No.9 Robotics / Mbed 2 deprecated Robotics_DCMotor

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fork of Robotics_Lab_DCMotor by LDSC_Robotics

main.cpp@7:f7d503690ea5, 2016-04-13 (annotated)

Committer:
winstonkuo
Date:
Wed Apr 13 09:32:58 2016 +0000
Revision:
7:f7d503690ea5
Parent:
3:178ee1fe1c60
Child:
8:05ac8875cb1f
ting yu;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dg0704 3:178ee1fe1c60 1 /*DCMotor*/
YCTung 0:0971f0666990 2 #include "mbed.h"
YCTung 0:0971f0666990 3
YCTung 0:0971f0666990 4 //The number will be compiled as type "double" in default
YCTung 0:0971f0666990 5 //Add a "f" after the number can make it compiled as type "float"
YCTung 0:0971f0666990 6 #define Ts 0.01f //period of timer1 (s)
dg0704 3:178ee1fe1c60 7 #define Kp 0.05f
dg0704 3:178ee1fe1c60 8 #define Ki 0.001f
dg0704 3:178ee1fe1c60 9
dg0704 3:178ee1fe1c60 10 Serial bluetooth(D10,D2); //宣告藍牙腳位
dg0704 3:178ee1fe1c60 11 Serial pc(D1, D0);
YCTung 0:0971f0666990 12
YCTung 0:0971f0666990 13 PwmOut pwm1(D7);
YCTung 0:0971f0666990 14 PwmOut pwm1n(D11);
YCTung 0:0971f0666990 15 PwmOut pwm2(D8);
YCTung 0:0971f0666990 16 PwmOut pwm2n(A3);
YCTung 0:0971f0666990 17
YCTung 0:0971f0666990 18 DigitalOut led1(A4);
YCTung 0:0971f0666990 19 DigitalOut led2(A5);
YCTung 0:0971f0666990 20
YCTung 0:0971f0666990 21 //Motor1 sensor
YCTung 0:0971f0666990 22 InterruptIn HallA_1(A1);
YCTung 0:0971f0666990 23 InterruptIn HallB_1(A2);
YCTung 0:0971f0666990 24 //Motor2 sensor
YCTung 0:0971f0666990 25 InterruptIn HallA_2(D13);
YCTung 0:0971f0666990 26 InterruptIn HallB_2(D12);
YCTung 0:0971f0666990 27
YCTung 0:0971f0666990 28 Ticker timer1;
YCTung 0:0971f0666990 29 void timer1_interrupt(void);
YCTung 0:0971f0666990 30 void CN_interrupt(void);
YCTung 0:0971f0666990 31
YCTung 0:0971f0666990 32 void init_TIMER(void);
YCTung 0:0971f0666990 33 void init_PWM(void);
YCTung 0:0971f0666990 34 void init_CN(void);
YCTung 0:0971f0666990 35
YCTung 0:0971f0666990 36 int8_t stateA_1=0, stateB_1=0, stateA_2=0, stateB_2=0;
YCTung 0:0971f0666990 37 int8_t state_1 = 0, state_1_old = 0, state_2 = 0, state_2_old = 0;
YCTung 0:0971f0666990 38
YCTung 0:0971f0666990 39 int v1Count = 0;
YCTung 0:0971f0666990 40 int v2Count = 0;
YCTung 0:0971f0666990 41
YCTung 0:0971f0666990 42 float v1 = 0.0, v1_ref = 0.0;
YCTung 0:0971f0666990 43 float v1_err = 0.0, v1_ierr = 0.0, PIout_1 = 0.0, PIout_1_old = 0.0;
YCTung 0:0971f0666990 44 float v2 = 0.0, v2_ref = 0.0;
YCTung 0:0971f0666990 45 float v2_err = 0.0, v2_ierr = 0.0, PIout_2 = 0.0, PIout_2_old = 0.0;
YCTung 0:0971f0666990 46
YCTung 0:0971f0666990 47 int main() {
