Digital B14 / Mbed 2 deprecated DogPID

Digital project

Dependencies:   Motor PID eeprom mbed

main.cpp@1:9f279c68ed0c, 2015-12-07 (annotated)

Committer:
Tiz
Date:
Mon Dec 07 17:09:33 2015 +0000
Revision:
1:9f279c68ed0c
Parent:
0:451c27e4d55e 
Pong Dry

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ParinyaT 0:451c27e4d55e 1 //*****************************************************/
Tiz 1:9f279c68ed0c 2 // Include //
ParinyaT 0:451c27e4d55e 3 #include "mbed.h"
ParinyaT 0:451c27e4d55e 4 #include "pinconfig.h"
ParinyaT 0:451c27e4d55e 5 #include "PID.h"
ParinyaT 0:451c27e4d55e 6 #include "Motor.h"
ParinyaT 0:451c27e4d55e 7 #include "eeprom.h"
ParinyaT 0:451c27e4d55e 8
ParinyaT 0:451c27e4d55e 9 //*****************************************************/
Tiz 1:9f279c68ed0c 10 // Defines //
ParinyaT 0:451c27e4d55e 11 #define Rate 0.01
ParinyaT 0:451c27e4d55e 12 #define Kc -2.6
ParinyaT 0:451c27e4d55e 13 #define Ti 0.0
ParinyaT 0:451c27e4d55e 14 #define Td 0.0
ParinyaT 0:451c27e4d55e 15
ParinyaT 0:451c27e4d55e 16 //*****************************************************/
ParinyaT 0:451c27e4d55e 17 // Global //
ParinyaT 0:451c27e4d55e 18 //-- pc monitor --
ParinyaT 0:451c27e4d55e 19 Serial PC(D1,D0);
Tiz 1:9f279c68ed0c 20 //-- encoder --
ParinyaT 0:451c27e4d55e 21 int Position;
ParinyaT 0:451c27e4d55e 22 int data;
Tiz 1:9f279c68ed0c 23
Tiz 1:9f279c68ed0c 24
Tiz 1:9f279c68ed0c 25 //*******************************************************
Tiz 1:9f279c68ed0c 26
Tiz 1:9f279c68ed0c 27
Tiz 1:9f279c68ed0c 28 //write encoder
Tiz 1:9f279c68ed0c 29 EEPROM memory(I2C_SDA,I2C_SCL,0);
Tiz 1:9f279c68ed0c 30 int8_t out,write;
Tiz 1:9f279c68ed0c 31 int mod;
Tiz 1:9f279c68ed0c 32 InterruptIn send(D11);
Tiz 1:9f279c68ed0c 33 int FromSerial;
Tiz 1:9f279c68ed0c 34
Tiz 1:9f279c68ed0c 35
Tiz 1:9f279c68ed0c 36 //*******************************************************
ParinyaT 0:451c27e4d55e 37 SPI device(Emosi, Emiso, Esck);
ParinyaT 0:451c27e4d55e 38 DigitalOut Encoder(EncoderA);
ParinyaT 0:451c27e4d55e 39 //-- Motor --
ParinyaT 0:451c27e4d55e 40 Motor LeftUpper(PWM_LU,A_LU,B_LU);
ParinyaT 0:451c27e4d55e 41 //-- PID --
ParinyaT 0:451c27e4d55e 42 int SetPoint;
ParinyaT 0:451c27e4d55e 43 PID LU_PID(Kc, Ti, Td, Rate);//Kp,Ki,Kd,Rate
ParinyaT 0:451c27e4d55e 44 //*****************************************************/
ParinyaT 0:451c27e4d55e 45 void Read_Encoder()
ParinyaT 0:451c27e4d55e 46 {
ParinyaT 0:451c27e4d55e 47 SPI device(Emosi, Emiso, Esck);
ParinyaT 0:451c27e4d55e 48 device.format(8,0);
ParinyaT 0:451c27e4d55e 49 device.frequency(200000);//due to rising time,have to decrease clock from 1M - 240k
Tiz 1:9f279c68ed0c 50
