AECL 601 / Mbed 2 deprecated 3Wtest_1_Chap3fmt_squ_0813

Chap 3

Dependencies:   QEI mbed

main.cpp@1:6b405e5f18ef, 2017-07-12 (annotated)

Committer:
xx123456987
Date:
Wed Jul 12 10:48:13 2017 +0000
Revision:
1:6b405e5f18ef
Parent:
0:f0f040a29912 
Chapter3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xx123456987 0:f0f040a29912 1 /* 版本說明: 正方形軌跡追蹤(從邊緣出發)邊長3m
xx123456987 0:f0f040a29912 2 實驗說明:
xx123456987 1:6b405e5f18ef 3 增加sgn項，且dt修正為0.11秒
xx123456987 0:f0f040a29912 4
xx123456987 1:6b405e5f18ef 5 08/13測試紀錄:
xx123456987 1:6b405e5f18ef 6 可順利運轉，且有記錄結果，但應該不是正確的(非動態模型結果)。
xx123456987 0:f0f040a29912 7
xx123456987 0:f0f040a29912 8 */
xx123456987 0:f0f040a29912 9 #include "mbed.h"
xx123456987 0:f0f040a29912 10 #include "math.h"
xx123456987 0:f0f040a29912 11 #include "QEI.h"
xx123456987 0:f0f040a29912 12 // pre-define
xx123456987 0:f0f040a29912 13 #define pi 3.1416
xx123456987 0:f0f040a29912 14 #define pwm_period_us 500
xx123456987 0:f0f040a29912 15 #define r 0.05 // wheel radius [m]
xx123456987 0:f0f040a29912 16 #define L 0.125 // distance between wheel center & geometric center [m]
xx123456987 0:f0f040a29912 17 #define pulsesPerRev 1024
xx123456987 0:f0f040a29912 18 #define kp 0.7// p gain
xx123456987 0:f0f040a29912 19 #define kd 0.03// d gain
xx123456987 1:6b405e5f18ef 20 #define ksgn 0.001// sgn term gain
xx123456987 0:f0f040a29912 21 // leader initial pose
xx123456987 0:f0f040a29912 22 #define x0 0 //[m]
xx123456987 0:f0f040a29912 23 #define y0 0 //[m]
xx123456987 0:f0f040a29912 24 #define theta0 0//[deg.]
xx123456987 0:f0f040a29912 25 // desied pose
xx123456987 0:f0f040a29912 26 #define xd 0 //[cm]
xx123456987 0:f0f040a29912 27 #define yd 0 //[cm]
xx123456987 0:f0f040a29912 28 #define thetad 0//[deg.]
xx123456987 0:f0f040a29912 29 // error threshold
xx123456987 0:f0f040a29912 30 #define ex 0.02 //[m]
xx123456987 0:f0f040a29912 31 #define ey 0.02 //[m]
xx123456987 0:f0f040a29912 32 #define etheta 3//[deg.]
xx123456987 0:f0f040a29912 33
xx123456987 0:f0f040a29912 34 PwmOut pwm_1(D9);
xx123456987 0:f0f040a29912 35 PwmOut pwm_2(D10);
xx123456987 0:f0f040a29912 36 PwmOut pwm_3(D11);
xx123456987 0:f0f040a29912 37
xx123456987 0:f0f040a29912 38 Timer clk;
xx123456987 0:f0f040a29912 39
xx123456987 0:f0f040a29912 40 // define
xx123456987 0:f0f040a29912 41 QEI w1 (D2, D3, NC, pulsesPerRev, QEI::X4_ENCODING);
xx123456987 0:f0f040a29912 42 QEI w2 (D4, D5, NC, pulsesPerRev, QEI::X4_ENCODING);
xx123456987 0:f0f040a29912 43 QEI w3 (D14, D15, NC, pulsesPerRev, QEI::X4_ENCODING);
xx123456987 0:f0f040a29912 44 // formation para.
