Diff: main.cpp

Revision:

0:4ed9a8952ddc

Child:

1:314e2e3727f2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Apr 30 15:34:47 2019 +0000
@@ -0,0 +1,108 @@
+#include "mbed.h"
+#include "EncoderCounter.h"
+#include "LinearCharacteristics.h"
+#include "PID_Cntrl.h"
+
+//------------------------------------------
+#define PI 3.1415927f
+//------------------------------------------
+ 
+/* GRT, Control of voice-coil with PID-T1 - Controller
+ */
+Serial pc(SERIAL_TX, SERIAL_RX);        // serial connection via USB - programmer
+InterruptIn button(USER_BUTTON);        // User Button, short presses: reduce speed, long presses: increase speed
+DigitalOut led1(LED1);
+
+bool key_was_pressed = false;
+bool controller_active = false;
+AnalogOut out(PA_5);                    // Analog OUT on PA_5   1.6 V -> 0A 3.2A -> 2A (see ESCON)
+float out_value = 1.6f;                 // set voltage on 1.6 V (0 A current)
+float Ts = 0.0005f;                     // sample time of main loops
+void pressed(void);                     // user Button pressed
+void released(void);                    // user Button released
+// dt1-Regler with Kp = 0, Kd = 0.0109, Tf = 0.000625
+PID_Cntrl dt1(0.0f,0.0f,17.3780,0.000625f,Ts,-3.0,3.0);
+PID_Cntrl pi1(1.35f,13.5f,0,1.0f,Ts,-3.0,3.0);
+PID_Cntrl pidt1(-0.0019,4.72,0.4,0.005,Ts,-3.0,3.0);
+uint16_t kk=0;
+float w=1.0f;
+//------------------------------------------
+// ... here define variables like gains etc.
+//------------------------------------------
+LinearCharacteristics i2u(-4.0f,4.0f,0.0f,3.2f / 3.3f);         // output is normalized output
+//------------------------------------------
+Ticker  ControllerLoopTimer;            // interrupt for control loop
+EncoderCounter counter1(PB_6, PB_7);    // initialize counter on PB_6 and PB_7
+Timer ti;                               // define global timer
+Timer t_but;                            // define global timer
+//------------------------------------------
+// ----- User defined functions -----------
+void updateLoop(void);   // loop for State machine (via interrupt)
+// ------ END User defined functions ------
+ 
+//******************************************************************************
+//---------- main loop -------------
+//******************************************************************************
+int main()
+{
+    pc.baud(115200);   // for serial comm.
+    counter1.reset();   // encoder reset
+    out.write(i2u(0.0));
+    ControllerLoopTimer.attach(&updateLoop, Ts); //Assume Fs = ...;
+    ti.reset();
+    ti.start();
+    button.fall(&pressed);          // attach key pressed function
+    button.rise(&released);         // attach key pressed function
+    
+}   // END OF main
+//******************************************************************************
+//---------- main loop (called via interrupt) -------------
+//******************************************************************************
+void updateLoop(void){
+    if(key_was_pressed)
+    {
+        controller_active = !controller_active;
+        if(controller_active)
+        {
+            dt1.reset(0.0f);
+            led1=true;
+            }
+        else
+            led1=false;
+        key_was_pressed = false;
+        }
+    float x = (float)(counter1)/1000.0;          // get counts from Encoder
+    float i_des = 0.0f;                  // set motor torque to zero (will be overwritten)
+    if(controller_active)
+        {
+            //i_des = pi1(w-x) - dt1(x);
+            i_des = pidt1(w-x);
+            }
+    if(++kk>1000){            
+        pc.printf("x/mm: %1.3f I/A: %1.3f\r\n",x,i_des);
+        kk=0;
+        w = -w;
+        }
+    out.write(i2u(i_des));
+} // END OF updateLoop(void)
+ 
+//******************************************************************************
+ 
+ 
+// start timer as soon as Button is pressed
+void pressed()
+{
+    t_but.start();
+    key_was_pressed = false;
+}
+ 
+// evaluating statemachine
+void released()
+{
+    // readout, stop and reset timer
+    float ButtonTime = t_but.read();
+    t_but.stop();
+    t_but.reset();
+    if(ButtonTime > 0.05f) 
+        key_was_pressed = true;
+}