File content as of revision 0:4ed9a8952ddc:

#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;
}