YCTung 0:0971f0666990 48
dg0704 3:178ee1fe1c60 49 bluetooth.baud(115200);
dg0704 3:178ee1fe1c60 50
YCTung 0:0971f0666990 51 init_TIMER();
YCTung 0:0971f0666990 52 init_PWM();
YCTung 0:0971f0666990 53 init_CN();
YCTung 0:0971f0666990 54
YCTung 0:0971f0666990 55 v1_ref = 0.0;
YCTung 0:0971f0666990 56 v2_ref = 0.0;
YCTung 0:0971f0666990 57
dg0704 3:178ee1fe1c60 58 while(1)
dg0704 3:178ee1fe1c60 59 {
dg0704 3:178ee1fe1c60 60 if(pc.readable())
dg0704 3:178ee1fe1c60 61 {
dg0704 3:178ee1fe1c60 62 bluetooth.putc(pc.getc());
dg0704 3:178ee1fe1c60 63 }
dg0704 3:178ee1fe1c60 64 if(bluetooth.readable())
dg0704 3:178ee1fe1c60 65 {
winstonkuo 7:f7d503690ea5 66 speedCommand = bluetooth.getc();
dg0704 3:178ee1fe1c60 67
dg0704 3:178ee1fe1c60 68 if (speedCommand == 'a')
dg0704 3:178ee1fe1c60 69 {
dg0704 3:178ee1fe1c60 70 v1_ref = v1_ref + 10;
dg0704 3:178ee1fe1c60 71 v2_ref = v2_ref + 10;
dg0704 3:178ee1fe1c60 72 }
dg0704 3:178ee1fe1c60 73 else if (speedCommand == 's')
dg0704 3:178ee1fe1c60 74 {
dg0704 3:178ee1fe1c60 75 v1_ref = v1_ref - 10;
dg0704 3:178ee1fe1c60 76 v2_ref = v2_ref - 10;
dg0704 3:178ee1fe1c60 77 }
dg0704 3:178ee1fe1c60 78 else if (speedCommand == 'q')
dg0704 3:178ee1fe1c60 79 {
dg0704 3:178ee1fe1c60 80 v1_ref = v1_ref + 20;
dg0704 3:178ee1fe1c60 81 v2_ref = v2_ref + 20;
dg0704 3:178ee1fe1c60 82 }
dg0704 3:178ee1fe1c60 83 else if (speedCommand == 'w')
dg0704 3:178ee1fe1c60 84 {
dg0704 3:178ee1fe1c60 85 v1_ref = v1_ref - 20;
dg0704 3:178ee1fe1c60 86 v2_ref = v2_ref - 20;
dg0704 3:178ee1fe1c60 87 }
dg0704 3:178ee1fe1c60 88
dg0704 3:178ee1fe1c60 89 if (v1_ref < -100)
dg0704 3:178ee1fe1c60 90 v1_ref = -100;
dg0704 3:178ee1fe1c60 91 else if (v1_ref > 100)
winstonkuo 7:f7d503690ea5 92 v1_ref = 100;
dg0704 3:178ee1fe1c60 93
dg0704 3:178ee1fe1c60 94 if (v2_ref < -100)
dg0704 3:178ee1fe1c60 95 v2_ref = -100;
dg0704 3:178ee1fe1c60 96 else if (v2_ref > 100)
dg0704 3:178ee1fe1c60 97 v2_ref = 100;
dg0704 3:178ee1fe1c60 98 }
YCTung 0:0971f0666990 99 }
YCTung 0:0971f0666990 100 }
YCTung 0:0971f0666990 101
YCTung 0:0971f0666990 102 void timer1_interrupt(void)
YCTung 0:0971f0666990 103 {
YCTung 0:0971f0666990 104 //Motor 1
YCTung 1:6747911cdd90 105 v1 = (float)v1Count * 100.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
YCTung 0:0971f0666990 106 v1Count = 0;
YCTung 0:0971f0666990 107
YCTung 0:0971f0666990 108 ///code for PI control///
dg0704 3:178ee1fe1c60 109 v1_err = v1_ref - v1;
dg0704 3:178ee1fe1c60 110 v1_ierr += v1_err;
dg0704 3:178ee1fe1c60 111 PIout_1 = Kp * v1_err + Ki * Ts * (v1_ierr - v1_err);
YCTung 0:0971f0666990 112