xx123456987 0:f0f040a29912 45 //float x=14.43;
xx123456987 0:f0f040a29912 46 float f1[3] = {0,1.5,0}; // formation vector
xx123456987 0:f0f040a29912 47 // odomerty para.
xx123456987 0:f0f040a29912 48 float c1 = r/(3*L), c2 = 2*r/3;
xx123456987 0:f0f040a29912 49 float Current_X[3] = {x0+f1[0],y0+f1[1],((theta0+f1[2])*pi/180)+pi/3}; // X[0] = x; X[1] = y; X[2] = theta; shift pi/3 : origin to new
xx123456987 0:f0f040a29912 50 float Next_X[3] = {0,0,0};
xx123456987 0:f0f040a29912 51 double d_theta1,d_theta2,d_theta3,d_theta;
xx123456987 0:f0f040a29912 52 int qei1_new, qei2_new, qei3_new, qei1_old, qei2_old, qei3_old;
xx123456987 0:f0f040a29912 53 // control law para.
xx123456987 0:f0f040a29912 54
xx123456987 0:f0f040a29912 55 float X1[3],V1[3],Vc[3],X1_b[3];// X1_b(X_BAR) is defined as X1-f1
xx123456987 0:f0f040a29912 56 float XL[3];// = {xd,yd,(thetad*pi/180)+pi/3};// pose of virtual leader [m m rad.]
xx123456987 0:f0f040a29912 57 float u[3] = {0};// control law
xx123456987 0:f0f040a29912 58 float omg1,omg2,omg3;// velocity of wheels
xx123456987 0:f0f040a29912 59 // PWM
xx123456987 0:f0f040a29912 60 float pwm_w1,pwm_w2,pwm_w3;
xx123456987 0:f0f040a29912 61 // Differential
xx123456987 0:f0f040a29912 62 float dy,dx,dtheta;
xx123456987 1:6b405e5f18ef 63 float dt = 0.11;
xx123456987 0:f0f040a29912 64 // V command
xx123456987 0:f0f040a29912 65 float t1 = 7.5;//2*3.75
xx123456987 0:f0f040a29912 66 float T = 22.5;//6*3.75
xx123456987 0:f0f040a29912 67 float S = 3.0;//0.8*3.75
xx123456987 0:f0f040a29912 68 // Others
xx123456987 0:f0f040a29912 69 DigitalIn mybutton(USER_BUTTON);
xx123456987 0:f0f040a29912 70 DigitalOut myled(LED1);
xx123456987 0:f0f040a29912 71 int c = 3;
xx123456987 0:f0f040a29912 72 int xdir,ydir; // x y direction
xx123456987 0:f0f040a29912 73 float err[3]= {0};
xx123456987 0:f0f040a29912 74 //bool s0 = false;
xx123456987 0:f0f040a29912 75 bool s0 = true;
xx123456987 0:f0f040a29912 76 bool stop = false;
xx123456987 0:f0f040a29912 77 char gosw = true;
xx123456987 0:f0f040a29912 78 int sw = 13;
xx123456987 0:f0f040a29912 79 float xL0,yL0;// initial position of leader
xx123456987 0:f0f040a29912 80 char kb='p';
xx123456987 0:f0f040a29912 81
xx123456987 1:6b405e5f18ef 82 int sgn(float);
xx123456987 1:6b405e5f18ef 83
xx123456987 0:f0f040a29912 84 int main()
xx123456987 0:f0f040a29912 85 {
xx123456987 0:f0f040a29912 86 pwm_1.period_us(pwm_period_us);
xx123456987 0:f0f040a29912 87 pwm_2.period_us(pwm_period_us);
xx123456987 0:f0f040a29912 88 pwm_3.period_us(pwm_period_us);
