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Dependencies:   mbed

Fork of Robotics_LAB_motor_Done by Robotics ^___^

Files at this revision

API Documentation at this revision

Revision 3:36002bcd4d1b, committed 2017-06-08

Comitter:
YutingHsiao
Date:
Thu Jun 08 13:42:55 2017 +0000
Parent:
2:c95a3cba51e6
Commit message:
test servo motor

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Mar 23 06:36:33 2017 +0000
+++ b/main.cpp	Thu Jun 08 13:42:55 2017 +0000
@@ -6,7 +6,7 @@
 
 Serial pc(USBTX, USBRX);
 
-DigitalOut led1(PC_1);
+//DigitalOut led1(PC_1);
 
 Ticker timer1;
 // servo motor
@@ -51,27 +51,27 @@
 // DC motor rotation speed control
 int speed_count_1 = 0;
 float rotation_speed_1 = 0.0;
-float rotation_speed_ref_1 = 150.0;//150rpm
+float rotation_speed_ref_1 = 150.0;//150rpm left
 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 = -80.0;//-80rpm
+float rotation_speed_ref_2 = -80.0;//-80rpm right
 float pwm2_duty = 0.5;
 float PI_out_2 = 0.0;
 float err_2 = 0.0;
 float ierr_2 = 0.0;
 
 //set parameters
-float kp = 0.015;
-float ki = 0.11;
+float kp = 0.002;
+float ki = 0.05;
 
 int main()
 {
     //pc.printf("hello main()\n");
-    led1 = 0;
+    //led1 = 0;
     init_TIMER();
     init_PWM();
     init_CN();
@@ -81,8 +81,8 @@
         //pc.printf("state_2 = %d \n", state_2);
         //pc.printf("speed_count_1 = %d \n", speed_count_1);
         //pc.printf("speed_count_2 = %d \n", speed_count_2);
-        //pc.printf("rotation_speed_2 = %f \n", rotation_speed_2);
-        //pc.printf("rotation_speed_1 = %f \n", rotation_speed_1);
+        //pc.printf("rotation_speed_2 = %f \n\r", rotation_speed_2);
+        //pc.printf("rotation_speed_1 = %f \n\r", rotation_speed_1);
         //pc.printf("error_1 = %f \n\r", err_1);
         //pc.printf("ierror_1 = %f \n\r", ierr_1);
         //pc.printf("rotation_speed_2 = %f \n", rotation_speed_2);
@@ -160,12 +160,12 @@
     if((direction_1 == -1) || (direction_1 == 3))
     {
         //forward
-        speed_count_1 = speed_count_1 + 1;
+        speed_count_1 = speed_count_1 - 1;
     }
     else if((direction_1 == 1) || (direction_1 == -3))
     {
         //backward
-        speed_count_1 = speed_count_1 - 1;
+        speed_count_1 = speed_count_1 + 1;
     }
     else
     {
@@ -211,12 +211,12 @@
     if((direction_2 == 1) || (direction_2 == -3))
     {
         //forward
-        speed_count_2 = speed_count_2 + 1;
+        speed_count_2 = speed_count_2 - 1;
     }
     else if((direction_2 == -1) || (direction_2 == 3))
     {
         //backward
-        speed_count_2 = speed_count_2 - 1;
+        speed_count_2 = speed_count_2 + 1;
     }
     else
     {
@@ -243,7 +243,7 @@
     angle = 15;
     
     //servo_duty output for every call
-    servo_duty = servo_duty + 0.088/180*angle/100;
+    servo_duty = servo_duty - 0.088/180*angle/100;
     /////////////////////////
     /////////////////////////
     
@@ -270,7 +270,7 @@
     
     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_duty = PI_out_1 + 0.5f;
     //pc.printf("pwm1_duty = %d \n\r", pwm1_duty);
     pwm1.write(pwm1_duty);
     TIM1->CCER |= 0x4;
@@ -293,7 +293,7 @@
     
     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_duty = -PI_out_2 + 0.5f;
     //pc.printf("pwm2_duty = %d \n\r", pwm2_duty);
     pwm2.write(pwm2_duty);
     TIM1->CCER |= 0x40;