dg0704 3:178ee1fe1c60 113 // saturation
YCTung 0:0971f0666990 114 if(PIout_1 >= 0.5f)PIout_1 = 0.5f;
YCTung 0:0971f0666990 115 else if(PIout_1 <= -0.5f)PIout_1 = -0.5f;
YCTung 0:0971f0666990 116 pwm1.write(PIout_1 + 0.5f);
YCTung 0:0971f0666990 117 TIM1->CCER |= 0x4;
YCTung 0:0971f0666990 118
dg0704 3:178ee1fe1c60 119 PIout_1_old = PIout_1;
YCTung 0:0971f0666990 120
YCTung 0:0971f0666990 121 //Motor 2
YCTung 1:6747911cdd90 122 v2 = (float)v2Count * 100.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
YCTung 0:0971f0666990 123 v2Count = 0;
YCTung 0:0971f0666990 124
YCTung 0:0971f0666990 125 ///code for PI control///
dg0704 3:178ee1fe1c60 126 v2_err = v2_ref - v2;
dg0704 3:178ee1fe1c60 127 v2_ierr += v2_err;
dg0704 3:178ee1fe1c60 128 PIout_2 = Kp * v2_err + Ki * Ts * (v2_ierr - v2_err);
YCTung 0:0971f0666990 129
dg0704 3:178ee1fe1c60 130 //saturation
YCTung 0:0971f0666990 131 if(PIout_2 >= 0.5f)PIout_2 = 0.5f;
YCTung 0:0971f0666990 132 else if(PIout_2 <= -0.5f)PIout_2 = -0.5f;
YCTung 0:0971f0666990 133 pwm2.write(PIout_2 + 0.5f);
YCTung 0:0971f0666990 134 TIM1->CCER |= 0x40;
dg0704 3:178ee1fe1c60 135
dg0704 3:178ee1fe1c60 136 PIout_2_old = PIout_2;
YCTung 0:0971f0666990 137 }
YCTung 0:0971f0666990 138
YCTung 0:0971f0666990 139 void CN_interrupt(void)
YCTung 0:0971f0666990 140 {
YCTung 0:0971f0666990 141 //Motor 1
YCTung 0:0971f0666990 142 stateA_1 = HallA_1.read();
YCTung 0:0971f0666990 143 stateB_1 = HallB_1.read();
YCTung 0:0971f0666990 144
YCTung 0:0971f0666990 145 ///code for state determination///
dg0704 3:178ee1fe1c60 146 if (stateA_1 == 0)
dg0704 3:178ee1fe1c60 147 {
dg0704 3:178ee1fe1c60 148 if (stateB_1 == 0)
dg0704 3:178ee1fe1c60 149 state_1 = 1;
dg0704 3:178ee1fe1c60 150 else
winstonkuo 7:f7d503690ea5 151 state_1 = 2;
dg0704 3:178ee1fe1c60 152 }
dg0704 3:178ee1fe1c60 153 else
dg0704 3:178ee1fe1c60 154 {
dg0704 3:178ee1fe1c60 155 if (stateB_1 == 1)
dg0704 3:178ee1fe1c60 156 state_1 = 3;
dg0704 3:178ee1fe1c60 157 else
winstonkuo 7:f7d503690ea5 158 state_1 = 4;
dg0704 3:178ee1fe1c60 159 }
YCTung 0:0971f0666990 160
dg0704 3:178ee1fe1c60 161 //Forward: v1Count +1
dg0704 3:178ee1fe1c60 162 //Inverse: v1Count -1
dg0704 3:178ee1fe1c60 163 if ( (state_1 == (state_1_old + 1)) || (state_1 == (state_1_old - 3)) )
dg0704 3:178ee1fe1c60 164 v1Count++;
dg0704 3:178ee1fe1c60 165 else if ( (state_1 == (state_1_old - 1)) || (state_1 == (state_1_old + 3)))
dg0704 3:178ee1fe1c60 166 v1Count--;
dg0704 3:178ee1fe1c60 167
dg0704 3:178ee1fe1c60 168 state_1_old = state_1;
YCTung 0:0971f0666990 169
YCTung 0:0971f0666990 170 //Motor 2