xx123456987 0:f0f040a29912 89
xx123456987 0:f0f040a29912 90 pwm_1.write(0.50);
xx123456987 0:f0f040a29912 91 pwm_2.write(0.50);
xx123456987 0:f0f040a29912 92 pwm_3.write(0.50);
xx123456987 0:f0f040a29912 93
xx123456987 0:f0f040a29912 94 qei1_old = 0;
xx123456987 0:f0f040a29912 95 qei2_old = 0;
xx123456987 0:f0f040a29912 96 qei3_old = 0;
xx123456987 0:f0f040a29912 97 printf("3W_1_fmt_squ_0717\n");
xx123456987 0:f0f040a29912 98 printf("Press any key to START\n");
xx123456987 0:f0f040a29912 99
xx123456987 0:f0f040a29912 100 while (kb=='p') {
xx123456987 0:f0f040a29912 101 scanf("%c",&kb);
xx123456987 0:f0f040a29912 102 }
xx123456987 0:f0f040a29912 103
xx123456987 0:f0f040a29912 104 //if (s0 == ture)
xx123456987 0:f0f040a29912 105 s0 = true;
xx123456987 0:f0f040a29912 106 /*
xx123456987 0:f0f040a29912 107 while(c>0) {
xx123456987 0:f0f040a29912 108 wait(1);
xx123456987 0:f0f040a29912 109 c--;
xx123456987 0:f0f040a29912 110 myled = !myled;
xx123456987 0:f0f040a29912 111 }
xx123456987 0:f0f040a29912 112 */
xx123456987 0:f0f040a29912 113 xL0=0.0;// dire. 9
xx123456987 0:f0f040a29912 114 yL0=0.0;
xx123456987 0:f0f040a29912 115 //clk.reset();
xx123456987 0:f0f040a29912 116 clk.start();
xx123456987 0:f0f040a29912 117 while(1) {
xx123456987 0:f0f040a29912 118 //
xx123456987 0:f0f040a29912 119 myled = 0;
xx123456987 0:f0f040a29912 120 X1[0] = Current_X[0];
xx123456987 0:f0f040a29912 121 X1[1] = Current_X[1];
xx123456987 0:f0f040a29912 122 X1[2] = Current_X[2];
xx123456987 0:f0f040a29912 123
xx123456987 0:f0f040a29912 124 // P&V command 1→3→9→7→1
xx123456987 0:f0f040a29912 125 if(s0==true) {
xx123456987 0:f0f040a29912 126 if(gosw==true) {
xx123456987 0:f0f040a29912 127 switch (sw) {
xx123456987 0:f0f040a29912 128 case 97:
xx123456987 0:f0f040a29912 129 xdir=-1;
xx123456987 0:f0f040a29912 130 ydir=0;
xx123456987 0:f0f040a29912 131 sw=71;
xx123456987 0:f0f040a29912 132 break;
xx123456987 0:f0f040a29912 133 case 71:
xx123456987 0:f0f040a29912 134 xdir=0;
xx123456987 0:f0f040a29912 135 ydir=-1;
xx123456987 0:f0f040a29912 136 sw=13;
xx123456987 0:f0f040a29912 137 break;
xx123456987 0:f0f040a29912 138 case 13:
xx123456987 0:f0f040a29912 139 xdir=1;
xx123456987 0:f0f040a29912 140 ydir=0;
xx123456987 0:f0f040a29912 141 sw=39;
xx123456987 0:f0f040a29912 142 break;
xx123456987 0:f0f040a29912 143 case 39:
xx123456987 0:f0f040a29912 144 xdir=0;
xx123456987 0:f0f040a29912 145 ydir=1;
xx123456987 0:f0f040a29912 146 sw=97;
xx123456987 0:f0f040a29912 147 stop=true;
xx123456987 0:f0f040a29912 148 break;
