first
Dependencies: BEAR_Reciever Motor eeprom iSerial mbed
Fork of BEAR_Motion by
main.cpp
- Committer:
- ParinyaT
- Date:
- 2015-12-07
- Revision:
- 0:451c27e4d55e
- Child:
- 1:84167ca00307
- Child:
- 2:9f279c68ed0c
File content as of revision 0:451c27e4d55e:
//*****************************************************/ // Include // #include "mbed.h" #include "pinconfig.h" #include "PID.h" #include "Motor.h" #include "eeprom.h" //*****************************************************/ // Defines // #define Rate 0.01 #define Kc -2.6 #define Ti 0.0 #define Td 0.0 //*****************************************************/ // Global // //-- pc monitor -- Serial PC(D1,D0); //-- encoder -- int Position; int data; SPI device(Emosi, Emiso, Esck); DigitalOut Encoder(EncoderA); //-- Motor -- Motor LeftUpper(PWM_LU,A_LU,B_LU); //-- PID -- int SetPoint; PID LU_PID(Kc, Ti, Td, Rate);//Kp,Ki,Kd,Rate //*****************************************************/ void Read_Encoder() { SPI device(Emosi, Emiso, Esck); device.format(8,0); device.frequency(200000);//due to rising time,have to decrease clock from 1M - 240k Encoder = 0; wait_us(50); device.write(0x41); wait_us(50); device.write(0x09); wait_us(50); data = device.write(0x00); wait_us(50); Encoder = 1; } //*****************************************************/ void Get_EnValue(int Val) { int i = 0; static unsigned char codes[] = { 127, 63, 62, 58, 56, 184, 152, 24, 8, 72, 73, 77, 79, 15, 47, 175, 191, 159, 31, 29, 28, 92, 76, 12, 4, 36, 164, 166, 167, 135, 151, 215, 223, 207, 143, 142, 14, 46, 38, 6, 2, 18, 82, 83, 211, 195, 203, 235, 239, 231, 199, 71, 7, 23, 19, 3, 1, 9, 41, 169, 233, 225, 229, 245, 247, 243, 227, 163, 131, 139, 137, 129, 128, 132, 148, 212, 244, 240, 242, 250, 251, 249, 241, 209, 193, 197, 196, 192, 64, 66, 74, 106, 122, 120, 121, 125, 253, 252, 248, 232, 224, 226, 98, 96, 32, 33, 37, 53, 61, 60, 188, 190, 254, 126, 124, 116, 112, 113, 49, 48, 16, 144, 146, 154, 158, 30, 94, 95 }; while(i<=127) { if(Val == codes[i]) { Position = i; break; } else i++; } } //*****************************************************/ int main() { LeftUpper.period(0.00005); LU_PID.setInputLimits(0,127); LU_PID.setOutputLimits(0,0.9); LU_PID.setMode(AUTO_MODE); //get the target position SetPoint = 63; LU_PID.setSetPoint(SetPoint); Read_Encoder(); PC.printf("%d\n",data); Get_EnValue(data); PC.printf("%d\n********************\n",Position); while(Position != SetPoint) { LU_PID.setProcessValue(Position); LeftUpper.speed(LU_PID.compute()); Read_Encoder(); Get_EnValue(data); } }