YCTung 0:0971f0666990 171 stateA_2 = HallA_2.read();
YCTung 0:0971f0666990 172 stateB_2 = HallB_2.read();
YCTung 0:0971f0666990 173
YCTung 0:0971f0666990 174 ///code for state determination///
dg0704 3:178ee1fe1c60 175 if (stateA_2 == 0)
dg0704 3:178ee1fe1c60 176 {
dg0704 3:178ee1fe1c60 177 if (stateB_2 == 0)
dg0704 3:178ee1fe1c60 178 state_2 = 1;
dg0704 3:178ee1fe1c60 179 else
winstonkuo 7:f7d503690ea5 180 state_2 = 2;
dg0704 3:178ee1fe1c60 181 }
dg0704 3:178ee1fe1c60 182 else
dg0704 3:178ee1fe1c60 183 {
dg0704 3:178ee1fe1c60 184 if (stateB_2 == 1)
dg0704 3:178ee1fe1c60 185 state_2 = 3;
dg0704 3:178ee1fe1c60 186 else
winstonkuo 7:f7d503690ea5 187 state_2 = 4;
dg0704 3:178ee1fe1c60 188 }
YCTung 0:0971f0666990 189
dg0704 3:178ee1fe1c60 190 //Forward: v2Count +1
dg0704 3:178ee1fe1c60 191 //Inverse: v2Count -1
dg0704 3:178ee1fe1c60 192 if ( (state_2 == (state_2_old + 1)) || (state_2 == (state_2_old - 3)) )
dg0704 3:178ee1fe1c60 193 v1Count++;
dg0704 3:178ee1fe1c60 194 else if ( (state_2 == (state_2_old - 1)) || (state_2 == (state_2_old + 3)))
dg0704 3:178ee1fe1c60 195 v1Count--;
YCTung 0:0971f0666990 196 }
YCTung 0:0971f0666990 197
YCTung 0:0971f0666990 198 void init_TIMER(void)
YCTung 0:0971f0666990 199 {
YCTung 0:0971f0666990 200 timer1.attach_us(&timer1_interrupt, 10000);//10ms interrupt period (100 Hz)
YCTung 0:0971f0666990 201 }
YCTung 0:0971f0666990 202
YCTung 0:0971f0666990 203 void init_PWM(void)
YCTung 0:0971f0666990 204 {
YCTung 0:0971f0666990 205 pwm1.period_us(50);
YCTung 0:0971f0666990 206 pwm1.write(0.5);
YCTung 0:0971f0666990 207 TIM1->CCER |= 0x4;
YCTung 0:0971f0666990 208
YCTung 0:0971f0666990 209 pwm2.period_us(50);
YCTung 0:0971f0666990 210 pwm2.write(0.5);
YCTung 0:0971f0666990 211 TIM1->CCER |= 0x40;
YCTung 0:0971f0666990 212 }
YCTung 0:0971f0666990 213
YCTung 0:0971f0666990 214 void init_CN(void)
YCTung 0:0971f0666990 215 {
YCTung 0:0971f0666990 216 HallA_1.rise(&CN_interrupt);
YCTung 0:0971f0666990 217 HallA_1.fall(&CN_interrupt);
YCTung 0:0971f0666990 218 HallB_1.rise(&CN_interrupt);
YCTung 0:0971f0666990 219 HallB_1.fall(&CN_interrupt);
YCTung 0:0971f0666990 220
YCTung 0:0971f0666990 221 HallA_2.rise(&CN_interrupt);
YCTung 0:0971f0666990 222 HallA_2.fall(&CN_interrupt);
YCTung 0:0971f0666990 223 HallB_2.rise(&CN_interrupt);
YCTung 0:0971f0666990 224 HallB_2.fall(&CN_interrupt);
YCTung 0:0971f0666990 225
YCTung 0:0971f0666990 226 stateA_1 = HallA_1.read();
YCTung 0:0971f0666990 227 stateB_1 = HallB_1.read();
YCTung 0:0971f0666990 228 stateA_2 = HallA_2.read();
YCTung 0:0971f0666990 229 stateB_2 = HallB_2.read();
YCTung 0:0971f0666990 230 }