TER Atienza Pongnot 2019 / Mbed 2 deprecated Carte_Moteur_test_asservissement_1M

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Dependencies:   mbed 7366_lib TLE5206_lib

main.cpp@2:486bb9b6bd78, 2019-02-12 (annotated)

Committer:
natienza
Date:
Tue Feb 12 10:52:27 2019 +0000
Revision:
2:486bb9b6bd78
Parent:
0:509b29d50fcb
Child:
3:737ac9c24ca5
test asserv position correcteur prop

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gpongnot 0:509b29d50fcb 1 //Includes
gpongnot 0:509b29d50fcb 2 #include "mbed.h"
gpongnot 0:509b29d50fcb 3 #include "7366_lib.h"
gpongnot 0:509b29d50fcb 4 #include "TLE5206_lib.h"
gpongnot 0:509b29d50fcb 5
gpongnot 0:509b29d50fcb 6 // Liaison SPI avec les compteurs
gpongnot 0:509b29d50fcb 7 #define SPI_SCLK PA_5 //A4
gpongnot 0:509b29d50fcb 8 #define SPI_MISO PA_6 //A5
gpongnot 0:509b29d50fcb 9 #define SPI_MOSI PA_7 //A6
gpongnot 0:509b29d50fcb 10 #define SPI_CS3 PA_0//A0
gpongnot 0:509b29d50fcb 11 #define SPI_CS2 PA_1
gpongnot 0:509b29d50fcb 12 #define SPI_CS1 PA_3
gpongnot 0:509b29d50fcb 13
gpongnot 0:509b29d50fcb 14 // Vers le pont en H
gpongnot 0:509b29d50fcb 15 #define H1_IN1 PA_9 //D1 - PWM1/2
gpongnot 0:509b29d50fcb 16 #define H1_IN2 PA_10 //D0 - PWM1/3
gpongnot 0:509b29d50fcb 17 #define H2_IN1 PA_8 //D9 - PWM1/1
gpongnot 0:509b29d50fcb 18 #define H2_IN2 PB_7 //D4 - PWM17/1
gpongnot 0:509b29d50fcb 19 #define H3_IN1 PB_6 //D5 - PWM16/1
gpongnot 0:509b29d50fcb 20 #define H3_IN2 PA_4 //A3 - PWM3/2
gpongnot 0:509b29d50fcb 21
gpongnot 0:509b29d50fcb 22 #define DECOUP_HACH 50 //us - 20 000 kHz pour les oreilles
natienza 2:486bb9b6bd78 23 #define PERIODE_AFF 500 //ms
natienza 2:486bb9b6bd78 24 #define PERIODE_ASSERV 50 //ms
gpongnot 0:509b29d50fcb 25
natienza 2:486bb9b6bd78 26 Serial pc(USBTX,USBRX);
natienza 2:486bb9b6bd78 27 Timer timer;
gpongnot 0:509b29d50fcb 28 DigitalOut myled(LED3);
gpongnot 0:509b29d50fcb 29
gpongnot 0:509b29d50fcb 30 SPI_7366 compt1(SPI_MOSI, SPI_MISO, SPI_SCLK,SPI_CS1);
gpongnot 0:509b29d50fcb 31 SPI_7366 compt2(SPI_MOSI, SPI_MISO, SPI_SCLK,SPI_CS2);
gpongnot 0:509b29d50fcb 32 SPI_7366 compt3(SPI_MOSI, SPI_MISO, SPI_SCLK,SPI_CS3);
gpongnot 0:509b29d50fcb 33
gpongnot 0:509b29d50fcb 34 TLE5206 moteur1(H1_IN1,H1_IN2);
gpongnot 0:509b29d50fcb 35 TLE5206 moteur2(H2_IN1,H2_IN2);
gpongnot 0:509b29d50fcb 36 TLE5206 moteur3(H3_IN1,H3_IN2);
gpongnot 0:509b29d50fcb 37
gpongnot 0:509b29d50fcb 38 int main() {
natienza 2:486bb9b6bd78 39
natienza 2:486bb9b6bd78 40 //setup
gpongnot 0:509b29d50fcb 41 compt1.setup();
gpongnot 0:509b29d50fcb 42 compt2.setup();
gpongnot 0:509b29d50fcb 43 compt3.setup();
gpongnot 0:509b29d50fcb 44
gpongnot 0:509b29d50fcb 45 moteur1.setup(DECOUP_HACH);
gpongnot 0:509b29d50fcb 46 moteur2.setup(DECOUP_HACH);
gpongnot 0:509b29d50fcb 47 moteur3.setup(DECOUP_HACH);
gpongnot 0:509b29d50fcb 48
gpongnot 0:509b29d50fcb 49 moteur1.write(-0.4);
gpongnot 0:509b29d50fcb 50 moteur2.write(-0.7);
gpongnot 0:509b29d50fcb 51 moteur3.write(0.7);
gpongnot 0:509b29d50fcb 52
natienza 2:486bb9b6bd78 53 timer.start();
natienza 2:486bb9b6bd78 54
natienza 2:486bb9b6bd78 55 //variables
natienza 2:486bb9b6bd78 56 int32_t position = 0;
natienza 2:486bb9b6bd78 57 int32_t consigne = (1<<15);
natienza 2:486bb9b6bd78 58 int32_t erreur = 0;
natienza 2:486bb9b6bd78 59 float gain = 0.0001;
natienza 2:486bb9b6bd78 60 uint32_t seuilAffichage = PERIODE_AFF;
natienza 2:486bb9b6bd78 61 uint32_t seuilAsserv = PERIODE_ASSERV;
natienza 2:486bb9b6bd78 62
gpongnot 0:509b29d50fcb 63 // Loop
gpongnot 0:509b29d50fcb 64 while(1) {
natienza 2:486bb9b6bd78 65
natienza 2:486bb9b6bd78 66 if (timer.read_ms() > seuilAffichage){
natienza 2:486bb9b6bd78 67 position = compt2.read_value();
natienza 2:486bb9b6bd78 68 seuilAffichage += PERIODE_AFF;
natienza 2:486bb9b6bd78 69 pc.printf("valeur lue : %d \n\r", position);
natienza 2:486bb9b6bd78 70 myled = !myled;
natienza 2:486bb9b6bd78 71 }
natienza 2:486bb9b6bd78 72 if (timer.read_ms() > seuilAsserv){
natienza 2:486bb9b6bd78 73 seuilAsserv += PERIODE_ASSERV;
natienza 2:486bb9b6bd78 74 erreur = compt2.read_value() - consigne;
natienza 2:486bb9b6bd78 75 moteur2.write(gain * erreur);
natienza 2:486bb9b6bd78 76 }
gpongnot 0:509b29d50fcb 77 }
gpongnot 0:509b29d50fcb 78 }