Revision 0:9ed7b8e278fa, committed 2016-04-18

Comitter:

tim65132006

Date:

Mon Apr 18 05:28:06 2016 +0000

Commit message:

test1

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 18 05:28:06 2016 +0000
@@ -0,0 +1,275 @@
+/*LAB_DCMotor*/
+#include "mbed.h"
+
+//The number will be compiled as type "double" in default
+//Add a "f" after the number can make it compiled as type "float"
+#define Ts 0.01f    //period of timer1 (s)
+#define Kp 0.053f
+#define Ki 0.013f
+
+PwmOut pwm1(D7);
+PwmOut pwm1n(D11);
+PwmOut pwm2(D8);
+PwmOut pwm2n(A3);
+
+DigitalOut led1(A4);
+DigitalOut led2(A5);
+
+//Motor1 sensor
+InterruptIn HallA_1(A1);
+InterruptIn HallB_1(A2);
+//Motor2 sensor
+InterruptIn HallA_2(D13);
+InterruptIn HallB_2(D12);
+
+Serial bt(D10,D2);
+
+Ticker timer1;
+void timer1_interrupt(void);
+void CN_interrupt(void);
+
+void init_TIMER(void);
+void init_PWM(void);
+void init_CN(void);
+
+void set_rpm(void);//bluetooth in
+
+int8_t stateA_1=0, stateB_1=0, stateA_2=0, stateB_2=0;
+int8_t state_1 = 0, state_1_old = 0, state_2 = 0, state_2_old = 0;
+int8_t state_1_dec = 0,state_2_dec = 0;//decide foward or inverse
+
+int v1Count = 0;
+int v2Count = 0;
+
+double v1 = 0.0, v1_ref = 0.0;
+double v1_err = 0.0, v1_ierr = 0.0, PIout_1 = 0.0, PIout_1_old = 0.0;
+double v2 = 0.0, v2_ref = 0.0;
+double v2_err = 0.0, v2_ierr = 0.0, PIout_2 = 0.0, PIout_2_old = 0.0;
+
+int sec_1 = 0, sec_2 = 0;  
+//////////command/////////////
+char RL;
+double char_1;//藍芽讀到的第一位數字元
+double char_2;//藍芽讀到的第二位數字元
+
+double a;//個位數
+double b;//十位數
+//////////////////////////////
+
+int main() {
+    
+    init_TIMER();
+    init_PWM();
+    init_CN();
+    bt.baud(115200);
+    
+    v1_ref = 0.0;
+    v2_ref = 0.0;
+    
+    while(1) 
+    {
+        
+        set_rpm();
+ 
+    }
+}
+
+void timer1_interrupt(void)
+{
+    //Motor 1
+    v1 = (float)v1Count * 100.0f / 12.0f * 60.0f / 29.0f;   //unit: rpm
+    v1Count = 0;
+    
+    ///code for PI control///
+    
+    v1_err = v1_ref - v1;
+    v1_ierr = v1_ierr + v1_err;
+    PIout_1 = Kp * v1_err + Ki * Ts * v1_ierr;
+    
+    /////////////////////////
+    
+    if(PIout_1 >= 0.5f)PIout_1 = 0.5f;
+    else if(PIout_1 <= -0.5f)PIout_1 = -0.5f;
+    pwm1.write(PIout_1 + 0.5f);
+    TIM1->CCER |= 0x4;
+    
+    
+    //Motor 2
+    v2 = (float)v2Count * 100.0f / 12.0f * 60.0f / 29.0f;   //unit: rpm
+    v2Count = 0;
+    
+    ///code for PI control///
+    v2_err = v2_ref - v2;
+    v2_ierr = v2_ierr + v2_err;
+    PIout_2 = Kp * v2_err + Ki * Ts * v2_ierr;
+
+    /////////////////////////
+    
+    if(PIout_2 >= 0.5f)PIout_2 = 0.5f;
+    else if(PIout_2 <= -0.5f)PIout_2 = -0.5f;
+    pwm2.write(PIout_2 + 0.5f);
+    TIM1->CCER |= 0x40;
+}
+
+void CN_interrupt(void)
+{
+    //Motor 1
+    stateA_1 = HallA_1.read();
+    stateB_1 = HallB_1.read();
+    
+    state_1 = stateA_1 * 2 + stateB_1;
+    
+    state_1_dec = state_1 - state_1_old; //判別正反
+    
+    
+    ///code for state determination///
+    if(state_1_dec == 1 || state_1_dec == -3 )      //Forward
+        {     
+            v1Count++;
+        }
+        
+    else if(state_1_dec == -1 || state_1_dec == 3 ) //Inverse
+        {     
+            v1Count--;
+        }
+        
+    state_1_old = state_1;
+    
+    
+    //Motor 2
+    stateA_2 = HallA_2.read();
+    stateB_2 = HallB_2.read();
+    
+    state_2 = stateA_2 * 2 + stateB_2;
+    
+    state_2_dec = state_2 - state_2_old; //判別正反
