Biorobotics Project / Mbed 2 deprecated Project_motor

PID en biquad filter implemented and outcommented

Dependencies:   Motor_with_encoder MODSERIAL mbed QEI

Fork of Tutorial_lecture5_pin_pot_motor by Biorobotics Project

main.cpp@0:bc949f735b8d, 2017-10-03 (annotated)

Committer:
vera1
Date:
Tue Oct 03 15:07:02 2017 +0000
Revision:
0:bc949f735b8d
Child:
1:e0f6cdefcd6e
motor speed control with pot meter, direction control with buttons. Led in progress.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vera1 0:bc949f735b8d 1 #include "mbed.h"
vera1 0:bc949f735b8d 2 #include "MODSERIAL.h"
vera1 0:bc949f735b8d 3 #include "encoder.h"
vera1 0:bc949f735b8d 4 // this program can turn the motor clockwise or counterclockwise depending on the value p or n typed into the terminal. with 's' you can stop the motor
vera1 0:bc949f735b8d 5
vera1 0:bc949f735b8d 6 MODSERIAL pc(USBTX,USBRX);
vera1 0:bc949f735b8d 7 PwmOut motorspeed(D5);
vera1 0:bc949f735b8d 8 DigitalOut motorposition(D4);
vera1 0:bc949f735b8d 9 DigitalOut led1(D8);
vera1 0:bc949f735b8d 10 DigitalOut led2(D7);
vera1 0:bc949f735b8d 11 AnalogIn pot(A1);
vera1 0:bc949f735b8d 12 DigitalIn button1(D9);
vera1 0:bc949f735b8d 13 DigitalIn button2(D10);
vera1 0:bc949f735b8d 14 Ticker potmeterreadout;
vera1 0:bc949f735b8d 15 //Ticker encoderreadout;
vera1 0:bc949f735b8d 16 //Encoder motor1(PTD0,PTC4); // motor 1 is from encoder, otherwise it would be a pain in the ass to change all that code to motorencoder
vera1 0:bc949f735b8d 17
vera1 0:bc949f735b8d 18
vera1 0:bc949f735b8d 19 float PwmPeriod = 1.0/5000.0;
vera1 0:bc949f735b8d 20 /*
vera1 0:bc949f735b8d 21 void readoutencoder()
vera1 0:bc949f735b8d 22 {
vera1 0:bc949f735b8d 23 pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed());
vera1 0:bc949f735b8d 24 }
vera1 0:bc949f735b8d 25 */
vera1 0:bc949f735b8d 26 volatile float potvalue = 0.0;
vera1 0:bc949f735b8d 27 void readpot(){
vera1 0:bc949f735b8d 28 potvalue = pot.read();
vera1 0:bc949f735b8d 29 }
vera1 0:bc949f735b8d 30 int main()
vera1 0:bc949f735b8d 31 {
vera1 0:bc949f735b8d 32
vera1 0:bc949f735b8d 33 //encoderreadout.attach(readoutencoder,0.2f);
vera1 0:bc949f735b8d 34 pc.baud(9600);
vera1 0:bc949f735b8d 35 potmeterreadout.attach(readpot,0.2f);
vera1 0:bc949f735b8d 36 motorspeed.period(0.0001f);
vera1 0:bc949f735b8d 37 //float motorspeed = 0.0f;
vera1 0:bc949f735b8d 38 while (true) {
vera1 0:bc949f735b8d 39
vera1 0:bc949f735b8d 40 led1 = potvalue;
vera1 0:bc949f735b8d 41 motorspeed = potvalue;
vera1 0:bc949f735b8d 42 pc.printf("reference velocity = %.2f\r\n", potvalue);
vera1 0:bc949f735b8d 43
vera1 0:bc949f735b8d 44
vera1 0:bc949f735b8d 45 if ((button2 == 1)&&(button1 == 0)) {
vera1 0:bc949f735b8d 46
vera1 0:bc949f735b8d 47 motorposition = 0; // motor turns anticlockwise
vera1 0:bc949f735b8d 48 led2 = 0;
vera1 0:bc949f735b8d 49
vera1 0:bc949f735b8d 50 }
vera1 0:bc949f735b8d 51 if ((button2 ==0)&&(button1 ==1)){
vera1 0:bc949f735b8d 52
vera1 0:bc949f735b8d 53 motorposition = 1; // motor turns anticlockwise
vera1 0:bc949f735b8d 54 led2 = 1;
vera1 0:bc949f735b8d 55 }
vera1 0:bc949f735b8d 56 //}
vera1 0:bc949f735b8d 57
vera1 0:bc949f735b8d 58 }
vera1 0:bc949f735b8d 59 }
vera1 0:bc949f735b8d 60