No.9 Robotics / Mbed 2 deprecated Robotics_Servo_control

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Dependencies:   mbed

Fork of Robotics_Lab_Servo by LDSC_Robotics

Files at this revision

API Documentation at this revision

Revision 3:71a807b38a3e, committed 2016-03-10

Comitter:
dg0704
Date:
Thu Mar 10 06:22:25 2016 +0000
Parent:
2:a3c64321e9c2
Child:
4:facfa2ac9a59
Commit message:
add Kp and Ki;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Mar 03 15:04:40 2016 +0000
+++ b/main.cpp	Thu Mar 10 06:22:25 2016 +0000
@@ -8,8 +8,8 @@
 #define Ki 0.013f
 
 PwmOut servo(A0);
-PwmOut pwm1(D7);
-PwmOut pwm1n(D11);
+PwmOut pwm1(PA_8);
+PwmOut pwm1n(PB_13);
 
 AnalogIn adc(A2);//Temporary usage
 
@@ -33,9 +33,8 @@
 float ierr = 0.0;
 float PI_out = 0.0;
 float pwm1_duty = 0.5;
-
-//Variable(s) for internal control
-float servo_duty = 0.079;//0.079 +(0.084/180)*angle, -90<angle<90
+float kp = 0.025;
+float ki = 0.025;
 
 int main (void)
 {    
@@ -54,11 +53,9 @@
     angle_check = angle_read;
     
     //////code for PI control//////
-    
-    
-    
-    
-    
+    err = angle_ref - angle_read;
+    ierr = 0.01f/(err-1);
+    PI_out = kp*err+ki*ierr;
     
     ////////////
     if(PI_out >= 0.5f)PI_out = 0.5;
@@ -66,18 +63,8 @@
     pwm1_duty = PI_out + 0.5f;
     if(angle_check > 100.0f || angle_check < -100.0f)pwm1_duty = 0.5;
     pwm1.write(pwm1_duty);
-    TIM1->CCER |= 0x4;
-    
-    //////code for internal control//////
-    
-    
-    
-    
-    
-    ////////////
-    if(servo_duty >= 0.121f)servo_duty = 0.121;
-    else if(servo_duty <= 0.037f)servo_duty = 0.037;
-    servo.write(servo_duty);
+    TIM1->CCER |= 0x4;      //enable ch1 complementary output
+
 }
 
 void init_TIMER(void)
@@ -93,8 +80,6 @@
    
 void init_PWM(void)
 {
-    servo.period_ms(20);
-    servo.write(servo_duty);
     pwm1.period_us(50);
     pwm1.write(0.5);
     TIM1->CCER |= 0x4;