Diff: main.cpp

Revision:

0:dbe7715dcfe9

Child:

1:b75c4b9f1c98

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Sep 24 15:30:24 2015 +0000
@@ -0,0 +1,103 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "HIDScope.h"
+
+//info uit
+HIDScope scope(3);
+
+//encoders
+QEI encoder1 (D12,D13,NC,32); // first b then a for clockwise +
+
+//ingangen
+AnalogIn pot1(A2);
+
+//uitgangen
+DigitalOut motor1_direction(D7);// draairichting motor 1 (1 is CW encoder als je daar op kijkt en CW shaft als je daar op kijkt)
+PwmOut motor1_speed_control(D6);//aanstuursnelheid motor 1
+//PwmOut motor2_speed_control(D5);
+//DigitalOut motor2_direction(D4);
+const int CW=1; //clockwise
+const int CCW=0; //counterclockwise
+
+//frequencies
+//const float pwm_frequency=1000;
+const double hidscope_frequency=100;
+const double p_control_frequency=5;
+
+//tickers
+Ticker hidscope_ticker;
+Ticker p_control_ticker;
+
+//constants
+const int cpr=32*131;
+const float PI=3.1415;
+const float counttorad=((2*PI)/cpr);
+const float motor1_p_kp=0.5;
+
+//go flags
+volatile bool scopedata_go=false, p_control_go=false;
+
+//acvitator functions
+
+void scopedata_activate()
+{
+    scopedata_go=true;
+}
+void p_control_activate()
+{
+    p_control_go=true;
+}
+///////////////////////////////////////////////////////FUNCTIONS//////////////////////////////////////////////////////////////////////////
+
+//scopedata
+void scopedata()
+{
+    scope.set(0,2*PI*pot1.read());//gewenste hoek in rad van potmeter
+    scope.set(1,counttorad*encoder1.getPulses());//hoek in rad van outputshaft
+    scope.set(2,motor1_speed_control.read());//pwm signaal naar motor toe
+    scope.send();
+}
+
+//re usable P controller
+double p_control(float error,float kp)
+{
+    return (error*kp);
+}
+
+int main()
+{
+    //set initial shizzle
+    //motor1_speed_control.period(1.0/pwm_frequency);
+    motor1_speed_control.write(0);
+
+    //tickers
+    hidscope_ticker.attach(&scopedata_activate,1.0/hidscope_frequency);
+    p_control_ticker.attach(&p_control_activate,1.0/p_control_frequency);
+
+    while(1) {
+        //control motor 1 with a p controller
+        if (p_control_go==true) {
+            float signal_motor1=p_control(2*PI*pot1.read()-counttorad*encoder1.getPulses(),motor1_p_kp);//send error to p controller
+            if (signal_motor1>=0) {//determine CW or CCW rotation
+                motor1_direction.write(CW);
+            } else {
+                motor1_direction.write(CCW);
+            }
+
+            if (fabs(signal_motor1)>=1) { //check if signal is <1
+                signal_motor1=1;//if signal >1 make it 1 to not damage motor
+            } else {
+                signal_motor1=fabs(signal_motor1);// if signal<1 use signal
+            }
+
+            motor1_speed_control.write(fabs(signal_motor1));//write signal to motor
+            p_control_go=false;
+        }
+        //call scopedata
+        if (scopedata_go==true) {
+            scopedata();
+            scopedata_go=false;
+        }
+    }
+    return 0;
+}