Betago / Mbed 2 deprecated BETAGO

10/25/2015

Dependencies:   PID mbed MaxSonar eeprom iSerial Fork_Boss_Communication_Robot

main.cpp@3:365615fa646e, 2015-10-23 (annotated)

Committer:
palmdotax
Date:
Fri Oct 23 17:05:09 2015 +0000
Revision:
3:365615fa646e
Parent:
2:933d3edf38da
Child:
4:e6ab360e7de6
V3;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
palmdotax 0:f02641e3fb91 1 #include"mbed.h"
palmdotax 1:7c3dbf140bfc 2 #include "move.h"
palmdotax 0:f02641e3fb91 3 #include "PID.h"
palmdotax 1:7c3dbf140bfc 4
palmdotax 3:365615fa646e 5 DigitalOut led1(LED1);
palmdotax 0:f02641e3fb91 6 InterruptIn encoderA(D6);
palmdotax 0:f02641e3fb91 7 InterruptIn encoderB(D5);
palmdotax 2:933d3edf38da 8 Timer timerStart;
palmdotax 3:365615fa646e 9 Timeout timecount;
palmdotax 1:7c3dbf140bfc 10 move m1;
palmdotax 2:933d3edf38da 11 PID P1(0.001,0,0,0.1);
palmdotax 0:f02641e3fb91 12
palmdotax 0:f02641e3fb91 13 //DigitalIn encoderB(D5);
palmdotax 0:f02641e3fb91 14
palmdotax 0:f02641e3fb91 15
palmdotax 0:f02641e3fb91 16 Serial pc(SERIAL_TX,SERIAL_RX);
palmdotax 0:f02641e3fb91 17 int Encoderpos = 0;
palmdotax 3:365615fa646e 18 float valocity =0,pulse=0,count=0;
palmdotax 3:365615fa646e 19 float outPID =0;
palmdotax 3:365615fa646e 20 //double Input,Output,setp,Kp=0.005,Ki=0.005,Kd=0;
palmdotax 3:365615fa646e 21
palmdotax 0:f02641e3fb91 22
palmdotax 0:f02641e3fb91 23 void EncoderA()
palmdotax 0:f02641e3fb91 24 { if(encoderB==0)
palmdotax 0:f02641e3fb91 25 { Encoderpos = Encoderpos + 1;}
palmdotax 0:f02641e3fb91 26 else
palmdotax 0:f02641e3fb91 27 { Encoderpos = Encoderpos -1;}
palmdotax 1:7c3dbf140bfc 28
palmdotax 0:f02641e3fb91 29 //Encoderpos = Encoderpos + 1;
palmdotax 3:365615fa646e 30 // valocity+=1;
palmdotax 1:7c3dbf140bfc 31 // pc.printf("%d \n",Encoderpos);
palmdotax 3:365615fa646e 32 pulse+=1;
palmdotax 3:365615fa646e 33 if(pulse>=128)
palmdotax 3:365615fa646e 34 {count+=1;pulse=0;}
palmdotax 0:f02641e3fb91 35 }
palmdotax 0:f02641e3fb91 36
palmdotax 0:f02641e3fb91 37
palmdotax 3:365615fa646e 38 /*void EncoderB()
palmdotax 0:f02641e3fb91 39 {
palmdotax 0:f02641e3fb91 40 if(encoderA==1)
palmdotax 0:f02641e3fb91 41 { Encoderpos = Encoderpos + 1;}
palmdotax 0:f02641e3fb91 42 else
palmdotax 0:f02641e3fb91 43 { Encoderpos = Encoderpos -1;}
palmdotax 0:f02641e3fb91 44 pc.printf("%d",Encoderpos);
palmdotax 3:365615fa646e 45 }*/
palmdotax 3:365615fa646e 46 void getRPM()
palmdotax 3:365615fa646e 47 {
palmdotax 3:365615fa646e 48 valocity=count;
palmdotax 3:365615fa646e 49 count=0;
palmdotax 0:f02641e3fb91 50 }
palmdotax 0:f02641e3fb91 51
palmdotax 0:f02641e3fb91 52 int main()
palmdotax 0:f02641e3fb91 53 {
palmdotax 1:7c3dbf140bfc 54
palmdotax 0:f02641e3fb91 55 pc.baud(115200);
palmdotax 0:f02641e3fb91 56 encoderA.rise(&EncoderA);
palmdotax 2:933d3edf38da 57 timerStart.start();
palmdotax 2:933d3edf38da 58
palmdotax 2:933d3edf38da 59
palmdotax 2:933d3edf38da 60 P1.setMode(1);
palmdotax 2:933d3edf38da 61 P1.setProcessValue(0.7);
palmdotax 1:7c3dbf140bfc 62 P1.setSetPoint(0.8);
palmdotax 2:933d3edf38da 63 P1.setBias(0);
palmdotax 3:365615fa646e 64 pc.printf("READY \n");
palmdotax 0:f02641e3fb91 65 while(1)
palmdotax 3:365615fa646e 66
palmdotax 2:933d3edf38da 67 {
palmdotax 3:365615fa646e 68 led1=1;
palmdotax 3:365615fa646e 69
palmdotax 3:365615fa646e 70 timecount.attach(&getRPM, 60);
palmdotax 3:365615fa646e 71 // m1.movespeed(1,1.0);
palmdotax 3:365615fa646e 72 // outPID=P1.compute();
palmdotax 3:365615fa646e 73 // pc.printf("%f \n",valocity);
palmdotax 2:933d3edf38da 74 wait(0.1);
palmdotax 1:7c3dbf140bfc 75
palmdotax 0:f02641e3fb91 76 // pc.printf("%d \n",Encoderpos);
palmdotax 0:f02641e3fb91 77
palmdotax 0:f02641e3fb91 78 }
palmdotax 0:f02641e3fb91 79 }