newAngle - prevAngle;
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while (diff < (-M_PI))
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diff += 2 * M_PI;
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while (diff > M_PI)
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diff -= 2 * M_PI;
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return diff;
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}
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float LinearHallSensor::readSensorCallback()
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{
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// Update variables
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float currentCh1 = analogRead(_analogPin1);
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float currentCh2 = analogRead(_analogPin2);
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uint32_t currentCh1 = analogRead(_analogPin1);
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uint32_t currentCh2 = analogRead(_analogPin2);
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// Normalise variable between -1 and 1
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float normCh1 = norm(currentCh1, _minCh1, _maxCh1);
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float normCh2 = norm(currentCh2, _minCh2, _maxCh2);
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float normCh1 = norm((float)currentCh1, _minCh1, _maxCh1);
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float normCh2 = norm((float)currentCh2, _minCh2, _maxCh2);
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_currentPosition = atan2f(normCh2, normCh1);
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Serial.print("Current angle: " + String(_currentPosition));
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_estimatePosition += dist_angle(_currentPosition, _prevPosition);
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float temp1 = normCh1 + sin(_offset);
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normCh1 = temp1 * floorf(temp1);
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float temp2 = normCh2 + cos(_offset);
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normCh2 = temp2 * floorf(temp2);
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_currentPosition = atan2f(normCh2, normCh1);
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Serial.print("\tNew angle: " + String(_currentPosition)+ '\r');
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return _currentPosition;
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}
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float LinearHallSensor::readSensorCallbackStateMachine()
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{
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// Update variables
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float currentCh1 = analogRead(_analogPin1);
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float currentCh2 = analogRead(_analogPin2);
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if (currentCh1 > _prevCh1)
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_directionCh1 = Slope::INCREASING;
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else if (currentCh1 < _prevCh1)
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_directionCh1 = Slope::DECREASING;
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else
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_directionCh1 = Slope::EQUAL;
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if (currentCh2 > _prevCh2)
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_directionCh2 = Slope::INCREASING;
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else if (currentCh2 < _prevCh2)
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_directionCh2 = Slope::DECREASING;
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else
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_directionCh2 = Slope::EQUAL;
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// Normalise variable between -1 and 1
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float normCh1 = norm(currentCh1, _minCh1, _maxCh1);
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float normCh2 = norm(currentCh2, _minCh2, _maxCh2);
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// Update previous var
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_prevCh1 = currentCh1;
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_prevCh2 = currentCh2;
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// State machine
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switch (_state)
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{
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case 0:
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_currentPosition = 0.0;
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if (_directionCh1 == Slope::INCREASING)
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_state = 1;
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break;
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case 1:
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if(_directionCh1 != Slope::EQUAL)
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_currentPosition++;
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if (_directionCh1 == Slope::DECREASING)
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_state = 2;
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else if (normCh1 >= 0.8 && _directionCh1 == Slope::INCREASING)
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_state = 3;
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break;
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case 2:
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if(_directionCh1 != Slope::EQUAL)
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_currentPosition--;
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if (_directionCh1 == Slope::INCREASING)
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_state = 1;
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else if (_directionCh1 == Slope::DECREASING && normCh2 <= 0.2)
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_state = 8;
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break;
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case 3:
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if(_directionCh2 != Slope::EQUAL)
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_currentPosition++;
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if (_directionCh2 == Slope::INCREASING)
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_state = 4;
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else if (_directionCh2 == Slope::DECREASING && normCh2 <= 0.2)
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_state = 5;
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break;
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case 4:
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if(_directionCh2 != Slope::EQUAL)
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_currentPosition--;
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if (_directionCh2 == Slope::DECREASING)
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_state = 3;
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else if (_directionCh2 == Slope::INCREASING && normCh1 <= 0.8)
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_state = 2;
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break;
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case 5:
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if(_directionCh1 != Slope::EQUAL)
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_currentPosition++;