ParinyaT 0:451c27e4d55e 51 Encoder = 0;
ParinyaT 0:451c27e4d55e 52 wait_us(50);
ParinyaT 0:451c27e4d55e 53 device.write(0x41);
ParinyaT 0:451c27e4d55e 54 wait_us(50);
ParinyaT 0:451c27e4d55e 55 device.write(0x09);
ParinyaT 0:451c27e4d55e 56 wait_us(50);
ParinyaT 0:451c27e4d55e 57 data = device.write(0x00);
ParinyaT 0:451c27e4d55e 58 wait_us(50);
ParinyaT 0:451c27e4d55e 59 Encoder = 1;
Tiz 1:9f279c68ed0c 60
ParinyaT 0:451c27e4d55e 61 }
ParinyaT 0:451c27e4d55e 62 //*****************************************************/
ParinyaT 0:451c27e4d55e 63 void Get_EnValue(int Val)
ParinyaT 0:451c27e4d55e 64 {
ParinyaT 0:451c27e4d55e 65 int i = 0;
ParinyaT 0:451c27e4d55e 66 static unsigned char codes[] = {
Tiz 1:9f279c68ed0c 67 127, 63, 62, 58, 56, 184, 152, 24, 8, 72, 73, 77, 79, 15, 47, 175,
Tiz 1:9f279c68ed0c 68 191, 159, 31, 29, 28, 92, 76, 12, 4, 36, 164, 166, 167, 135, 151, 215,
Tiz 1:9f279c68ed0c 69 223, 207, 143, 142, 14, 46, 38, 6, 2, 18, 82, 83, 211, 195, 203, 235,
Tiz 1:9f279c68ed0c 70 239, 231, 199, 71, 7, 23, 19, 3, 1, 9, 41, 169, 233, 225, 229, 245,
Tiz 1:9f279c68ed0c 71 247, 243, 227, 163, 131, 139, 137, 129, 128, 132, 148, 212, 244, 240, 242, 250,
Tiz 1:9f279c68ed0c 72 251, 249, 241, 209, 193, 197, 196, 192, 64, 66, 74, 106, 122, 120, 121, 125,
Tiz 1:9f279c68ed0c 73 253, 252, 248, 232, 224, 226, 98, 96, 32, 33, 37, 53, 61, 60, 188, 190,
Tiz 1:9f279c68ed0c 74 254, 126, 124, 116, 112, 113, 49, 48, 16, 144, 146, 154, 158, 30, 94, 95
Tiz 1:9f279c68ed0c 75 };
Tiz 1:9f279c68ed0c 76
Tiz 1:9f279c68ed0c 77 while(i<=127) {
Tiz 1:9f279c68ed0c 78 if(Val == codes[i]) {
ParinyaT 0:451c27e4d55e 79 Position = i;
ParinyaT 0:451c27e4d55e 80 break;
Tiz 1:9f279c68ed0c 81 } else i++;
Tiz 1:9f279c68ed0c 82 }
Tiz 1:9f279c68ed0c 83 }
Tiz 1:9f279c68ed0c 84 //******************************************************************************************
Tiz 1:9f279c68ed0c 85 void eewrite()
Tiz 1:9f279c68ed0c 86 {
Tiz 1:9f279c68ed0c 87 write = Position;
Tiz 1:9f279c68ed0c 88 memory.write(0xFF,write);
Tiz 1:9f279c68ed0c 89 PC.printf("%x\n",write);
Tiz 1:9f279c68ed0c 90
Tiz 1:9f279c68ed0c 91 wait_ms(10);
Tiz 1:9f279c68ed0c 92 }
Tiz 1:9f279c68ed0c 93 //******************************************************************************************
Tiz 1:9f279c68ed0c 94 void eeread()
Tiz 1:9f279c68ed0c 95 {
Tiz 1:9f279c68ed0c 96 memory.read(0xFF,out);
Tiz 1:9f279c68ed0c 97 PC.printf("%x\n",out);
Tiz 1:9f279c68ed0c 98
Tiz 1:9f279c68ed0c 99 wait_ms(10);
Tiz 1:9f279c68ed0c 100 }
Tiz 1:9f279c68ed0c 101 //******************************************************************************************
Tiz 1:9f279c68ed0c 102 void StartWriteRead(int mod)
