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Dependencies:   mbed

AI_Friday.cpp@10:06cc2b1d2aaf, 2016-05-25 (annotated)

Committer:
smilestone520
Date:
Wed May 25 10:29:05 2016 +0000
Revision:
10:06cc2b1d2aaf
Child:
11:44989c0bcea5
hw

Who changed what in which revision?

UserRevisionLine numberNew contents of line
smilestone520 10:06cc2b1d2aaf 1 /*LAB_DCMotor*/
smilestone520 10:06cc2b1d2aaf 2 #include "mbed.h"
smilestone520 10:06cc2b1d2aaf 3
smilestone520 10:06cc2b1d2aaf 4 //The number will be compiled as type "double" in default
smilestone520 10:06cc2b1d2aaf 5 //Add a "f" after the number can make it compiled as type "float"
smilestone520 10:06cc2b1d2aaf 6 #define Ts 0.01f //period of timer1 (s)
smilestone520 10:06cc2b1d2aaf 7 #define Kp 0.003f
smilestone520 10:06cc2b1d2aaf 8 #define Ki 0.01f
smilestone520 10:06cc2b1d2aaf 9
smilestone520 10:06cc2b1d2aaf 10 PwmOut pwm1(D7);
smilestone520 10:06cc2b1d2aaf 11 PwmOut pwm1n(D11);
smilestone520 10:06cc2b1d2aaf 12 PwmOut pwm2(D8);
smilestone520 10:06cc2b1d2aaf 13 PwmOut pwm2n(A3);
smilestone520 10:06cc2b1d2aaf 14
smilestone520 10:06cc2b1d2aaf 15 Serial bluetooth(D10,D2);
smilestone520 10:06cc2b1d2aaf 16 Serial pc(D1, D0);
smilestone520 10:06cc2b1d2aaf 17
smilestone520 10:06cc2b1d2aaf 18 DigitalOut led1(A4);
smilestone520 10:06cc2b1d2aaf 19 DigitalOut led2(A5);
smilestone520 10:06cc2b1d2aaf 20
smilestone520 10:06cc2b1d2aaf 21 //Motor1 sensor
smilestone520 10:06cc2b1d2aaf 22 InterruptIn HallA_1(A1);
smilestone520 10:06cc2b1d2aaf 23 InterruptIn HallB_1(A2);
smilestone520 10:06cc2b1d2aaf 24 //Motor2 sensor
smilestone520 10:06cc2b1d2aaf 25 InterruptIn HallA_2(D13);
smilestone520 10:06cc2b1d2aaf 26 InterruptIn HallB_2(D12);
smilestone520 10:06cc2b1d2aaf 27
smilestone520 10:06cc2b1d2aaf 28 Ticker timer1;
smilestone520 10:06cc2b1d2aaf 29 void timer1_interrupt(void);
smilestone520 10:06cc2b1d2aaf 30 void CN_interrupt(void);
smilestone520 10:06cc2b1d2aaf 31
smilestone520 10:06cc2b1d2aaf 32 void init_TIMER(void);
smilestone520 10:06cc2b1d2aaf 33 void init_PWM(void);
smilestone520 10:06cc2b1d2aaf 34 void init_CN(void);
smilestone520 10:06cc2b1d2aaf 35
smilestone520 10:06cc2b1d2aaf 36 int8_t stateA_1=0, stateB_1=0, stateA_2=0, stateB_2=0;
smilestone520 10:06cc2b1d2aaf 37 int8_t state_1 = 0, state_1_old = 0, state_2 = 0, state_2_old = 0;
smilestone520 10:06cc2b1d2aaf 38
smilestone520 10:06cc2b1d2aaf 39 int v1Count = 0;
smilestone520 10:06cc2b1d2aaf 40 int v2Count = 0;
smilestone520 10:06cc2b1d2aaf 41
smilestone520 10:06cc2b1d2aaf 42 float v1 = 0.0, v1_ref = 60.0;
smilestone520 10:06cc2b1d2aaf 43 float v1_err = 0.0, v1_ierr = 0.0, PIout_1 = 0.0, PIout_1_old = 0.0;
smilestone520 10:06cc2b1d2aaf 44 float v2 = 0.0, v2_ref = -60.0;
smilestone520 10:06cc2b1d2aaf 45 float v2_err = 0.0, v2_ierr = 0.0, PIout_2 = 0.0, PIout_2_old = 0.0;
smilestone520 10:06cc2b1d2aaf 46
smilestone520 10:06cc2b1d2aaf 47 int main() {
smilestone520 10:06cc2b1d2aaf 48
