File content as of revision 1:13ce5b28f6dd:

#include "mbed.h"
Serial pc(USBTX,USBRX);
//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)

Ticker timer1;
// servo motor
PwmOut servo_cmd(A0);
// DC motor
PwmOut pwm1(D7);
PwmOut pwm1n(D11);
PwmOut pwm2(D8);
PwmOut pwm2n(A3);

// Motor1 sensor
InterruptIn HallA(A1);
InterruptIn HallB(A2);
// Motor2 sensor
InterruptIn HallA_2(D13);
InterruptIn HallB_2(D12);

// 函式宣告
void init_IO();
void init_TIMER();
void timer1_ITR();
void init_CN_1();
void init_CN_2();
void CN_ITR_1();
void CN_ITR_2();
void init_PWM();

// servo motor
float servo_duty = 0.025;  // 0.069 +(0.088/180)*angle, -90<angle<90
// 90度->duty=0.025; 0度->duty=0.069; -90度->duty=0.113
int angle = 0;

// Hall sensor
int HallA_1_state = 0;
int HallB_1_state = 0;
int state_1 = 0;
int state_1_old = 0;
int HallA_2_state = 0;
int HallB_2_state = 0;
int state_2 = 0;
int state_2_old = 0;

// DC motor rotation speed control
int speed_count_1 = 0;
float rotation_speed_1 = 0.0;
float rotation_speed_ref_1 = 0;
float pwm1_duty = 0.5;
float PI_out_1 = 0.0;
float err_1 = 0.0;
float ierr_1 = 0.0;
int speed_count_2 = 0;
float rotation_speed_2 = 0.0;
float rotation_speed_ref_2 = 150;
float pwm2_duty = 0.5;
float PI_out_2 = 0.0;
float err_2 = 0.0;
float ierr_2 = 0.0;
float Kp = 0.4;
float Ki = 0.1;
int main()
{
    

    init_PWM();
    init_CN_1();
    init_CN_2();
    init_TIMER();
    while(1) {
    }
}

void init_TIMER()
{
    timer1.attach_us(&timer1_ITR, 10000.0); // the address of the function to be attached (timer1_ITR) and the interval (10000 micro-seconds)
}

void init_PWM()
{
    servo_cmd.period_ms(20);
    servo_cmd.write(servo_duty);

    pwm1.period_us(50);
    pwm1.write(0.5f);
    TIM1->CCER |= 0x4;

    pwm2.period_us(50);
    pwm2.write(0.5f);
    TIM1->CCER |= 0x40;
}
void init_CN_1()
{
    HallA.rise(&CN_ITR_1);
    HallA.fall(&CN_ITR_1);
    HallB.rise(&CN_ITR_1);
    HallB.fall(&CN_ITR_1);
   
}
void init_CN_2()
{
    HallA_2.rise(&CN_ITR_2);
    HallA_2.fall(&CN_ITR_2);
    HallB_2.rise(&CN_ITR_2);
    HallB_2.fall(&CN_ITR_2);
    
    }


void CN_ITR_1()
{
    speed_count_1 = speed_count_1+1;
}

void CN_ITR_2()
{
    speed_count_2 = speed_count_2+1;
    }

void timer1_ITR()
{
    // servo motor
    ///code for sevo motor///
    
    
    
    /////////////////////////
    
    if(servo_duty >= 0.113f)servo_duty = 0.113;
    else if(servo_duty <= 0.025f)servo_duty = 0.025;
    servo_cmd.write(servo_duty);

    // motor1
    rotation_speed_1 = (float)speed_count_1 * 100.0f / 12.0f * 60.0f / 29.0f;   //unit: rpm
  //  pc.printf("%f   ",rotation_speed_1);
    speed_count_1 = 0;

    ///PI controller for motor1///
    
    
    
    //////////////////////////////
    
    /*
    
    if(PI_out_1 >= 0.5f)PI_out_1 = 0.5;
    else if(PI_out_1 <= -0.5f)PI_out_1 = -0.5;
    pwm1_duty = PI_out_1 + 0.5f;
    pwm1.write(pwm1_duty);
    TIM1->CCER |= 0x4;
*/
    //motor2
   // rotation_speed_2 = (float)speed_count_2 * 100.0f / 12.0f * 60.0f / 29.0f;   //unit: rpm
    pc.printf("%d   \n\r",speed_count_2*100/12*60/29);
    speed_count_2 = 0;

    ///PI controller for motor2///
    
    
    err_2 = Kp*(rotation_speed_ref_2-rotation_speed_2);
    ierr_2 = ierr_2 +Ki*(rotation_speed_ref_2-rotation_speed_2)*0.01; 
    PI_out_2 = (float)(err_2)*0.005;
    
    //////////////////////////////

    if(PI_out_2 >= 0.5f)PI_out_2 = 0.5;
    else if(PI_out_2 <= -0.5f)PI_out_2 = -0.5;
    pwm2_duty = PI_out_2 + 0.5f;
    pwm2.write(pwm2_duty);
    TIM1->CCER |= 0x40;
    
    
}