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 2:a3c64321e9c2, committed 2016-03-03

Comitter:
YCTung
Date:
Thu Mar 03 15:04:40 2016 +0000
Parent:
1:3b6c9baa7d0c
Child:
3:71a807b38a3e
Commit message:
Robotics_Lab_Servo

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Mar 02 08:57:00 2016 +0000
+++ b/main.cpp	Thu Mar 03 15:04:40 2016 +0000
@@ -4,8 +4,8 @@
 //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 Kp 1.0f
-#define Ki 1.0f
+#define Kp 0.053f
+#define Ki 0.013f
 
 PwmOut servo(A0);
 PwmOut pwm1(D7);
@@ -26,16 +26,16 @@
 void flash(void);
 
 //Variable(s) for PI controller
-float ref = 0.45;       // 0.45 +(0.48/180.0)*angle, -90<angle<90
+float angle_ref = 0.0;  //unit in degree(s), range +-90 degrees
+float angle_read= 0.0;
+float angle_check;
 float err = 0.0;
 float ierr = 0.0;
 float PI_out = 0.0;
-float ad_read = 0.0;    // ADC value
-float ad_check;
 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 servo_duty = 0.079;//0.079 +(0.084/180)*angle, -90<angle<90
 
 int main (void)
 {    
@@ -50,8 +50,8 @@
 
 void timer1_interrupt(void)
 {
-    ad_read = adc.read();
-    ad_check = ad_read;
+    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//////
     
@@ -59,11 +59,12 @@
     
     
     
+    
     ////////////
     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;
-    if(ad_check > 0.69f || ad_check < 0.21f)pwm1_duty = 0.5;
+    if(angle_check > 100.0f || angle_check < -100.0f)pwm1_duty = 0.5;
     pwm1.write(pwm1_duty);
     TIM1->CCER |= 0x4;
     

--- a/mbed.bld	Wed Mar 02 08:57:00 2016 +0000
+++ b/mbed.bld	Thu Mar 03 15:04:40 2016 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/252557024ec3
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/87f2f5183dfb
\ No newline at end of file