ES202_Final / Mbed 2 deprecated ES202_Turn

Turn

Dependencies:   ContinuousServo Tach mbed

Files at this revision

API Documentation at this revision

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

ContinuousServo.lib Show annotated file Show diff for this revision Revisions of this file
Tach.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /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

--- /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

--- /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

--- /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