ES202_Final
/
ES202_Turn
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Dependencies: ContinuousServo Tach mbed
Revision 0:29e8568563e4, committed 2018-04-26
- Comitter:
- nbchaskin
- Date:
- Thu Apr 26 14:07:38 2018 +0000
- Commit message:
- Rough try
Changed in this revision
diff -r 000000000000 -r 29e8568563e4 ContinuousServo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ContinuousServo.lib Thu Apr 26 14:07:38 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/jdonnal/code/ContinuousServo/#d6371727ce0c
diff -r 000000000000 -r 29e8568563e4 Tach.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Tach.lib Thu Apr 26 14:07:38 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/jdonnal/code/Tach/#c165325c9e3f
diff -r 000000000000 -r 29e8568563e4 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Apr 26 14:07:38 2018 +0000
@@ -0,0 +1,65 @@
+#include "mbed.h"
+#include "ContinuousServo.h"
+#include "Tach.h"
+
+Tach tLeft(p17,64);
+Tach tRight(p13,64);
+
+ContinuousServo left(p23);
+ContinuousServo right(p26);
+
+float l;
+float r;
+float speedL;
+float speedR;
+float errorL;
+float errorR;
+float sampling_per;
+
+Serial pc(USBTX,USBRX);
+
+float PIpwmL(float desired_speed,float speed);
+float PIpwmR(float desired_speed,float speed);
+
+int main() {
+ wait(5);
+ //go straight
+ while(1){
+
+ speedL = tLeft.getSpeed();
+ speedR = tRight.getSpeed();
+ l = PIpwmL(0.3, speedL);
+ r = PIpwmR(0.3, speedR);
+ l = r + 0.1;
+ left.speed(l);
+ right.speed(-r);
+
+ pc.printf("%f,%f\n",speedL,speedR);
+ wait(0.05);
+ r = l + 0.1;
+ speedL = tLeft.getSpeed();
+ speedR = tRight.getSpeed();
+ left.speed(l);
+ right.speed(-r);
+ pc.printf("%f,%f\n",speedL,speedR);
+ }
+}
+
+float PIpwmL(float desired_speed,float speed)
+{
+ float integral_errorL = 0.0;
+ float sampling_per = 0.05;
+ float errorL = desired_speed - speed;
+ integral_errorL += (errorL*sampling_per);
+ float left = (0.07*integral_errorL) + (0.08*errorL) + 0.48;
+ return left;
+ }
+float PIpwmR(float desired_speed,float speed)
+{
+ float integral_errorR = 0.0;
+ float sampling_per = 0.05;
+ float errorR = desired_speed - speed;
+ integral_errorR += (errorR*sampling_per);
+ float right = (0.07*integral_errorR) + (0.08*errorR) + 0.25;
+ return right;
+ }
\ No newline at end of file
diff -r 000000000000 -r 29e8568563e4 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Apr 26 14:07:38 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/5aab5a7997ee \ No newline at end of file