+    
+    
+    ///code for state determination///
+    if(state_2_dec == 1 || state_2_dec == -3 )      //Forward
+        {     
+            v1Count++;
+        }
+        
+    else if(state_2_dec == -1 || state_2_dec == 3 ) //Inverse
+        {     
+            v1Count--;
+        }
+        
+    state_2_old = state_2;
+}
+
+void init_TIMER(void)
+{
+    timer1.attach_us(&timer1_interrupt, 10000);//10ms interrupt period (100 Hz)
+}         
+   
+void init_PWM(void)
+{
+    pwm1.period_us(50);
+    pwm1.write(0.5);
+    TIM1->CCER |= 0x4;
+    
+    pwm2.period_us(50);
+    pwm2.write(0.5);
+    TIM1->CCER |= 0x40;
+}
+
+void init_CN(void)
+{
+    HallA_1.rise(&CN_interrupt);
+    HallA_1.fall(&CN_interrupt);
+    HallB_1.rise(&CN_interrupt);
+    HallB_1.fall(&CN_interrupt);
+    
+    HallA_2.rise(&CN_interrupt);
+    HallA_2.fall(&CN_interrupt);
+    HallB_2.rise(&CN_interrupt);
+    HallB_2.fall(&CN_interrupt);
+    
+    stateA_1 = HallA_1.read();
+    stateB_1 = HallB_1.read();
+    stateA_2 = HallA_2.read();
+    stateB_2 = HallB_2.read();
+}
+
+void set_rpm(void) 
+{
+    
+    RL = bt.getc();
+    
+    switch( RL ) 
+        {
+            case 'r':
+                bt.printf("%c",RL);
+                
+                    char_1 = bt.getc();
+                    a = char_1 - 48;
+                
+                if(a > -1 && a < 10)
+                {
+                    char_2 = bt.getc();
+                    b = char_2 - 48;
+                    v1_ierr = 0;
+                    v1_ref = 10*a+b;
+                    
+                    bt.printf("%f\n",v1_ref);
+                }
+                
+                else
+                {
+                    bt.printf("please key in number");
+                }
+                
+                
+                while(v1 < v1_ref*0.95 || v1 > v1_ref*1.05 )
+                {   
+                    bt.printf("state %d ",state_1_dec);
+                    bt.printf("%f ",v1);
+                    sec_1++;
+                    bt.printf("%d\n",sec_1);
+                    wait(1);
+                }
+            sec_1 = 0;
+            bt.printf("end %d\n",sec_1);
+            
+            break;
+            /////////////////////////////////
+        
+            case 'l':
+                bt.printf("%c",RL);
+                
+                    char_1 = bt.getc();
+                    a = char_1 - 48;
+                
+                if(a > -1 && a < 10)
+                {
+                    char_2 = bt.getc();
+                    b = char_2 - 48;
+                    v2_ierr = 0;
+                    v2_ref = 10*a+b;
+                    
+                    bt.printf("%f\n",v2_ref);
+                }
+                
+                else
+                {
+                    bt.printf("please key in number");
+                }
+                
+                 
+                while(v2 < v2_ref*0.95 || v2 > v2_ref*1.05 )
+                {
+                    bt.printf("%f ",v2);
+                    sec_2++;
+                    bt.printf("%d\n",sec_2);
+                    wait(1);
+                }
+            sec_2 = 0;
+            bt.printf("end %d\n",sec_2);
+            
+            break;
+        }
+             
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Apr 18 05:28:06 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/082adc85693f
\ No newline at end of file