Terry Gorman / Mbed 2 deprecated closed_loop

closedloop

Dependencies:   PID mbed

Files at this revision

API Documentation at this revision

Revision 0:b0f441e496c1, committed 2014-06-30

Comitter:
DrT
Date:
Mon Jun 30 11:10:21 2014 +0000
Commit message:
mm

Changed in this revision

PID.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.lib	Mon Jun 30 11:10:21 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/aberk/code/PID/#6e12a3e5af19

--- /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);
+  }
+ 
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jun 30 11:10:21 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/b3110cd2dd17
\ No newline at end of file