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Dependencies:   EMG HIDScope PID QEI mbed TextLCD

inits.h@3:70f78cfc0f25, 2015-10-14 (annotated)

Committer:
ewoud
Date:
Wed Oct 14 13:16:35 2015 +0000
Revision:
3:70f78cfc0f25
Parent:
2:8f9b6c1e89cf
Child:
6:ae2ce89dd695
fixed callibrate, included stepping

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ewoud 3:70f78cfc0f25 1
ewoud 2:8f9b6c1e89cf 2 #define RATE 0.005f
ewoud 0:ca94aa9bf823 3 #define Kc 0.30
ewoud 0:ca94aa9bf823 4 #define Ti 0.00
ewoud 0:ca94aa9bf823 5 #define Td 0.0
ewoud 0:ca94aa9bf823 6
ewoud 3:70f78cfc0f25 7 ///////////////////////
ewoud 3:70f78cfc0f25 8 /// pin layout ////////
ewoud 3:70f78cfc0f25 9 ///////////////////////
ewoud 3:70f78cfc0f25 10
ewoud 0:ca94aa9bf823 11 Serial pc(USBTX, USBRX);
ewoud 3:70f78cfc0f25 12
ewoud 0:ca94aa9bf823 13 // Left motor.
ewoud 0:ca94aa9bf823 14 PwmOut leftMotor(D5);
ewoud 0:ca94aa9bf823 15 DigitalOut leftDirection(D4);
ewoud 0:ca94aa9bf823 16 QEI leftQei(D12, D13, NC, 624);
ewoud 0:ca94aa9bf823 17 PID leftController(Kc, Ti, Td, RATE);
ewoud 0:ca94aa9bf823 18
ewoud 0:ca94aa9bf823 19 // Right motor
ewoud 0:ca94aa9bf823 20 PwmOut rightMotor(D6);
ewoud 0:ca94aa9bf823 21 DigitalOut rightDirection(D7);
ewoud 0:ca94aa9bf823 22 QEI rightQei(D11, D10, NC, 624);
ewoud 0:ca94aa9bf823 23 PID rightController(Kc, Ti, Td, RATE);
ewoud 0:ca94aa9bf823 24
ewoud 0:ca94aa9bf823 25 // edge leads
ewoud 3:70f78cfc0f25 26 DigitalIn edgeleft(PTC5);
ewoud 3:70f78cfc0f25 27 DigitalIn edgeright(PTC7);
ewoud 3:70f78cfc0f25 28 DigitalIn edgetop(PTC0);
ewoud 3:70f78cfc0f25 29 DigitalIn edgebottom(PTC9);
ewoud 0:ca94aa9bf823 30
ewoud 3:70f78cfc0f25 31 // emg input
ewoud 0:ca94aa9bf823 32 AnalogIn pot1(A0);
ewoud 0:ca94aa9bf823 33 AnalogIn pot2(A1);
ewoud 3:70f78cfc0f25 34
ewoud 3:70f78cfc0f25 35 // user interface
ewoud 3:70f78cfc0f25 36 DigitalOut outofboundsled(LED1);
ewoud 3:70f78cfc0f25 37 InterruptIn startButton(D3);
ewoud 3:70f78cfc0f25 38 InterruptIn stopButton(D2);
ewoud 3:70f78cfc0f25 39 HIDScope scope(5);
ewoud 3:70f78cfc0f25 40
ewoud 3:70f78cfc0f25 41 ////////////////////////////
ewoud 3:70f78cfc0f25 42 //////// Timers ////////////
ewoud 3:70f78cfc0f25 43 ////////////////////////////
ewoud 3:70f78cfc0f25 44 Ticker scopeTimer;
ewoud 0:ca94aa9bf823 45 Timer endTimer;
ewoud 0:ca94aa9bf823 46 Ticker motorControlTicker;
ewoud 0:ca94aa9bf823 47 bool goFlag=false;
ewoud 0:ca94aa9bf823 48 bool systemOn=false;
ewoud 3:70f78cfc0f25 49
ewoud 3:70f78cfc0f25 50
ewoud 3:70f78cfc0f25 51 ////////////////////////////
ewoud 3:70f78cfc0f25 52 ///////// Variables ////////
ewoud 3:70f78cfc0f25 53 ////////////////////////////
ewoud 3:70f78cfc0f25 54
ewoud 3:70f78cfc0f25 55
ewoud 3:70f78cfc0f25 56 // Working variables for motors
ewoud 0:ca94aa9bf823 57 volatile int leftPulses = 0;
