File content as of revision 1:71617831bc4e:

#include "mbed.h"
#include "QEI.h"

Serial pc(USBTX, USBRX);
QEI wheel (PTC10, PTC11, NC, 624); // Pin for counting (analog in)

// Define pin for motor control
DigitalOut directionPin(D4);
PwmOut PWM(D5);

// define ticker
Ticker aansturen;
Ticker Printen;

// define rotation direction
const int cw = 1;
const int ccw = 0;

// Controller gain proportional
const double motor1_Kp = 5; // more or les random number.

// calculating pulses to rotations in degree.
const double Offset = 8400 ;//8400 counts is aangegeven op de motor ( is te weinig) 10511 schiet iets over
const double resolution = Offset / 360;
double Rotation = 1; // rotation in degree
double movement = Rotation * 360 * resolution; // times 360 to make Rotations degree.



// Reusable P controller
double P(double error, double Kp)
{
    double error_normalised_degree = error / resolution; // calculate how much degree the motor has to turn.
    double error_normalised_rotation = error_normalised_degree / 360; //calculate how much the rotaions the motor has to turn
    
    double P_output = Kp * error_normalised_rotation;
    return P_output;
}
// Next task, measure the error and apply the output to the plant
void motor1_Controller()
{
    double reference = movement;
    double position = wheel.getPulses();
    double error = reference - position;

    double output = P( error, motor1_Kp );



    if(error > 0) {
        directionPin.write(cw);
        PWM.write(output);
        //pc.printf("ref %.0f count%.0f cw\n",movement,position);
         
    } if(error < 0) {
        directionPin.write(ccw);
        PWM.write(-output); //min output to get output possitif
        //pc.printf("a");
    }



}


void counts_showing()
{ 

 double kijken = wheel.getPulses();
pc.printf("ref %.0f count%.0f\n",movement,kijken);
    
    }

int main()
{
    aansturen.attach( &motor1_Controller, 0.01f ); // 100 Hz
    Printen.attach(&counts_showing,0.1f); // 10 Hz // printstatement here because printing cost to much time. the motor void wouldn't be completed
    while( 1 ) { }
}