Diff: main.cpp

Revision:

0:63306fecdb08

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 03 18:13:07 2017 +0000
@@ -0,0 +1,75 @@
+#include "mbed.h"
+ 
+DigitalOut motor1DirectionPin(D4);
+PwmOut motor1MagnitudePin(D5);
+DigitalIn button1(D8);
+AnalogIn potMeterIn(A3);
+Ticker tick;
+ 
+ 
+ 
+float GetReferenceVelocity()
+{
+    // Returns reference velocity in rad/s. 
+    // Positive value means clockwise rotation.
+    const float maxVelocity=8.4; // in rad/s of course!  
+     
+    float referenceVelocity;  // in rad/s
+        if (button1)
+        {       //Clockwise rotation
+            referenceVelocity = potMeterIn * maxVelocity;  
+        } 
+        else
+        {
+        // Counterclockwise rotation       
+            referenceVelocity = -1*potMeterIn * maxVelocity;   
+        }
+        return referenceVelocity;
+}
+ 
+void Setmotor1(float motorValue)
+{
+    // Given -1<=motorValue<=1, this sets the PWM and direction
+    // bits for motor 1. Positive value makes motor rotating
+    // clockwise. motorValues outside range are truncated to
+    // within range
+    if (motorValue >=0) {
+        motor1DirectionPin=1;
+        }
+    else {
+        motor1DirectionPin=0;
+        }
+    if (fabs(motorValue)>1) {
+        motor1MagnitudePin = 1;
+        }
+    else {
+        motor1MagnitudePin = fabs(motorValue);
+        }
+ 
+}
+ 
+float FeedForwardControl(float referenceVelocity)
+{
+    // very simple linear feed-forward control
+    const float MotorGain=8.4; // unit: (rad/s) / PWM
+    float motorValue = referenceVelocity / MotorGain;
+    return motorValue;
+}
+void MeasureAndControl(void)
+{
+    // This function measures the potmeter position, extracts a
+    // reference velocity from it, and controls the motor with 
+    // a simple FeedForward controller. Call this from a Ticker.
+    float referenceVelocity = GetReferenceVelocity();
+    float motorValue = FeedForwardControl(referenceVelocity);
+    Setmotor1(motorValue);
+}
+ 
+int main()
+{
+       
+    tick.attach(MeasureAndControl, 0.5f);
+    
+  
+ 
+}
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