TER Atienza Pongnot 2019 / Mbed 2 deprecated Carte_Moteur_test_asservissement_1M

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Dependencies:   mbed 7366_lib TLE5206_lib

Diff: main.cpp

Revision:
2:486bb9b6bd78
Parent:
0:509b29d50fcb
Child:
3:737ac9c24ca5
--- a/main.cpp	Tue Jan 29 15:34:57 2019 +0000
+++ b/main.cpp	Tue Feb 12 10:52:27 2019 +0000
@@ -20,8 +20,11 @@
 #define H3_IN2 PA_4  //A3 - PWM3/2
 
 #define DECOUP_HACH 50 //us - 20 000 kHz pour les oreilles
+#define PERIODE_AFF 500 //ms
+#define PERIODE_ASSERV 50 //ms
 
-
+Serial pc(USBTX,USBRX);
+Timer timer;
 DigitalOut myled(LED3);
 
 SPI_7366 compt1(SPI_MOSI, SPI_MISO, SPI_SCLK,SPI_CS1);
@@ -33,6 +36,8 @@
 TLE5206 moteur3(H3_IN1,H3_IN2);
 
 int main() {
+
+    //setup
     compt1.setup();
     compt2.setup();
     compt3.setup();
@@ -45,10 +50,29 @@
     moteur2.write(-0.7);
     moteur3.write(0.7);
     
+    timer.start();
+    
+    //variables
+    int32_t position = 0;
+    int32_t consigne = (1<<15);
+    int32_t erreur = 0;
+    float gain = 0.0001;
+    uint32_t seuilAffichage = PERIODE_AFF;
+    uint32_t seuilAsserv = PERIODE_ASSERV;
+    
     // Loop
     while(1) {
-        compt3.read_value();
-        myled = !myled;
-        wait(1);
+        
+        if (timer.read_ms() > seuilAffichage){
+            position = compt2.read_value();
+            seuilAffichage += PERIODE_AFF;
+            pc.printf("valeur lue :  %d \n\r", position);
+            myled = !myled;
+        }
+        if (timer.read_ms() > seuilAsserv){
+            seuilAsserv += PERIODE_ASSERV;
+            erreur = compt2.read_value() - consigne;
+            moteur2.write(gain * erreur);
+       }
     }
 }
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