mbedを用いた制御学生の制御 / Mbed 2 deprecated NHK2015

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Dependencies:   Motor_NIT_Nagaoka_College PID Servo QEI SoftPWM mbed HBridge

main.cpp@8:9d8999740604, 2015-09-14 (annotated)

Committer:
WAT34
Date:
Mon Sep 14 04:51:25 2015 +0000
Revision:
8:9d8999740604
Parent:
7:920cbfb28112
Child:
9:98ef1eee7ace
Child:
10:fefff533c442
brushless ver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WAT34 3:d2c733b52600 1 #define pi 3.141593
WAT34 0:00fcc71314cf 2 #include "mbed.h"
WAT34 0:00fcc71314cf 3 #include "Motor.h"
WAT34 3:d2c733b52600 4 #include "PID.h"
WAT34 3:d2c733b52600 5 #include "QEI.h"
WAT34 8:9d8999740604 6 #include "Servo.h"
WAT34 4:646562d80dc2 7 #define RATE 0.05
WAT34 8:9d8999740604 8 BusOut air(PC_10,PC_11);
WAT34 8:9d8999740604 9 DigitalOut out(PC_12);
WAT34 8:9d8999740604 10 Serial conn(PA_15,PB_7);
WAT34 2:74c543a0a671 11 Serial pc(USBTX,USBRX);
WAT34 4:646562d80dc2 12 PID Tp(50,40000,0,0.001);
WAT34 3:d2c733b52600 13 BusOut led(LED1,LED2,LED3,LED4);
WAT34 8:9d8999740604 14 Motor ot(PB_13,PB_3,PA_10);
WAT34 8:9d8999740604 15 QEI sensort(PC_3,PC_0,NC,624);
WAT34 8:9d8999740604 16 Servo L(PC_9);
WAT34 8:9d8999740604 17 Servo R(PC_8);
WAT34 3:d2c733b52600 18 Timeout ai;
WAT34 0:00fcc71314cf 19 char read;
WAT34 3:d2c733b52600 20 int Rs = 0,Ls = 0;
WAT34 3:d2c733b52600 21 int i = 0;
WAT34 3:d2c733b52600 22 void zero(){
WAT34 3:d2c733b52600 23 air = 0;
WAT34 3:d2c733b52600 24 i = 0;
WAT34 3:d2c733b52600 25 out = 1;
WAT34 3:d2c733b52600 26 }
WAT34 3:d2c733b52600 27 void rev(){
WAT34 3:d2c733b52600 28 air = 2;
WAT34 3:d2c733b52600 29 ai.attach(&zero,1.0);
WAT34 3:d2c733b52600 30 out = 0;
WAT34 3:d2c733b52600 31 }
WAT34 2:74c543a0a671 32 int main()
WAT34 0:00fcc71314cf 33 {
WAT34 8:9d8999740604 34 ot.setfrequency(60000);
WAT34 4:646562d80dc2 35 double tilt = 0,lo = 0,ro = 0;
WAT34 4:646562d80dc2 36 int8_t ttilt = 0,tmpread = 0,tmpttilt = 0;
WAT34 5:4b462b9cb255 37 char tro = 0,tlo = 0;
WAT34 4:646562d80dc2 38 Tp.setInputLimits(-45,45);
WAT34 3:d2c733b52600 39 Tp.setOutputLimits(-0.9,0.9);
WAT34 3:d2c733b52600 40 Tp.setMode(1);
WAT34 4:646562d80dc2 41 Tp.setBias(0.0);
WAT34 0:00fcc71314cf 42 while(1) {
WAT34 3:d2c733b52600 43 if(conn.getc() == 255) {
WAT34 4:646562d80dc2 44 tmpread = conn.getc();
WAT34 4:646562d80dc2 45 tmpttilt = conn.getc();
WAT34 5:4b462b9cb255 46 tro = conn.getc();
WAT34 5:4b462b9cb255 47 tlo = conn.getc();
WAT34 5:4b462b9cb255 48 if(tmpread^tmpttilt^tro^tlo == conn.getc()){
WAT34 4:646562d80dc2 49 ttilt = tmpttilt;
WAT34 4:646562d80dc2 50 read = tmpread;
WAT34 5:4b462b9cb255 51 ro = (tro-127)/127.0*0.9;
WAT34 5:4b462b9cb255 52 lo = (tlo-127)/127.0*0.9;
WAT34 4:646562d80dc2 53 }
WAT34 0:00fcc71314cf 54 }
WAT34 3:d2c733b52600 55 if((read>>2)%2 && i == 0){
WAT34 3:d2c733b52600 56 air = 1;
WAT34 3:d2c733b52600 57 ai.attach(&rev,1.0);
WAT34 3:d2c733b52600 58 i = 1;
WAT34 0:00fcc71314cf 59 }
WAT34 3:d2c733b52600 60 Tp.setSetPoint(ttilt);
WAT34 4:646562d80dc2 61 tilt = double(sensort.getPulses());
WAT34 4:646562d80dc2 62 tilt = tilt*61/5128.0;
WAT34 3:d2c733b52600 63 Tp.setProcessValue(tilt);
WAT34 4:646562d80dc2 64 if (abs(lo) < 0.1){
WAT34 4:646562d80dc2 65 lo = 0;
WAT34 4:646562d80dc2 66 }
WAT34 4:646562d80dc2 67 if (abs(ro) < 0.1){
WAT34 4:646562d80dc2 68 ro = 0;
WAT34 4:646562d80dc2 69 }
WAT34 8:9d8999740604 70 L.write((lo+1.0)/2.0);
WAT34 8:9d8999740604 71 R.write((ro+1.0)/2.0);
WAT34 3:d2c733b52600 72 ot.speed(Tp.compute());
WAT34 7:920cbfb28112 73 //pc.printf("%f %d\n\r",Tp.compute(),read);
eil4nyqn 6:21f6a2216fad 74 //pc.printf("%d-%d\r\n",tlo,tro);
WAT34 4:646562d80dc2 75 wait_ms(1);
WAT34 0:00fcc71314cf 76 }
WAT34 0:00fcc71314cf 77 }