![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
speed
Dependencies: mbed
main.cpp
- Committer:
- roger5641
- Date:
- 2016-05-28
- Revision:
- 0:95df37b1dd11
File content as of revision 0:95df37b1dd11:
/*DCMotor*/ // transfer function 10400/s+21.28 // motor direction v1(vR) < 0 // motor direction v2(vL) > 0 // speed limitatino 300 rpm #include "mbed.h" //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 0.02f //period of timer1 (s) #define Kp1 0.0048f //0.0048f #define Kp2 0.0048f //0.0048f #define Ki 0.002754f //0.1023f Serial bluetooth(D10,D2); //宣告藍牙腳位 //Serial pc(D1, D0); PwmOut servo(A0); PwmOut pwm1(D7); PwmOut pwm1n(D11); PwmOut pwm2(D8); PwmOut pwm2n(A3); DigitalOut led1(A4); DigitalOut led2(A5); //Motor1 sensor InterruptIn HallA_1(A1); InterruptIn HallB_1(A2); //Motor2 sensor InterruptIn HallA_2(D13); InterruptIn HallB_2(D12); Ticker timer1; void timer1_interrupt(void); int timer1_counter; void CN_interrupt(void); void init_TIMER(void); void init_PWM(void); void init_CN(void); void init_BLUETOOTH(void); int8_t stateA_1=0, stateB_1=0, stateA_2=0, stateB_2=0; int8_t state_1 = 0, state_1_old = 0, state_2 = 0, state_2_old = 0; int v1Count = 0; int v2Count = 0; float v1 = 0.0, v1_ref = 0.0; float v1_err = 0.0, v1_err_old = 0.0, PIout_1 = 0.0; float v1_old[10] = {}, v1_avg = 0.0; float v2 = 0.0, v2_ref = 0.0; float v2_err = 0.0, v2_err_old = 0.0, PIout_2 = 0.0; float v2_old[10] = {}, v2_avg = 0.0; int servo_angle = 87; float servo_duty = 0.079;//0.079 +(0.084/180)*angle, -90<angle<90 char Receive_Data[8] = {}; int main() { init_BLUETOOTH(); init_TIMER(); init_PWM(); init_CN(); v1_ref = 0.0; v2_ref = 0.0; //bluetooth.baud(115200); //設定鮑率 //pc.baud(57600); while(1) { if(bluetooth.readable()) { bluetooth.scanf("%f%f",&v1_ref,&v2_ref); v1_ref = v1_ref - 300.0f; v2_ref = v2_ref - 300.0f; } /*if(pc.readable()) { bluetooth.putc(pc.getc()); } if(bluetooth.readable()) { pc.putc(bluetooth.getc()); }*/ } } void timer1_interrupt(void) { /*for(int i=0; i<8; i++) { Receive_Data[i] = bluetooth.getc(); } //read data from matlab //distance_target v1_ref = (Receive_Data[1]-0x30)*100 + (Receive_Data[2]-0x30)*10 + (Receive_Data[3]-0x30); if(Receive_Data[0] == '-')v1_ref = -1* v1_ref; else v1_ref = v1_ref; //ang_rel_target v2_ref = (Receive_Data[5]-0x30)*100 + (Receive_Data[6]-0x30)*10 + (Receive_Data[7]-0x30); if(Receive_Data[4] == '-')v2_ref = -1* v2_ref; else v2_ref = v2_ref;*/ //Motor 1 v1 = (float)v1Count * 50.0f / 12.0f * 60.0f / 29.0f; //unit: rpm v1_avg = v1_avg + ( v1 - v1_old[9])/10.0f; for(int i = 9; i > 0 ; i--) { v1_old[i] = v1_old[i-1]; } v1_old[0] = v1; v1Count = 0; ///code for PI control/// v1_err = v1_ref - v1; PIout_1 = PIout_1 + Kp1 * v1_err - Ki * v1_err_old; v1_err_old = v1_err; // saturation if(PIout_1 >= 0.5f)PIout_1 = 0.5f; else if(PIout_1 <= -0.5f)PIout_1 = -0.5f; pwm1.write(PIout_1 + 0.5f); TIM1->CCER |= 0x4; //Motor 2 v2 = (float)v2Count * 50.0f / 12.0f * 60.0f / 29.0f; //unit: rpm v2_avg = v2_avg + ( v2 - v2_old[9])/10.0f; for(int i = 9; i > 0; i--) { v2_old[i] = v2_old[i-1]; } v2_old[0] = v2; v2Count = 0; ///code for PI control/// v2_err = v2_ref - v2; PIout_2 = PIout_2 + Kp2 * v2_err - Ki * v2_err_old; v2_err_old = v2_err; //saturation if(PIout_2 >= 0.5f)PIout_2 = 0.5f; else if(PIout_2 <= -0.5f)PIout_2 = -0.5f; pwm2.write(PIout_2 + 0.5f); TIM1->CCER |= 0x40; timer1_counter ++; if (timer1_counter == 50) { timer1_counter = 0; if(bluetooth.writeable()) { bluetooth.printf("V1: %4.2f V2: %4.2f\n",v1_avg,v2_avg); } } /*servo_duty = 0.079 + (0.084/180)*servo_angle; // 要修改 servo.write(servo_duty); servo = 1; wait(0.1); servo = 0; */ } void CN_interrupt(void) { //Motor 1 stateA_1 = HallA_1.read(); stateB_1 = HallB_1.read(); ///code for state determination/// if (stateA_1 == 0) { if (stateB_1 == 0) state_1 = 0; else state_1 = 1; } else { if (stateB_1 == 1) state_1 = 2; else state_1 = 3; } //Forward: v1Count +1 //Inverse: v1Count -1 if ( (state_1 == (state_1_old + 1)) || (state_1 == 0 && state_1_old == 3) ) v1Count++; else if ( (state_1 == (state_1_old - 1)) || (state_1 == 3 && state_1_old == 0)) v1Count--; state_1_old = state_1; //Motor 2 stateA_2 = HallA_2.read(); stateB_2 = HallB_2.read(); ///code for state determination/// if (stateA_2 == 0) { if (stateB_2 == 0) state_2 = 0; else state_2 = 1; } else { if (stateB_2 == 1) state_2 = 2; else state_2 = 3; } //Forward: v2Count +1 //Inverse: v2Count -1 if ( (state_2 == (state_2_old + 1)) || (state_2 == 0 && state_2_old == 3) ) v2Count++; else if ( (state_2 == (state_2_old - 1)) || (state_2 == 3 && state_2_old == 0) ) v2Count--; state_2_old = state_2; } void init_TIMER(void) { timer1.attach_us(&timer1_interrupt, 20000);//10ms interrupt period (100 Hz) timer1_counter = 0; } void init_PWM(void) { pwm1.period_us(50); pwm1.write(0.5); TIM1->CCER |= 0x4; pwm2.period_us(50); pwm2.write(0.5); TIM1->CCER |= 0x40; } void init_CN(void) { HallA_1.rise(&CN_interrupt); HallA_1.fall(&CN_interrupt); HallB_1.rise(&CN_interrupt); HallB_1.fall(&CN_interrupt); HallA_2.rise(&CN_interrupt); HallA_2.fall(&CN_interrupt); HallB_2.rise(&CN_interrupt); HallB_2.fall(&CN_interrupt); stateA_1 = HallA_1.read(); stateB_1 = HallB_1.read(); stateA_2 = HallA_2.read(); stateB_2 = HallB_2.read(); } void init_BLUETOOTH(void) { bluetooth.baud(115200); }