File content as of revision 0:451c27e4d55e:

//*****************************************************/
//  Include  // 
#include "mbed.h"
#include "pinconfig.h"
#include "PID.h"
#include "Motor.h"
#include "eeprom.h"

//*****************************************************/
// Defines  // 
#define Rate 0.01
#define Kc  -2.6
#define Ti   0.0
#define Td   0.0

//*****************************************************/
// Global  //
//-- pc monitor --
Serial PC(D1,D0);
//-- encoder --  
int Position;
int data;
SPI device(Emosi, Emiso, Esck);
DigitalOut Encoder(EncoderA);
//-- Motor --
Motor LeftUpper(PWM_LU,A_LU,B_LU);
//-- PID --
int SetPoint;
PID LU_PID(Kc, Ti, Td, Rate);//Kp,Ki,Kd,Rate
//*****************************************************/
void Read_Encoder()
{
    SPI device(Emosi, Emiso, Esck);
    device.format(8,0);
    device.frequency(200000);//due to rising time,have to decrease clock from 1M - 240k
    
    Encoder = 0;
    wait_us(50);
    device.write(0x41);
    wait_us(50);
    device.write(0x09);
    wait_us(50);
    data = device.write(0x00);
    wait_us(50);
    Encoder = 1;
    
}
//*****************************************************/
void Get_EnValue(int Val)
{
    int i = 0;
    static unsigned char codes[] = {
    127, 63, 62, 58, 56, 184, 152, 24, 8, 72, 73, 77, 79, 15, 47, 175,
    191, 159, 31, 29, 28, 92, 76, 12, 4, 36, 164, 166, 167, 135, 151, 215,
    223, 207, 143, 142, 14, 46, 38, 6, 2, 18, 82, 83, 211, 195, 203, 235, 
    239, 231, 199, 71, 7, 23, 19, 3, 1, 9, 41, 169, 233, 225, 229, 245, 
    247, 243, 227, 163, 131, 139, 137, 129, 128, 132, 148, 212, 244, 240, 242, 250,
    251, 249, 241, 209, 193, 197, 196, 192, 64, 66, 74, 106, 122, 120, 121, 125, 
    253, 252, 248, 232, 224, 226, 98, 96, 32, 33, 37, 53, 61, 60, 188, 190, 
    254, 126, 124, 116, 112, 113, 49, 48, 16, 144, 146, 154, 158, 30, 94, 95 };
    
    while(i<=127)
    {
        if(Val == codes[i])
        {
            Position = i;
            break;
        }
        else i++;
    }
}
//*****************************************************/
int main()
{
    LeftUpper.period(0.00005);
    LU_PID.setInputLimits(0,127);
    LU_PID.setOutputLimits(0,0.9);
    LU_PID.setMode(AUTO_MODE);
    
    //get the target position
    SetPoint = 63;
    LU_PID.setSetPoint(SetPoint);
    
    Read_Encoder();
    PC.printf("%d\n",data);
    Get_EnValue(data);
    PC.printf("%d\n********************\n",Position);    
    
    while(Position != SetPoint)
    {
        LU_PID.setProcessValue(Position);
        LeftUpper.speed(LU_PID.compute());
        
        Read_Encoder();
        Get_EnValue(data);
    }
    
       
}