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if (_directionCh1 == Slope::INCREASING)
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_state = 6;
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else if (_directionCh1 == Slope::DECREASING && normCh1 <= 0.2)
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_state = 7;
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break;
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case 6:
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if(_directionCh1 != Slope::EQUAL)
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_currentPosition--;
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if (_directionCh1 == Slope::DECREASING)
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_state = 5;
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else if (_directionCh1 == Slope::INCREASING && normCh2 >= 0.2)
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_state = 4;
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break;
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case 7:
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if(_directionCh2 != Slope::EQUAL)
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_currentPosition++;
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if (_directionCh2 == Slope::DECREASING)
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_state = 8;
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else if (_directionCh2 == Slope::INCREASING && normCh2 >= 0.8)
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_state = 1;
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break;
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case 8:
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if(_directionCh2 != Slope::EQUAL)
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_currentPosition--;
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if (_directionCh2 == Slope::INCREASING)
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_state = 7;
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else if (_directionCh2 == Slope::DECREASING && normCh1 >= 0.2)
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_state = 6;
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break;
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default:
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break;
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}
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Serial.print("\rState: " + String(_state) +
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"\tSlope Ch1: " + String(_directionCh1) + "\tnormCh1: " + String(normCh1)+
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"\tSlope Ch2: " + String(_directionCh2) + "\tnormCh2: " + String(normCh2)+
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"\tPosition: " + String(_currentPosition));
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return _currentPosition;
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_prevPosition = _currentPosition;
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return (_estimatePosition + _offset)/4.0;
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}
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@ -4,12 +4,6 @@
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#include "Arduino.h"
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#include "BLDCMotor.h"
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enum Slope : int8_t{
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INCREASING = 1,
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DECREASING = -1,
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EQUAL = 0
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};
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/**
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* @brief Linear Hall sensor class
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*
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@ -21,8 +15,10 @@ class LinearHallSensor
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Linear Hall Sensor class constructor
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@param ch1 Analog pin for channel 1
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@param ch2 Analog pin for channel 2
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@param minPos Minimum position in Openloop
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@param maxPos Maximum position in Openloop
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*/
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LinearHallSensor(uint8_t ch1, uint8_t ch2);
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LinearHallSensor(uint8_t ch1, uint8_t ch2, float minPos, float maxPos);
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/**
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@ -42,27 +38,23 @@ class LinearHallSensor
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float readSensorCallback();
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private:
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uint8_t _analogPin1;
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uint8_t _analogPin2;
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uint32_t _analogPin1;
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uint32_t _analogPin2;
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uint16_t _maxCh1;
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uint16_t _maxCh2;
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uint16_t _minCh1;
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uint16_t _minCh2;
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// max values read from the ADC on channels during init
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uint32_t _maxCh1;
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uint32_t _maxCh2;
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uint32_t _minCh1;
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uint32_t _minCh2;
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float _prevPosition;
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float _currentPosition;
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float _offset;
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float _estimatePosition; // current position + offset
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float _offset; // offset angle measured at init
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float _maxSensor; // Max angle value measured (so command from 0 to that value)
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float _minPositionEndValue;
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float _minPositionEndValue; // min pos in open loop mode
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float _maxPositionEndValue;
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uint16_t _prevCh1;
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uint16_t _prevCh2;
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int8_t _directionCh1;
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int8_t _directionCh2;
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uint8_t _state;
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};
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#endif
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138
src/main.cpp
138
src/main.cpp
@ -2,19 +2,14 @@
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#include <SimpleFOC.h>
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#include <linearHallSensor.h>
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BLDCMotor motor = BLDCMotor(4);
