File content as of revision 3:60009a5ed1dc:

#include "mbed.h"
#include "PID.h"

//Photointerrupter input pins
#define I1pin D2
#define I2pin D11
#define I3pin D12

//Incremental encoder input pins
#define CHA   D7
#define CHB   D8  

//Motor Drive output pins   //Mask in output byte
#define L1Lpin D4           //0x01
#define L1Hpin D5           //0x02
#define L2Lpin D3           //0x04
#define L2Hpin D6           //0x08
#define L3Lpin D9           //0x10
#define L3Hpin D10          //0x20

//Mapping from sequential drive states to motor phase outputs
/*
State   L1  L2  L3
0       H   -   L
1       -   H   L
2       L   H   -
3       L   -   H
4       -   L   H
5       H   L   -
6       -   -   -
7       -   -   -
*/
//Drive state to output table
const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};

//Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};  
//const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed

//Phase lead to make motor spin
const int8_t lead = 2;  //2 for forwards, -2 for backwards

volatile float revTime;
volatile float revPerSec;
volatile float errorPrev = 0;
volatile float dutyCycle;
volatile float targetSpeed;
volatile float acc;

volatile float timeMap[] = {0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 };

volatile float prevTime = 0;
volatile float prevSpeed = 0;
//Status LED
DigitalOut led1(LED1);
DigitalOut led2 (LED2);
DigitalOut led3 (LED3);

InterruptIn CHAintr(CHA);
InterruptIn CHBintr(CHB);

DigitalIn CHAR(CHA);
DigitalIn CHBR(CHB);

//Photointerrupter inputs
InterruptIn I1intr(I1pin);
InterruptIn I2intr(I2pin);
InterruptIn I3intr(I3pin);

DigitalIn I1(I1pin);
DigitalIn I2(I2pin);
DigitalIn I3(I3pin);


PID controller(5.0, 0.0, 0.000001, 0.001);
Ticker tick;

Timer t;

Serial pc(SERIAL_TX,SERIAL_RX);
//Motor Drive outputs
PwmOut L1L(L1Lpin);
PwmOut L1H(L1Hpin);
PwmOut L2L(L2Lpin);
PwmOut L2H(L2Hpin);
PwmOut L3L(L3Lpin);
PwmOut L3H(L3Hpin);

//Set a given drive state

void blinkLED2(){
    while(1){
        led1 = 0;   
        wait(0.5);
        led1 = 1;
        wait(0.5);
    }
}

void blinkLED3(){
    while(1){
        led3 = 0;   
        wait(0.1);
        led3 = 1;
        wait(0.1);
    }
}

void mesSpeedSlits(){
    float currTime = t.read();
    revPerSec = 0.4*prevSpeed + 0.6*((0.0021367521)/(currTime-prevTime));
    prevTime = currTime;
    prevSpeed = revPerSec;
    
}

void mesRot(){
    led3 = !led3;
    float speedTime;
    speedTime = t.read();
    revPerSec = 1.0/(speedTime - timeMap[I1 + 2*I2 + 4*I3]);
    timeMap[I1 + 2*I2 + 4*I3] = speedTime;
}   

void controlLoop(void){
    while(true){
        //float error = targetSpeed - revPerSec;
        //float errorDer = (error - errorPrev);
        //float k = 5.0;
        //float kd = 1;
        //dutyCycle = k*error + kd*errorDer;
        controller.setProcessValue(revPerSec);
    //Set the new output.
    dutyCycle = controller.compute();
        //errorPrev = error; //remeber error
        wait(0.001);
    }
}

void decrease(){
    dutyCycle -= 0.05;
    pc.printf("current value: %f", dutyCycle);
    if (dutyCycle < 0.2){
        dutyCycle = 1;
        }    
}
        
    
void motorOut(int8_t driveState, float dutyCycle){
    //float dutyCycle = 1.0f;
    //Lookup the output byte from the drive state.
    int8_t driveOut = driveTable[driveState & 0x07];
      