smilestone520 10:06cc2b1d2aaf 49 init_TIMER();
smilestone520 10:06cc2b1d2aaf 50 init_PWM();
smilestone520 10:06cc2b1d2aaf 51 init_CN();
smilestone520 10:06cc2b1d2aaf 52
smilestone520 10:06cc2b1d2aaf 53 bluetooth.baud(115200); //設定鮑率
smilestone520 10:06cc2b1d2aaf 54 pc.baud(57600);
smilestone520 10:06cc2b1d2aaf 55
smilestone520 10:06cc2b1d2aaf 56
smilestone520 10:06cc2b1d2aaf 57 while(1)
smilestone520 10:06cc2b1d2aaf 58 {
smilestone520 10:06cc2b1d2aaf 59 if(pc.readable())
smilestone520 10:06cc2b1d2aaf 60 {
smilestone520 10:06cc2b1d2aaf 61 bluetooth.putc(pc.getc());
smilestone520 10:06cc2b1d2aaf 62 }
smilestone520 10:06cc2b1d2aaf 63 if(bluetooth.readable())
smilestone520 10:06cc2b1d2aaf 64 {
smilestone520 10:06cc2b1d2aaf 65 pc.putc(bluetooth.getc());
smilestone520 10:06cc2b1d2aaf 66 }
smilestone520 10:06cc2b1d2aaf 67 }
smilestone520 10:06cc2b1d2aaf 68 }
smilestone520 10:06cc2b1d2aaf 69
smilestone520 10:06cc2b1d2aaf 70 void timer1_interrupt(void)
smilestone520 10:06cc2b1d2aaf 71 {
smilestone520 10:06cc2b1d2aaf 72 //Motor 1
smilestone520 10:06cc2b1d2aaf 73 v1 = (float)v1Count * 100.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
smilestone520 10:06cc2b1d2aaf 74 v1Count = 0;
smilestone520 10:06cc2b1d2aaf 75
smilestone520 10:06cc2b1d2aaf 76 ///code for PI control///
smilestone520 10:06cc2b1d2aaf 77 v1_err = v1_ref - v1;
smilestone520 10:06cc2b1d2aaf 78 v1_ierr = 0.01f*v1_err + v1_ierr;
smilestone520 10:06cc2b1d2aaf 79 PIout_1 = Kp*v1_err + Ki*v1_ierr;
smilestone520 10:06cc2b1d2aaf 80
smilestone520 10:06cc2b1d2aaf 81 /////////////////////////
smilestone520 10:06cc2b1d2aaf 82
smilestone520 10:06cc2b1d2aaf 83 if(PIout_1 >= 0.5f)PIout_1 = 0.5f;
smilestone520 10:06cc2b1d2aaf 84 else if(PIout_1 <= -0.5f)PIout_1 = -0.5f;
smilestone520 10:06cc2b1d2aaf 85 pwm1.write(PIout_1 + 0.5f);
smilestone520 10:06cc2b1d2aaf 86 TIM1->CCER |= 0x4;
smilestone520 10:06cc2b1d2aaf 87
smilestone520 10:06cc2b1d2aaf 88
smilestone520 10:06cc2b1d2aaf 89 //Motor 2
smilestone520 10:06cc2b1d2aaf 90 v2 = (float)v2Count * 100.0f / 12.0f * 60.0f / 29.0f; //unit: rpm
smilestone520 10:06cc2b1d2aaf 91 v2Count = 0;
smilestone520 10:06cc2b1d2aaf 92
smilestone520 10:06cc2b1d2aaf 93 ///code for PI control///
smilestone520 10:06cc2b1d2aaf 94 v2_err = v2_ref - v2;
smilestone520 10:06cc2b1d2aaf 95 v2_ierr = 0.01f*v2_err + v2_ierr;
smilestone520 10:06cc2b1d2aaf 96 PIout_2 = Kp*v2_err + Ki*v2_ierr;
smilestone520 10:06cc2b1d2aaf 97
smilestone520 10:06cc2b1d2aaf 98 /////////////////////////
smilestone520 10:06cc2b1d2aaf 99
smilestone520 10:06cc2b1d2aaf 100 if(PIout_2 >= 0.5f)PIout_2 = 0.5f;
smilestone520 10:06cc2b1d2aaf 101 else if(PIout_2 <= -0.5f)PIout_2 = -0.5f;
smilestone520 10:06cc2b1d2aaf 102 pwm2.write(PIout_2 + 0.5f);
smilestone520 10:06cc2b1d2aaf 103 TIM1->CCER |= 0x40;
smilestone520 10:06cc2b1d2aaf 104
smilestone520 10:06cc2b1d2aaf 105 switch(bluetooth.getc())
smilestone520 10:06cc2b1d2aaf 106 {
smilestone520 10:06cc2b1d2aaf 107 case '1':
