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Dependencies:   mbed MotorLab3Code

main.cpp@3:4d7ff98b0e96, 2019-03-07 (annotated)

Committer:
rjs718
Date:
Thu Mar 07 00:16:47 2019 +0000
Revision:
3:4d7ff98b0e96
Parent:
2:060a86df835f
Child:
4:07e5212862ab
sedfgvhbjn;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rjs718 0:cb571e42343c 1 #include "mbed.h"
rjs718 3:4d7ff98b0e96 2 #include "Terminal.h"
rjs718 3:4d7ff98b0e96 3 #include <cmath>
rjs718 3:4d7ff98b0e96 4 #include <algorithm>
rjs718 3:4d7ff98b0e96 5 #define TI 0.0001 //1kHz Sample time
rjs718 3:4d7ff98b0e96 6 #define KP 1.0f //Proportional gain
rjs718 3:4d7ff98b0e96 7 #define KI 1.0f //Integral gain
rjs718 3:4d7ff98b0e96 8 #define LOWER_BOUNDARY 0.0f //Lower boundary
rjs718 3:4d7ff98b0e96 9 #define UPPER_BOUNDARY 1.0f //upper boundary
rjs718 3:4d7ff98b0e96 10 #define LOWERDC_BOUNDARY 0.4f1 //Lower boundary
rjs718 3:4d7ff98b0e96 11 #define UPPERDC_BOUNDARY 1.0f //upper boundary
rjs718 2:060a86df835f 12
rjs718 3:4d7ff98b0e96 13 volatile float INTEGRAL_ERROR = 0.0;
rjs718 3:4d7ff98b0e96 14
rjs718 3:4d7ff98b0e96 15 float errorArea;
rjs718 3:4d7ff98b0e96 16
rjs718 3:4d7ff98b0e96 17 Terminal term(USBTX, USBRX);
rjs718 0:cb571e42343c 18
rjs718 0:cb571e42343c 19 AnalogIn AI_in(PTB0);
rjs718 2:060a86df835f 20 PwmOut PWM_out(PTE21);
rjs718 3:4d7ff98b0e96 21 AnalogIn Tach_in(PTB2); //0-3.3 feedback
rjs718 3:4d7ff98b0e96 22 Ticker Time_Wizard;
rjs718 3:4d7ff98b0e96 23 DigitalOut Adjustingled
rjs718 0:cb571e42343c 24
rjs718 3:4d7ff98b0e96 25 void Adjusting(){
rjs718 3:4d7ff98b0e96 26 float feedback = Tach_in.read();
rjs718 3:4d7ff98b0e96 27 float vref = AI_in.read();
rjs718 3:4d7ff98b0e96 28 float err = vref - feedback;
rjs718 3:4d7ff98b0e96 29 errorArea += err * TI;
rjs718 3:4d7ff98b0e96 30 errorArea = min(max(LOWER_BOUNDARY, errorArea),UPPER_BOUNDARY);
rjs718 3:4d7ff98b0e96 31 float control_out = KP*error + KI*errorArea;
rjs718 3:4d7ff98b0e96 32 control_out = min(max(LOWERDC_BOUNDARY, control_out),UPPERDC_BOUNDARY);
rjs718 3:4d7ff98b0e96 33 PWM_out.write(control_out);
rjs718 3:4d7ff98b0e96 34
rjs718 3:4d7ff98b0e96 35 }
rjs718 0:cb571e42343c 36
rjs718 0:cb571e42343c 37 int main() {
rjs718 2:060a86df835f 38 PWM_out.period(.005);
rjs718 3:4d7ff98b0e96 39 Time_Wizard.attach(&Adjusting, TI);
rjs718 0:cb571e42343c 40 while(1) {
rjs718 3:4d7ff98b0e96 41
rjs718 2:060a86df835f 42 term.cls();
rjs718 2:060a86df835f 43 term.printf("\nVrefV:\r\n %f", 3.3*AI_in.read(), AI_in.read());
rjs718 2:060a86df835f 44 term.printf("\nVrefADC/Duty: \r\n %f" ,AI_in.read() );
rjs718 3:4d7ff98b0e96 45 term.printf("\nVrefADC/Duty: \r\n %f" ,Tach_in.read() );
rjs718 2:060a86df835f 46
Loganlp 1:5b2bc7ec7b14 47 wait(.05);
rjs718 0:cb571e42343c 48 }
rjs718 0:cb571e42343c 49 }