Diff: main.cpp

Revision:

3:4d7ff98b0e96

Parent:

2:060a86df835f

Child:

4:07e5212862ab

diff -r 060a86df835f -r 4d7ff98b0e96 main.cpp
--- a/main.cpp	Wed Mar 06 20:21:46 2019 +0000
+++ b/main.cpp	Thu Mar 07 00:16:47 2019 +0000
@@ -1,28 +1,48 @@
 #include "mbed.h"
-#include "Terminal.h"                           //header file for terminal screen
+#include "Terminal.h"     
+#include <cmath>  
+#include <algorithm>
+#define TI  0.0001 //1kHz Sample time
+#define KP  1.0f  //Proportional gain
+#define KI  1.0f  //Integral gain
+#define LOWER_BOUNDARY  0.0f  //Lower boundary
+#define UPPER_BOUNDARY  1.0f //upper boundary
+#define LOWERDC_BOUNDARY  0.4f1  //Lower boundary
+#define UPPERDC_BOUNDARY  1.0f //upper boundary
 
-Terminal term(USBTX, USBRX);  
+volatile float INTEGRAL_ERROR = 0.0;  
+
+float errorArea;
+
+Terminal term(USBTX, USBRX); 
 
 AnalogIn AI_in(PTB0);
 PwmOut PWM_out(PTE21);
-
-
+AnalogIn Tach_in(PTB2); //0-3.3 feedback
+Ticker Time_Wizard;
+DigitalOut Adjustingled
 
-
-
+void Adjusting(){
+    float feedback = Tach_in.read();
+    float vref = AI_in.read();
+    float err = vref - feedback;
+    errorArea += err * TI;
+    errorArea = min(max(LOWER_BOUNDARY, errorArea),UPPER_BOUNDARY);
+    float control_out = KP*error + KI*errorArea; 
+    control_out = min(max(LOWERDC_BOUNDARY, control_out),UPPERDC_BOUNDARY);
+    PWM_out.write(control_out);
+    
+    }
 
 int main() {
     PWM_out.period(.005);
+    Time_Wizard.attach(&Adjusting, TI);
     while(1) {
-        if( AI_in.read() < .40){
-            PWM_out.write(.40);
-            }else{
-        PWM_out.write(AI_in.read());
-        }
-
+        
      term.cls();
      term.printf("\nVrefV:\r\n %f", 3.3*AI_in.read(), AI_in.read());
      term.printf("\nVrefADC/Duty: \r\n %f" ,AI_in.read() );
+     term.printf("\nVrefADC/Duty: \r\n %f" ,Tach_in.read() );
       
         wait(.05);        
     }