An embedded device
Dependencies: Crypto
Diff: main.cpp
- Revision:
- 23:904721445e7a
- Parent:
- 21:34f440ae0227
- Child:
- 24:7dd4e187dd30
diff -r 34f440ae0227 -r 904721445e7a main.cpp --- a/main.cpp Wed Mar 20 12:45:06 2019 +0000 +++ b/main.cpp Wed Mar 20 17:44:06 2019 +0000 @@ -89,10 +89,11 @@ uint64_t newKey = 0; volatile float newRev; -volatile float maxSpeed = 300; -uint32_t pulseWidth; +volatile float maxSpeed = 90; +float pulseWidth; float motorPosition_command; float motorPosition; +//float pulseWidth; void serialISR() { uint8_t newChar = pc.getc(); @@ -310,6 +311,7 @@ commandDecoder(command); } else if (command[0] == 'V') { + commandDecoder(command); putMessage(MAX_SPEED_CMD); } else if (command[0] == 'K') { @@ -386,7 +388,7 @@ //Set a given drive state -void motorOut(int8_t driveState){ +void motorOut(int8_t driveState, float pulseWidth){ //Lookup the output byte from the drive state. int8_t driveOut = driveTable[driveState & 0x07]; @@ -407,9 +409,9 @@ if (driveOut & 0x10) L3L = 1; if (driveOut & 0x20) L3H = 0; - d9.period(0.002f); //Set PWM period in seconds - d9.write(1); + //d9.write(1); + d9.pulsewidth_us(pulseWidth); } //Convert photointerrupter inputs to a rotor state @@ -419,7 +421,7 @@ int8_t motorHome() { //Put the motor in drive state 0 and wait for it to stabilize - motorOut(0); + motorOut(0,pulseWidth); wait(2.0); return readRotorState(); } @@ -431,7 +433,7 @@ //orState is subtracted from future rotor state inputs to align rotor and motor states int8_t rotorState = readRotorState(); - motorOut((rotorState-orState+lead+6)%6); //+6 to make sure the remainder is positive + motorOut((rotorState-orState+lead+6)%6,pulseWidth); //+6 to make sure the remainder is positive if (rotorState - oldRotorState == 5) motorPosition --; else if (rotorState - oldRotorState == -5) motorPosition ++; else motorPosition += (rotorState - oldRotorState); @@ -451,10 +453,10 @@ void motorCtrlFn(){ int32_t counter=0; static int32_t oldmotorPosition; - uint32_t Ts; + float Ts; float Speed; - float kps = 25; //proportional constant for speed + float kps = 40; //proportional constant for speed // Timer to count time passed between ticks to calculate velocity Timer motorTime; motorTime.start(); @@ -479,7 +481,13 @@ //equation for controls Ts = kps*(Speed -abs(motorVelocity));//*errorSign; - + if (Ts > 2000){ + Ts = 2000; + } + else if (Ts < 0){ + Ts = 0; + } + pulseWidth = Ts; // Mp = ks*error + kd*(error - PrevError) /motorTime.read() + ki*errorSum; motorTime.reset(); @@ -503,9 +511,8 @@ - //PWM.period(0.002f); //Set PWM period in seconds - //PWM.write(0.5); //Set PWM duty in % + d9.period(0.002f); //Set PWM period in seconds commandProcessorthread.start(commandProcessor);