Revision 1:6228de50cbf4, committed 2017-04-06

Comitter:

Andy_Lee

Date:

Thu Apr 06 11:07:28 2017 +0000

Parent:

0:d41917b28387

Commit message:

done

Changed in this revision

--- a/main.cpp	Sat Mar 25 18:06:10 2017 +0000
+++ b/main.cpp	Thu Apr 06 11:07:28 2017 +0000
@@ -17,10 +17,79 @@
 void init_UART();
 void RX_ITR();
 
+/////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////
+// 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);
+
+void init_CN();
+void CN_ITR();
+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;
+int i=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 = 0;
+float pwm2_duty = 0.5;
+float PI_out_2 = 0.0;
+float err_2 = 0.0;
+float ierr_2 = 0.0;
+float p_gain=0.015;
+float i_gain=0.003;
+float duty;
+
+float err_1_old=0;
+float err_2_old=0;
+bool servo=1;
+
+
+Serial pc(USBTX,USBRX);
+/////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////
 int main()
 {
+     pc.baud(9600);
     init_TIMER();
     init_UART();
+    init_PWM();
+    init_CN();
     while(1) {
     }
 }
@@ -48,6 +117,71 @@
         data_received_old[1] = data_received[1];
         data_received_old[2] = data_received[2];
     }
+
+    /*
+    servo=1;
+    while(servo==1){
+       if(i==0 || i==100 || i==200 || i==300 || i==400 || i==500 || i==600){
+      
+        duty=0.113f-0.0000733f*(float)i;
+  
+        }
+        //pc.printf("duty= %f ,\n",duty);
+        //servo_cmd.period_ms(20);
+        servo_cmd.write( data_received_old[2]);
+        servo=0;
+        i=i+1;
+     }
+     if(i==601){
+        i=0; 
+    }
+     
+     
+    */
+    /////////////////////////
+    
+    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
+    speed_count_1 = 0;
+
+    ///PI controller for motor1///
+    
+    err_1=(data_received_old[0]-rotation_speed_1)*p_gain;
+    ierr_1=(err_1_old+err_1)*i_gain;
+    PI_out_1=err_1+ierr_1;
+    err_1_old=err_1;
+    //////////////////////////////
+    
+    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
+    speed_count_2 = 0;
+
+    ///PI controller for motor2///
+    
+     err_2=(data_received_old[1]-rotation_speed_2)*p_gain;
+     ierr_2=(err_2_old+err_2)*i_gain;
+     PI_out_2=err_2+ierr_2;
+     err_2_old=err_2;
+    //////////////////////////////
+    
+    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;
+    
+    //pc.printf("SPEED= %f,/n",data_received_old[1]);
+    
 }
 
 void RX_ITR()
@@ -64,17 +198,141 @@
         if(RX_flag2 == 1) {
             getData[readcount] = uart_read;
             readcount++;
-            if(readcount >= 3) {
+            if(readcount >= 5) {
                 readcount = 0;
                 RX_flag2 = 0;
                 ///code for decoding///
-                data_received[0] = (getData[2] << 8) | getData[1];
-
-
+                data_received[0] = (getData[2] << 8) | getData[1]; 
+                data_received[1] = (getData[4] << 8) | getData[3];
+                data_received[2] = getData[5];
                 ///////////////////////
             }
-        } else if(uart_read == 254 && RX_flag1 == 0) {
+        } 
+        else if(uart_read == 254 && RX_flag1 == 0) {
             RX_flag1 = 1;
         }
     }
-}
\ No newline at end of file
+}
+    
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////
+void init_PWM()
+{
+    servo_cmd.period_ms(20);
+    servo_cmd.write(servo_duty);
+
+    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()
+{
+    HallA.rise(&CN_ITR);
+    HallA.fall(&CN_ITR);
+    HallB.rise(&CN_ITR);
+    HallB.fall(&CN_ITR);
+
+    HallA_2.rise(&CN_ITR);
+    HallA_2.fall(&CN_ITR);
+    HallB_2.rise(&CN_ITR);
+    HallB_2.fall(&CN_ITR);
+}
+
+void CN_ITR()
+{
+    // motor1
+    HallA_1_state = HallA.read();
+    HallB_1_state = HallB.read();
+
+    ///code for state determination///
+    if(state_1==1 && state_1_old==1){
+        if(HallA_1_state==1 && HallB_1_state==0){
+                speed_count_1=speed_count_1 + 1;
+            }
+        else if(HallA_1_state==0 && HallB_1_state==1){
+                speed_count_1=speed_count_1 - 1;
+            }
+        }
+    if(state_1==1 && state_1_old==0){
+        if(HallA_1_state==0 && HallB_1_state==0){
+                speed_count_1=speed_count_1 + 1;
+            }
+        else if(HallA_1_state==1 && HallB_1_state==1){
+                speed_count_1=speed_count_1 - 1;
+            }
+        }
+    if(state_1==0 && state_1_old==0){
+        if(HallA_1_state==0 && HallB_1_state==1){
+                speed_count_1=speed_count_1 + 1;
+            }
+        else if(HallA_1_state==1 && HallB_1_state==0){
+                speed_count_1=speed_count_1 - 1;
+            }
+        }
+    if(state_1==0 && state_1_old==1){
+        if(HallA_1_state==1 && HallB_1_state==1){
+                speed_count_1=speed_count_1 + 1;
+            }
+        else if(HallA_1_state==0 && HallB_1_state==0){
+                speed_count_1=speed_count_1 - 1;
+            }
+        }
+    state_1=HallA_1_state;
+    state_1_old=HallB_1_state;
+    //////////////////////////////////
+
+    //forward : speed_count_1 + 1
+    //backward : speed_count_1 - 1
+
+
+    // motor2
+    HallA_2_state = HallA_2.read();
+    HallB_2_state = HallB_2.read();
+
+    ///code for state determination///
+    if(state_2==1 && state_2_old==1){
+        if(HallA_2_state==1 && HallB_2_state==0){
+                speed_count_2=speed_count_2 + 1;
+            }
+        else if(HallA_2_state==0 && HallB_2_state==1){
+                speed_count_2=speed_count_2 - 1;
+            }
+        }
+    if(state_2==1 && state_2_old==0){
+        if(HallA_2_state==0 && HallB_2_state==0){
+                speed_count_2=speed_count_2 + 1;
+            }
+        else if(HallA_2_state==1 && HallB_2_state==1){
+                speed_count_2=speed_count_2 - 1;
+            }
+        }
+    if(state_2==0 && state_2_old==0){
+        if(HallA_2_state==0 && HallB_2_state==1){
+                speed_count_2=speed_count_2 + 1;
+            }
+        else if(HallA_2_state==1 && HallB_2_state==0){
+                speed_count_2=speed_count_2 - 1;
+            }
+        }
+    if(state_2==0 && state_2_old==1){
+        if(HallA_2_state==1 && HallB_2_state==1){
+                speed_count_2=speed_count_2 + 1;
+            }
+        else if(HallA_2_state==0 && HallB_2_state==0){
+                speed_count_2=speed_count_2 - 1;
+            }
+        }
+    state_2=HallA_2_state;
+    state_2_old=HallB_2_state;
+
+
+    //////////////////////////////////
+
+    //forward : speed_count_2 + 1
+    //backward : speed_count_2 - 1
+}