Diff: main.cpp

Revision:

0:16235cec088e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu May 19 12:35:02 2016 +0000
@@ -0,0 +1,207 @@
+#include "mbed.h"
+
+//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 Kp1 0.0085f
+#define Kp2 0.0085f
+#define Ki 0.008f
+
+Serial bluetooth(D10,D2); //宣告藍牙腳位
+
+PwmOut pwm1(D7);
+PwmOut pwm1n(D11);
+PwmOut pwm2(D8);
+PwmOut pwm2n(A3);
+
+DigitalOut led1(A4);
+DigitalOut led2(A5);
+
+//Motor1 sensor
+InterruptIn HallA_1(A1);
+InterruptIn HallB_1(A2);
+//Motor2 sensor
+InterruptIn HallA_2(D13);
+InterruptIn HallB_2(D12);
+
+
+Ticker timer1;
+void timer1_interrupt(void);
+int  timer1_counter;
+
+void CN_interrupt(void);
+
+void init_TIMER(void);
+void init_PWM(void);
+void init_CN(void);
+void init_BLUETOOTH(void);
+
+char speedCmd;
+
+int8_t stateA_1=0, stateB_1=0, stateA_2=0, stateB_2=0;
+int8_t state_1 = 0, state_1_old = 0, state_2 = 0, state_2_old = 0;
+
+int v1Count = 0;
+int v2Count = 0;
+
+float v1 = 0.0, v1_ref = 0.0;
+float v1_err = 0.0, v1_ierr = 0.0, PIout_1 = 0.0, PIout_1_old = 0.0;
+float v1_old[10] = {}, v1_avg = 0.0;
+float v2 = 0.0, v2_ref = 0.0;
+float v2_err = 0.0, v2_ierr = 0.0, PIout_2 = 0.0, PIout_2_old = 0.0;
+float v2_old[10] = {}, v2_avg = 0.0;
+
+float s = 0.5f;
+int main() {
+    
+    init_BLUETOOTH();
+    init_TIMER();
+    init_PWM();
+    init_CN();
+    
+    while(1) 
+    {
+        if(bluetooth.readable())
+        {
+           speedCmd = bluetooth.getc();
+           
+           switch(speedCmd)
+           {
+                case '1':
+                    s = 0.8f;
+                    break;
+                case '0':
+                    s = 0.5f;
+                    break;
+           }
+        }
+    }
+}
+
+void timer1_interrupt(void)
+{
+    //Motor 1
+    v1 = (float)v1Count * 50.0f / 12.0f * 60.0f / 29.0f;
+    v1Count = 0;
+        
+    pwm1.write(s);
+    TIM1->CCER |= 0x4;
+    
+    //Motor 2
+    v2 = (float)v2Count * 50.0f / 12.0f * 60.0f / 29.0f;   //unit: rpm
+    v2Count = 0;
+    
+    pwm2.write(s);
+    TIM1->CCER |= 0x40;
+    
+    timer1_counter ++;
+    if (timer1_counter == 1)
+    {
+       timer1_counter = 0;
+       if(bluetooth.writeable())
+       {
+           bluetooth.printf("%4.2f\n",v1);
+       }
+    }
+}
+
+void CN_interrupt(void)
+{
+    //Motor 1
+    stateA_1 = HallA_1.read();
+    stateB_1 = HallB_1.read();
+    
+    ///code for state determination///
+    if (stateA_1 == 0)
+    {
+        if (stateB_1 == 0)
+            state_1 = 0;
+        else
+            state_1 = 1;
+    }
+    else
+    {
+        if (stateB_1 == 1)
+            state_1 = 2;
+        else
+            state_1 = 3;
+    }
+    
+    //Forward: v1Count +1
+    //Inverse: v1Count -1
+    if ( (state_1 == (state_1_old + 1)) || (state_1 == 0 && state_1_old == 3) )
+        v1Count++;
+    else if ( (state_1 == (state_1_old - 1)) || (state_1 == 3 && state_1_old == 0))
+        v1Count--;
+            
+    state_1_old = state_1;
+    
+    //Motor 2
+    stateA_2 = HallA_2.read();
+    stateB_2 = HallB_2.read();
+    
+    ///code for state determination///
+    if (stateA_2 == 0)
+    {
+        if (stateB_2 == 0)
+            state_2 = 0;
+        else
+            state_2 = 1;
+    }
+    else
+    {
+        if (stateB_2 == 1)
+            state_2 = 2;
+        else
+            state_2 = 3;
+    }
+    
+    //Forward: v2Count +1
+    //Inverse: v2Count -1
+    if ( (state_2 == (state_2_old + 1)) || (state_2 == 0 && state_2_old == 3) )
+        v2Count++;
+    else if ( (state_2 == (state_2_old - 1)) || (state_2 == 3 && state_2_old == 0) )
+        v2Count--;
+        
+    state_2_old = state_2;
+}
+
+void init_TIMER(void)
+{
+    timer1.attach_us(&timer1_interrupt, 20000);//10ms interrupt period (100 Hz)
+    timer1_counter = 0;
+}         
+   
+void init_PWM(void)
+{
+    pwm1.period_us(50);
+    pwm1.write(0.5);
+    TIM1->CCER |= 0x4;
+    
+    pwm2.period_us(50);
+    pwm2.write(0.5);
+    TIM1->CCER |= 0x40;
+}
+
+void init_CN(void)
+{
+    HallA_1.rise(&CN_interrupt);
+    HallA_1.fall(&CN_interrupt);
+    HallB_1.rise(&CN_interrupt);
+    HallB_1.fall(&CN_interrupt);
+    
+    HallA_2.rise(&CN_interrupt);
+    HallA_2.fall(&CN_interrupt);
+    HallB_2.rise(&CN_interrupt);
+    HallB_2.fall(&CN_interrupt);
+    
+    stateA_1 = HallA_1.read();
+    stateB_1 = HallB_1.read();
+    stateA_2 = HallA_2.read();
+    stateB_2 = HallB_2.read();
+}
+
+void init_BLUETOOTH(void)
+{
+    bluetooth.baud(115200);
+}
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