smilestone520 10:06cc2b1d2aaf 108 v1_ref = 30;
smilestone520 10:06cc2b1d2aaf 109 v2_ref = -30;
smilestone520 10:06cc2b1d2aaf 110 break;
smilestone520 10:06cc2b1d2aaf 111 case '2':
smilestone520 10:06cc2b1d2aaf 112 v1_ref = 40;
smilestone520 10:06cc2b1d2aaf 113 v2_ref = -40;
smilestone520 10:06cc2b1d2aaf 114 break;
smilestone520 10:06cc2b1d2aaf 115 case '3':
smilestone520 10:06cc2b1d2aaf 116 v1_ref = 50;
smilestone520 10:06cc2b1d2aaf 117 v2_ref = -50;
smilestone520 10:06cc2b1d2aaf 118 break;
smilestone520 10:06cc2b1d2aaf 119 case '4':
smilestone520 10:06cc2b1d2aaf 120 v1_ref = 60;
smilestone520 10:06cc2b1d2aaf 121 v2_ref = -60;
smilestone520 10:06cc2b1d2aaf 122 break;
smilestone520 10:06cc2b1d2aaf 123 case '5':
smilestone520 10:06cc2b1d2aaf 124 v1_ref = -70;
smilestone520 10:06cc2b1d2aaf 125 v2_ref = 70;
smilestone520 10:06cc2b1d2aaf 126 break;
smilestone520 10:06cc2b1d2aaf 127 case '6':
smilestone520 10:06cc2b1d2aaf 128 v1_ref = -80;
smilestone520 10:06cc2b1d2aaf 129 v2_ref = 80;
smilestone520 10:06cc2b1d2aaf 130 break;
smilestone520 10:06cc2b1d2aaf 131 case '7':
smilestone520 10:06cc2b1d2aaf 132 v1_ref = -100;
smilestone520 10:06cc2b1d2aaf 133 v2_ref = 100;
smilestone520 10:06cc2b1d2aaf 134 break;
smilestone520 10:06cc2b1d2aaf 135 case '8':
smilestone520 10:06cc2b1d2aaf 136 v1_ref = 0;
smilestone520 10:06cc2b1d2aaf 137 v2_ref = 0;
smilestone520 10:06cc2b1d2aaf 138 break;
smilestone520 10:06cc2b1d2aaf 139 }
smilestone520 10:06cc2b1d2aaf 140
smilestone520 10:06cc2b1d2aaf 141
smilestone520 10:06cc2b1d2aaf 142 }
smilestone520 10:06cc2b1d2aaf 143
smilestone520 10:06cc2b1d2aaf 144 void CN_interrupt(void)
smilestone520 10:06cc2b1d2aaf 145 {
smilestone520 10:06cc2b1d2aaf 146 //Motor 1
smilestone520 10:06cc2b1d2aaf 147 stateA_1 = HallA_1.read();
smilestone520 10:06cc2b1d2aaf 148 stateB_1 = HallB_1.read();
smilestone520 10:06cc2b1d2aaf 149
smilestone520 10:06cc2b1d2aaf 150 ///code for state determination///
smilestone520 10:06cc2b1d2aaf 151 if(stateA_1==0&&stateB_1==0){
smilestone520 10:06cc2b1d2aaf 152 state_1 = 1;}
smilestone520 10:06cc2b1d2aaf 153 else if(stateA_1==0&&stateB_1==1){
smilestone520 10:06cc2b1d2aaf 154 state_1 = 2;}
smilestone520 10:06cc2b1d2aaf 155 else if(stateA_1==1&&stateB_1==1){
smilestone520 10:06cc2b1d2aaf 156 state_1 = 3;}
smilestone520 10:06cc2b1d2aaf 157 else if(stateA_1==1&&stateB_1==0){
smilestone520 10:06cc2b1d2aaf 158 state_1 = 4;}
smilestone520 10:06cc2b1d2aaf 159
smilestone520 10:06cc2b1d2aaf 160 if(state_1 == 1)
smilestone520 10:06cc2b1d2aaf 161 {
smilestone520 10:06cc2b1d2aaf 162 if(state_1-state_1_old == -3)
smilestone520 10:06cc2b1d2aaf 163 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 164 else if(state_1-state_1_old == -1)
smilestone520 10:06cc2b1d2aaf 165 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 166 }
smilestone520 10:06cc2b1d2aaf 167 else if(state_1 == 2)
smilestone520 10:06cc2b1d2aaf 168 {
smilestone520 10:06cc2b1d2aaf 169 if(state_1-state_1_old == 1)
