File content as of revision 8:998f4575089b:

#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);
DigitalIn buttonccw(PTA4);
DigitalIn buttoncw(PTC6);

// define ticker
Ticker aansturen;
Ticker Printen;

// define rotation direction and begin possition
const int cw = 1;
const int ccw = 0;
double setpoint = 0; //setpoint is in pulses

// saying buttons are not pressed
const int Buttoncw_pressed = 0;
const int Buttonccw_pressed = 0;


// Controller gain proportional and intergrator
const double motor1_Kp = 5; // more or les random number.
const double motor1_Ki = 0;
const double M1_timestep = 0.01; // reason ticker works with 100 Hz.
double motor1_error_integraal = 0; // initial value of integral error


// Defining pulses per revolution (calculating pulses to rotations in degree.)
const double pulses_per_revolution = 4200 ;//8400 counts is aangegeven op de motor for x4.  10 - 30 counts oveshoot. for moter 1(tape)! Motor 2 almost the same(nice)
/*
double Rotation = -2; // rotation 
double movement = Rotation * pulses_per_revolution; // times 360 to make Rotations degree.
*/

// defining flags
volatile bool flag_motor = false;
volatile bool flag_pcprint = false;

// making function flags.
void Go_flag_motor()
{
    flag_motor = true;
}

void Go_flag_pcprint()
{
    flag_pcprint = true;
}

// To make a new setpoint 
double making_setpoint(double direction){
    if ( cw == direction){
        setpoint = setpoint + (pulses_per_revolution/40000);
        }
        if ( ccw == direction){
        setpoint = setpoint - (pulses_per_revolution/40000);
        }
    return(setpoint);
    
    }

// Reusable P controller
double PI(double error, const double Kp, const double Ki, double Ts, double &e_int)
{ 

  e_int = e_int + Ts * error;

    double PI_output = (Kp * error) + (Ki * e_int);
    return PI_output;
}
// Next task, measure the error and apply the output to the plant
void motor1_Controller()
{
    double reference = setpoint; // setpoint is in pulses
    double position = wheel.getPulses();
    double error_pulses = (reference - position); // calculate the error in pulses
    double error_rotation = error_pulses / pulses_per_revolution; //calculate how much the rotaions the motor has to turn
    
    double output = abs(PI( error_rotation, motor1_Kp, motor1_Ki, M1_timestep, motor1_error_integraal ));

    if(error_pulses > 0) {
        directionPin.write(cw);
    
    }
    else if(error_pulses < 0) {
        directionPin.write(ccw); 
    }
    else{
        output = 0;
        }
PWM.write(output); // out of the if loop due to abs output


}


void counts_showing()
{

    double kijken = wheel.getPulses()/pulses_per_revolution;
    pc.printf("ref %.2f rounds%.2f \n",setpoint/pulses_per_revolution,kijken);

}

int main()
{
    aansturen.attach( &Go_flag_motor, 0.01f ); // 100 Hz // timer 0.00001f motor keeps spinning
    Printen.attach(&Go_flag_pcprint,0.1f); // 10 Hz // printstatement here because printing cost to much time. the motor void wouldn't be completed
    while( 1 ) {
// to make the motor move
        if(flag_motor) {
            flag_motor = false;
            motor1_Controller();
        }

        if(flag_pcprint) {
            flag_pcprint = false;
            counts_showing();
        }

// Pussing buttons to get input signal

    if(buttoncw.read() == Buttoncw_pressed){
      setpoint = making_setpoint(cw);
        }
if(buttonccw.read() == Buttonccw_pressed) {
          setpoint =  making_setpoint(ccw);
        }

    }
}