![](/media/cache/group/9e3cc099b3b04bca937a1cca1da81b19.jpg.50x50_q85.jpg)
Motor control
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp
- Committer:
- freek100
- Date:
- 2019-10-11
- Revision:
- 1:08e8cc33fcae
- Parent:
- 0:e4858e2df9c7
- Child:
- 2:d7286c36595f
File content as of revision 1:08e8cc33fcae:
#include "mbed.h" //#include "HIDScope.h" #include "QEI.h" #include "MODSERIAL.h" //#include "BiQuad.h" #include "FastPWM.h" // Button and potmeter control InterruptIn button1(D11); InterruptIn button2(D10); AnalogIn potmeter(A0); // Encoder DigitalIn encA(D13); DigitalIn encB(D12); QEI encoder(D13,D12,NC,64,QEI::X4_ENCODING); float T_encoder = 0.01; float angle; float omega; // Motor DigitalOut motor2Direction(D4); FastPWM motor2Power(D5); DigitalOut motor1Direction(D7); FastPWM motor1Power(D6); //Motorcontrol bool motordir; double motorpwm; float u1; double u2; double potValue; double pi2= 6.283185; float fout; // PC connection MODSERIAL pc(USBTX, USBRX); // Intializing tickers Ticker motorTicker; Ticker controlTicker; Ticker directionTicker; Ticker encoderTicker; const float PWM_period = 1e-6; volatile int counts; // Encoder counts volatile int countsPrev = 0; volatile int deltaCounts; // motor1Direction = 1; volatile int motor1Toggle = 1; float factorin = 6.23185/64; // Convert encoder counts to angle in rad float gearratio = 131.25; // Gear ratio of gearbox void motorControl() { angle = counts * factorin / gearratio; // Angle of motor shaft in rad omega = deltaCounts / T_encoder * factorin / gearratio; // Angular velocity of motor shaft in rad/s potValue= potmeter.read(); u1= (potValue*2*pi2)-pi2; fout=u1-angle; u2= fout/pi2; motorpwm= abs(u2); if (u2<0){ motordir= 0;} else { motordir= 1;} motor1Power.pulsewidth(motorpwm * PWM_period * motor1Toggle); motor1Direction= motordir; } void readEncoder() { counts = encoder.getPulses(); deltaCounts = counts - countsPrev; countsPrev = counts; } int main() { pc.baud(115200); pc.printf("\r\nStarting...\r\n\r\n"); motor1Power.period(PWM_period); motorTicker.attach(motorControl, 0.01); encoderTicker.attach(readEncoder, T_encoder); 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", angle, omega); pc.printf("U1: %f Error: %f \r\n",u1, fout); wait(0.5); } }