altb_pmic / Mbed 2 deprecated GRT_VC_PIDT1_musterloesung

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Dependencies:   mbed

main.cpp@2:0b64504024fe, 2019-05-07 (annotated)

Committer:
altb2
Date:
Tue May 07 11:04:54 2019 +0000
Revision:
2:0b64504024fe
Parent:
1:314e2e3727f2
Child:
3:477db0d9895e
pid is running. Mem: switch A/B to B/A signals (top is positive)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:4ed9a8952ddc 1 #include "mbed.h"
altb2 0:4ed9a8952ddc 2 #include "EncoderCounter.h"
altb2 1:314e2e3727f2 3 #include "PID_Cntrl.h"
altb2 0:4ed9a8952ddc 4 #include "LinearCharacteristics.h"
altb2 0:4ed9a8952ddc 5 //------------------------------------------
altb2 0:4ed9a8952ddc 6 #define PI 3.1415927f
altb2 0:4ed9a8952ddc 7 //------------------------------------------
altb2 0:4ed9a8952ddc 8
altb2 1:314e2e3727f2 9 /* GRT: Control of voice-coil with PID-T1 - Controller
altb2 0:4ed9a8952ddc 10 */
altb2 0:4ed9a8952ddc 11 Serial pc(SERIAL_TX, SERIAL_RX); // serial connection via USB - programmer
altb2 0:4ed9a8952ddc 12 InterruptIn button(USER_BUTTON); // User Button, short presses: reduce speed, long presses: increase speed
altb2 1:314e2e3727f2 13 AnalogOut out(PA_5); // Analog OUT on PA_5 1.6 V -> 0A 3.2A -> 4A (see ESCON)
altb2 0:4ed9a8952ddc 14
altb2 0:4ed9a8952ddc 15 bool key_was_pressed = false;
altb2 0:4ed9a8952ddc 16 bool controller_active = false;
altb2 0:4ed9a8952ddc 17 void pressed(void); // user Button pressed
altb2 0:4ed9a8952ddc 18 void released(void); // user Button released
altb2 1:314e2e3727f2 19
altb2 0:4ed9a8952ddc 20 //------------------------------------------
altb2 0:4ed9a8952ddc 21 // ... here define variables like gains etc.
altb2 0:4ed9a8952ddc 22 //------------------------------------------
altb2 0:4ed9a8952ddc 23 LinearCharacteristics i2u(-4.0f,4.0f,0.0f,3.2f / 3.3f); // output is normalized output
altb2 0:4ed9a8952ddc 24 //------------------------------------------
altb2 0:4ed9a8952ddc 25 Ticker ControllerLoopTimer; // interrupt for control loop
altb2 0:4ed9a8952ddc 26 EncoderCounter counter1(PB_6, PB_7); // initialize counter on PB_6 and PB_7
altb2 1:314e2e3727f2 27 Timer t_but; // define timer for button
altb2 0:4ed9a8952ddc 28 // ----- User defined functions -----------
altb2 0:4ed9a8952ddc 29 void updateLoop(void); // loop for State machine (via interrupt)
altb2 1:314e2e3727f2 30 float Ts = 0.0005f; // sample time of main loop
altb2 1:314e2e3727f2 31 uint16_t k = 0;
altb2 2:0b64504024fe 32 float w=0.5;
altb2 2:0b64504024fe 33 PID_Cntrl dt1(0.0f,0.0f,17.3780/1600.0,0.000625f,Ts,-3.0,3.0);
altb2 1:314e2e3727f2 34 PID_Cntrl pi1(1.35f,13.5f,0,1.0f,Ts,-3.0,3.0);
altb2 1:314e2e3727f2 35 PID_Cntrl pidt1(-0.0019,4.72,0.4,0.005,Ts,-3.0,3.0);
altb2 0:4ed9a8952ddc 36 //******************************************************************************
altb2 0:4ed9a8952ddc 37 //---------- main loop -------------