    //Turn off first
    if (~driveOut & 0x01) L1L.write(0); // = 0
    if (~driveOut & 0x02) L1H.write(dutyCycle);// = 1;
    if (~driveOut & 0x04) L2L.write(0); // = 0;
    if (~driveOut & 0x08) L2H.write(dutyCycle);// = 1;
    if (~driveOut & 0x10) L3L.write(0);// = 0;
    if (~driveOut & 0x20) L3H.write(dutyCycle);// = 1;
    
    //Then turn on
    if (driveOut & 0x01) L1L.write(dutyCycle);// = 1;
    if (driveOut & 0x02) L1H.write(0); // = 0;
    if (driveOut & 0x04) L2L.write(dutyCycle);// = 1;
    if (driveOut & 0x08) L2H.write(0);// = 0;
    if (driveOut & 0x10) L3L.write(dutyCycle);// = 1;
    if (driveOut & 0x20) L3H.write(0);// = 0;
    }
    
    //Convert photointerrupter inputs to a rotor state
inline int8_t readRotorState(){
    return stateMap[I1 + 2*I2 + 4*I3];
    }

//Basic synchronisation routine    
int8_t motorHome() {
    //Put the motor in drive state 0 and wait for it to stabilise
    motorOut(0, 1);
    wait(3.0);
    
    //Get the rotor state
    return readRotorState();
}
    
void printStatus() {
    while(1){
        led3 = !led3;
    //pc.printf("%f\n\r",revPerSec);
    wait(2);
    }
    } 
//Main
int main() {
    
    Thread th1;
Thread controlLoopThread;
    int8_t orState = 0;    //Rotot offset at motor state 0
    
      controller.setInputLimits(0, 200);
  //Pwm output from 0.0 to 1.0
  controller.setOutputLimits(0.0, 1.0);
  //If there's a bias.
  controller.setBias(0.0);
  controller.setMode(0);
    //Initialise the serial port
    Serial pc(SERIAL_TX, SERIAL_RX);
    int8_t intState = 0;
    int8_t intStateOld = 0;
    float per = 0.001f; 
     controller.setSetPoint(50.0);
    
    L1L.period(per);
    L1H.period(per);
    L2L.period(per);
    L2H.period(per);
    L3L.period(per);
    L3H.period(per);
    dutyCycle = 1;
    pc.printf("Device on \n\r");
    
    //Run the motor synchronisation
    orState = motorHome();
    //orState is subtracted from future rotor state inputs to align rotor and motor states
    //th2.set_priority(osPriorityRealtime);
    //th1.start(blinkLED);
    //th2.start(blinkLED3);
    
    //define interrupts
    //I1intr.rise(&mesRot); //start photoInterrupt
    //I2intr.rise(&mesRot);
    //I3intr.rise(&mesRot);
    //I1intr.fall(&mesRot);
    //I2intr.fall(&mesRot);
    //I3intr.fall(&mesRot);
    
    CHAintr.rise(&mesSpeedSlits);
    CHBintr.rise(&mesSpeedSlits);
    CHAintr.fall(&mesSpeedSlits);
    CHBintr.fall(&mesSpeedSlits);
    
    th1.start(printStatus);
    controlLoopThread.start(controlLoop);  //start conrol unit thread
    t.start();
    //tick.attach(&decrease, 10);
    //Poll the rotor state and set the motor outputs accordingly to spin the motor
    while (1) {
        intState = readRotorState();
        if (pc.readable()){
             char buffer[128];
        
                pc.gets(buffer, 6);
                targetSpeed = atof(buffer);
                //pc.printf("I got '%s'\n\r", buffer); 
                pc.printf("Also in float '%f'\n\r", targetSpeed); 
                 controller.setSetPoint(targetSpeed);
                orState = motorHome();
            }
        
        if (intState != intStateOld) {
            intStateOld = intState;
            motorOut((intState-orState+lead+6)%6, dutyCycle); //+6 to make sure the remainder is positive
        }
    }
}


// hi