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Institute of Technical Acoustics (ITA)
toolbox
Commits
ce202ccb
Commit
ce202ccb
authored
Jun 20, 2017
by
Jan-Gerrit Richter
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some progress
parent
38d97805
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2
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2 changed files
with
59 additions
and
35 deletions
+59
-35
applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/itaMotorControlNanotec.m
...ntrol/ClassStuff/itaMotorControl/itaMotorControlNanotec.m
+10
-1
applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/itaMotorNanotec_HRTFarc.m
...trol/ClassStuff/itaMotorControl/itaMotorNanotec_HRTFarc.m
+49
-34
No files found.
applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/itaMotorControlNanotec.m
View file @
ce202ccb
...
...
@@ -142,7 +142,7 @@ classdef itaMotorControlNanotec < itaMotorControl
% parse the notfound options for wait
[
controlOptions
,
notFound
]
=
ita_parse_arguments
(
controlOptions
,
notFound
);
this
.
wait
=
controlOptions
.
wait
;
for
index
=
1
:
length
(
this
.
motorList
)
motorposition
=
sArgs
.
(
this
.
motorList
{
index
}
.
getMotorName
());
this
.
started
(
index
)
=
this
.
motorList
{
index
}
.
prepareMove
(
motorposition
,
notFound
{:});
...
...
@@ -222,6 +222,15 @@ classdef itaMotorControlNanotec < itaMotorControl
ita_verbose_info
(
'Finished preparing'
,
2
)
end
function
startMove
(
this
)
for
index
=
1
:
length
(
this
.
motorList
)
if
this
.
started
(
index
)
this
.
motorList
{
index
}
.
startMoveToPosition
();
end
end
this
.
wait4everything
;
end
function
startContinuousMoveNow
(
this
)
% start moves
for
index
=
1
:
length
(
this
.
motorList
)
...
...
applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/itaMotorNanotec_HRTFarc.m
View file @
ce202ccb
...
...
@@ -14,18 +14,25 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
end
properties
(
Constant
,
Hidden
=
true
)
sArgs_default_motor
=
struct
(
...
'wait'
,
true
,
...
'speed'
,
2
,
...
'VST'
,
'adaptiv'
,
...
'limit'
,
true
,
...
'continuous'
,
false
,
...
'absolut'
,
true
,
...
'closed_loop'
,
false
,
...
'acceleration_ramp'
,
1
,
...
'gear_ratio'
,
5
,
...
'current'
,
100
,
...
'ramp_mode'
,
2
);
'wait'
,
true
,
...
'speed'
,
2
,
...
'VST'
,
'adaptiv'
,
...
'limit'
,
true
,
...
'continuous'
,
false
,
...
'absolut'
,
true
,
...
'closed_loop'
,
false
,
...
'acceleration_ramp'
,
1
,
...
'gear_ratio'
,
5
,
...
'current'
,
100
,
...
'ramp_mode'
,
2
,
...
'P'
,
400
,
...
'I'
,
2.0
,
...
'D'
,
700
,
...
'P_nenner'
,
3
,
...
'I_nenner'
,
5
,
...
'D_nenner'
,
3
);
end
methods
...
...
@@ -91,7 +98,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% ausschwingzeit
motorControl
.
add_to_commandlist
(
sprintf
(
'#%dO=1\r'
,
this
.
motorID
));
% umkehrspiel
motorControl
.
add_to_commandlist
(
sprintf
(
'#%dz=
0
\r'
,
this
.
motorID
));
motorControl
.
add_to_commandlist
(
sprintf
(
'#%dz=
5
\r'
,
this
.
motorID
));
% automatisches senden des status deaktivieren
motorControl
.
add_to_commandlist
(
sprintf
(
'#%dJ=0\r'
,
this
.
motorID
));
...
...
@@ -125,7 +132,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
motorControl
.
add_to_commandlist
(
sprintf
(
'#%dd=1\r'
,
this
.
motorID
));
% Calculate and set lower speed:
% stepspersecond = round(this.sArgs_default_motor.speed/0.9*this.sArgs_default_motor.gear_ratio);
motorControl
.
add_to_commandlist
(
sprintf
(
'#%du=%d\r'
,
this
.
motorID
,
3
));
motorControl
.
add_to_commandlist
(
sprintf
(
'#%du=%d\r'
,
this
.
motorID
,
1
));
% Calculate and set upper speed:
stepspersecond
=
round
(
this
.
sArgs_default_motor
.
speed
/
0.9
*
this
.
sArgs_default_motor
.
gear_ratio
);
motorControl
.
add_to_commandlist
(
sprintf
(
'#%do=%d\r'
,
this
.
motorID
,
stepspersecond
));
...
...