xx123456987 0:f0f040a29912 149 default:
xx123456987 0:f0f040a29912 150 printf("err.");
xx123456987 0:f0f040a29912 151 }
xx123456987 0:f0f040a29912 152 }
xx123456987 0:f0f040a29912 153 gosw=false;
xx123456987 0:f0f040a29912 154 clk.start();
xx123456987 0:f0f040a29912 155 if(clk.read()<t1) {//1
xx123456987 0:f0f040a29912 156 Vc[0]=(2*clk.read()/75)*xdir;
xx123456987 0:f0f040a29912 157 Vc[1]=(2*clk.read()/75)*ydir;
xx123456987 0:f0f040a29912 158 Vc[2]=0;
xx123456987 0:f0f040a29912 159 //
xx123456987 0:f0f040a29912 160 XL[0]=xL0 + (clk.read()*clk.read()/75)*xdir;// go to target
xx123456987 0:f0f040a29912 161 XL[1]=yL0 + (clk.read()*clk.read()/75)*ydir;
xx123456987 0:f0f040a29912 162 XL[2]=0+pi/3;
xx123456987 0:f0f040a29912 163 } else if(clk.read()>t1 && clk.read()<(T-t1) ) {//2
xx123456987 0:f0f040a29912 164 Vc[0]=0.2*xdir;
xx123456987 0:f0f040a29912 165 Vc[1]=0.2*ydir;
xx123456987 0:f0f040a29912 166 Vc[2]=0;
xx123456987 0:f0f040a29912 167 //
xx123456987 0:f0f040a29912 168 XL[0]=xL0 + (clk.read()/5 - 0.75)*xdir;
xx123456987 0:f0f040a29912 169 XL[1]=yL0 + (clk.read()/5 - 0.75)*ydir;
xx123456987 0:f0f040a29912 170 XL[2]=0+pi/3;
xx123456987 0:f0f040a29912 171 } else if (clk.read()>T) {//4
xx123456987 0:f0f040a29912 172 Vc[0]=0;
xx123456987 0:f0f040a29912 173 Vc[1]=0;
xx123456987 0:f0f040a29912 174 Vc[2]=0;
xx123456987 0:f0f040a29912 175 //
xx123456987 0:f0f040a29912 176 XL[0]=xL0+S*xdir;
xx123456987 0:f0f040a29912 177 XL[1]=yL0+S*ydir;
xx123456987 0:f0f040a29912 178 XL[2]=0+pi/3;
xx123456987 0:f0f040a29912 179 clk.reset();
xx123456987 0:f0f040a29912 180 xL0=XL[0];
xx123456987 0:f0f040a29912 181 yL0=XL[1];
xx123456987 0:f0f040a29912 182 gosw=true;
xx123456987 0:f0f040a29912 183 } else {//3
xx123456987 0:f0f040a29912 184 Vc[0]=(0.6-2*clk.read()/75)*xdir;
xx123456987 0:f0f040a29912 185 Vc[1]=(0.6-2*clk.read()/75)*ydir;
xx123456987 0:f0f040a29912 186 Vc[2]=0;
xx123456987 0:f0f040a29912 187 //
xx123456987 0:f0f040a29912 188 XL[0]=xL0 + (-((2*clk.read()/75 - 0.8)*(clk.read() - 15))/2 + 2.25)*xdir;
xx123456987 0:f0f040a29912 189 XL[1]=yL0 + (-((2*clk.read()/75 - 0.8)*(clk.read() - 15))/2 + 2.25)*ydir;
xx123456987 0:f0f040a29912 190 XL[2]=0+pi/3;
xx123456987 0:f0f040a29912 191 }
xx123456987 0:f0f040a29912 192 }
xx123456987 0:f0f040a29912 193 //printf("% .2f|% .2f|%f|X V cmd(xdire)\n", XL[0]*100, Vc[0]*100, clk.read());
xx123456987 0:f0f040a29912 194
xx123456987 0:f0f040a29912 195 // odometry beginning //
xx123456987 0:f0f040a29912 196 qei1_new = w1.getPulses();
xx123456987 0:f0f040a29912 197 qei2_new = w2.getPulses();
