Diff: main.cpp

Revision:

0:b124e4e3a1e4

Child:

1:47a1aaf98baa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 13 06:26:51 2019 +0000
@@ -0,0 +1,165 @@
+#include "mbed.h"
+#include "hallsensor_software_decoder.h"
+
+#define Ts 0.01f    // f to specify float type
+
+Ticker timer1;
+
+PwmOut pwm1(D7);
+PwmOut pwm1n(D11);
+PwmOut pwm2(D8);
+PwmOut pwm2n(A3);
+
+void init_TIMER();
+void init_PWM(); 
+void timer1_ITR();
+
+/* wheel 1 */
+float rotation_speed_1  = 0.0;
+float pwm1_duty         = 0.5;
+double PI_out_1         = 0.0;
+float err_1             = 0.0;
+float ierr_1            = 0.0;
+
+/* wheel 2 */
+float rotation_speed_2  = 0.0;
+float pwm2_duty         = 0.5;
+float PI_out_2          = 0.0;
+float err_2             = 0.0;
+float ierr_2            = 0.0;
+
+float r = 0.03;                     // wheel radius (m)
+float L = 0.27;                     // car width (m)
+
+float rotation_speed_ref_1 = 25.0;
+float rotation_speed_ref_2 = -25.0;
+
+float V_ref = 0.0;                  // (m/s) max: 0.25
+float V     = 0.0;
+float W_ref = 0.0;                  // (rad/s)
+float W     = 0.0;
+
+
+float Kp    = 0.008;
+float Ki    = 0.02;
+
+//Serial pc(USBTX, USBRX);
+
+
+int main()
+{
+    //pc.baud(9600);
+    init_TIMER();
+    init_PWM();
+    init_CN();
+        
+    while(1) {
+        V = ((rotation_speed_1 + rotation_speed_2) * r / 2.0f )* 2.0f * 3.14f / 60.0f;
+        W = (-2.0f * r * (rotation_speed_1 - rotation_speed_2) / L) * 2.0f * 3.14f / 60.0f;
+    /*    pc.printf("motor_1 = %f, motor_2 = %f\r\n", rotation_speed_1,rotation_speed_2);
+        pc.printf("V = %f, W = %f\r\n", V,W);*/
+        
+        wait_ms(100);
+    }
+}
+
+
+
+void init_TIMER() {
+    /********************************************************
+     * function to be attached (timer1_ITR) and 
+     * the interval (10000 micro-seconds) = 0.01 second
+     *********************************************************/
+    timer1.attach_us(&timer1_ITR, 10000.0); 
+}
+
+
+void init_PWM(){
+    /* setting pwm width */
+    
+    pwm1.period_us(50);
+    pwm1.write(0.5);
+    TIM1->CCER |= 0x4;
+
+    pwm2.period_us(50);
+    pwm2.write(0.5);
+    TIM1->CCER |= 0x40;
+}
+
+
+void timer1_ITR()
+{
+    
+    //rotation_speed_ref_1 = (V_ref / r - L * W_ref / 4.0f / r) / 2.0f / 3.14f * 60.0f;
+    //rotation_speed_ref_2 = (V_ref / r + L * W_ref / 4.0f / r) / 2.0f / 3.14f * 60.0f;
+    
+    
+    /********** MOTOR1 **********/
+    
+    //measure
+    rotation_speed_1 = (float)speed_count_1 * 100.0f / 48.0f * 60.0f / 56.0f;   //unit: rpm
+    // reset
+    speed_count_1 = 0;
+    
+    /************ PI controller for motor1 *************/
+    
+    err_1 = rotation_speed_ref_1 - rotation_speed_1;
+    ierr_1 = ierr_1 + Ts * err_1;
+    
+    // restrict integrating part
+    if(ierr_1 > 50.0f){
+        ierr_1 = 50.0;
+    } else if(ierr_1 < -50.0f){
+        ierr_1 = -50.0;
+    }
+    
+    PI_out_1 = (Kp * err_1 + Ki * ierr_1);
+    
+    // staturation
+    if(PI_out_1 >= 0.5f){
+        PI_out_1 = 0.5;
+    } else if(PI_out_1 <= -0.5f){
+        PI_out_1 = -0.5; 
+    }
+    /*************************************************/
+    
+    /* output to acuator */
+    pwm1_duty = PI_out_1 + 0.5f;   
+    pwm1.write(pwm1_duty);
+    TIM1->CCER |= 0x4;
+    
+   
+    
+    
+   /********* MOTOR2 ***********/
+  
+
+    rotation_speed_2 = (float)speed_count_2 * 100.0f / 48.0f * 60.0f / 56.0f;   //unit: rpm
+    speed_count_2 = 0;
+
+    /************* PI controller for motor2 ****************/
+    err_2 = rotation_speed_ref_2 - rotation_speed_2;
+    ierr_2 = ierr_2 + Ts * err_2;
+    
+    // restrict integration output
+    if(ierr_2 > 50.0f){
+        ierr_2 = 50.0;
+    } else if(ierr_2 < -50.0f){
+        ierr_2 = -50.0;
+    }
+    PI_out_2 = -(Kp * err_2 + Ki * ierr_2) ;
+  
+    // staturation
+    if(PI_out_2 >= 0.5f){
+        PI_out_2 = 0.5;
+    } else if(PI_out_2 <= -0.5f) {
+        PI_out_2 = -0.5;
+    }
+    /******************************************************/
+    /* output to acuator */
+    pwm2_duty = PI_out_2 + 0.5f;
+    pwm2.write(pwm2_duty);
+    TIM1->CCER |= 0x40;
+    
+
+}
\ No newline at end of file