@@ -149,7 +156,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
sArgs
=
ita_parse_arguments
(
sArgs
,
varargin
);
end
if
sArgs
.
continuous
ret
=
this
.
prepare_move
(
position
,
'speed'
,
sArgs
.
speed
,
'continuous'
,
true
);
ret
=
this
.
prepare_move
(
position
,
sArgs
);
started
=
true
;
else
% if only the phi angle is given
...
...
@@ -300,19 +307,25 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% Activate CL during movement:
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:CL_enable=2\r'
,
this
.
motorID
));
% Nice values for the speed closed loop control:
pos
=
[
0.5
1
2
3
4
8
12
16
25
32
40
50
];
vecP
=
[
0.5
1.5
2.5
3.5
4.5
4.5
5.5
2.5
2.0
1.3
1.3
1.3
];
vecI
=
[
0.05
0.1
0.2
0.3
0.4
0.8
1.2
1.6
2.0
2.5
2.5
2.5
];
vecD
=
[
9
6
4
3
2
1
1
3
6
10
10
10
];
pP
=
polyfit
(
pos
,
vecP
,
5
);
pI
=
polyfit
(
pos
,
vecI
,
5
);
pD
=
polyfit
(
pos
,
vecD
,
5
);
P
=
polyval
(
pP
,
this
.
sArgs_motor
.
speed
);
I
=
polyval
(
pI
,
this
.
sArgs_motor
.
speed
);
D
=
polyval
(
pD
,
this
.
sArgs_motor
.
speed
);
P_nenner
=
5
;
I_nenner
=
5
;
D_nenner
=
5
;
% pos = [0.5 1 2 3 4 8 12 16 25 32 40 50];
% vecP = [0.5 1.5 2.5 3.5 4.5 4.5 5.5 2.5 2.0 1.3 1.3 1.3];
% vecI = [0.05 0.1 0.2 0.3 0.4 0.8 1.2 1.6 2.0 2.5 2.5 2.5];
% vecD = [9 6 4 3 2 1 1 3 6 10 10 10];
% pP = polyfit(pos,vecP,5);
% pI = polyfit(pos,vecI,5);
% pD = polyfit(pos,vecD,5);
% P = polyval(pP,this.sArgs_motor.speed);
% I = polyval(pI,this.sArgs_motor.speed);
% D = polyval(pD,this.sArgs_motor.speed);
% P_nenner = 5;
% I_nenner = 5;
% D_nenner = 5;
P
=
this
.
sArgs_motor
.
P
;
% (400 = default)
I
=
this
.
sArgs_motor
.
I
;
% (2 = default)
D
=
this
.
sArgs_motor
.
D
;
% (700 = default)
P_nenner
=
this
.
sArgs_motor
.
P_nenner
;
I_nenner
=
this
.
sArgs_motor
.
I_nenner
;
D_nenner
=
this
.
sArgs_motor
.
D_nenner
;
P_zaehler
=
round
(
P
*
2
^
P_nenner
);
I_zaehler
=
round
(
I
*
2
^
I_nenner
);
D_zaehler
=
round
(
D
*
2
^
D_nenner
);
...
...
@@ -322,13 +335,14 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:CL_KI_v_N=%d\r'
,
this
.
motorID
,
I_nenner
));
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:CL_KD_v_Z=%d\r'
,
this
.
motorID
,
D_zaehler
));
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:CL_KD_v_N=%d\r'
,
this
.
motorID
,
D_nenner
));
% Nice values for the positioning closed loop control:
P
=
200
;
% (400 = default)
I
=
1.0
;
% (2 = default)
D
=
300
;
% (700 = default)
P_nenner
=
3
;
I_nenner
=
5
;
D_nenner
=
3
;
% % Nice values for the positioning closed loop control:
P
=
this
.
sArgs_motor
.
P
;
% (400 = default)
I
=
this
.
sArgs_motor
.
I
;
% (2 = default)
D
=
this
.
sArgs_motor
.
D
;
% (700 = default)
P_nenner
=
this
.
sArgs_motor
.
P_nenner
;
I_nenner
=
this
.
sArgs_motor
.
I_nenner
;
D_nenner
=
this
.
sArgs_motor
.
D_nenner
;
P_zaehler
=
round
(
P
*
2
^
P_nenner
);
I_zaehler
=
round
(
I
*
2
^
I_nenner
);
D_zaehler
=
round
(
D
*
2
^
D_nenner
);
...
...
@@ -338,6 +352,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:CL_KI_s_N=%d\r'
,
this
.
motorID
,
I_nenner
));
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:CL_KD_s_Z=%d\r'
,
this
.
motorID
,
D_zaehler
));
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:CL_KD_s_N=%d\r'
,
this
.
motorID
,
D_nenner
));
% Kask V-Regler: P = 1.2, I = 0.85, D = 0.7
% Kask- P-Regler: P = 400 (default), I = 2 (default), D = 700 (default)
% TODO: Send values to the motor... or we just skip the
...
...
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