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functionsNi.cpp
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functionsNi.cpp
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// ---------------------- Doxygen info ----------------------
//! \file functionsNi.cpp
//!
//! \brief
//! Implementation file for communicating with the National instrument Data Acquisition Device
//!
//! \details
//! Implementation file for all methods for communication with
//! the National Instrument Data Acquisition Device. This file also
//! constitutes the implementation of Kalman filter and a PID controller.
//!
//! \date July 2017
//!
//! \version 0.1
//!
//! \author Mahyar Abdeetedal, <[email protected]> \n
//!
//! \copyright Copyright (C) 2016 - 2017 Mahyar Abdeetedal
//! \n
//! \n
//! <b>GNU General Public License</b>
//! \n
//! \n
//! This file is part of the KUKA-UI.
//! \n\n
//! The KUKA-UI is free software: you can redistribute it and/or modify it
//! under the terms of the GNU General Public License as published
//! by the Free Software Foundation, either version 3 of the License,
//! or (at your option) any later version.
//! \n\n
//! The KUKA-UI is distributed in the hope that it will be useful,
//! but WITHOUT ANY WARRANTY; without even the implied warranty of
//! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See
//! the GNU General Public License for more details.
//! \n\n
//! You should have received a copy of the GNU General Public License
//! along with the KUKA-UI. If not, see
//! <http://www.gnu.org/licenses/>.
/* For more info and how to use this software, visit: http://www.etedal.net/p/kuka.html */
#include <defs.h>
#include <NIDAQmx.h>
#include <stdio.h>
#include <math.h>
#include <time.h>
#include <declsNi.h>
float e1 = 0, e2 = 0, esum = 0, Kp, Kd , Ki , pidout = 0, xhat =0, xhatp=0, xhat_1=0,p=0,pp=0,p_1=0,k=0,lastForce=0;
int lastCmd = 0;
bool forceErrorFlag = false;
void handleError(int error){
char errBuff[2048] = { '\0' };
if (error)
DAQmxGetExtendedErrorInfo(errBuff, 2048);
if (error)
printf("DAQmx Error: %s\n", errBuff);
}
void init(TaskHandle & tsk){
handleError(DAQmxCreateTask("", &tsk));
handleError(DAQmxCreateAIVoltageChan(tsk, "Dev1/ai0", "", DAQmx_Val_RSE, -10.0, 10.0, DAQmx_Val_Volts, NULL));
handleError(DAQmxStartTask(tsk));
}
void recNi(niVec& recVec, TaskHandle tsk){
int32 read;
float64 data[1];
handleError(DAQmxReadAnalogF64(tsk, 1, 10.0, DAQmx_Val_GroupByChannel, data, 1, &read, NULL));
recVec.position = data[0];
}
void doCmd(niVec command, niVec recVec, niVec & sendVec, float& temp, float * feedbackForce,float * NiPID, bool & trajFlag){
sendVec.currentLimit = command.currentLimit;
if ((command.cmd == OPEN && command.position <= MAX_POSITION_VAL) || (command.cmd == CLOSE && command.force <= MAX_FORCE_VAL)){
if (command.cmd != lastCmd || command.force != lastForce)
e1 = 0, e2 = 0, esum = 0, xhat = 0, xhatp = 0, p = 0, pp = 0, k = 0;
//printf("Last command = %d, current Command=%d \n", lastCmd, command.cmd);
