first commit
Dependencies: PM2_Libary
Diff: main.cpp
- Revision:
- 13:41bf923cd055
- Parent:
- 12:3dfd8f2939ac
- Child:
- 16:1be4a1c2d08a
diff -r 3dfd8f2939ac -r 41bf923cd055 main.cpp --- a/main.cpp Mon Apr 19 08:47:39 2021 +0000 +++ b/main.cpp Mon Apr 19 15:54:20 2021 +0000 @@ -5,6 +5,7 @@ #include "EncoderCounter.h" #include "Servo.h" #include "SpeedController.h" +#include "PositionController.h" #include "FastPWM.h" #include "RangeFinder.h" @@ -44,8 +45,9 @@ float counts_per_turn = 20.0f*78.125f; // counts/turn * gearratio float kn = 180.0f/12.0f; // (RPM/V) float max_voltage = 12.0f; // adjust this to 6.0f if only one batterypack is used -SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwmOut_M1, encoderCounter_M1); -SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwmOut_M2, encoderCounter_M2); +SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwmOut_M1, encoderCounter_M1); +PositionController positionController_M2(counts_per_turn, kn, max_voltage, pwmOut_M2, encoderCounter_M2); +float max_speed_rps = 1.0f; // has to be smaller or equal to kn * max_voltage // Futaba Servo S3001 20mm 3kg Analog // https://www.modellmarkt24.ch/pi/RC-Elektronik/Servos/Standard-Servo-20mm/futaba-servo-s3001-20mm-3kg-analog.html?gclid=CjwKCAjw3pWDBhB3EiwAV1c5rK_-x_Bt19_wIY-IcS2C-RULXKBtYfY0byxejkZLjASro-EMPBUhrxoCgaQQAvD_BwE @@ -96,7 +98,7 @@ /* command a speed to dc motors M1 and M2*/ speedController_M1.setDesiredSpeedRPS( 1.0f); - speedController_M2.setDesiredSpeedRPS(-0.5f); + positionController_M2.setDesiredRotation(0.5f, max_speed_rps); /* write output voltage to motor M3 */ pwmOut_M3.write(0.75); @@ -122,7 +124,7 @@ dist_IRSensor = 0.0f; speedController_M1.setDesiredSpeedRPS(0.0f); - speedController_M2.setDesiredSpeedRPS(0.0f); + positionController_M2.setDesiredRotation(0.0f, max_speed_rps); pwmOut_M3.write(0.5); servoOutput_mus_S1 = 0; @@ -136,15 +138,15 @@ } /* do only output via serial what's really necessary (this makes your code slow)*/ - printf("%3.3f, %3d, %3d, %3d, %3.3f, %3.3f, %3.3f;\r\n", + printf("%3.3f, %3d, %3d, %3.3f, %3.3f, %3d, %3.3f;\r\n", dist_IRSensor, servoOutput_mus_S1, servoOutput_mus_S2, + speedController_M1.getSpeedRPS(), + positionController_M2.getRotation(), encoderCounter_M3.read(), - speedController_M1.getSpeedRPS(), - speedController_M2.getSpeedRPS(), dist_USSensor); - + /* ------------- stop hacking ------------- -------------*/ int T_loop_ms = duration_cast<milliseconds>(loop_timer.elapsed_time()).count();