altb2 0:4ed9a8952ddc 38 //******************************************************************************
altb2 0:4ed9a8952ddc 39 int main()
altb2 1:314e2e3727f2 40 {
altb2 0:4ed9a8952ddc 41 pc.baud(115200); // for serial comm.
altb2 0:4ed9a8952ddc 42 counter1.reset(); // encoder reset
altb2 0:4ed9a8952ddc 43 out.write(i2u(0.0));
altb2 0:4ed9a8952ddc 44 button.fall(&pressed); // attach key pressed function
altb2 0:4ed9a8952ddc 45 button.rise(&released); // attach key pressed function
altb2 1:314e2e3727f2 46 pc.printf("Start controller now...\r\n");
altb2 1:314e2e3727f2 47 ControllerLoopTimer.attach(&updateLoop, Ts); //Assume Fs = ...;
altb2 1:314e2e3727f2 48 while(1);
altb2 0:4ed9a8952ddc 49 } // END OF main
altb2 0:4ed9a8952ddc 50 //******************************************************************************
altb2 0:4ed9a8952ddc 51 //---------- main loop (called via interrupt) -------------
altb2 0:4ed9a8952ddc 52 //******************************************************************************
altb2 0:4ed9a8952ddc 53 void updateLoop(void){
altb2 1:314e2e3727f2 54 float x = (float)(counter1)/1000.0f; // get counts from Encoder
altb2 1:314e2e3727f2 55 float i_des = 0.0f; // default: set motor current to zero (will be overwritten)
altb2 1:314e2e3727f2 56 if(controller_active)
altb2 1:314e2e3727f2 57 {
altb2 2:0b64504024fe 58 i_des = pi1(w-x)-dt1(x);
altb2 1:314e2e3727f2 59 }
altb2 1:314e2e3727f2 60 out.write(i2u(i_des));
altb2 1:314e2e3727f2 61 if(++k>1000)
altb2 0:4ed9a8952ddc 62 {
altb2 1:314e2e3727f2 63 pc.printf("x: %1.3f, i: %1.4f\r\n",x,i_des);
altb2 1:314e2e3727f2 64 k=0;
altb2 2:0b64504024fe 65 w=-w;
altb2 1:314e2e3727f2 66 }
altb2 0:4ed9a8952ddc 67 } // END OF updateLoop(void)
altb2 0:4ed9a8952ddc 68
altb2 0:4ed9a8952ddc 69 //******************************************************************************
altb2 0:4ed9a8952ddc 70
altb2 0:4ed9a8952ddc 71
altb2 0:4ed9a8952ddc 72 // start timer as soon as Button is pressed
altb2 0:4ed9a8952ddc 73 void pressed()
altb2 0:4ed9a8952ddc 74 {
altb2 0:4ed9a8952ddc 75 t_but.start();
altb2 0:4ed9a8952ddc 76 }
altb2 1:314e2e3727f2 77 // Falling edge of button: enable/disable controller
altb2 0:4ed9a8952ddc 78 void released()
altb2 0:4ed9a8952ddc 79 {
altb2 0:4ed9a8952ddc 80 // readout, stop and reset timer
altb2 0:4ed9a8952ddc 81 float ButtonTime = t_but.read();
altb2 0:4ed9a8952ddc 82 t_but.stop();
altb2 0:4ed9a8952ddc 83 t_but.reset();
altb2 0:4ed9a8952ddc 84 if(ButtonTime > 0.05f)
altb2 1:314e2e3727f2 85 {
altb2 1:314e2e3727f2 86 controller_active = !controller_active;
altb2 1:314e2e3727f2 87 if(controller_active)
altb2 1:314e2e3727f2 88 {
altb2 1:314e2e3727f2 89 pc.printf("Controller active\r\n");
altb2 1:314e2e3727f2 90 // reset controller here!!!
altb2 2:0b64504024fe 91 pi1.reset(0.0);
altb2 2:0b64504024fe 92 dt1.reset(0.0);
altb2 1:314e2e3727f2 93 }
altb2 1:314e2e3727f2 94 else
altb2 1:314e2e3727f2 95 pc.printf("Controller disabled\r\n");
altb2 1:314e2e3727f2 96 }
altb2 0:4ed9a8952ddc 97 }