No.9 Robotics / Mbed 2 deprecated Robotics_Servo_control

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Dependencies:   mbed

Fork of Robotics_Lab_Servo by LDSC_Robotics

Diff: main.cpp

Revision:
7:db4ddfc0cf4e
Parent:
6:52f6c4d57d74
--- a/main.cpp	Thu Mar 10 07:26:03 2016 +0000
+++ b/main.cpp	Thu Mar 10 11:03:39 2016 +0000
@@ -12,10 +12,6 @@
 
 AnalogIn adc(A2);//Temporary usage
 
-//LED1 = D13 = PA_5 (LED on Nucleo board)
-DigitalOut led1(LED1);
-DigitalOut led2(D12);
-
 // timer variables
 Ticker timer1;
 int timer1_counter;
@@ -42,13 +38,7 @@
     init_TIMER();
     while(1)
     {
-        if(timer1_counter == 100)
-        {
-            timer1_counter = 0;
-            angle_ref += 15;
-            if (angle_ref == 45)
-                break;               
-        }
+        ;
     }       
 }
 
@@ -56,15 +46,23 @@
 {
     timer1_counter ++;
     
+    if(timer1_counter == 100)
+    {
+        timer1_counter = 0;
+        angle_ref += 15.0f;
+        if (angle_ref == 45.0f)
+            break;               
+    }
+    
     angle_read = (adc.read() - 0.45f) / 0.48f * 180.0f;   //0.21 ~ 0.69 respect to -90 ~ +90 degree
     angle_check = angle_read;
     
     //////code for PI control//////
     err = angle_ref - angle_read;
     ierr += err;
-    PI_out = Kp * err + Ki * 0.01f*(ierr - err);
+    PI_out = Kp * err + Ki * 0.01f * (ierr - err);
     
-    ////////////
+    // staturation
     if(PI_out >= 0.5f)PI_out = 0.5;
     else if(PI_out <= -0.5f)PI_out = -0.5;
     pwm1_duty = PI_out + 0.5f;
@@ -82,7 +80,7 @@
        
 void init_IO(void)
 {
-    angle_ref = -45;
+    angle_ref = -45.0f;
 }         
    
 void init_PWM(void)
@@ -90,9 +88,4 @@
     pwm1.period_us(50);
     pwm1.write(0.5);
     TIM1->CCER |= 0x4;
-}
-
-void flash(void)
-{
-    led1 = !led1;
 }
\ No newline at end of file