File content as of revision 31:8fbee6c92753:

#include "actuators.h"
#include "PID.h"
#include "mbed.h"
#include "config.h"
#include "encoder.h"
#include "HIDScope.h"
#include "servo.h"
// functions for controlling the motors
bool motorEnable = true;

bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation)
bool direction2 = false;

float motor1Pos = 0;
float motor2Pos = 0;

float motorSpeed1 = 0;
float motorSpeed2 = 0;

float motorSetSpeed1 = 0;
float motorSetSpeed2 = 0;


float motorPWM1 = 0;
float motorPWM2 = 0;

// Set PID values
float Kp1 = 1; 
float Ki1 = 0; 
float Kd1 = 0;

float Kp2 = 1; 
float Ki2 = 0; 
float Kd2 = 0;

float PIDinterval = 0.2;

float prevMotor2Pos = 0;
float prevMotor1Pos = 0;
float prevTime = 0;
float curTime = 0;

float pidError = 0;
// Create object instances
// Initialze motors
PwmOut motor1(motor1PWMPin);
PwmOut motor2(motor2PWMPin);

// Initialize encoders
Encoder encoder1(enc1A, enc1B);
Encoder encoder2(enc2A, enc2B);

// Set direction pins     
DigitalOut motor1Dir(motor1DirPin);
DigitalOut motor2Dir(motor2DirPin);  

// create PID instances
PID PIDmotor1(Kp1, Ki1, Kd1, PIDinterval);
PID PIDmotor2(Kp2, Ki2, Kd2, PIDinterval);

servo Servo(servoPin);
Timer t;  
    
void motorInit(){
    
    motor1Dir.write(direction1);
    motor2Dir.write(direction2);

    // Set motor PWM period
    motor1.period(1/pwm_frequency);
    motor2.period(1/pwm_frequency);

    PIDmotor1.setSetPoint(motorSetSpeed1);
    PIDmotor2.setSetPoint(motorSetSpeed2);

    PIDmotor1.setProcessValue(motorSpeed1);
    PIDmotor2.setProcessValue(motorSpeed2);

    // set limits for PID output to avoid integrator build up.
    PIDmotor1.setInputLimits(-300, 300);
    PIDmotor2.setInputLimits(-300, 300);
    PIDmotor1.setOutputLimits(-1, 1);
    PIDmotor2.setOutputLimits(-1, 1);
    
    // Turn PID on
    PIDmotor1.setMode(1);
    PIDmotor2.setMode(1);
    
    // start the timer
    t.start();
}


void motorControl(){
    if(motorEnable){  // only run motors if switch is enabled

    // get encoder positions in degrees
        // 131.25:1 gear ratio
        // getPosition uses X2 configuration, so 32 counts per revolution
        // encoder reads CCW negative, and CW positive, so multiply by -1 to make CCW positive
        motor1Pos = -((encoder1.getPosition()/32)/131.25)*360;
        motor2Pos = -((encoder2.getPosition()/32)/131.25)*360;

        // check if motor's are within rotational boundarys
    // get  encoder speeds in deg/sec
        curTime = t.read();
        motorSpeed1 = (motor1Pos - prevMotor1Pos)/(curTime-prevTime);
        motorSpeed2 = (motor2Pos - prevMotor2Pos)/(curTime-prevTime);
        prevTime = curTime;
        prevMotor1Pos = motor1Pos;
        prevMotor2Pos = motor2Pos;
        
    // calculate motor setpoint speed in deg/sec from setpoint x/y speed

    // compute new PID parameters using setpoint speeds and x/y speeds
        writeMotors();

    }else{
        // write 0 to motors
        motor1.write(0);
        motor2.write(0);
    }
}

void writeMotors(){
    PIDmotor1.setSetPoint(motorSetSpeed1);
    PIDmotor2.setSetPoint(motorSetSpeed2);

    PIDmotor1.setProcessValue(motorSpeed1);
    PIDmotor2.setProcessValue(motorSpeed2);

    motorPWM1 = PIDmotor1.compute();
    motorPWM2 = PIDmotor2.compute();
// write new values to motor's
    if (motorPWM1 > 0 ){ // CCW rotation 
        direction1 = false;
    }else{
        direction1 = true; // CW rotation
    }
    if (motorPWM2 > 0 ){ // CCW rotation 
        direction2 = false;
    }else{
        direction2 = true; // CW rotation
    }
    motor1Dir.write(direction1);
    motor2Dir.write(direction2);
    
    motor1.write(abs(motorPWM1)/300);
    motor2.write(abs(motorPWM2)/300);
}

void servoControl(){
    // use potMeter Value to set servo angle
    Servo.write(servoPos);
    // (optionaly calculate xy position to keep balloon in position)
        // calculate z position using angle
        // calculate x y translation of endpoint
        // find new x and y speed.
    
}