Diff: PanVelocityLoop.cpp

Revision:

3:4deb86f4ccfe

Parent:

2:be3b6a72f823

--- a/PanVelocityLoop.cpp	Tue Mar 22 15:35:01 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,72 +0,0 @@
-#include "mbed.h"
-#include "iC_MU.h"
-#include "rtos.h"
-#include "Classic_PID.h"
-
-// Define limits for zero crossing
-// These values should allow operation upto 3750 RPM
-#define bits 18                 // The number of bits we want to use
-#define OneTurn (1<<bits)       // 262144 counts per rev
-#define Lower (1<<(bits-5))     // 8192 counts = 11.25 degrees
-#define Upper OneTurn - Lower   // 262144 - 8192 = 253952
-
-extern iC_MU icMu, icMu_Output;
-extern PwmOut Pan_Motor_PWM;
-extern DigitalOut Pan_Motor_Direction;
-extern Classic_PID PanVelocityPID;
-extern Serial pc;
-
-extern bool running;
-extern float amplitude;
-extern float a;
-extern float b;
-
-int LasticMuPosition = 0;
-int run_count = 0;
-
-void PanVelocityLoop(void const *args)
-{
-    float Duty_Cycle = 0.0;
-
-    // Find the icMu data
-    int icMuPosition = icMu.ReadPOSITION();          // Read the current position from the iC-MU
-    PanVelocityPID.setProcessValue(icMuPosition);    // Pass the Position onto the PID loop
-
-    //int icMuPosition = icMu.ReadPOSITION() >> (19 - bits);          // Read the current position from the iC-MU and bitshift to reduce noise
-    //int icMuVelocity = icMuPosition - LasticMuPosition;             // Calculate change in position (i.e. Velocity)
-
-    if(running) {
-        pc.printf("\n\r%d %d %d",run_count,icMuPosition,icMu_Output.ReadPOSITION());
-
-        if(run_count < 5000) {
-            PanVelocityPID.setSetPoint(262144 + (amplitude * sin((a*run_count*run_count)+(b*run_count))));
-            run_count++;        // Inc run_count
-        } else {
-            running = 0;        // Stop the test
-            //PanVelocityPID.setSetPoint(0);
-        }
-    }
-    /*
-       // Check to see if the icMu has gone past the index point
-       if(icMuPosition < Lower & LasticMuPosition > Upper) {           // The icMu has gone over the index point in 1 direction
-           icMuVelocity += OneTurn;
-       } else if(icMuPosition > Upper & LasticMuPosition < Lower) {    // The icMu has gone over the index point in the other direction
-           icMuVelocity -= OneTurn;
-       }
-
-       LasticMuPosition = icMuPosition;                                // Update new position from next time
-
-       // Set the process value
-       PanVelocityPID.setProcessValue(icMuVelocity);                   // Pass the Velocity onto the PID loop
-    */
-
-    Duty_Cycle = PanVelocityPID.compute_ff();
-
-    if(Duty_Cycle < 0) {
-        Pan_Motor_Direction = 1;
-        Pan_Motor_PWM = 1 - (Duty_Cycle * -1.0);
-    } else {
-        Pan_Motor_Direction = 0;
-        Pan_Motor_PWM = 1 - Duty_Cycle;
-    }
-}
\ No newline at end of file