pid with encoder as its feedback
Dependencies: Motor PID mbed millis
Fork of Tes_Encoder_Bawaan by
PID using PID library of mbed
depedencies = Library : {PID, mbed, motor, milis}
Diff: main.cpp
- Revision:
- 1:8d4fab4e069c
- Parent:
- 0:24cb158c4064
- Child:
- 2:7565fb31357d
diff -r 24cb158c4064 -r 8d4fab4e069c main.cpp --- a/main.cpp Thu Sep 22 15:14:41 2016 +0000 +++ b/main.cpp Fri Sep 23 12:29:17 2016 +0000 @@ -1,5 +1,6 @@ #include "mbed.h" #include "millis.h" +#include "Motor.h" int val; @@ -9,24 +10,29 @@ float rpm; int start = 1; unsigned long int previousMillis = 0; - + float pwmRead=0.00; + + Motor motor1(D11,D13,D12); + AnalogIn pwmIn(A0); + int main(void) { - + DigitalIn encoder0PinA(D3); DigitalIn encoder0PinB(D4); Serial pc(USBTX,USBRX); - pc.baud(9600); + startMillis(); + while(1){ - // AnalogIn(A0); - + pwmRead = pwmIn.read(); + motor1.speed(pwmRead/255); unsigned long int currentMillis = millis(); // int counter; // counter=currentMillis/100; - if (currentMillis-previousMillis==500) + if (currentMillis-previousMillis>=500) { previousMillis = currentMillis; rpm = 120.0/7.0*encoder0Pos;