ewoud 0:ca94aa9bf823 58 volatile float leftAngle=0;
ewoud 0:ca94aa9bf823 59 volatile int leftPrevPulses = 0;
ewoud 0:ca94aa9bf823 60 volatile float leftPwmDuty = 0.0;
ewoud 0:ca94aa9bf823 61 volatile float leftVelocity = 0.0;
ewoud 0:ca94aa9bf823 62 float leftRequest=0;
ewoud 0:ca94aa9bf823 63
ewoud 0:ca94aa9bf823 64 volatile int rightPulses = 0;
ewoud 0:ca94aa9bf823 65 volatile int rightPrevPulses = 0;
ewoud 0:ca94aa9bf823 66 volatile float rightAngle =0;
ewoud 0:ca94aa9bf823 67 volatile float rightPwmDuty = 0.0;
ewoud 0:ca94aa9bf823 68 volatile float rightVelocity = 0.0;
ewoud 0:ca94aa9bf823 69 float rightRequest=0;
ewoud 0:ca94aa9bf823 70
ewoud 3:70f78cfc0f25 71 // working vars for calculation
ewoud 3:70f78cfc0f25 72 float horrequest;
ewoud 3:70f78cfc0f25 73 float verrequest;
ewoud 3:70f78cfc0f25 74 float grenslaag=0.3;
ewoud 3:70f78cfc0f25 75 float grenshoog=0.7;
ewoud 0:ca94aa9bf823 76 float round=27720;
ewoud 3:70f78cfc0f25 77 float maxspeed=1; //cm/sec
ewoud 0:ca94aa9bf823 78 float currentX;
ewoud 0:ca94aa9bf823 79 float currentY;
ewoud 0:ca94aa9bf823 80 float l=10;
ewoud 0:ca94aa9bf823 81 float toX;
ewoud 0:ca94aa9bf823 82 float toY;
ewoud 0:ca94aa9bf823 83 float toLeftAngle;
ewoud 0:ca94aa9bf823 84 float toRightAngle;
ewoud 0:ca94aa9bf823 85 float M_PI=3.14159265359;
ewoud 0:ca94aa9bf823 86
ewoud 3:70f78cfc0f25 87 //////////////////////////////////
ewoud 3:70f78cfc0f25 88 ////// initialize functions //////
ewoud 3:70f78cfc0f25 89 //////////////////////////////////
ewoud 0:ca94aa9bf823 90
ewoud 0:ca94aa9bf823 91 void initMotors(){
ewoud 0:ca94aa9bf823 92 //Initialization of motor
ewoud 0:ca94aa9bf823 93 leftMotor.period_us(50);
ewoud 0:ca94aa9bf823 94 leftMotor = 0.0;
ewoud 0:ca94aa9bf823 95 leftDirection = 1;
ewoud 0:ca94aa9bf823 96
ewoud 0:ca94aa9bf823 97 rightMotor.period_us(50);
ewoud 0:ca94aa9bf823 98 rightMotor = 0.0;
ewoud 0:ca94aa9bf823 99 rightDirection = 1;
ewoud 0:ca94aa9bf823 100
ewoud 0:ca94aa9bf823 101 }
ewoud 0:ca94aa9bf823 102
ewoud 0:ca94aa9bf823 103 void initPIDs(){
ewoud 0:ca94aa9bf823 104 //Initialization of PID controller
ewoud 3:70f78cfc0f25 105 leftController.setInputLimits(-90.0, 90.0);
ewoud 0:ca94aa9bf823 106 leftController.setOutputLimits(-1.0, 1.0);
ewoud 0:ca94aa9bf823 107 leftController.setBias(0);
ewoud 0:ca94aa9bf823 108 leftController.setDeadzone(-0.4, 0.4);
ewoud 0:ca94aa9bf823 109 leftController.setMode(AUTO_MODE);
ewoud 0:ca94aa9bf823 110
ewoud 3:70f78cfc0f25 111 rightController.setInputLimits(-90.0, 90.0);
ewoud 0:ca94aa9bf823 112 rightController.setOutputLimits(-1.0, 1.0);
ewoud 0:ca94aa9bf823 113 rightController.setBias(0);
ewoud 0:ca94aa9bf823 114 rightController.setDeadzone(-0.4, 0.4);
ewoud 0:ca94aa9bf823 115 rightController.setMode(AUTO_MODE);
ewoud 0:ca94aa9bf823 116 }