File content as of revision 1:85b1605ed4e0:

/*
    Title:       Mbed Motor Controller
    Author:      Samuel.Walsh@manchester.ac.uk
    Date:        27/01/16
    Description: Using School of EEE Motor Driver Board and STM32F303K8 Nucleo32
    Unipolar PWM Controlling a DC Brushed Motor with PWM on D3, PWM is inverse so
    1.0 = motor off and 0.0 = motor full
 */

#include "mbed.h"
#include "PID.h"
#include "OneWire_Methods.h"
#include "ds2781.h"

#define CURRENT_CHECK_PERIOD_US 50    //Checks ths current of the motor every 100us
#define TICKS_PER_REVOLUTION    12.0   //The encoder has 12 slots
#define TICK_CHECK_PERIOD       0.1    //Checks ths speed every 100ms
#define TICKS_PER_SECOND_MAX    1800.0 //This was found through experimentation with motor, max speed = 8900RPM = ~1800 ticks per second 
#define TICKS_PER_SECOND_MIN    1*TICKS_PER_REVOLUTION  //This is equal to 1RPS (60RPM) at however many ticks per revolution
#define SETPOINT_RPM            4000   //Arbitrarily picked

/* Peripherals */
DigitalOut motorEnable(D8);
PwmOut motorPWM(D6);
Ticker periodicTimer1, periodicTimer2, periodicTimer3;
InterruptIn freqInputPin(D11); 
AnalogIn motorA_CurrentMinus(A1);
AnalogIn motorA_CurrentPlus(A0);
DigitalInOut   one_wire_pin(D9);

//Peripherals used for debugging
Serial pc(USBTX, USBRX); // tx, rx  just used for debugging
DigitalOut debuggingLine(D2);
/* Objects */
PID controller(0.22, 0.01, 0.001, TICK_CHECK_PERIOD);
 
/* Motor Variables */
float speed_rpm, speed_rps, ticks_per_second;
volatile unsigned int tick_counter, final_count;
float setPointRPM;
float MotorACurrent;

//Onewire battery variables
int BatteryVoltageReading;
float BatteryVoltage;

void freqInputPin_Interrupt() {
    //Triggers on the rising edge of the frequency signal
    tick_counter++;
}
void check_TickCount(){
    final_count = tick_counter;
    //pc.printf("\n\rTick Count is : %d", final_count);
    tick_counter = 0;
    controller.setProcessValue(final_count);
    //motorPWM = (float)1.0-controller.compute();
}

void check_Current(){  
    MotorACurrent = (3.3f*motorA_CurrentPlus.read()) - (3.3f*motorA_CurrentMinus.read());
}

void Print_Variables_To_PC(){
   //BatteryVoltageReading = ReadVoltage();
   //BatteryVoltage = BatteryVoltageReading*0.00967;
   
   pc.printf("\n\r Speed in RPM is  : %.2f", (float)(final_count*(1.0/TICK_CHECK_PERIOD))*(60.0/TICKS_PER_REVOLUTION));
   pc.printf("\n\r Motor Current %.2f", MotorACurrent);
  // pc.printf("\n\r Battery Voltage %.2f", BatteryVoltage);
}


int main() {
    //Setup encoder interface
    freqInputPin.rise(&freqInputPin_Interrupt);                  //chain interrupt to rising edge
    periodicTimer1.attach(&check_TickCount, TICK_CHECK_PERIOD);  //Check the speed every interval
    periodicTimer3.attach_us(&check_Current, CURRENT_CHECK_PERIOD_US);  //Check the current every interval see defines above
    
    //Setup PID Speed Controller
    controller.setInputLimits(TICKS_PER_SECOND_MIN, TICKS_PER_SECOND_MAX); //From 60RPM to 8900RPM This needs to be changed for your motor
    controller.setOutputLimits(0.0, 1.0); //Maximum duty cycle = 1.0, minimum = 0
    controller.setMode(1);                //1 = auto mode
    setPointRPM = ((SETPOINT_RPM/60.0)*TICKS_PER_REVOLUTION)/(1.0/TICK_CHECK_PERIOD ); //convert setpoint rpm to ticks per interval
    controller.setSetPoint(setPointRPM);
    
    //Setup PWM
    motorEnable = 1;
    motorPWM.period_us(100);  //Set up for 10KHz PWM Switching Frequency
    
    //Setup Debugging    
    periodicTimer2.attach(&Print_Variables_To_PC, 1.0);          //Display stuff on serial port once a second
    
    while(1) {
          motorPWM = 0.5;
          wait(10);
          
          motorPWM = 0.8;
          wait(5);
//        setPointRPM = ((1500/60.0)*TICKS_PER_REVOLUTION)/(1.0/TICK_CHECK_PERIOD ); //convert setpoint rpm to ticks per interval
//        controller.setSetPoint(setPointRPM);
//        wait(10);
//        setPointRPM = ((2000/60.0)*TICKS_PER_REVOLUTION)/(1.0/TICK_CHECK_PERIOD ); //convert setpoint rpm to ticks per interval
//        controller.setSetPoint(setPointRPM);
//        wait(10);
//        setPointRPM = ((3000/60.0)*TICKS_PER_REVOLUTION)/(1.0/TICK_CHECK_PERIOD ); //convert setpoint rpm to ticks per interval
//        controller.setSetPoint(setPointRPM);
//        wait(10);
//        setPointRPM = ((500/60.0)*TICKS_PER_REVOLUTION)/(1.0/TICK_CHECK_PERIOD ); //convert setpoint rpm to ticks per interval
//        controller.setSetPoint(setPointRPM);
//        wait(10);
//        setPointRPM = ((2000/60.0)*TICKS_PER_REVOLUTION)/(1.0/TICK_CHECK_PERIOD ); //convert setpoint rpm to ticks per interval
//        controller.setSetPoint(setPointRPM);
//        wait(10);
//        setPointRPM = ((1200/60.0)*TICKS_PER_REVOLUTION)/(1.0/TICK_CHECK_PERIOD ); //convert setpoint rpm to ticks per interval
//        controller.setSetPoint(setPointRPM);
//        wait(10);

    }
}