File content as of revision 5:636c3fe18aa8:

#define TI 0.001f //1kHz sample time
#define KP_LEFT 0.0379f //Proportional gain
#define KI_LEFT 0.7369f //Integral Gain

//#define KP_LEFT 16.1754f
//#define KI_LEFT 314.7632f

//#define KP_RIGHT 0.0379f
//#define KI_RIGHT 0.7369f

#define KP_RIGHT 0.0463f
#define KI_RIGHT 0.8981f

#define freq 20000.0f

#define fullBatScalar 0.5873f
#define speedSensorScalar 2.5f
#define battDividerScalar 4.0;
PwmOut motorLeft(PTB1); 
PwmOut motorRight(PTB2);
AnalogIn pot1(PTB0);
AnalogIn speedSensorLeft(PTB3);
AnalogIn speedSensorRight(PTC2);
DigitalOut ledRed(LED1);
AnalogIn battInput(PTC1);
DigitalOut brakeLeft(PTA12);
DigitalOut brakeRight(PTD4);

DigitalIn enableBrakeLeft(PTA4);
DigitalIn enableBrakeRight(PTA5);

float pot1Voltage;
float dutyCycleLeft;
float tempDutyCycleLeft = 0;
float tempDutyCycleRight = 0;
float dutyCycleRight;
float speedLeftVolt;
float speedRightVolt;
float batteryVoltage;
float avgCellVoltage;

float errorAreaLeft = 0;
float errorAreaRight = 0;
float errorAreaLeftPrev = 0;
float errorAreaRightPrev = 0;
float errorLeft = 0;
float errorRight = 0;
float setpointLeft = 0.0; //target speed, 0.0 to 1.0
float setpointRight = 0.0;
float controllerOutputLeft = 0;
float controllerOutputRight = 0;
float x;

bool clampLeft = false;
bool clampRight = false;

bool brakeLeftBool = false;
bool brakeRightBool = false;


volatile bool motor_enabled = true;
void PI(void) { //motor PI interrupt
if(motor_enabled == true) {
            //--- Calculate Error ---
            errorLeft = setpointLeft - (speedLeftVolt / 3.3f); //error and setpoint is defined as a percentage, from 0 to 1
            errorRight = setpointRight - (speedRightVolt / 3.3f);
            
            //--- Steady State Error Tolerace ---
            if (abs(errorLeft) < 0.01){
                errorLeft = 0.0;
                }
            if (abs(errorRight) < 0.01){
                errorRight = 0.0;
                }
            //--- Calculate integral error ---
            if (clampLeft == false){
            errorAreaLeft = TI*errorLeft + errorAreaLeftPrev;
            }
            
            if (clampRight == false){ 
            errorAreaRight = TI*errorRight + errorAreaRightPrev;
            }
            
            errorAreaLeftPrev = errorAreaLeft;
            errorAreaRightPrev = errorAreaRight;
            
            /*
            if (errorAreaLeft > 0.1){
               errorAreaLeft = 0.0;
               }
               p
            if (errorAreaRight > 0.1){
            errorAreaRight = 0.0;
            }         
            */       
               
            //--- Calculate total error ---  
            controllerOutputLeft = KP_LEFT*errorLeft + KI_LEFT*errorAreaLeft;
            controllerOutputRight = KP_RIGHT*errorRight + KI_RIGHT*errorAreaRight;
            
            tempDutyCycleLeft = fullBatScalar * controllerOutputLeft;
            tempDutyCycleRight = fullBatScalar * controllerOutputRight;
            
            
            //--- Motor over-voltage safety ---
            if (tempDutyCycleLeft > fullBatScalar){ //safety mechanism in case feedback breaks for any reason - 
                    dutyCycleLeft = fullBatScalar; //will stop output from exceeding max duty cycle and damaging motor
                } else {                                            
                    dutyCycleLeft = tempDutyCycleLeft;
            }
            
            if (tempDutyCycleRight > fullBatScalar){
                    dutyCycleRight = fullBatScalar;
                } else {
                    dutyCycleRight = tempDutyCycleRight;
                }
                
            
            //--- integral anti-windup ---
            if (controllerOutputLeft > 1.0){
                if (errorAreaLeft > 0.0){
                    clampLeft = true;
                    }
                if (errorAreaLeft < 0.0){
                    clampLeft = false;
                    }
                } else {
                    clampLeft = false;
            }
            
            if (controllerOutputRight > 1.0){
                if (errorAreaRight > 0.0){
                    clampRight = true;
                    }
                if (errorAreaRight < 0.0){
                    clampRight = false;
                    }
                } else {
                    clampRight = false;
            }
            
            //--- fucked up manual braking stuff ---
            if (setpointLeft == 0.0 || brakeLeftBool == true)
            {
                errorAreaLeft = 0.0;
                brakeLeft = 1;
            } else {
                brakeLeft = 0;
            }
            
            if (setpointRight == 0.0 || brakeRightBool == true)
            {
                errorAreaRight = 0.0;
                brakeRight = 1;
            } else {
                brakeRight = 0;
            }
            
            //--- set motors to calculated output ---    
            motorLeft.write(dutyCycleLeft);
            motorRight.write(dutyCycleRight);
            }
    else if(motor_enabled == false) {
            // Does duty cycle zero turn off the motors? 
            motorLeft.write(0);
            motorRight.write(0);
        
        }
//--- motor braking ---
/*
if (controllerOutputLeft < 0.0){ 
brakeLeft = 1;
    } else {
        brakeLeft = 0;
}

if (controllerOutputRight < 0.0){ 
brakeRight = 1;
    } else {
        brakeRight = 0;
}
*/
        
      
}