Tiz 1:9f279c68ed0c 103 {
Tiz 1:9f279c68ed0c 104 while(1) {
Tiz 1:9f279c68ed0c 105 if(mod==1) {
Tiz 1:9f279c68ed0c 106 send.rise(eewrite);
Tiz 1:9f279c68ed0c 107 wait_ms(10);
Tiz 1:9f279c68ed0c 108 } else if(mod==0) {
Tiz 1:9f279c68ed0c 109 send.rise(eeread);
Tiz 1:9f279c68ed0c 110 wait_ms(10);
ParinyaT 0:451c27e4d55e 111 }
ParinyaT 0:451c27e4d55e 112 }
ParinyaT 0:451c27e4d55e 113 }
ParinyaT 0:451c27e4d55e 114 //*****************************************************/
ParinyaT 0:451c27e4d55e 115 int main()
ParinyaT 0:451c27e4d55e 116 {
Tiz 1:9f279c68ed0c 117
Tiz 1:9f279c68ed0c 118 uint8_t state_menu=0;
Tiz 1:9f279c68ed0c 119 uint8_t state_show=0;
Tiz 1:9f279c68ed0c 120 uint8_t state_exit =0;
Tiz 1:9f279c68ed0c 121 uint8_t data;
Tiz 1:9f279c68ed0c 122
Tiz 1:9f279c68ed0c 123 // myled = 0;
Tiz 1:9f279c68ed0c 124 PC.printf("Wellcome !\n");
Tiz 1:9f279c68ed0c 125 while(1) {
Tiz 1:9f279c68ed0c 126 if(state_show == 0) {
Tiz 1:9f279c68ed0c 127 PC.printf("Menu\n");
Tiz 1:9f279c68ed0c 128 PC.printf("1.Mode Write Or Read \n");
Tiz 1:9f279c68ed0c 129 PC.printf("2.Logic Input Test\n");
Tiz 1:9f279c68ed0c 130 state_show =1;
Tiz 1:9f279c68ed0c 131 }
Tiz 1:9f279c68ed0c 132 if(PC.readable()) {
Tiz 1:9f279c68ed0c 133 data = PC.getc();
Tiz 1:9f279c68ed0c 134 PC.printf("\n");
Tiz 1:9f279c68ed0c 135 state_show =0;
Tiz 1:9f279c68ed0c 136 state_exit =0;
Tiz 1:9f279c68ed0c 137
Tiz 1:9f279c68ed0c 138 switch(data) {
Tiz 1:9f279c68ed0c 139 case '1':
Tiz 1:9f279c68ed0c 140 do {
Tiz 1:9f279c68ed0c 141 if(state_menu == 0) {
Tiz 1:9f279c68ed0c 142 PC.printf("Mode Write Or Read\n");
Tiz 1:9f279c68ed0c 143 PC.printf("a.Mode Write \n");
Tiz 1:9f279c68ed0c 144 PC.printf("d.Mode Read \n");
Tiz 1:9f279c68ed0c 145 PC.printf("s.Stop \n");
Tiz 1:9f279c68ed0c 146 state_menu = 1;
Tiz 1:9f279c68ed0c 147 }
Tiz 1:9f279c68ed0c 148 if(PC.readable()) {
Tiz 1:9f279c68ed0c 149 data = PC.getc();
Tiz 1:9f279c68ed0c 150 PC.printf("\n");
Tiz 1:9f279c68ed0c 151 state_menu=0;
Tiz 1:9f279c68ed0c 152
Tiz 1:9f279c68ed0c 153 switch(data) {
Tiz 1:9f279c68ed0c 154
Tiz 1:9f279c68ed0c 155 case 'a':
Tiz 1:9f279c68ed0c 156 StartWriteRead(1);
Tiz 1:9f279c68ed0c 157 break;
Tiz 1:9f279c68ed0c 158
Tiz 1:9f279c68ed0c 159 case 's':
Tiz 1:9f279c68ed0c 160 state_exit = 1;
Tiz 1:9f279c68ed0c 161
Tiz 1:9f279c68ed0c 162 break;
Tiz 1:9f279c68ed0c 163
Tiz 1:9f279c68ed0c 164 case 'd':
Tiz 1:9f279c68ed0c 165 StartWriteRead(0);
Tiz 1:9f279c68ed0c 166 break;
Tiz 1:9f279c68ed0c 167
Tiz 1:9f279c68ed0c 168 default:
Tiz 1:9f279c68ed0c 169 PC.printf("plz select a or d\n");
Tiz 1:9f279c68ed0c 170 PC.printf("\n\n");
Tiz 1:9f279c68ed0c 171 break;
