File content as of revision 13:048458947701:

#include "mbed.h"
#include "HIDScope.h"
#include "QEI.h"
#include "MODSERIAL.h"
#include "BiQuad.h"
#include "FastPWM.h"

// Button and potmeter1 control
InterruptIn button1(D11);
InterruptIn button2(D10);
InterruptIn buttonsw2(SW2);
InterruptIn buttonsw3(SW3);
AnalogIn potmeter1(A0);
AnalogIn potmeter2(A1);
AnalogIn potmeter3(A2);
AnalogIn potmeter4(A3);
// Encoder
DigitalIn encA1(D13);
DigitalIn encB1(D12);
QEI encoder1(D13,D12,NC,64,QEI::X4_ENCODING);
float Ts = 0.01;
float motor1angle;
float omega1;


// Motor
DigitalOut motor2Direction(D4);
FastPWM motor2Power(D5);
DigitalOut motor1Direction(D7);
FastPWM motor1Power(D6);

volatile int motor1Toggle = 1;

//Motorcontrol
bool motordir1;
float motor1ref= 0;
double controlsignal1;
double potValue;
double pi2= 6.283185;
float motor1error; //e = error
float Kp=0.27;
float Ki=0.35;
float u_p1;
float u_i1;

//Windup control
float ux1;
float up1;
float ek1;
float ei1= 0;
float Ka= 1;

//Hidscope
HIDScope scope(3); //Going to send 3 channels of data. To access data go to 'http:/localhost:18082/' after starting HIDScope application.
// PC connection
MODSERIAL pc(USBTX, USBRX);

// Intializing tickers
Ticker motorTicker;
Ticker controlTicker;
Ticker directionTicker;
Ticker encoderTicker;
Ticker scopeTicker;

const float PWM_period = 1e-6;

volatile int counts1; // Encoder counts
volatile int countsPrev1 = 0;
volatile int deltaCounts1;

float factorin = 6.23185/64; // Convert encoder counts to angle in rad
float gearratio = 131.25; // Gear ratio of gearbox


float PID_controller1(float motor1error){
    static float error_integral1=0;
    //static float e_prev=e;
    
    //Proportional part:
    u_p1=Kp*motor1error;
    
    //Integral part
    error_integral1=error_integral1+ei1*Ts;
    u_i1=Ki*error_integral1;
    
    // Sum and limit
    up1= u_p1+u_i1;
    if (up1>1){
        controlsignal1=1;}
    else if (up1<-1){
        controlsignal1=-1;}
    else {
        controlsignal1=up1;}
    
    // To prevent windup
    ux1= up1-controlsignal1;
    ek1= Ka*ux1;
    ei1= motor1error-ek1;
     //Return
     return controlsignal1; 
}


void readEncoder()
{
    counts1 = encoder1.getPulses();
    deltaCounts1 = counts1 - countsPrev1;

    countsPrev1 = counts1;
}

void togglehoek(){
    
    motor1ref= 0.5*pi2+motor1ref;
    // static float t = 0;
    // refangle= pi2/3.0f*sin(5.0f*t)*motor1Toggle;
    //t+=0.01;
    }
    
void motorControl()
{
    //togglehoek();
    button1.fall(&togglehoek);
    motor1angle = counts1 * factorin / gearratio; // Angle of motor shaft in rad
    omega1 = deltaCounts1 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s
    potValue= potmeter1.read();
    //refangle= (potValue*2*pi2)-pi2;
    motor1error=motor1ref-motor1angle;
    
    controlsignal1=PID_controller1(motor1error);
       
    if (controlsignal1<0){
        motordir1= 0;}
    else {
         motordir1= 1;}
    motor1Power.write(abs(controlsignal1));
    motor1Direction= motordir1;
}

void Plotje(){
    scope.set(0,motor1ref); //gewenste hoek
    scope.set(1,motor1angle); //Gemeten hoek
    scope.set(2,motor1error); //verschil in gewenste en gemeten hoek

    scope.send(); //send what's in scope memory to PC
}

void toggleMotor()
{
    motor1Toggle = !motor1Toggle;
}

int main()
{
    pc.baud(115200);
    pc.printf("\r\nStarting...\r\n\r\n");
    
    motor1Power.period(PWM_period);
    motorTicker.attach(motorControl, 0.01);
    scopeTicker.attach(Plotje, 0.01);
    encoderTicker.attach(readEncoder, Ts);
    
    button2.fall(&toggleMotor);
    
    while (true) {

        //pc.printf("Potmeter: %d \r\n", potValue,);
        //pc.printf("Counts: %i   DeltaCounts: %i\r\n", counts, deltaCounts);
        pc.printf("Angle:  %f   Omega:       %f\r\n", motor1angle, omega1);
        pc.printf("refangle: %f   Error:  %f     \r\n",motor1ref, motor1error);
        pc.printf("Kp: %f   Ki:    %f \r\n", Kp, Ki);
        
        wait(0.5);
    }
}