Dion de Greef / Mbed 2 deprecated feed_forward_PI_copy

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Dependencies:   Encoder MODSERIAL feed_forward mbed

Fork of feed_forward by Dion de Greef

main.cpp@2:68de33d10c67, 2017-10-11 (annotated)

Committer:
DiondeGreef
Date:
Wed Oct 11 09:49:09 2017 +0000
Revision:
2:68de33d10c67
Parent:
1:92a60278860a 
alkdfjakljasdfladksfj;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RoyvZ 0:331597250051 1 #include "mbed.h"
RoyvZ 0:331597250051 2 #include "MODSERIAL.h"
RoyvZ 0:331597250051 3 #include "math.h"
DiondeGreef 2:68de33d10c67 4 #include "encoder.h"
RoyvZ 0:331597250051 5
RoyvZ 0:331597250051 6 DigitalOut gpo(D0);
RoyvZ 0:331597250051 7 DigitalOut motorDirection(D4);
DiondeGreef 1:92a60278860a 8 PwmOut motorSpeed(D5);
DiondeGreef 2:68de33d10c67 9 AnalogIn potMeterIn1(A1);
DiondeGreef 2:68de33d10c67 10 AnalogIn potMeterIn2(A2);
DiondeGreef 2:68de33d10c67 11 //InterruptIn button1(D3);
DiondeGreef 2:68de33d10c67 12 Ticker m1_Ticker;
DiondeGreef 2:68de33d10c67 13 Encoder encoder1(D13,D12);
DiondeGreef 2:68de33d10c67 14 const double M1_KP = 2.5, M1_KI = 1.0;
DiondeGreef 2:68de33d10c67 15 const double M1_TS = 0.01;
DiondeGreef 2:68de33d10c67 16 const double RAD_PER_PULSE = 0.002991;
DiondeGreef 2:68de33d10c67 17 double m1_err_int = 0;
DiondeGreef 2:68de33d10c67 18 int motorD = 0;
DiondeGreef 2:68de33d10c67 19 double motor1 = 0;
RoyvZ 0:331597250051 20
RoyvZ 0:331597250051 21 MODSERIAL pc(USBTX, USBRX);
RoyvZ 0:331597250051 22
RoyvZ 0:331597250051 23
DiondeGreef 2:68de33d10c67 24 // Reusable PI controller
DiondeGreef 2:68de33d10c67 25 double PI( double e, const double Kp, const double Ki, double Ts, double &e_int ){
DiondeGreef 2:68de33d10c67 26 e_int += Ts ∗ e; // e_int is changed globally because it’s ’by reference’ (&)
DiondeGreef 2:68de33d10c67 27 return Kp ∗ e + Ki ∗ e_int;
RoyvZ 0:331597250051 28 }
DiondeGreef 2:68de33d10c67 29 // Next task, measure the error and apply the output to the plant
DiondeGreef 2:68de33d10c67 30 void m1_Controller() {
DiondeGreef 2:68de33d10c67 31 double reference = potMeterIn1;
DiondeGreef 2:68de33d10c67 32
DiondeGreef 2:68de33d10c67 33
DiondeGreef 2:68de33d10c67 34 double position = RAD_PER_PULSE∗encoder1; // Don’t use magic numbers!
DiondeGreef 2:68de33d10c67 35 motor1 = PI( reference − position, M1_KP, M1_KI, M1_TS, m1_err_int );
DiondeGreef 2:68de33d10c67 36 if ( reference − position >= 0)
RoyvZ 0:331597250051 37 {
RoyvZ 0:331597250051 38 //float motor1DirectionPin1 = 1;
DiondeGreef 2:68de33d10c67 39 motorD=1;
RoyvZ 0:331597250051 40 }
RoyvZ 0:331597250051 41 else
RoyvZ 0:331597250051 42 {
RoyvZ 0:331597250051 43 //float motor1DirectionPin1 = 0;
DiondeGreef 2:68de33d10c67 44 motorD=0;
RoyvZ 0:331597250051 45 }
RoyvZ 0:331597250051 46 }
RoyvZ 0:331597250051 47
RoyvZ 0:331597250051 48 int main() {
DiondeGreef 2:68de33d10c67 49 m1_Ticker.attach( &m1_Controller, M1_TS ); // 100 Hz
DiondeGreef 2:68de33d10c67 50 while( 1 ) {
DiondeGreef 2:68de33d10c67 51 motorDirection.write(motorD);
DiondeGreef 2:68de33d10c67 52 motorSpeed.write(motor1);
RoyvZ 0:331597250051 53 }
RoyvZ 0:331597250051 54 }
DiondeGreef 2:68de33d10c67 55 }
RoyvZ 0:331597250051 56