PositionControl.c File Reference

control source code More...

#include "r2r.h"
#include "PositionControl.h"
#include "CurrentControl.h"
#include "Utilities.h"
#include "Encoder.h"
#include "Motor.h"
#include <math.h>

Functions
void	MotorTimerInit (void)
	This function sets up the timer interrupt for position control. More...
void	get_position_gains (void)
	Gets position gains on the Tiva microcontroller by reading to UART. More...
void	set_position_gains (void)
	Sets position gains on the Tiva microcontroller by reading from UART. More...
void	set_desired_angle (int angle, int motor)
	Sets desired angle for a given motor. More...
int	get_desired_angle (int motor)
	Gets desired angle for a given motor. More...
void	load_position_trajectory (int motor)
	Loads position trajectory for a given motor over UART. More...
void	Timer1IntHandler (void)
	The interrupt handler for position control. More...
void	PID_Controller (int reference, int actual, int motor)
	Calculates pwm to send to the motor drivr. More...
void	reset_controller_error (void)
	Resets controller error on both controllers to be zero. More...
int	decog_motor (int x, int motor)
	Motor decogging to smooth output of motor. More...
void	setDecogging (void)
	Turn on/off decogging by setting global variable. More...

Detailed Description

control source code

This file contains the pwm functions

Author

Benjamen Lim

Huan Weng

Blake Strebel

Function Documentation

decog_motor()

int decog_motor	(	int	x,
		int	motor
	)

Motor decogging to smooth output of motor.

Motor decogging function that smoothes out the output from the motor by adding a term to the control signal to compensate for the cogging in the BLDC motor. Equations are fit using PositionDataAnalyze.m MATLAB script.

Example:

u = u + decog_motor(current_Angle_Radians, MOTOR_1);

Parameters

x	current angle in counts
motor	the motor to decog

Returns

control signal modifier based on position

get_desired_angle()

int get_desired_angle

(

int

motor

)

Gets desired angle for a given motor.

Parameters

motor

reads the desired angle for the given motor

Returns

Void

get_position_gains()

void get_position_gains

(

void

)

Gets position gains on the Tiva microcontroller by reading to UART.

Parameters

Void

Returns

Void

load_position_trajectory()

void load_position_trajectory

(

int

motor

)

Loads position trajectory for a given motor over UART.

Parameters

motor

specifies the trajectory that is being assigned from UART

Returns

Void

MotorTimerInit()

void MotorTimerInit

(

void

)

This function sets up the timer interrupt for position control.

Parameters

Void

Returns

Void

PID_Controller()

void PID_Controller	(	int	reference,
		int	actual,
		int	motor
	)

Calculates pwm to send to the motor drivr.

Parameters

reference	the reference angle
actual	the commanded angle
motor	the specified motor

Returns

Void

reset_controller_error()

void reset_controller_error

(

void

)

Resets controller error on both controllers to be zero.

Parameters

Void

Returns

Void

set_desired_angle()

void set_desired_angle	(	int	angle,
		int	motor
	)

Sets desired angle for a given motor.

Parameters

motor

specifies the desired angle for the given motor

Returns

Void

set_position_gains()

void set_position_gains

(

void

)

Sets position gains on the Tiva microcontroller by reading from UART.

Parameters

Void

Returns

Void

setDecogging()

void setDecogging

(

void

)

Turn on/off decogging by setting global variable.

Parameters

void

Returns

Void

Timer1IntHandler()

void Timer1IntHandler

(

void

)

The interrupt handler for position control.

Parameters

Void

Returns

Void