Fernon Eijkhoudt / Mbed 2 deprecated RoboBird3

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Dependencies:   Encoder HIDScope MODSERIAL QEI mbed

Fork of Robobird2 by Fernon Eijkhoudt

main.cpp@13:c60942a1da8e, 2015-10-07 (annotated)

Committer:
yc238
Date:
Wed Oct 07 13:30:46 2015 +0000
Revision:
13:c60942a1da8e
Parent:
12:dcf90cafb2a5
Child:
14:b9c925a8176a
28, Werkende P controller. Nu niks meer aan doen!!!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Fernon 0:5a5f417fa1b2 1 #include "mbed.h"
yc238 13:c60942a1da8e 2 #include "encoder.h"
Fernon 8:a2b725b502d8 3 #include "math.h"
yc238 12:dcf90cafb2a5 4 #include "HIDScope.h"
Fernon 0:5a5f417fa1b2 5
Fernon 1:bb11e38dda43 6 DigitalOut Direction(D4); //1 = CCW - 0 = CW
Fernon 1:bb11e38dda43 7 PwmOut PowerMotor(D5); //van 0 tot 1
yc238 13:c60942a1da8e 8 DigitalIn Button(D3);
Fernon 1:bb11e38dda43 9 AnalogIn PotMeter(A1);
yc238 13:c60942a1da8e 10 Encoder MotorEncoder(D12,D13); //Encoder
Fernon 1:bb11e38dda43 11 Serial pc(USBTX, USBRX);
Fernon 2:f0e9ffc5df09 12 Ticker Pot;
yc238 13:c60942a1da8e 13 HIDScope scope(3);
Fernon 0:5a5f417fa1b2 14
Fernon 10:e210675cbe71 15 double z=0; //initiele waarde potmeter
Fernon 8:a2b725b502d8 16 const double twopi = 6.2831853071795;
Fernon 8:a2b725b502d8 17 const double pi = twopi/2;
Fernon 8:a2b725b502d8 18 int Pulses;
Fernon 10:e210675cbe71 19 double Rotatie; //aantal graden dat de motor is gedraaid
Fernon 10:e210675cbe71 20 double Rotatieup; //aantal graden dat de motor is gedraaid in een bereik van n*pi
Fernon 11:a9a23042fc9e 21 double Goal = 0; //initele waarde goal waar de motor naar toe moet, dit wordt gedaan
Fernon 8:a2b725b502d8 22 double Error = 0;
yc238 13:c60942a1da8e 23 double Kp = 0.2; //Moet berekend worden aan de hand van Control concept slides
Fernon 10:e210675cbe71 24 double v = 0; //snelheid van de motor (0-0.1
Fernon 10:e210675cbe71 25 double upperlimit; //max aantal rotaties
Fernon 11:a9a23042fc9e 26 bool Excecute = false;
Fernon 10:e210675cbe71 27
yc238 13:c60942a1da8e 28 double n = 8;
Fernon 2:f0e9ffc5df09 29
Fernon 5:d47e6a96256b 30 void readpot()
Fernon 2:f0e9ffc5df09 31 {
Fernon 10:e210675cbe71 32 z = PotMeter.read(); //uitlezen Potmeter of voor EMG bijvoorbeeld
Fernon 2:f0e9ffc5df09 33 }
Fernon 0:5a5f417fa1b2 34
Fernon 0:5a5f417fa1b2 35 int main()
Fernon 0:5a5f417fa1b2 36 {
Fernon 11:a9a23042fc9e 37 upperlimit = n*twopi;
Fernon 2:f0e9ffc5df09 38 pc.baud(115200);
Fernon 2:f0e9ffc5df09 39 PowerMotor.write(0);
Fernon 6:cf20f04dbab4 40 Pot.attach(readpot,0.1); // Deze ticker moet de waarde uitlezen van de PotMeter 10 keer per seconde
Fernon 0:5a5f417fa1b2 41 while (true) {
Fernon 11:a9a23042fc9e 42 if (Button == 0) {
Fernon 11:a9a23042fc9e 43 Excecute =! Excecute;
yc238 12:dcf90cafb2a5 44 }
yc238 12:dcf90cafb2a5 45 while (Excecute ) {
yc238 13:c60942a1da8e 46 Pulses = MotorEncoder.getPosition();
yc238 12:dcf90cafb2a5 47 Rotatie = (Pulses*twopi)/4192; // Aantal graden draaien in radialen
yc238 12:dcf90cafb2a5 48 Rotatieup = fmod(Rotatie,upperlimit); //Aantal graden draaien in radialen binnen het bereik van upperlimit
yc238 12:dcf90cafb2a5 49 pc.printf ("Potmeter = %f\n", z);
yc238 12:dcf90cafb2a5 50 pc.printf ("Rotatie = %f [radialen] \n", Rotatieup);
yc238 12:dcf90cafb2a5 51 Goal = z*upperlimit; // Het doel waar hij naar toe moet
yc238 12:dcf90cafb2a5 52 Error = Goal-Rotatieup; // De error die het motortje maakt ten opzichte van je Goal
yc238 12:dcf90cafb2a5 53 if (Error >= 0) { //Bepalen van de rotatie richting
yc238 13:c60942a1da8e 54 Direction =1;
yc238 13:c60942a1da8e 55 } else {
yc238 12:dcf90cafb2a5 56 Direction =0;
Fernon 11:a9a23042fc9e 57 }
yc238 12:dcf90cafb2a5 58 pc.printf("Error = %f\n Goal = %f\n", Error, Goal);
yc238 13:c60942a1da8e 59 v = Kp*fabs(Error); // Snelheid van motor
yc238 12:dcf90cafb2a5 60 PowerMotor.write(v); // Snelheid die naar de motor geschreven wordt (wordt alleen in een schaal van 0-1 weergegeven). (uit ervaring van Motor4_Setpoint loopt dit maar tussen 0-0.1).
yc238 13:c60942a1da8e 61 //if (Error<=0.001 && Error>=-0.001) {
yc238 13:c60942a1da8e 62 // PowerMotor.write(0);
yc238 13:c60942a1da8e 63 // Excecute=false;
yc238 13:c60942a1da8e 64 //}
yc238 12:dcf90cafb2a5 65 scope.set(0,Goal);
yc238 12:dcf90cafb2a5 66 scope.set(1,Rotatieup);
yc238 13:c60942a1da8e 67 scope.set(2,Error);
yc238 12:dcf90cafb2a5 68 scope.send();
Fernon 8:a2b725b502d8 69 }
Fernon 0:5a5f417fa1b2 70 }
yc238 12:dcf90cafb2a5 71 }