10/25/2015
Dependencies: PID mbed MaxSonar eeprom iSerial Fork_Boss_Communication_Robot
main.cpp
- Committer:
- palmdotax
- Date:
- 2015-10-27
- Revision:
- 6:9ed82a812ece
- Parent:
- 5:68b740d113e6
- Child:
- 7:2daffd310c71
File content as of revision 6:9ed82a812ece:
#include"mbed.h" #include "move.h" #include "PID.h" DigitalOut led1(LED1); InterruptIn encoderA(D10); InterruptIn encoderB(D11); Timer timerStart; Timeout timecount; move m1; PID P1(0.005,0.005,0,0.1); float setp=0; //DigitalIn encoderB(D5); Serial pc(SERIAL_TX,SERIAL_RX); int Encoderpos = 0; float valocity =0,pulse=0,count=0,r=0.125,velocityreal=0; float outPID =0; //double Input,Output,setp,Kp=0.005,Ki=0.005,Kd=0; void EncoderA() { if(encoderB==0) { Encoderpos = Encoderpos + 1;} else { Encoderpos = Encoderpos -1;} //Encoderpos = Encoderpos + 1; // valocity+=1; // pc.printf("%d \n",Encoderpos); pulse+=1; //pc.printf("pulse=%f \n",pulse); // if(pulse==128) //{count+=1;pulse=0; pc.printf("count=%f \n",count);} } /*void EncoderB() { if(encoderA==1) { Encoderpos = Encoderpos + 1;} else { Encoderpos = Encoderpos -1;} pc.printf("%d",Encoderpos); }*/ void getvelo() { valocity=pulse*((2*3.14*r)/128); // pc.printf("%f \n",valocity); count=0; timerStart.reset(); } float map(long x, long in_min, long in_max, long out_min, long out_max) { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } int main() { int times=0; pc.baud(115200); encoderA.rise(&EncoderA); timerStart.start(); P1.setMode(1); //setp=map(1,0,1.0916,0,1); setp=map(1.0,0.0,1.094,0.0,1.0); // P1.setSetPoint(velocityreal);//setpont P1.setSetPoint(1);//setpont P1.setBias(0); pc.printf("READY \n"); led1=1; while(1) { pc.printf("%l \n",setp); times=timerStart.read(); if(times==1)// m/s { getvelo(); //pc.printf("TIME \n"); times=0; pulse=0; } P1.setProcessValue(valocity); // m1.movespeed(1,1.0); outPID=P1.compute(); //m1.movespeed(1,velocityreal,outPID); m1.movespeed(1,1,0); wait(0.1); // pc.printf("%d \n",Encoderpos); } }