File content as of revision 0:5e356103dcc7:

/* LAB DCMotor */
#include "mbed.h"
 
//****************************************************************************** Define
//The number will be compiled as type "double" in default
//Add a "f" after the number can make it compiled as type "float"
#define Ts 0.01f    //period of timer1 (s)
#define Servo_Period 20
//****************************************************************************** End of Define
 
//****************************************************************************** I/O
//PWM
Serial pc(USBTX, USBRX); // tx, rx
 
//Dc motor
PwmOut pwm1(D7);
PwmOut pwm1n(D11);
PwmOut pwm2(D8);
PwmOut pwm2n(A3);
PwmOut servo(A0);
//Motor1 sensor
InterruptIn HallA_1(A1);
InterruptIn HallB_1(A2);
//Motor2 sensor
InterruptIn HallA_2(D13);
InterruptIn HallB_2(D12);
 
//LED
DigitalOut led1(A4);
DigitalOut led2(A5);
 
//Timer Setting
Ticker timer;
//****************************************************************************** End of I/O
 
//****************************************************************************** Functions
void init_timer(void);
void init_CN(void);
void init_PWM(void);
void timer_interrupt(void);
void CN_interrupt(void);
//****************************************************************************** End of Functions
 
//****************************************************************************** Variables
// Servo
float servo_duty = 0.03; // 0.025~0.113(-90~+90) 0.069->0 degree
// motor 1
int8_t HallA_state_1 = 0;
int8_t HallB_state_1 = 0;
int8_t motor_state_1 = 0;
int8_t motor_state_old_1 = 0;
int count_1 = 0;
float speed_1 = 0.0f;
float v_ref_1 = -80.0f;
float v_err_1 = 0.0f;
float v_ierr_1 = 0.0f;
float ctrl_output_1 = 0.0f;
float pwm1_duty = 0.0f;
//motor 2
int8_t HallA_state_2 = 0;
int8_t HallB_state_2 = 0;
int8_t motor_state_2 = 0;
int8_t motor_state_old_2 = 0;
int count_2 = 0;
float speed_2 = 0.0f;
float v_ref_2 = 150.0f;
float v_err_2 = 0.0f;
float v_ierr_2 = 0.0f;
float ctrl_output_2 = 0.0f;
float pwm2_duty = 0.0f;
//servo
int i = 0;
//****************************************************************************** End of Variables
 
//****************************************************************************** Main
int main()
{
    init_timer();
    init_PWM();
    init_CN();
    while(1)
    {
        pc.printf("**************************\n");       
        pc.printf("speed1: %f, error: %f\n",speed_1,v_err_1);
        pc.printf("i_error: %f ctrl output: %f \n",v_ierr_1,ctrl_output_1);
        pc.printf("speed2: %f, error: %f\n",speed_2,v_err_2);
        pc.printf("i_error: %f ctrl output: %f \n",v_ierr_2,ctrl_output_2);
 
    }
}
//****************************************************************************** End of Main
 
//****************************************************************************** timer_interrupt
void timer_interrupt()
{   
    // Motor1
    speed_1 = (float)count_1 * 100.0f / 12.0f * 60.0f / 29.0f; //rpm
    count_1 = 0;
    // Code for PI controller //
    v_err_1 = v_ref_1 - speed_1;
    v_ierr_1 += (v_err_1*Ts);
    ctrl_output_1 = 0.01f*v_err_1+ 0.1f*v_ierr_1; 
    ///////////////////////////
    
    if(ctrl_output_1 >= 0.5f)ctrl_output_1 = 0.5f;
    else if(ctrl_output_1 <= -0.5f)ctrl_output_1 = -0.5f;
    pwm1_duty = ctrl_output_1 + 0.5f;
    pwm1.write(pwm1_duty);
    TIM1->CCER |= 0x4;
    
    // Motor2
    speed_2 = (float)count_2 * 100.0f / 12.0f * 60.0f / 29.0f; //rpm
    count_2 = 0;
    // Code for PI controller //
    v_err_2 = v_ref_2 - speed_2;
    v_ierr_2 += (v_err_2*Ts);
    ctrl_output_2 = 0.001f*v_err_2+ 0.05f*v_ierr_2;
    ///////////////////////////      
    if(ctrl_output_2 >= 0.5f)ctrl_output_2 = 0.5f;
    else if(ctrl_output_2 <= -0.5f)ctrl_output_2 = -0.5f;
    pwm2_duty = ctrl_output_2 + 0.5f;
    pwm2.write(pwm2_duty);
    TIM1->CCER |= 0x40;
    
    if(v_ierr_1 > 5)
        v_ierr_1 = 0;
    if(v_ierr_2 > 8)
        v_ierr_2 = 0;
        