//printf("Last force = %2.5f, current force=%2.5f \n", lastForce, command.force);
lastCmd = command.cmd;
lastForce = command.force;
e2 = e1;
xhatp = xhat;
pp = p + 0.1;
switch (command.cmd){
case OPEN:
k = (pp) / (pp + 10);
Kp = .02, Kd = 0.0002, Ki = .001;
xhat = xhatp + k*(recVec.position - xhatp);
p = pp*(1 - k);
e1 = command.position - xhat;
break;
case CLOSE:
k = (pp) / (pp + NiPID[4]);
Kp = NiPID[1], Kd = NiPID[2], Ki = NiPID[3];
xhat = xhatp + k*(feedbackForce[(int)(NiPID[0])] - xhatp);
p = pp*(1 - k);
e1 = xhat - command.force;
break;
default:
break;
}
esum += e1;
if (esum > MAX_ESUM_VAL)
esum = MAX_ESUM_VAL;
if (esum < -MAX_ESUM_VAL)
esum = -MAX_ESUM_VAL;
pidout = Kp*e1 + Kd*((e1 - e2) / recVec.dt) + Ki*esum*recVec.dt;
if (pidout > 1)
pidout = 1;
if (pidout < -1)
pidout = -1;
sendVec.force = fabs(pidout);
if (pidout > 0)
sendVec.cmd = OPEN;
if (pidout < 0)
sendVec.cmd = CLOSE;
if (fabs(e1) > NiPID[5] && trajFlag){
trajFlag = false;
forceErrorFlag = true;
}
if (fabs(e1)< NiPID[5] && forceErrorFlag){
trajFlag = true;
forceErrorFlag = false;
}
//printf("error= %2.5f,esum= %2.5f, control = %2.5f,xhat= %2.5f \n", e1, esum, pidout, xhat);
}
else{
sendVec.force = MIN_FORCE_VAL;
command.position = MAX_POSITION_VAL;
sendVec.cmd = command.cmd;
//command.cmd == OPEN;
//printf("force= %2.5f, rec= %2.5f, send = %2.5f \n", sendVec.force, command.force, sendVec.cmd);
}
}
void sendNi(niVec sendVec){
TaskHandle taskHandleForce = 0;
float64 force[1];
force[0] = sendVec.force;
if (sendVec.currentLimit == 1)
if (force[0] > 0.035)
force[0] = 0.035;
handleError(DAQmxCreateTask("", &taskHandleForce));
handleError(DAQmxCreateAOVoltageChan(taskHandleForce, "Dev1/ao0", "", -10.0, 10.0, DAQmx_Val_Volts, ""));
handleError(DAQmxStartTask(taskHandleForce));
handleError(DAQmxWriteAnalogF64(taskHandleForce, 1, 1, 10.0, DAQmx_Val_GroupByChannel, force, NULL, NULL));
DAQmxStopTask(taskHandleForce);
DAQmxClearTask(taskHandleForce);
TaskHandle taskHandleClose = 0;
uInt32 cmd;
int32 written;
cmd = (int)(sendVec.cmd);
handleError(DAQmxCreateTask("", &taskHandleClose));
handleError(DAQmxCreateDOChan(taskHandleClose, "Dev1/port0", "", DAQmx_Val_ChanForAllLines));
handleError(DAQmxStartTask(taskHandleClose));
handleError(DAQmxWriteDigitalU32(taskHandleClose, 1, 1, 10.0, DAQmx_Val_GroupByChannel, &cmd, &written, NULL));
DAQmxStopTask(taskHandleClose);
DAQmxClearTask(taskHandleClose);
}
void stratNi(System::ComponentModel::BackgroundWorker^ workerNi, niVec & recVec, niVec & command, TaskHandle & tsk, float * feedbackForce,float * NiPID, bool & trajFlag){
niVec sendVec;
float temp=0;
clock_t begin_time;
init(tsk);
while (!(workerNi->CancellationPending))
{
begin_time = clock();
recNi(recVec,tsk);
doCmd(command, recVec, sendVec, temp, feedbackForce, NiPID, trajFlag);
sendNi(sendVec);
workerNi->ReportProgress(0);
recVec.dt = float(clock() - begin_time) / CLOCKS_PER_SEC;
}
}
void kill(TaskHandle & tsk){
handleError(DAQmxStopTask(tsk));
handleError(DAQmxClearTask(tsk));
}