tracking.c File Reference

Tracking Mode Control Law. More...

#include <stdbool.h>
#include <pthread.h>
#include <stdint.h>
#include <stdlib.h>
#include "setup.h"
#include "io.h"
#include "thread-lib.h"
#include "discrete-lib.h"
#include "record.h"
#include "tracking.h"

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Data Structures
struct	TrackingControlScheme
	Tracking Mode Feedback Control Block. More...

Macros
#define	NOMINAL_REFERENCE_ANGLE   0.0
	Reference Angle (rad)
#define	T_s   0.1
	The settling time (0.1 s)
#define	os   0.05
	The overshoot fraction (5%)
#define	DATA_LEN   12
	The number of entries.

Functions
static void	SetupScheme (TrackingControlScheme *scheme, Proportional K_o, Proportional K_i, Proportional B)
static void *	TrackingModeThread (void *resource)
static int	TrackingControlLaw (Angle angle_ref, Angle angle_input, Velocity pos_vel, TrackingControlScheme *scheme, int(*SetVoltage)(Voltage voltage))
int	TrackingFork ()
int	TrackingJoin ()

Variables
pthread_t	tracking_thread
	Thread ID.
ThreadResource	resource
	Thread Resources (Shared Resources)
static TrackingControlScheme	x_control
	The Control Scheme for the X Motor.
static TrackingControlScheme	y_control
	The Control Scheme for the Y Motor.
static int	error
	Local Error Flag.
static FileID_t	file = -1
	The file ID.
static char *	data_file_name = "tracking.mat"
	The file Name.
static char *	data_names [DATA_LEN]
	The data names.
static double	data [DATA_LEN]
	Buffer for data.
static double *	data_buff = data
	Pointer to next data point to insert into buffer.
static int	id = 1
	ID variable.

Detailed Description

Tracking Mode Control Law.

Author

Anti-Sway Team: Nguyen, Tri; Espinola, Malachi; Tevy, Vattanary; Hokenstad, Ethan; Neff, Callen)

Version

0.1

Date

2024-06-03

Copyright

Copyright (c) 2024

Function Documentation

SetupScheme()

static void SetupScheme ( TrackingControlScheme * scheme, Proportional K_o, Proportional K_i, Proportional B )

inlinestatic

Sets up a TrackingControl Scheme

Parameters

scheme	The scheme to setup
K_o	The outer loop gain
K_i	The inner loop gain
B	The artificial damping to impose

Postcondition

scheme is setup with appropriate outer/inner-loop control characteristics

TrackingControlLaw()

static int TrackingControlLaw ( Angle angle_ref, Angle angle_input, Velocity pos_vel, TrackingControlScheme * scheme, int(* SetVoltage )(Voltage voltage) )

inlinestatic

Executes 1 timestep for the Tracking Mode Control Law for its input to the plant

Parameters

angle_ref	The reference angle for Tracking Mode
angle_input	The measured rope angle for Tracking Mode
pos_vel	The measured velocity of the motor
scheme	A pointer to the TrackingControlScheme structure used to execute the control law
SetVoltage	The function that sets the voltage of the appropriate motor

Returns

0 upon success, negative otherwise

Precondition

scheme was not modified before use of this function

Postcondition

scheme is now updated with the input and outputs for the respective control scheme

TrackingFork()

int TrackingFork

(

)

Executes Tracking Mode (concurrently)

Precondition

Tracking Mode is not already running

Returns

0 upon success, negative if error

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TrackingJoin()

int TrackingJoin

(

)

Stops Tracking Mode (concurrent process)

Returns

0 upon success, negative if error

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TrackingModeThread()

static void * TrackingModeThread ( void * resource )

static

The Thread Function for Tracking Mode

Parameters

resource

A pointer to a Resource sturcture for Tracking Mode

Returns

NULL

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Variable Documentation

data_names

char* data_names[DATA_LEN]

static

Initial value:

= {"id", "t",
                                     "angle_x", "angle_y",
                                     "trolley_pos_x", "trolley_pos_y",
                                     "trolley_vel_x", "trolley_vel_y",
                                     "inner_x", "voltage_x",
                                     "inner_y", "voltage_y"}

The data names.