Motor control, feedback, PI controller, BiQuad filter
Dependencies: FastPWM HIDScope MODSERIAL biquadFilter mbed QEI
main.cpp@7:3b503177ff5c, 2018-10-15 (annotated)
- Committer:
- 1856413
- Date:
- Mon Oct 15 10:37:27 2018 +0000
- Revision:
- 7:3b503177ff5c
- Parent:
- 6:bd73804c8cec
- Child:
- 8:ceb9abb5a4a8
Changed version of mbed, should work with every library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
1856413 | 0:2e33035d4e86 | 1 | #include "mbed.h" |
1856413 | 0:2e33035d4e86 | 2 | #include "FastPWM.h" // FastPWM library |
1856413 | 2:34c14fb36b5d | 3 | #include "MODSERIAL.h" |
lweersink | 4:49c5fd62a192 | 4 | #include "QEI.h" |
1856413 | 2:34c14fb36b5d | 5 | MODSERIAL pc(USBTX, USBRX); |
1856413 | 0:2e33035d4e86 | 6 | DigitalOut motor1_direction(D7); |
1856413 | 0:2e33035d4e86 | 7 | AnalogIn pot1(A4); |
1856413 | 1:c19fc63d555f | 8 | InterruptIn but2(D3); |
1856413 | 1:c19fc63d555f | 9 | FastPWM motor1_pwm(D6); //FastPWM input, PES lecture 2 |
1856413 | 0:2e33035d4e86 | 10 | Ticker MotorInterrupt; |
1856413 | 6:bd73804c8cec | 11 | QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING); |
nicollevanrijswijk | 5:a1fb2d2fb2d0 | 12 | |
1856413 | 0:2e33035d4e86 | 13 | void Motor() |
1856413 | 0:2e33035d4e86 | 14 | { |
1856413 | 1:c19fc63d555f | 15 | // Aflezen Potentiometers voor PWM |
1856413 | 1:c19fc63d555f | 16 | motor1_pwm = pot1.read(); // Aflezen PotMeter 1 (volatile omdat je altijd de potmeter wil blijven lezen) |
1856413 | 6:bd73804c8cec | 17 | pc.printf("%i\r\n", Encoder.getPulses()); |
1856413 | 0:2e33035d4e86 | 18 | } |
1856413 | 1:c19fc63d555f | 19 | |
1856413 | 1:c19fc63d555f | 20 | void buttonpress() |
1856413 | 1:c19fc63d555f | 21 | { |
1856413 | 3:ea819bcf667f | 22 | motor1_direction = 1 - motor1_direction; |
1856413 | 3:ea819bcf667f | 23 | float motor1_velocity = pot1.read() *2.0; |
lweersink | 4:49c5fd62a192 | 24 | |
nicollevanrijswijk | 5:a1fb2d2fb2d0 | 25 | pc.printf("Velocity is %f \r\n", motor1_velocity); |
1856413 | 1:c19fc63d555f | 26 | } |
1856413 | 0:2e33035d4e86 | 27 | |
1856413 | 0:2e33035d4e86 | 28 | int main() |
1856413 | 0:2e33035d4e86 | 29 | { |
1856413 | 6:bd73804c8cec | 30 | pc.baud(115200); |
1856413 | 0:2e33035d4e86 | 31 | motor1_pwm.period_us(60.0); // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to done once), FastPWM variabele |
1856413 | 0:2e33035d4e86 | 32 | MotorInterrupt.attach(Motor, 0.5); // Ticker die de functie Motor aanroept elke halve seconde, meer tijd is tragere respons op potmeter |
lweersink | 4:49c5fd62a192 | 33 | but2.rise(buttonpress); |
1856413 | 0:2e33035d4e86 | 34 | while(true){} // Endless loop |
1856413 | 0:2e33035d4e86 | 35 | } |