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Dependencies:   mbed

main.cpp@2:a17f7da1ca7c, 2019-03-26 (annotated)

Committer:
Jtroper
Date:
Tue Mar 26 16:01:53 2019 +0000
Revision:
2:a17f7da1ca7c
Parent:
1:b86f099a314a
Child:
3:b17ae88bfa54
Before Combination

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jtroper 0:0e723924ae7c 1 #include "mbed.h"
Jtroper 1:b86f099a314a 2 #include <iostream>
Jtroper 2:a17f7da1ca7c 3 #define TI .001f //1kHz sample time
Jtroper 2:a17f7da1ca7c 4 #define KP 5.1491f //Proportional Gain
Jtroper 2:a17f7da1ca7c 5 #define KI 119.3089f //Integral Gain
Jtroper 2:a17f7da1ca7c 6 #define FPWM .00004f //PWM Frequency
Jtroper 2:a17f7da1ca7c 7
Jtroper 2:a17f7da1ca7c 8 //Pins
Jtroper 1:b86f099a314a 9 DigitalOut myRled(LED1);
Jtroper 1:b86f099a314a 10 DigitalOut myBled(LED2);
Jtroper 2:a17f7da1ca7c 11 AnalogIn _Reference(PTB0);
Jtroper 2:a17f7da1ca7c 12 AnalogIn _Tacho(PTB2);
Jtroper 2:a17f7da1ca7c 13 PwmOut _MotorControl(PTB1);
Jtroper 2:a17f7da1ca7c 14
Jtroper 2:a17f7da1ca7c 15 Ticker Update;
Jtroper 2:a17f7da1ca7c 16
Jtroper 2:a17f7da1ca7c 17 //Integral Value
Jtroper 2:a17f7da1ca7c 18 float _errorArea;
Jtroper 2:a17f7da1ca7c 19 float _error;
Jtroper 2:a17f7da1ca7c 20 float _controllerOutput;
Jtroper 2:a17f7da1ca7c 21 float _ref;
Jtroper 2:a17f7da1ca7c 22
Jtroper 2:a17f7da1ca7c 23 //Methods
Jtroper 2:a17f7da1ca7c 24 void Init();
Jtroper 2:a17f7da1ca7c 25 void Loop();
Jtroper 2:a17f7da1ca7c 26 void UpdateMethod();
Jtroper 2:a17f7da1ca7c 27 void UpdateControllerOutput();
Jtroper 2:a17f7da1ca7c 28 void SetMotor(float);
Jtroper 0:0e723924ae7c 29
Jtroper 0:0e723924ae7c 30 int main() {
Jtroper 2:a17f7da1ca7c 31 Init();
Jtroper 2:a17f7da1ca7c 32 while(1) {Loop();}
Jtroper 2:a17f7da1ca7c 33 }
Jtroper 2:a17f7da1ca7c 34
Jtroper 2:a17f7da1ca7c 35 void Init() //Initializer
Jtroper 2:a17f7da1ca7c 36 {
Jtroper 2:a17f7da1ca7c 37 _MotorControl.period(FPWM);
Jtroper 2:a17f7da1ca7c 38 SetMotor(0.0f); //Turns off the motor
Jtroper 2:a17f7da1ca7c 39 _error = 0.0f;
Jtroper 2:a17f7da1ca7c 40 _errorArea = 0.0f;
Jtroper 2:a17f7da1ca7c 41 _ref = 0.0f;
Jtroper 2:a17f7da1ca7c 42 Update.attach(&UpdateMethod, TI);
Jtroper 2:a17f7da1ca7c 43 //SetMotor(_ref);
Jtroper 2:a17f7da1ca7c 44 }
Jtroper 2:a17f7da1ca7c 45
Jtroper 2:a17f7da1ca7c 46 void Loop() //Repeated Loop
Jtroper 2:a17f7da1ca7c 47 {
Jtroper 2:a17f7da1ca7c 48
Jtroper 2:a17f7da1ca7c 49 wait(5);
Jtroper 2:a17f7da1ca7c 50 cout<< _ref << endl;
Jtroper 2:a17f7da1ca7c 51
Jtroper 0:0e723924ae7c 52 }
Jtroper 2:a17f7da1ca7c 53
Jtroper 2:a17f7da1ca7c 54 void UpdateMethod() //
Jtroper 2:a17f7da1ca7c 55 {
Jtroper 2:a17f7da1ca7c 56 UpdateControllerOutput();
Jtroper 2:a17f7da1ca7c 57 }
Jtroper 2:a17f7da1ca7c 58
Jtroper 2:a17f7da1ca7c 59 void UpdateControllerOutput()
Jtroper 2:a17f7da1ca7c 60 {
Jtroper 2:a17f7da1ca7c 61 _ref = _Reference.read();
Jtroper 2:a17f7da1ca7c 62 _error = _ref - _Tacho.read();
Jtroper 2:a17f7da1ca7c 63 _errorArea += TI*_error;
Jtroper 2:a17f7da1ca7c 64 _controllerOutput = KP*_error+ KI*_errorArea;
Jtroper 2:a17f7da1ca7c 65 SetMotor(_controllerOutput);
Jtroper 2:a17f7da1ca7c 66 }
Jtroper 2:a17f7da1ca7c 67
Jtroper 2:a17f7da1ca7c 68 void SetMotor(float speed)
Jtroper 2:a17f7da1ca7c 69 {
Jtroper 2:a17f7da1ca7c 70 float invD = 0.0f;
Jtroper 2:a17f7da1ca7c 71 if(speed<0.0f)
Jtroper 2:a17f7da1ca7c 72 invD =0.0f;
Jtroper 2:a17f7da1ca7c 73 else if(speed> .75f)
Jtroper 2:a17f7da1ca7c 74 invD = .75f;
Jtroper 2:a17f7da1ca7c 75 else
Jtroper 2:a17f7da1ca7c 76 invD = speed;
Jtroper 2:a17f7da1ca7c 77
Jtroper 2:a17f7da1ca7c 78 _MotorControl.write(/*1.0f-*/invD);
Jtroper 2:a17f7da1ca7c 79 }