    //Servo
    if(i==100) 
    {
        if(servo_duty < 0.07f)
        {
            servo_duty = servo_duty+0.04f/6;
        }
        else
        {
            servo_duty = 0.07f;            
        }
        servo.write(servo_duty);
        i=0;
    }
    else
    {
        i++;
    }
}
//****************************************************************************** End of timer_interrupt
 
//****************************************************************************** CN_interrupt
void CN_interrupt()
{
    // Motor1
    // Read the current status of hall sensor
    HallA_state_1 = HallA_1.read();
    HallB_state_1 = HallB_1.read();
     
   ///code for state determination///
    if(HallA_state_1 == 0 && HallB_state_1 == 0)
        motor_state_1 = 1;
    else if(HallA_state_1 == 0 && HallB_state_1 == 1)
        motor_state_1 = 2;
    else if(HallA_state_1 == 1 && HallB_state_1 == 1)
        motor_state_1 = 3;
    else if(HallA_state_1 == 1 && HallB_state_1 == 0)
        motor_state_1 = 4;
    
    if(motor_state_old_1 != 0)
    {
        if(motor_state_old_1 < motor_state_1)
            count_1 += 1;
        else if(motor_state_old_1 > motor_state_1)
            count_1 -= 1;
        if(motor_state_old_1 == 4 && motor_state_1 == 1)
            count_1 += 2;
        if(motor_state_old_1 == 1 && motor_state_1 == 4)
            count_1 -= 2;
    }
    motor_state_old_1 = motor_state_1;
    //////////////////////////////////
    
    //Forward
    //v1Count +1
    //Inverse
    //v1Count -1
        
    // Motor2
    // Read the current status of hall sensor
    HallA_state_2 = HallA_2.read();
    HallB_state_2 = HallB_2.read();
 
    ///code for state determination///
    if(HallA_state_2 == 0 && HallB_state_2 == 0)
        motor_state_2 = 1;
    else if(HallA_state_2 == 0 && HallB_state_2 == 1)
        motor_state_2 = 2;
    else if(HallA_state_2 == 1 && HallB_state_2 == 1)
        motor_state_2 = 3;
    else if(HallA_state_2 == 1 && HallB_state_2 == 0)
        motor_state_2 = 4;
    
    if(motor_state_old_2 != 0)
    {
        if(motor_state_old_2 < motor_state_2)
            count_2 += 1;
        else if(motor_state_old_2 > motor_state_2)
            count_2 -= 1;
        if(motor_state_old_2 == 4 && motor_state_2 == 1)
            count_2 += 2;
        if(motor_state_old_2 == 1 && motor_state_2 == 4)
            count_2 -= 2;
    }
    motor_state_old_2 = motor_state_2;
    
    //////////////////////////////////
    
    //Forward
    //v2Count +1
    //Inverse
    //v2Count -1
}
//****************************************************************************** End of CN_interrupt
 
//****************************************************************************** init_timer
void init_timer()
{
     timer.attach_us(&timer_interrupt, 10000);//10ms interrupt period (100 Hz)
}
//****************************************************************************** End of init_timer
 
//****************************************************************************** init_PWM
void init_PWM()
{
    pwm1.period_us(50);
    pwm1.write(0.5);
    TIM1->CCER |= 0x4;
    
    pwm2.period_us(50);
    pwm2.write(0.5);
    TIM1->CCER |= 0x40;
    
    servo.period_ms(Servo_Period);
    servo.write(servo_duty);
}
//****************************************************************************** End of init_PWM
 
//****************************************************************************** init_CN
void init_CN()
{
    // Motor1
    HallA_1.rise(&CN_interrupt);
    HallA_1.fall(&CN_interrupt);
    HallB_1.rise(&CN_interrupt);
    HallB_1.fall(&CN_interrupt);
    
    HallA_state_1 = HallA_1.read();
    HallB_state_1 = HallB_1.read();
    
    // Motor2
    HallA_2.rise(&CN_interrupt);
    HallA_2.fall(&CN_interrupt);
    HallB_2.rise(&CN_interrupt);
    HallB_2.fall(&CN_interrupt);
    
    HallA_state_2 = HallA_2.read();
    HallB_state_2 = HallB_2.read();
}
//****************************************************************************** End of init_CN