ELCT 302 / Mbed 2 deprecated Driving

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Dependencies:   mbed

Fork of Driving by Kyle Drain

main.cpp@3:f557fc495719, 2018-03-29 (annotated)

Committer:
KDrainEE
Date:
Thu Mar 29 18:12:44 2018 +0000
Revision:
3:f557fc495719
Parent:
2:1fd3a4aff5d3 
Seems to work fairly well again

Who changed what in which revision?

UserRevisionLine numberNew contents of line
KDrainEE 0:8c9ee304ed9f 1 #include "mbed.h"
KDrainEE 0:8c9ee304ed9f 2 #include <iostream>
KDrainEE 0:8c9ee304ed9f 3
KDrainEE 1:c6d269c69853 4 #define SCALAR 0.6f
KDrainEE 1:c6d269c69853 5 #define TACH PTB1
KDrainEE 1:c6d269c69853 6 #define SPEED_CONTROL PTD5
KDrainEE 1:c6d269c69853 7 #define BRAKE PTA13
KDrainEE 0:8c9ee304ed9f 8
KDrainEE 1:c6d269c69853 9 #define TI 0.001f
KDrainEE 3:f557fc495719 10 #define MINM 0.0f
KDrainEE 3:f557fc495719 11 #define MAXM 1.0f
KDrainEE 3:f557fc495719 12 #define KPM 0.1414f
KDrainEE 1:c6d269c69853 13 #define KI 19.7408f
KDrainEE 0:8c9ee304ed9f 14
KDrainEE 1:c6d269c69853 15 Ticker sample;
KDrainEE 1:c6d269c69853 16 AnalogIn speed(TACH);
KDrainEE 1:c6d269c69853 17 PwmOut gateDrive(SPEED_CONTROL);
KDrainEE 3:f557fc495719 18 //DigitalOut brake(BRAKE);
KDrainEE 3:f557fc495719 19 DigitalOut myLed(LED_GREEN);
KDrainEE 1:c6d269c69853 20
KDrainEE 3:f557fc495719 21 float Setpoint = 0.0;
KDrainEE 3:f557fc495719 22 float errSum = 0.0;
KDrainEE 1:c6d269c69853 23
KDrainEE 3:f557fc495719 24 //Serial pc(USBTX, USBRX);
KDrainEE 0:8c9ee304ed9f 25 Serial bt(PTE0, PTE1); //COM12
KDrainEE 0:8c9ee304ed9f 26
KDrainEE 0:8c9ee304ed9f 27 void serCb()
KDrainEE 0:8c9ee304ed9f 28 {
KDrainEE 0:8c9ee304ed9f 29 char x = bt.getc();
KDrainEE 3:f557fc495719 30 if (x == 'u')
KDrainEE 0:8c9ee304ed9f 31 {
KDrainEE 3:f557fc495719 32 Setpoint = Setpoint + 0.05;
KDrainEE 0:8c9ee304ed9f 33 }
KDrainEE 3:f557fc495719 34 else if(x == 'h')
KDrainEE 0:8c9ee304ed9f 35 {
KDrainEE 3:f557fc495719 36 Setpoint = Setpoint - 0.05;
KDrainEE 0:8c9ee304ed9f 37 }
KDrainEE 0:8c9ee304ed9f 38 else
KDrainEE 0:8c9ee304ed9f 39 {
KDrainEE 0:8c9ee304ed9f 40 bt.putc(x);
KDrainEE 0:8c9ee304ed9f 41 }
KDrainEE 0:8c9ee304ed9f 42 }
KDrainEE 0:8c9ee304ed9f 43
KDrainEE 1:c6d269c69853 44 void compute_PI()
KDrainEE 0:8c9ee304ed9f 45 {
KDrainEE 1:c6d269c69853 46 float error = Setpoint-speed.read();
KDrainEE 1:c6d269c69853 47 errSum +=(error * TI);
KDrainEE 1:c6d269c69853 48 float iTerm = KI*errSum;
KDrainEE 3:f557fc495719 49 if(iTerm > MAXM) iTerm = MAXM;
KDrainEE 3:f557fc495719 50 if(iTerm < MINM) iTerm = MINM;
KDrainEE 3:f557fc495719 51 float output = KPM*error + iTerm;
KDrainEE 3:f557fc495719 52 if(output > MAXM) output = MAXM;
KDrainEE 3:f557fc495719 53 if(output < MINM) output = MINM;
KDrainEE 3:f557fc495719 54 if(output < MINM)
KDrainEE 1:c6d269c69853 55 {
KDrainEE 3:f557fc495719 56 gateDrive.write(MINM);
KDrainEE 3:f557fc495719 57 //brake.write(1);
KDrainEE 1:c6d269c69853 58 }
KDrainEE 1:c6d269c69853 59 else
KDrainEE 1:c6d269c69853 60 {
KDrainEE 3:f557fc495719 61 //brake.write(0);
KDrainEE 1:c6d269c69853 62 gateDrive.write(output);
KDrainEE 3:f557fc495719 63 }
KDrainEE 3:f557fc495719 64 //data[1] = output;
KDrainEE 0:8c9ee304ed9f 65 }
KDrainEE 0:8c9ee304ed9f 66
KDrainEE 0:8c9ee304ed9f 67 int main()
KDrainEE 1:c6d269c69853 68 {
KDrainEE 1:c6d269c69853 69 sample.attach(&compute_PI, TI);
KDrainEE 3:f557fc495719 70
KDrainEE 3:f557fc495719 71 myLed = 0;
KDrainEE 0:8c9ee304ed9f 72 bt.baud(115200);
KDrainEE 3:f557fc495719 73 bt.printf("Press 'u' to speed up and 'h' to slow down%\r\n");
KDrainEE 3:f557fc495719 74
KDrainEE 0:8c9ee304ed9f 75 bt.attach(&serCb);
KDrainEE 1:c6d269c69853 76 while(true)
KDrainEE 3:f557fc495719 77 {}
KDrainEE 0:8c9ee304ed9f 78 }