Biorobotics 7 / Mbed 2 deprecated Motor_calibration

Motor calibration

Dependencies:   BioroboticsMotorControl mbed BioroboticsEMGFilter MODSERIAL

main.cpp@0:61f4586742be, 2018-10-31 (annotated)

Committer:
MAHCSnijders
Date:
Wed Oct 31 09:12:19 2018 +0000
Revision:
0:61f4586742be
Child:
1:9c75e4cca419
Motor Calibration without break at final angles (home state)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MAHCSnijders 0:61f4586742be 1 #include "mbed.h"
MAHCSnijders 0:61f4586742be 2
MAHCSnijders 0:61f4586742be 3 Motor motor1(D6, D7, D13, D12); // Defining motor pins (PWM, direction, encoder)
MAHCSnijders 0:61f4586742be 4 Motor motor2(D5, D4, D10, D11); // Defining motor pins (PWM, direction, encoder)
MAHCSnijders 0:61f4586742be 5
MAHCSnijders 0:61f4586742be 6 const double Kp = 10.0;
MAHCSnijders 0:61f4586742be 7 const double Ki = 0.1;
MAHCSnijders 0:61f4586742be 8 const double Kd = 0.5;
MAHCSnijders 0:61f4586742be 9
MAHCSnijders 0:61f4586742be 10 Ticker motor_cali;
MAHCSnijders 0:61f4586742be 11
MAHCSnijders 0:61f4586742be 12 void Motor_Calibration()
MAHCSnijders 0:61f4586742be 13 {
MAHCSnijders 0:61f4586742be 14 float motor_angle1 = motor1.get_current_angle;
MAHCSnijders 0:61f4586742be 15 motor_angle1--;
MAHCSnijders 0:61f4586742be 16 motor1.set_target_angle(motor_angle1);
MAHCSnijders 0:61f4586742be 17
MAHCSnijders 0:61f4586742be 18 float motor_angle2 = motor2.get_current_angle;
MAHCSnijders 0:61f4586742be 19 motor_angle2--;
MAHCSnijders 0:61f4586742be 20 motor2.set_target_angle(motor_angle2);
MAHCSnijders 0:61f4586742be 21 }
MAHCSnijders 0:61f4586742be 22
MAHCSnijders 0:61f4586742be 23 int main()
MAHCSnijders 0:61f4586742be 24 {
MAHCSnijders 0:61f4586742be 25 motor1.set_pid_k_values(Kp, Ki, Kd); // Attach PID-controller
MAHCSnijders 0:61f4586742be 26 motor2.set_pid_k_values(Kp, Ki, Kd);
MAHCSnijders 0:61f4586742be 27 motor1.start(pid_period) // Attach PID time
MAHCSnijders 0:61f4586742be 28 motor2.start(pid_period);
MAHCSnijders 0:61f4586742be 29 motor.attach(Motor_Calibration,0.5); // Ticker for motor calibration fucntion
MAHCSnijders 0:61f4586742be 30 while (true) {} // Empty while loop to keep function from stopping
MAHCSnijders 0:61f4586742be 31 }