Diff: main.cpp

Revision:

0:b0f441e496c1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jun 30 11:10:21 2014 +0000
@@ -0,0 +1,59 @@
+#include "PID.h"
+#include "mbed.h"
+ 
+#define RATE 0.0001
+
+float setpoint,kp,ki,kd,pv_new;
+PID controller(kp, ki, kd, RATE);
+AnalogIn pv(p15);
+PwmOut   co(p21);
+Serial pc(USBTX, USBRX);
+
+      
+ 
+int main(){
+pc.baud(19200);
+
+//Set PWM period to 10us
+co.period(100e-6);
+
+ 
+  //Analog input from 0.0 to 1V
+  controller.setInputLimits(0.0,1);
+  //Pwm output from 0.0 to 1.0
+  controller.setOutputLimits(0.0,1);
+  //Add some bias to counter nonlinear effects
+  controller.setBias(0.0);
+  //Set mode to auto
+  controller.setMode(AUTO_MODE);
+  //controller.setMode(MANUAL_MODE);
+  
+  
+  while(1){
+    
+    //Scan the labview environment for the setpoint and tuning parameters
+    pc.scanf("%f,%f,%f,%f",&setpoint,&kp,&ki,&kd);
+    
+    //set the controller setpoint
+    controller.setSetPoint(setpoint);
+    
+    //set the controller PID values
+    controller.setTunings(kp, ki, kd);
+    
+    pv_new = pv.read();
+    
+    controller.setProcessValue(pv_new);
+        
+    //Set the new PWM output.
+    co = controller.compute();
+    
+    //Send the PWM and PV values to Labview
+    pc.printf("%f,%f,%f",co.read(),pv_new,setpoint);
+    
+    
+    //Wait for another loop calculation.
+    wait(RATE);
+  }
+ 
+
+}