xx123456987 0:f0f040a29912 198 qei3_new = w3.getPulses();
xx123456987 0:f0f040a29912 199
xx123456987 0:f0f040a29912 200 double qei1 = qei1_new - qei1_old;
xx123456987 0:f0f040a29912 201 double qei2 = qei2_new - qei2_old;
xx123456987 0:f0f040a29912 202 double qei3 = qei3_new - qei3_old;
xx123456987 0:f0f040a29912 203
xx123456987 0:f0f040a29912 204 //wait_ms(50);
xx123456987 0:f0f040a29912 205
xx123456987 0:f0f040a29912 206 d_theta1 = qei1*360*pi/(4096*6*180); //DEG to RAD
xx123456987 0:f0f040a29912 207 d_theta2 = qei2*360*pi/(4096*6*180);
xx123456987 0:f0f040a29912 208 d_theta3 = qei3*360*pi/(4096*6*180);
xx123456987 0:f0f040a29912 209 d_theta = c1*( d_theta1 + d_theta2 + d_theta3 );
xx123456987 0:f0f040a29912 210
xx123456987 0:f0f040a29912 211 // compute theta
xx123456987 0:f0f040a29912 212 Next_X[2] = Current_X[2] + d_theta;
xx123456987 0:f0f040a29912 213 double theta = Current_X[2];
xx123456987 0:f0f040a29912 214 float c3 = Current_X[2] + d_theta/2;
xx123456987 0:f0f040a29912 215 // compute y
xx123456987 0:f0f040a29912 216 Next_X[1] = Current_X[1] + c2*(+d_theta1*cos(c3)-d_theta2*cos(pi/3-c3)-d_theta3*cos(pi/3+c3));
xx123456987 0:f0f040a29912 217 // compute x
xx123456987 0:f0f040a29912 218 Next_X[0] = Current_X[0] + c2*(-d_theta1*sin(c3)-d_theta2*sin(pi/3-c3)+d_theta3*sin(pi/3+c3));
xx123456987 0:f0f040a29912 219
xx123456987 0:f0f040a29912 220 // compute velocity
xx123456987 0:f0f040a29912 221 dx =Next_X[0]-Current_X[0];
xx123456987 0:f0f040a29912 222 dy =Next_X[1]-Current_X[1];
xx123456987 0:f0f040a29912 223 dtheta =Next_X[2]-Current_X[2];
xx123456987 0:f0f040a29912 224 V1[0]=dx/dt;
xx123456987 0:f0f040a29912 225 V1[1]=dy/dt;
xx123456987 0:f0f040a29912 226 V1[2]=dtheta/dt;
xx123456987 0:f0f040a29912 227 // transition
xx123456987 0:f0f040a29912 228 Current_X[2] = Next_X[2];
xx123456987 0:f0f040a29912 229 Current_X[1] = Next_X[1];
xx123456987 0:f0f040a29912 230 Current_X[0] = Next_X[0];
xx123456987 0:f0f040a29912 231
xx123456987 0:f0f040a29912 232
xx123456987 0:f0f040a29912 233 qei1_old = qei1_new;
xx123456987 0:f0f040a29912 234 qei2_old = qei2_new;
xx123456987 0:f0f040a29912 235 qei3_old = qei3_new;
xx123456987 0:f0f040a29912 236 // odometry end //
xx123456987 0:f0f040a29912 237
xx123456987 0:f0f040a29912 238
xx123456987 0:f0f040a29912 239 //printf ("% .1f|% .1f|% .1f|%f|Vc\n", Vc[0]*100, Vc[1]*100, Vc[2]*180/pi,clk.read());
xx123456987 0:f0f040a29912 240 // control law beginning //
xx123456987 0:f0f040a29912 241 //#define r 0.05
