LAB4
Dependencies: mbed
Diff: DC_Motor.cpp
- Revision:
- 0:9917b81c5912
- Child:
- 1:31c78f4d5084
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/DC_Motor.cpp Thu Apr 05 17:44:14 2018 +0000 @@ -0,0 +1,320 @@ +/* LAB DCMotor */ +#include "mbed.h" + +//****************************************************************************** Define +//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) + +//****************************************************************************** End of Define + +//****************************************************************************** I/O +//PWM +//Dc motor +PwmOut pwm1(D7); +PwmOut pwm1n(D11); +PwmOut pwm2(D8); +PwmOut pwm2n(A3); + +//Motor1 sensor +InterruptIn HallA_1(A1); +InterruptIn HallB_1(A2); +//Motor2 sensor +InterruptIn HallA_2(D13); +InterruptIn HallB_2(D12); + +//LED +DigitalOut led1(A4); +DigitalOut led2(A5); + +//Timer Setting +Ticker timer; +//****************************************************************************** End of I/O + +//****************************************************************************** Functions +void init_timer(void); +void init_CN(void); +void init_PWM(void); +void timer_interrupt(void); +void CN_interrupt(void); +//****************************************************************************** End of Functions + +//****************************************************************************** Variables +// Servo +float servo_duty = 0.066; // 0.025~0.113(-90~+90) 0.069->0 degree + +// motor 1 +int8_t HallA_state_1 = 0; +int8_t HallB_state_1 = 0; +int8_t motor_state_1 = 0; +int8_t motor_state_old_1 = 0; +int count_1 = 0; +float speed_1 = 0.0f; +float v_ref_1 = 80.0f; +float v_err_1 = 0.0f; // v_err_old_1 = v_err_1 ; v_err_1 = v_ref_1 - speed_1 ; +float v_ierr_1 = 0.0f; //integral error : v_ierr_1 = v_err_old_1 + v_err_1; +float ctrl_output_1 = 0.0f; +float pwm1_duty = 0.0f; + +float v_err_old_1 = 0.0f; +float Kp_1 = 10; //need to be tested +float Ki_1 = 10; //need to be tested + + +//motor 2 +int8_t HallA_state_2 = 0; +int8_t HallB_state_2 = 0; +int8_t motor_state_2 = 0; +int8_t motor_state_old_2 = 0; +int count_2 = 0; +float speed_2 = 0.0f; +float v_ref_2 = 150.0f; +float v_err_2 = 0.0f; +float v_ierr_2 = 0.0f; +float ctrl_output_2 = 0.0f; +float pwm2_duty = 0.0f; + +float v_err_old_1 = 0.0f; +float Kp_2 = 10; +float Ki_2 = 10; + + +//****************************************************************************** End of Variables + + +//****************************************************************************** Main +int main() +{ + init_timer(); + init_PWM(); + init_CN(); + while(1) + { + } +} +//****************************************************************************** End of Main + +//****************************************************************************** timer_interrupt +void timer_interrupt() +{ + // Motor1 + speed_1 = (float)count_1 * 100.0f / 12.0f * 60.0f / 29.0f; //rpm of output wheel (period=0.01 sec, each period has 12 segments, reduction ratio 29) + count_1 = 0; + // Code for PI controller // + + + v_err_1 = v_ref_1 - speed_1 ; + v_ierr_1 = v_err_old_1 + v_err_1 ; + + ctrl_output_1 = (v_err_1)*Kp_1 + (v_ierr_1)*Ki_1 ; + + v_err_old_1 = v_err_1 ; + + /////////////////////////// + + if(ctrl_output_1 >= 0.5f)ctrl_output_1 = 0.5f; + else if(ctrl_output_1 <= -0.5f)ctrl_output_1 = -0.5f; + pwm1_duty = ctrl_output_1 + 0.5f; + pwm1.write(pwm1_duty); + TIM1->CCER |= 0x4; + + + + // Motor2 + speed_2 = (float)count_2 * 100.0f / 12.0f * 60.0f / 29.0f; //rpm + count_2 = 0; + // Code for PI controller // + + v_err_2 = v_ref_2 - speed_2 ; + v_ierr_2 = v_err_old_2 + v_err_2 ; + + + ctrl_output_2 = (v_err_2)*Kp_2 + (v_ierr_2)*Ki_2 ; + v_err_old_2 = v_err_2 ; + + /////////////////////////// + + if(ctrl_output_2 >= 0.5f)ctrl_output_2 = 0.5f; + else if(ctrl_output_2 <= -0.5f)ctrl_output_2 = -0.5f; + pwm2_duty = ctrl_output_2 + 0.5f; + pwm2.write(pwm2_duty); + TIM1->CCER |= 0x40; + +} +//****************************************************************************** End of timer_interrupt + +//****************************************************************************** CN_interrupt +void CN_interrupt() +{ + // Motor1 + // Read the current status of hall sensor + HallA_state_1 = HallA_1.read(); + HallB_state_1 = HallB_1.read(); + + ///code for state determination/// + if(HallA_state_1==0) + { + if(HallB_state_1==0) + { + motor_state_1 =1; + } + else + { + motor_state_1 =2; + } + } + else + { + if(HallB_state_1==0) + { + motor_state_1 = 3; + } + else + { + motor_state_1 = 4; + } + } + + + ////////////////////////////////// + switch(motor_state_1) + { + case 1: + if(motor_state_old_1 == 4) + count_1--; + else if(motor_state_old_1 == 2) + count_1++; + break; + case 2: + if(motor_state_old_1 == 1) + count_1--; + else if(motor_state_old_1 == 3) + count_1++; + break; + case 3: + if(motor_state_old_1== 2) + count_1--; + else if(motor_state_1_old == 4) + count_1++; + break; + case 4: + if(motor_state_1_old == 3) + count_1--; + else if(motor_state_1_old == 1) + count_1++; + break; + } + motor_state_old_1 = motor_state_1; + //Forward + //v1Count +1 + //Inverse + //v1Count -1 + + // Motor2 + // Read the current status of hall sensor + HallA_state_2 = HallA_2.read(); + HallB_state_2 = HallB_2.read(); + + ///code for state determination/// + if(HallA_state_2==0) + { + if(HallB_state_2==0) + { + motor_state_2 =1; + } + else + { + motor_state_2 =2; + } + } + else + { + if(HallB_state_2==0) + { + motor_state_2 = 3; + } + else + { + motor_state_2 = 4; + } + } + + ////////////////////////////////// + switch(motor_state_2) + { + case 1: + if(motor_state_old_2 == 4) + count_2--; + else if(motor_state_old_2 == 2) + count_2++; + break; + case 2: + if(motor_state_old_2 == 1) + count_1--; + else if(motor_state_old_2 == 3) + count_2++; + break; + case 3: + if(motor_state_old_2== 2) + count_2--; + else if(motor_state_2_old == 4) + count_2++; + break; + case 4: + if(motor_state_2_old == 3) + count_2--; + else if(motor_state_2_old == 1) + count_2++; + break; + } + motor_state_old_2 = motor_state_2; + + //Forward + //v2Count +1 + //Inverse + //v2Count -1 +} +//****************************************************************************** End of CN_interrupt + +//****************************************************************************** init_timer +void init_timer() +{ + timer.attach_us(&timer_interrupt, 10000);//10ms interrupt period (100 Hz) +} +//****************************************************************************** End of init_timer + +//****************************************************************************** init_PWM +void init_PWM() +{ + pwm1.period_us(50); + pwm1.write(0.5); + TIM1->CCER |= 0x4; + + pwm2.period_us(50); + pwm2.write(0.5); + TIM1->CCER |= 0x40; +} +//****************************************************************************** End of init_PWM + +//****************************************************************************** init_CN +void init_CN() +{ + // Motor1 + HallA_1.rise(&CN_interrupt); + HallA_1.fall(&CN_interrupt); + HallB_1.rise(&CN_interrupt); + HallB_1.fall(&CN_interrupt); + + HallA_state_1 = HallA_1.read(); + HallB_state_1 = HallB_1.read(); + + // Motor2 + HallA_2.rise(&CN_interrupt); + HallA_2.fall(&CN_interrupt); + HallB_2.rise(&CN_interrupt); + HallB_2.fall(&CN_interrupt); + + HallA_state_2 = HallA_2.read(); + HallB_state_2 = HallB_2.read(); +} +//****************************************************************************** End of init_CN \ No newline at end of file