smilestone520 10:06cc2b1d2aaf 170 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 171 else if(state_1-state_1_old == -1)
smilestone520 10:06cc2b1d2aaf 172 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 173 }
smilestone520 10:06cc2b1d2aaf 174 else if(state_1 == 3)
smilestone520 10:06cc2b1d2aaf 175 {
smilestone520 10:06cc2b1d2aaf 176 if(state_1-state_1_old == 1)
smilestone520 10:06cc2b1d2aaf 177 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 178 else if(state_1-state_1_old == -1)
smilestone520 10:06cc2b1d2aaf 179 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 180 }
smilestone520 10:06cc2b1d2aaf 181 else if(state_1 == 4)
smilestone520 10:06cc2b1d2aaf 182 {
smilestone520 10:06cc2b1d2aaf 183 if(state_1-state_1_old == 1)
smilestone520 10:06cc2b1d2aaf 184 v1Count=v1Count+1;
smilestone520 10:06cc2b1d2aaf 185 else if(state_1-state_1_old == 3)
smilestone520 10:06cc2b1d2aaf 186 v1Count=v1Count-1;
smilestone520 10:06cc2b1d2aaf 187 }
smilestone520 10:06cc2b1d2aaf 188 state_1_old = state_1;
smilestone520 10:06cc2b1d2aaf 189
smilestone520 10:06cc2b1d2aaf 190
smilestone520 10:06cc2b1d2aaf 191 //////////////////////////////////
smilestone520 10:06cc2b1d2aaf 192
smilestone520 10:06cc2b1d2aaf 193 //Forward
smilestone520 10:06cc2b1d2aaf 194 //v1Count +1
smilestone520 10:06cc2b1d2aaf 195 //Inverse
smilestone520 10:06cc2b1d2aaf 196 //v1Count -1
smilestone520 10:06cc2b1d2aaf 197
smilestone520 10:06cc2b1d2aaf 198
smilestone520 10:06cc2b1d2aaf 199 //Motor 2
smilestone520 10:06cc2b1d2aaf 200 stateA_2 = HallA_2.read();
smilestone520 10:06cc2b1d2aaf 201 stateB_2 = HallB_2.read();
smilestone520 10:06cc2b1d2aaf 202
smilestone520 10:06cc2b1d2aaf 203 ///code for state determination///
smilestone520 10:06cc2b1d2aaf 204 if(stateA_2==0&&stateB_2==0){
smilestone520 10:06cc2b1d2aaf 205 state_2 = 1;}
smilestone520 10:06cc2b1d2aaf 206 else if(stateA_2==0&&stateB_2==1){
smilestone520 10:06cc2b1d2aaf 207 state_2 = 2;}
smilestone520 10:06cc2b1d2aaf 208 else if(stateA_2==1&&stateB_2==1){
smilestone520 10:06cc2b1d2aaf 209 state_2 = 3;}
smilestone520 10:06cc2b1d2aaf 210 else if(stateA_2==1&&stateB_2==0){
smilestone520 10:06cc2b1d2aaf 211 state_2 = 4;}
smilestone520 10:06cc2b1d2aaf 212
smilestone520 10:06cc2b1d2aaf 213 if(state_2 == 1)
smilestone520 10:06cc2b1d2aaf 214 {
smilestone520 10:06cc2b1d2aaf 215 if(state_2-state_2_old == -3)
smilestone520 10:06cc2b1d2aaf 216 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 217 else if(state_2-state_2_old == -1)
smilestone520 10:06cc2b1d2aaf 218 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 219 }
smilestone520 10:06cc2b1d2aaf 220 else if(state_2 == 2)
smilestone520 10:06cc2b1d2aaf 221 {
smilestone520 10:06cc2b1d2aaf 222 if(state_2-state_2_old == 1)
smilestone520 10:06cc2b1d2aaf 223 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 224 else if(state_2-state_2_old == -1)
smilestone520 10:06cc2b1d2aaf 225 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 226 }
