ELCT 302 / Mbed 2 deprecated Driving

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Dependencies:   mbed

Fork of Driving by Kyle Drain

main.cpp@1:c6d269c69853, 2018-03-29 (annotated)

Committer:
KDrainEE
Date:
Thu Mar 29 02:58:47 2018 +0000
Revision:
1:c6d269c69853
Parent:
0:8c9ee304ed9f
Child:
2:1fd3a4aff5d3
hopefully optimized the code a bit

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 0:8c9ee304ed9f 4 using namespace std;
KDrainEE 0:8c9ee304ed9f 5
KDrainEE 1:c6d269c69853 6 #define SCALAR 0.6f
KDrainEE 1:c6d269c69853 7 #define TACH PTB1
KDrainEE 1:c6d269c69853 8 #define SPEED_CONTROL PTD5
KDrainEE 1:c6d269c69853 9 #define BRAKE PTA13
KDrainEE 0:8c9ee304ed9f 10
KDrainEE 1:c6d269c69853 11 #define TI 0.001f
KDrainEE 1:c6d269c69853 12 #define MINm 0.0f
KDrainEE 1:c6d269c69853 13 #define MAXm 1.0f
KDrainEE 1:c6d269c69853 14 #define KPm 0.1414f
KDrainEE 1:c6d269c69853 15 #define KI 19.7408f
KDrainEE 0:8c9ee304ed9f 16
KDrainEE 1:c6d269c69853 17 Ticker sample;
KDrainEE 1:c6d269c69853 18 AnalogIn speed(TACH);
KDrainEE 1:c6d269c69853 19 PwmOut gateDrive(SPEED_CONTROL);
KDrainEE 1:c6d269c69853 20 DigitalOut brake(BRAKE);
KDrainEE 1:c6d269c69853 21
KDrainEE 1:c6d269c69853 22 float Setpoint;
KDrainEE 1:c6d269c69853 23 float errSum;
KDrainEE 1:c6d269c69853 24
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 0:8c9ee304ed9f 30 if (x == 'a')
KDrainEE 0:8c9ee304ed9f 31 {
KDrainEE 0:8c9ee304ed9f 32 Setpoint = 0.25;
KDrainEE 0:8c9ee304ed9f 33 }
KDrainEE 0:8c9ee304ed9f 34 else if(x == 's')
KDrainEE 0:8c9ee304ed9f 35 {
KDrainEE 0:8c9ee304ed9f 36 Setpoint = 0.6;
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 1:c6d269c69853 49 if(iTerm > MAXm) iTerm = MAXm;
KDrainEE 1:c6d269c69853 50 if(iTerm < MINm) iTerm = MINm;
KDrainEE 1:c6d269c69853 51 float output = KPm*error + iTerm;
KDrainEE 1:c6d269c69853 52 if(output > MAXm) output = MAXm;
KDrainEE 1:c6d269c69853 53 if(output < MINm) output = MINm;
KDrainEE 1:c6d269c69853 54 if(output < MINm)
KDrainEE 1:c6d269c69853 55 {
KDrainEE 1:c6d269c69853 56 gateDrive.write(MINm);
KDrainEE 1:c6d269c69853 57 brake.write(1);
KDrainEE 1:c6d269c69853 58 }
KDrainEE 1:c6d269c69853 59 else
KDrainEE 1:c6d269c69853 60 {
KDrainEE 1:c6d269c69853 61 brake.write(0);
KDrainEE 1:c6d269c69853 62 gateDrive.write(output);
KDrainEE 1:c6d269c69853 63 }
KDrainEE 0:8c9ee304ed9f 64 }
KDrainEE 0:8c9ee304ed9f 65
KDrainEE 0:8c9ee304ed9f 66 int main()
KDrainEE 1:c6d269c69853 67 {
KDrainEE 1:c6d269c69853 68 Setpoint = 0.0;
KDrainEE 1:c6d269c69853 69 errSum = 0.0;
KDrainEE 1:c6d269c69853 70 sample.attach(&compute_PI, TI);
KDrainEE 0:8c9ee304ed9f 71
KDrainEE 0:8c9ee304ed9f 72 bt.baud(115200);
KDrainEE 0:8c9ee304ed9f 73 bt.printf("Press 'a' to go 25 and 's' to go 60%\r\n");
KDrainEE 0:8c9ee304ed9f 74 bt.attach(&serCb);
KDrainEE 1:c6d269c69853 75
KDrainEE 1:c6d269c69853 76 while(true)
KDrainEE 0:8c9ee304ed9f 77 {
KDrainEE 1:c6d269c69853 78
KDrainEE 1:c6d269c69853 79 }
KDrainEE 0:8c9ee304ed9f 80 }