xx123456987 0:f0f040a29912 242 //#define L 0.125
xx123456987 0:f0f040a29912 243 X1_b[0] = X1[0]-f1[0];
xx123456987 0:f0f040a29912 244 X1_b[1] = X1[1]-f1[1];
xx123456987 0:f0f040a29912 245 X1_b[2] = X1[2]-f1[2];
xx123456987 0:f0f040a29912 246
xx123456987 1:6b405e5f18ef 247 u[0] = -kp*(X1_b[0]-XL[0])-kd*(V1[0]-Vc[0])-ksgn*sgn(V1[0]-Vc[0]);
xx123456987 1:6b405e5f18ef 248 u[1] = -kp*(X1_b[1]-XL[1])-kd*(V1[1]-Vc[1])-ksgn*sgn(V1[1]-Vc[1]);
xx123456987 1:6b405e5f18ef 249 u[2] = -kp*(X1_b[2]-XL[2])-kd*(V1[2]-Vc[2])-ksgn*sgn(V1[2]-Vc[2]);
xx123456987 1:6b405e5f18ef 250
xx123456987 0:f0f040a29912 251 omg1 = (5*u[2])/2 + 20*u[1]*cos(theta) - 20*u[0]*sin(theta);
xx123456987 0:f0f040a29912 252 omg2 = (5*u[2])/2 - 20*u[1]*cos(pi/3 - theta) - 20*u[0]*sin(pi/3 - theta);
xx123456987 0:f0f040a29912 253 omg3 = (5*u[2])/2 - 20*u[1]*cos(pi/3 + theta) + 20*u[0]*sin(pi/3 + theta);
xx123456987 0:f0f040a29912 254 // control law end //
xx123456987 0:f0f040a29912 255
xx123456987 0:f0f040a29912 256 // omega to PWM //
xx123456987 0:f0f040a29912 257 pwm_w1 = 0.5 + omg1/2;
xx123456987 0:f0f040a29912 258 pwm_w2 = 0.5 + omg2/2;
xx123456987 0:f0f040a29912 259 pwm_w3 = 0.5 + omg3/2;
xx123456987 0:f0f040a29912 260
xx123456987 0:f0f040a29912 261 pwm_1.write(pwm_w1);
xx123456987 0:f0f040a29912 262 pwm_2.write(pwm_w2);
xx123456987 0:f0f040a29912 263 pwm_3.write(pwm_w3);
xx123456987 0:f0f040a29912 264 // END //
xx123456987 0:f0f040a29912 265
xx123456987 0:f0f040a29912 266 // define error // not abs() yet
xx123456987 0:f0f040a29912 267 err[0] = (Current_X[0]-f1[0])-(0.0);
xx123456987 0:f0f040a29912 268 err[1] = (Current_X[1]-f1[1])-(0.0);
xx123456987 0:f0f040a29912 269 err[2] = (Current_X[2]-f1[2])-XL[2];
xx123456987 0:f0f040a29912 270
xx123456987 0:f0f040a29912 271 if ( abs(err[0])<ex && abs(err[1])<ey && abs(err[2])<(etheta*pi/180) && stop==true ) {
xx123456987 0:f0f040a29912 272 printf("Arrived!\n");
xx123456987 0:f0f040a29912 273 pwm_1.write(0.50);
xx123456987 0:f0f040a29912 274 pwm_2.write(0.50);
xx123456987 0:f0f040a29912 275 pwm_3.write(0.50);
xx123456987 0:f0f040a29912 276 while (mybutton == 1) {}
xx123456987 0:f0f040a29912 277 }
xx123456987 0:f0f040a29912 278
xx123456987 0:f0f040a29912 279 //print
xx123456987 0:f0f040a29912 280 //printf ("\n");
xx123456987 0:f0f040a29912 281 //printf("% .2f|% .2f|% .1f|Xnow|%f\n", Current_X[0]*100, Current_X[1]*100,Current_X[2]*180/pi-60,clk.read());
xx123456987 1:6b405e5f18ef 282 printf("% .2f|% .2f|% .1f|Xnow|% .2f|% .2f|% .1f|XL|% .2f|% .2f|% .1f|Vnow|%f\n",