Tiz 1:9f279c68ed0c 172
Tiz 1:9f279c68ed0c 173 }
Tiz 1:9f279c68ed0c 174 }
Tiz 1:9f279c68ed0c 175
ParinyaT 0:451c27e4d55e 176
ParinyaT 0:451c27e4d55e 177
Tiz 1:9f279c68ed0c 178 } while(state_exit ==0);
Tiz 1:9f279c68ed0c 179 PC.printf("\n\n");
Tiz 1:9f279c68ed0c 180 break;
Tiz 1:9f279c68ed0c 181
Tiz 1:9f279c68ed0c 182 case '2':
Tiz 1:9f279c68ed0c 183
Tiz 1:9f279c68ed0c 184 do {
Tiz 1:9f279c68ed0c 185 if(state_menu == 0) {
Tiz 1:9f279c68ed0c 186 PC.printf("Mode POP\n\n");
Tiz 1:9f279c68ed0c 187 //***start mode
Tiz 1:9f279c68ed0c 188 {
Tiz 1:9f279c68ed0c 189 LeftUpper.period(0.00005);
Tiz 1:9f279c68ed0c 190 LU_PID.setInputLimits(0,127);
Tiz 1:9f279c68ed0c 191 LU_PID.setOutputLimits(0,0.9);
Tiz 1:9f279c68ed0c 192 LU_PID.setMode(AUTO_MODE);
Tiz 1:9f279c68ed0c 193
Tiz 1:9f279c68ed0c 194 //get the target position
Tiz 1:9f279c68ed0c 195 SetPoint = 63;
Tiz 1:9f279c68ed0c 196 LU_PID.setSetPoint(SetPoint);
Tiz 1:9f279c68ed0c 197
Tiz 1:9f279c68ed0c 198 Read_Encoder();
Tiz 1:9f279c68ed0c 199 PC.printf("%d\n",data);
Tiz 1:9f279c68ed0c 200 Get_EnValue(data);
Tiz 1:9f279c68ed0c 201 PC.printf("%d\n********************\n",Position);
Tiz 1:9f279c68ed0c 202
Tiz 1:9f279c68ed0c 203 while(Position != SetPoint) {
Tiz 1:9f279c68ed0c 204 LU_PID.setProcessValue(Position);
Tiz 1:9f279c68ed0c 205 LeftUpper.speed(LU_PID.compute());
Tiz 1:9f279c68ed0c 206
Tiz 1:9f279c68ed0c 207 Read_Encoder();
Tiz 1:9f279c68ed0c 208 Get_EnValue(data);
Tiz 1:9f279c68ed0c 209 }
Tiz 1:9f279c68ed0c 210 }
Tiz 1:9f279c68ed0c 211 PC.printf("press x to exit or else to continue\n");
Tiz 1:9f279c68ed0c 212 state_menu = 1;
Tiz 1:9f279c68ed0c 213 }
Tiz 1:9f279c68ed0c 214 if(PC.readable()) {
Tiz 1:9f279c68ed0c 215 data = PC.getc();
Tiz 1:9f279c68ed0c 216 if (data == 'x') state_exit = 1;
Tiz 1:9f279c68ed0c 217 else state_menu = 0;
Tiz 1:9f279c68ed0c 218 }
Tiz 1:9f279c68ed0c 219
Tiz 1:9f279c68ed0c 220
Tiz 1:9f279c68ed0c 221
Tiz 1:9f279c68ed0c 222 } while(state_exit ==0);
Tiz 1:9f279c68ed0c 223 PC.printf("\n\n");
Tiz 1:9f279c68ed0c 224 break;
Tiz 1:9f279c68ed0c 225
Tiz 1:9f279c68ed0c 226
Tiz 1:9f279c68ed0c 227 case 0x00:
Tiz 1:9f279c68ed0c 228
Tiz 1:9f279c68ed0c 229 break;
Tiz 1:9f279c68ed0c 230
Tiz 1:9f279c68ed0c 231 default:
Tiz 1:9f279c68ed0c 232 PC.printf("plz select 1 or 2 only\n");
Tiz 1:9f279c68ed0c 233 PC.printf("\n\n");
Tiz 1:9f279c68ed0c 234 break;
Tiz 1:9f279c68ed0c 235 }
Tiz 1:9f279c68ed0c 236 }
Tiz 1:9f279c68ed0c 237
Tiz 1:9f279c68ed0c 238 }
Tiz 1:9f279c68ed0c 239
Tiz 1:9f279c68ed0c 240
Tiz 1:9f279c68ed0c 241 }
Tiz 1:9f279c68ed0c 242
Tiz 1:9f279c68ed0c 243
Tiz 1:9f279c68ed0c 244
Tiz 1:9f279c68ed0c 245
Tiz 1:9f279c68ed0c 246
Tiz 1:9f279c68ed0c 247