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BLDCDriver3PWM driver = BLDCDriver3PWM(7, 8, 9);
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BLDCMotor motorX = BLDCMotor(4);
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BLDCDriver3PWM driverX = BLDCDriver3PWM(3, 5, 6);
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BLDCMotor motorY = BLDCMotor(4);
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BLDCDriver3PWM driverY = BLDCDriver3PWM(7, 8, 9);
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LinearHallSensor linearSensor = LinearHallSensor(A0, A1);
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LinearHallSensor linearSensor = LinearHallSensor(A0, A1, -0.75, 2.35);
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void initSensor()
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{
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linearSensor.init(motorY);
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linearSensor.init(motor);
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}
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float callback()
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@ -24,63 +19,10 @@ float callback()
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GenericSensor sensor = GenericSensor(callback, initSensor);
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float targetX = 0.0;
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float targetY = 0.0;
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float target = 6.3;
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void setup()
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{
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// X MOTR STUFF
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driverX.voltage_power_supply = 5.0;
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driverX.init();
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motorX.linkDriver(&driverX);
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motorX.foc_modulation = FOCModulationType::SpaceVectorPWM;
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motorX.controller = MotionControlType::angle_openloop;
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motorX.voltage_limit = 0.6;
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// motorX.PID_velocity.P = 0.001f;
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// motorX.PID_velocity.I = 20;
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// motorX.PID_velocity.D = 0;
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// motorX.LPF_velocity.Tf = 0.01f;
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// motorX.P_angle.P = 20;
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motorX.velocity_limit = 10;
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// *************** Y MOTOR STUFF ******************
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driverY.voltage_power_supply = 5.0;
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driverY.init();
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motorY.linkDriver(&driverY);
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motorY.foc_modulation = FOCModulationType::SinePWM;
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motorY.controller = MotionControlType::angle_openloop;
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motorY.voltage_limit = 0.8;
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// motorY.PID_velocity.P = 0.001f;
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// motorY.PID_velocity.I = 0;
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// motorY.PID_velocity.D = 0;
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// motorY.LPF_velocity.Tf = 0.01f;
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// motorY.P_angle.P = 0.1;
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motorY.velocity_limit = 10;
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Serial.begin(115200);
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_delay(100);
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Serial.println("INIT");
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// initialize motor
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motorX.init();
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motorX.initFOC();
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motorY.init();
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motorY.initFOC();
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motorX.disable();
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Serial.println(F("Motor ready."));
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_delay(100);
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Serial.println("calibrating...");
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sensor.init();
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Serial.println("Done\r\n");
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motorY.disable();
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}
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float target = 0.0;
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void serialLoop()
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{
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@ -104,29 +46,53 @@ float mapfloat(float x, float in_min, float in_max, float out_min, float out_max
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return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
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}
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void setup()
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{
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||||
Serial.begin(115200);
|
||||
_delay(100);
|
||||
Serial.println("INIT");
|
||||
pinMode(3, OUTPUT);
|
||||
pinMode(5, OUTPUT);
|
||||
pinMode(6, OUTPUT);
|
||||
digitalWrite(3, LOW);
|
||||
digitalWrite(5, LOW);
|
||||
digitalWrite(6, LOW);
|
||||
|
||||
driver.voltage_power_supply = 6.0;
|
||||
driver.init();
|
||||
motor.linkDriver(&driver);
|
||||
motor.useMonitoring(Serial);
|
||||
motor.controller = MotionControlType::angle;
|
||||
motor.foc_modulation = FOCModulationType::SinePWM;
|
||||
motor.voltage_limit = 1.5;
|
||||
motor.voltage_sensor_align = 0.8;
|
||||
motor.PID_velocity.P = 0.075f;
|
||||
motor.PID_velocity.I = 0.01;
|
||||
motor.PID_velocity.D = 0.0;
|
||||
motor.LPF_velocity.Tf = 0.01f;
|
||||
motor.P_angle.P = 200.0;
|
||||
motor.P_angle.I = 50.0;
|
||||
motor.velocity_limit = 50;
|
||||
|
||||
motor.useMonitoring(Serial);
|
||||
|
||||
|
||||
// Init sensor
|
||||
motor.init();
|
||||
Serial.println("calibrating sensor in open loop...");
|
||||
sensor.init();
|
||||
Serial.println("Done");
|
||||
delay(1000);
|
||||
|
||||
motor.linkSensor(&sensor);
|
||||
motor.init();
|
||||
motor.initFOC();
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
sensor.update();
|
||||
// serialLoop();
|
||||
|
||||
// int senseX = analogRead(A2);
|
||||
// int senseY = analogRead(A3);
|
||||
|
||||
// targetX = mapfloat(senseX, 0.0, 1024.0, -0.6, 1.2);
|
||||
// targetY = mapfloat(senseY, 0.0, 1024.0, -0.5, 2.2);
|
||||
|
||||
// Serial.print("senseX=");
|
||||
// Serial.print(senseX);
|
||||
// Serial.print("\t mappedX=");
|
||||
// Serial.print(targetX);
|
||||
// Serial.print("\t senseY=");
|
||||
// Serial.print(senseY);
|
||||
// Serial.print("\t mappedY=");
|
||||
// Serial.println(targetY);
|
||||
|
||||
// motorX.move(targetX);
|
||||
// motorX.loopFOC();
|
||||
|
||||
// motorY.move(targetY);
|
||||
// motorY.loopFOC();
|
||||
serialLoop();
|
||||
motor.move(target);
|
||||
motor.loopFOC();
|
||||
motor.monitor();
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user