xx123456987 0:f0f040a29912 283 Current_X[0]*100, Current_X[1]*100,Current_X[2]*180/pi-60,
xx123456987 1:6b405e5f18ef 284 XL[0]*100, XL[1]*100, XL[2]*180/pi-60,
xx123456987 1:6b405e5f18ef 285 V1[0]*100, V1[1]*100, V1[2]*180/pi,
xx123456987 1:6b405e5f18ef 286 clk.read());
xx123456987 0:f0f040a29912 287 //printf("% .1f|% .1f|% .1f|Xc|%f\n", XL[0]*100, XL[1]*100 ,XL[2]*180/pi-60,clk.read());
xx123456987 0:f0f040a29912 288 ///printf ("% .2f|% .2f|% .1f|Vnow\n", V1[0]*100, V1[1]*100, V1[2]*180/pi);
xx123456987 0:f0f040a29912 289 //printf("%f\n",clk.read());
xx123456987 0:f0f040a29912 290 //printf("% .1f|% .1f|% .1f|Xc \n", XL[0]*100, XL[1]*100 ,XL[2]*180/pi-60);
xx123456987 0:f0f040a29912 291 //printf("% .2f|% .2f|% .1f|Vc \n", Vc[0]*100, Vc[1]*100, Vc[2]*180/pi);
xx123456987 0:f0f040a29912 292 //printf ("% .2f|% .2f|%f|now\n", Current_X[0]*100, V1[0]*100,clk.read());
xx123456987 0:f0f040a29912 293 //printf("% .2f|% .2f|%f|X V cmd(xdire)\n", XL[0]*100, Vc[0]*100, clk.read());//測命令用
xx123456987 0:f0f040a29912 294 //printf("% .2f|% .2f|%f|X V cmd(ydire)\n", XL[1]*100, Vc[1]*100, clk.read());
xx123456987 0:f0f040a29912 295 //printf ("Error : [% .1f(cm) % .1f(cm) % .1f(deg)]\n", (err[0])*100, (err[1])*100, (err[2])*180/pi);
xx123456987 0:f0f040a29912 296 /*
xx123456987 0:f0f040a29912 297 printf ("\nWheel[1] counts: %d | revolutions: % .2f", qei1_new, (float)qei1_new/(4096*6));
xx123456987 0:f0f040a29912 298 printf ("\nWheel[2] counts: %d | revolutions: % .2f", qei2_new, (float)qei2_new/(4096*6));
xx123456987 0:f0f040a29912 299 printf ("\nWheel[3] counts: %d | revolutions: % .2f", qei3_new, (float)qei3_new/(4096*6));
xx123456987 0:f0f040a29912 300 */
xx123456987 0:f0f040a29912 301 //printf("Wheel Vel. [%3.2f %3.2f %3.2f]\n",pwm_w1,pwm_w2,pwm_w3);
xx123456987 0:f0f040a29912 302 //printf("OMEGA: [%.2f %.2f %.2f]\n",omg1,omg2,omg3);
xx123456987 0:f0f040a29912 303 //printf("PWM: [%.2f(%%) %.2f(%%) %.2f(%%)]\n",pwm_1.read()*100,pwm_2.read()*100,pwm_3.read()*100);
xx123456987 0:f0f040a29912 304 //printf("%f\n",clk.read());
xx123456987 0:f0f040a29912 305
xx123456987 0:f0f040a29912 306 //}
xx123456987 0:f0f040a29912 307
xx123456987 0:f0f040a29912 308 // arrive?
xx123456987 0:f0f040a29912 309 wait_ms(50);//
xx123456987 0:f0f040a29912 310 }
xx123456987 0:f0f040a29912 311 }
xx123456987 0:f0f040a29912 312
xx123456987 1:6b405e5f18ef 313 int sgn(float e){
xx123456987 1:6b405e5f18ef 314 if (e>0) return 1;
xx123456987 1:6b405e5f18ef 315 else if (e<0) return -1;
xx123456987 1:6b405e5f18ef 316 else return 0;
xx123456987 1:6b405e5f18ef 317 }