Diff: main.cpp

Revision:

1:41a9e3340c96

Parent:

0:24628832f21d

Child:

2:91bf9f1765ef

--- a/main.cpp	Thu Oct 01 14:33:20 2015 +0000
+++ b/main.cpp	Fri Oct 02 09:02:08 2015 +0000
@@ -5,6 +5,7 @@
 //////////////////////////////////////CONSTANTS, I/O, FREQUENCIES AND TICKERS//////////////////////////////////////
 //info uit
 HIDScope scope(5);
+Serial pc(USBTX, USBRX);
 
 //encoders
 QEI encoder1 (D12,D13,NC,32); // first b then a for clockwise +
@@ -13,6 +14,7 @@
 //ingangen
 DigitalIn butR(D2);
 DigitalIn butL(D3);
+InterruptIn changecontrollervalues(PTA4);
 
 //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)
@@ -83,17 +85,17 @@
 float pi_kp=0.5;
 float pi_ki=0.01;
 float Ts=1.0/pi_control_frequency;
-double e[2]= {0,0};
+double control_error[2]= {0,0};
 double motor_error_int[2]= {0,0};
 
 // Reusable PI controller
 void pi_control()
 {
-    motor_error_int[0] = motor_error_int[0] + Ts * e[0]; // e_int is changed globally because it’s ’by reference’ (&)
-    signal_motor[0]=pi_kp*e[0]+pi_ki*motor_error_int[0];
+    motor_error_int[0] = motor_error_int[0] + Ts * control_error[0]; // e_int is changed globally because it’s ’by reference’ (&)
+    signal_motor[0]=pi_kp*control_error[0]+pi_ki*motor_error_int[0];
 
-    motor_error_int[1] = motor_error_int[1] + Ts * e[1]; // e_int is changed globally because it’s ’by reference’ (&)
-    signal_motor[1]=pi_kp*e[1]+pi_ki*motor_error_int[1];
+    motor_error_int[1] = motor_error_int[1] + Ts * control_error[1]; // e_int is changed globally because it’s ’by reference’ (&)
+    signal_motor[1]=pi_kp*control_error[1]+pi_ki*motor_error_int[1];
 }
 
 //////////////////////////////////////////////////MAIN///////////////////////////////////
@@ -129,8 +131,8 @@
         }
 
         if (pi_control_go==true) {
-            e[0]=desiredangle[0]-(counttorad*encoder1.getPulses());
-            e[1]=desiredangle[1]-(counttorad*encoder2.getPulses());
+            control_error[0]=desiredangle[0]-(counttorad*encoder1.getPulses());
+            control_error[1]=desiredangle[1]-(counttorad*encoder2.getPulses());
             pi_control();
             //motor1
             if (signal_motor[0]>=0) {//determine CW or CCW rotation
@@ -170,6 +172,16 @@
             scopedata();
             scopedata_go=false;
         }
+        //unit om controllervalues aan te passen
+        if (changecontrollervalues.read()==0) {
+            motor1_speed_control.write(0);
+            motor2_speed_control.write(0);
+            pc.printf("KP is now %f, enter new value\n",pi_kp);
+            pc.scanf("%f", &pi_kp);
+
+            pc.printf("KI is now %f, enter new value\n",pi_ki);
+            pc.scanf("%f", &pi_ki);
+        }
     }
     return 0;
 }