Revision 3:f557fc495719, committed 2018-03-29

Comitter:

KDrainEE

Date:

Thu Mar 29 18:12:44 2018 +0000

Parent:

2:1fd3a4aff5d3

Commit message:

Seems to work fairly well again

Changed in this revision

--- a/main.cpp	Thu Mar 29 13:06:44 2018 +0000
+++ b/main.cpp	Thu Mar 29 18:12:44 2018 +0000
@@ -1,39 +1,39 @@
 #include "mbed.h"
 #include <iostream>
 
-using namespace std;
-//test
 #define SCALAR 0.6f
 #define TACH PTB1
 #define SPEED_CONTROL PTD5
 #define BRAKE PTA13
 
 #define TI 0.001f
-#define MINm 0.0f
-#define MAXm 1.0f
-#define KPm 0.1414f
+#define MINM 0.0f
+#define MAXM 1.0f
+#define KPM 0.1414f
 #define KI 19.7408f
 
 Ticker sample;
 AnalogIn speed(TACH);
 PwmOut gateDrive(SPEED_CONTROL);
-DigitalOut brake(BRAKE);
+//DigitalOut brake(BRAKE);
+DigitalOut myLed(LED_GREEN);
 
-float Setpoint;
-float errSum;
+float Setpoint = 0.0;
+float errSum = 0.0;
 
+//Serial pc(USBTX, USBRX);
 Serial bt(PTE0, PTE1); //COM12
 
 void serCb()
 {
     char x = bt.getc();
-    if (x == 'a')
+    if (x == 'u')
     {
-        Setpoint = 0.25;
+        Setpoint = Setpoint + 0.05;
     }
-    else if(x == 's')
+    else if(x == 'h')
     {
-        Setpoint = 0.6;
+        Setpoint = Setpoint - 0.05;
     }
     else
     {
@@ -46,35 +46,33 @@
     float error = Setpoint-speed.read();
     errSum +=(error * TI);
     float iTerm = KI*errSum;
-    if(iTerm > MAXm) iTerm = MAXm;
-    if(iTerm < MINm) iTerm = MINm; 
-    float output = KPm*error + iTerm;
-    if(output > MAXm) output = MAXm;
-    if(output < MINm) output = MINm;    
-    if(output < MINm) 
+    if(iTerm > MAXM) iTerm = MAXM;
+    if(iTerm < MINM) iTerm = MINM; 
+    float output = KPM*error + iTerm;
+    if(output > MAXM) output = MAXM;
+    if(output < MINM) output = MINM;    
+    if(output < MINM) 
     {
-        gateDrive.write(MINm);
-        brake.write(1);
+        gateDrive.write(MINM);
+        //brake.write(1);
     }
     else 
     {
-        brake.write(0);
+        //brake.write(0);
         gateDrive.write(output);
-    }           
+    }
+    //data[1] = output;           
 }
 
 int main()
 { 
-    Setpoint = 0.0;
-    errSum = 0.0;
     sample.attach(&compute_PI, TI);
-   
+    
+    myLed = 0;
     bt.baud(115200);
-    bt.printf("Press 'a' to go 25 and 's' to go 60%\r\n");
+    bt.printf("Press 'u' to speed up and 'h' to slow down%\r\n");
+    
     bt.attach(&serCb);
-     
     while(true)
-    {
-
-    }  
+    {}  
 }
\ No newline at end of file