File content as of revision 1:13d8940f0fd4:

#include "mbed.h"
#include "QEI.h"
#include "MODSERIAL.h"
#include "math.h"



DigitalOut gpo(D0);
DigitalOut ledb(LED_BLUE);
DigitalOut ledr(LED_RED);
DigitalOut ledg(LED_GREEN);
DigitalOut motor1DC(D7);
PwmOut motor1PWM(D6);
DigitalOut motor2DC(D4);
PwmOut motor2PWM(D5);

AnalogIn   potMeter1(A0);
AnalogIn   potMeter2(A1);
DigitalIn  button1(D11);
DigitalIn  button2(D12);
QEI Encoder1(D12,D13,NC,4200);
QEI Encoder2(D9,D8,NC,4200);

MODSERIAL pc(USBTX,USBRX);

Ticker controller;

int potmultiplier = 8000; // Multiplier for the pot meter reference which is normally between 0 and 1

//Start constants for the PID ------------------------------- 
const double pi = 3.1415926535897;
const double M1_TS = 0.01; // (was 0.0001) 0.001 and 0.01 work without biquad filter. // // Sample time (motor - timestep)

//verplaatst
const float RAD_PER_PULSE = (2*pi)/4200;

const float M1_KP = 10, M1_KI = 0.5, M1_KD = 0.5; //was KP=10 KI=0.5 KD=0.5
double m1_err_int = 0, m1_prev_err = 0 ;
const double M1_F_A1 = 1.0 , M1_F_A2  = 2.0 , M1_F_B0  = 1.0 , M1_F_B1  = 3.0 , M1_F_B2  = 4.0 ;
double m1_f_v1  = 0  , m1_f_v2  = 0 ;
//End of constant for the PID

//Get reference position in different way-----------------START
float Get_X_Position(){
    double X = potMeter1 * potmultiplier;
    return X;
}

float Get_Y_Position(){
    double Y = potMeter2 * potmultiplier;
    return Y;
}
//-----------------------------------------------------------END

//Start PID part ------------------------------------------START
double PID(double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev, double &f_v1, double &f_v2, const double f_a1, const double f_a2, const double f_b0, const double f_b1, const double f_b2){

// Derivative
double e_der = (e - e_prev)/Ts; // Ts = motor1-timestep

// biquad part, see slide
//e_der = biquad(e_der, f_v1, f_v2, f_a1, f_a2, f_b0, f_b1, f_b2);

e_prev = e;
    
// Integral
e_int += Ts*e;
    
    
//PID
return Kp*e + Ki*e_int + Kd * e_der;

}






void Controller(){
    //double x = potMeter1 * potmultiplier;
    double x = Get_X_Position();
    
    double y = Get_Y_Position();
    //double y = potMeter2 * potmultiplier;
    
    double reference_motor1 = atan(y/x); // reference for Theta
    double reference_motor2 = sqrt((x*x+y*y));  // reference for radius
    
    int position_motor1 = RAD_PER_PULSE*Encoder1.getPulses(); // current position for theta
    int position_motor2 = RAD_PER_PULSE*Encoder2.getPulses(); // current position for the radius
    
    double motor1 = PID(reference_motor1 - position_motor1, M1_KP, M1_KI, M1_KD, M1_TS, m1_err_int, m1_prev_err, m1_f_v1, m1_f_v2, M1_F_A1, M1_F_A2, M1_F_B0, M1_F_B1, M1_F_B2);
    double motor2 = PID(reference_motor2 - position_motor2, M1_KP, M1_KI, M1_KD, M1_TS, m1_err_int, m1_prev_err, m1_f_v1, m1_f_v2, M1_F_A1, M1_F_A2, M1_F_B0, M1_F_B1, M1_F_B2);

    pc.baud(115200);
    pc.printf("\r Position(X,Y)=(%f,%f), Ref(Theta,R): (%f,%f), Pos(Theta,R):(%i,%i), Motor Value(M1,M2):(%f,%f).\n",x, y, reference_motor1, reference_motor2, position_motor1, position_motor2, motor1, motor2);
    
    motor1PWM = motor1;
    motor2PWM = motor2;

    if(motor1 > 0.3){
        motor1DC = 1;
        
        ledr = 1;
        ledg = 1;       //Blau
        ledb = 0;
    }
    else if (motor1<-0.3) {
        motor1DC = 0; 
        
        ledb = 1;
        ledr = 1;
        ledg = 0;       //Groen
        
    }
    else{ 
    motor1PWM = 0;
        
        ledb = 1;       //Rood
        ledr = 0;
        ledg = 1;
    }

if(motor2 > 0.3){
        motor1DC = 1;
        
        ledr = 1;
        ledg = 1;       //Blau
        ledb = 0;
    }
    else if (motor2<-0.3) {
        motor1DC = 0; 
        
        ledb = 1;
        ledr = 1;
        ledg = 0;       //Groen
        
    }
    else{ 
    motor2PWM = 0;
        
        ledb = 1;       //Rood
        ledr = 0;
        ledg = 1;
    }
}

int main()
{
    controller.attach(&Controller, M1_TS);
    
    while(1){}    
    
}