smilestone520 10:06cc2b1d2aaf 227 else if(state_2 == 3)
smilestone520 10:06cc2b1d2aaf 228 {
smilestone520 10:06cc2b1d2aaf 229 if(state_2-state_2_old == 1)
smilestone520 10:06cc2b1d2aaf 230 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 231 else if(state_2-state_2_old == -1)
smilestone520 10:06cc2b1d2aaf 232 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 233 }
smilestone520 10:06cc2b1d2aaf 234 else if(state_2 == 4)
smilestone520 10:06cc2b1d2aaf 235 {
smilestone520 10:06cc2b1d2aaf 236 if(state_2-state_2_old == 1)
smilestone520 10:06cc2b1d2aaf 237 v2Count=v2Count+1;
smilestone520 10:06cc2b1d2aaf 238 else if(state_2-state_2_old == 3)
smilestone520 10:06cc2b1d2aaf 239 v2Count=v2Count-1;
smilestone520 10:06cc2b1d2aaf 240 }
smilestone520 10:06cc2b1d2aaf 241 state_2_old = state_2;
smilestone520 10:06cc2b1d2aaf 242
smilestone520 10:06cc2b1d2aaf 243 //////////////////////////////////
smilestone520 10:06cc2b1d2aaf 244
smilestone520 10:06cc2b1d2aaf 245 //Forward
smilestone520 10:06cc2b1d2aaf 246 //v2Count +1
smilestone520 10:06cc2b1d2aaf 247 //Inverse
smilestone520 10:06cc2b1d2aaf 248 //v2Count -1
smilestone520 10:06cc2b1d2aaf 249 }
smilestone520 10:06cc2b1d2aaf 250
smilestone520 10:06cc2b1d2aaf 251 void init_TIMER(void)
smilestone520 10:06cc2b1d2aaf 252 {
smilestone520 10:06cc2b1d2aaf 253 timer1.attach_us(&timer1_interrupt, 10000);//10ms interrupt period (100 Hz)
smilestone520 10:06cc2b1d2aaf 254 }
smilestone520 10:06cc2b1d2aaf 255
smilestone520 10:06cc2b1d2aaf 256 void init_PWM(void)
smilestone520 10:06cc2b1d2aaf 257 {
smilestone520 10:06cc2b1d2aaf 258 pwm1.period_us(50);
smilestone520 10:06cc2b1d2aaf 259 pwm1.write(0.5);
smilestone520 10:06cc2b1d2aaf 260 TIM1->CCER |= 0x4;
smilestone520 10:06cc2b1d2aaf 261
smilestone520 10:06cc2b1d2aaf 262 pwm2.period_us(50);
smilestone520 10:06cc2b1d2aaf 263 pwm2.write(0.5);
smilestone520 10:06cc2b1d2aaf 264 TIM1->CCER |= 0x40;
smilestone520 10:06cc2b1d2aaf 265 }
smilestone520 10:06cc2b1d2aaf 266
smilestone520 10:06cc2b1d2aaf 267 void init_CN(void)
smilestone520 10:06cc2b1d2aaf 268 {
smilestone520 10:06cc2b1d2aaf 269 HallA_1.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 270 HallA_1.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 271 HallB_1.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 272 HallB_1.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 273
smilestone520 10:06cc2b1d2aaf 274 HallA_2.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 275 HallA_2.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 276 HallB_2.rise(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 277 HallB_2.fall(&CN_interrupt);
smilestone520 10:06cc2b1d2aaf 278
smilestone520 10:06cc2b1d2aaf 279 stateA_1 = HallA_1.read();
smilestone520 10:06cc2b1d2aaf 280 stateB_1 = HallB_1.read();
smilestone520 10:06cc2b1d2aaf 281 stateA_2 = HallA_2.read();
smilestone520 10:06cc2b1d2aaf 282 stateB_2 = HallB_2.read();
smilestone520 10:06cc2b1d2aaf 283 }