Diff: main.cpp

Revision:

0:f641e7f8973f

Child:

1:f2a8a330983b

diff -r 000000000000 -r f641e7f8973f main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 16 01:44:23 2016 +0000
@@ -0,0 +1,28 @@
+#include "mbed.h"
+#include "PID.h"
+
+float Kp = 30.0;
+float Ki = 0.0;
+float Kd = 0.0;
+float interval = 0.1; //in seconds
+
+PID controller(Kp, Ki, Kd, interval);
+float currentVelocity;
+PwmOut co(p26);
+
+Ticker executeController;
+
+void control() {
+    controller.setProcessValue(currentVelocity);
+    outputPWM = controller.compute();
+}
+
+int main() {
+    controller.setInputLimits(0.0, 6.0); //max input speeds in m/s
+    controller.setOutputLimits(0.0, 1.0); //PWM outputs from 0% to 100%
+    controller.setSetPoint(3.0); //reference velocity is 3.0 m/s
+    controller.setBias(0.0); //no bias for controller to output
+    controller.setMode(1); //AUTO mode
+    executeController.attach(&control, interval);
+        
+}