Revision 1:1e5da28e18ba, committed 2021-11-16

Comitter:

duncan_120

Date:

Tue Nov 16 06:34:39 2021 +0000

Parent:

0:56821d19bd29

Commit message:

Changed in this revision

--- a/main.cpp	Wed Nov 10 11:53:49 2021 +0000
+++ b/main.cpp	Tue Nov 16 06:34:39 2021 +0000
@@ -16,7 +16,7 @@
 #define pi 3.14159f  //(is defined for) changing unit from rpm to rad/s
 
 /////////////////////////////////////////////////////// you need to modify first
-#define VELOCITY_CMD        -12.0f    // unit:voltage
+#define VELOCITY_CMD        12.0f    // unit:voltage
 ///////////////////////////////////////////////////////
 #define INPUT_VOLTAGE       12.0f 
 #define PWM_FREQUENCY       1.0f // (unit : kHz) you may need to change. Recommand don't exceed 100.0 (100 kHz)
@@ -46,6 +46,7 @@
 float dutycycle = PWM_STOP;
 float you_need_to_do = 0.5;
 short preEncoderPositionA = 0;
+int flag = 0;
 
 void step_command();
 void position_control();
@@ -113,14 +114,16 @@
     if(button_state == true){
         ReadVelocity();
         command = VELOCITY_CMD;
-//        pc.printf("%.3f, %.3f\r\n",command, velocityA);
+        pc.printf("%.3f, %.3f\r\n",command, velocityA);
         motor_drive(command,0);
-    }else{
+    }
+    else{
+        ReadVelocity();
         dutycycle = PWM_STOP;
         TIM1->CCR1 = CCR_value(dutycycle);
         TIM1->CCR2 = CCR_value(dutycycle);
-
-//        pc.printf("%.3f, %.3f\r\n",command, velocityA);  
+        pc.printf("1.8,%.3f\r\n",velocityA);
+         
     }
 #endif
 
@@ -136,27 +139,31 @@
     short pEncoderPositionA;
     
     EncoderPositionA = TIM2->CNT ;
-    EncoderPositionB = TIM3->CNT ;
+    EncoderPositionB = TIM3->CNT ;    
+    
+   
     
     // if you want count to zero you can do it
 //    TIM2->CNT = 0;
 //    TIM3->CNT = 0;
 
     /////////////////////////////////////////////////////// maybe you need to do something here
-    pEncoderPositionA = EncoderPositionA - preEncoderPositionA;
+    
+    pEncoderPositionA = EncoderPositionA - preEncoderPositionA;    
+    
     //pc.printf("EPA = %d\r, preEPA = %d\r, pEA = %d\r, V = ", EncoderPositionA, preEncoderPositionA, pEncoderPositionA);
     if(pEncoderPositionA < 0){
         pEncoderPositionA = -pEncoderPositionA;
     }
-    you_need_to_do = dt*60;
+    //you_need_to_do = dt*64;
     preEncoderPositionA = EncoderPositionA;
     ///////////////////////////////////////////////////////
     
-    velocityA = pEncoderPositionA/you_need_to_do;
+    velocityA = pEncoderPositionA/(dt*64/60);
     // please refer to PPT. (then you will find out you may need to add some variables)
     velocityB = EncoderPositionB/you_need_to_do;
     
-    pc.printf("%.4f\r\n",velocityA);
+    //pc.printf("%.4f\r\n",velocityA);
 }