Floris Hoek / Mbed 2 deprecated template_biorobotics_Group_18

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@8:7dab565a208e, 2019-10-14 (annotated)

Committer:
Floris_Hoek
Date:
Mon Oct 14 14:00:10 2019 +0000
Revision:
8:7dab565a208e
Parent:
5:2ae500da8fe1
Child:
9:e8cc37a94fec
program split into different files to keep program organised

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RobertoO 0:67c50348f842 1 #include "mbed.h"
Floris_Hoek 8:7dab565a208e 2 #include "HIDScope.h"
Floris_Hoek 8:7dab565a208e 3 #include "BiQuad.h"
RobertoO 1:b862262a9d14 4 #include "MODSERIAL.h"
paulstuiver 2:75b2f713161c 5 #include "FastPWM.h"
paulstuiver 5:2ae500da8fe1 6 #include "QEI.h"
paulstuiver 5:2ae500da8fe1 7 #include <math.h>
paulstuiver 2:75b2f713161c 8
Floris_Hoek 8:7dab565a208e 9 #include "Motor_Control.h"
Floris_Hoek 8:7dab565a208e 10
paulstuiver 2:75b2f713161c 11 DigitalIn button1(D12);
paulstuiver 2:75b2f713161c 12 AnalogIn pot2(A0);
Floris_Hoek 8:7dab565a208e 13 Ticker measurecontrol;
paulstuiver 3:4f281c336a8b 14 DigitalOut motor1Direction(D7);
paulstuiver 3:4f281c336a8b 15 FastPWM motor1Velocity(D6);
Floris_Hoek 8:7dab565a208e 16 MODSERIAL pc(USBTX, USBRX);
paulstuiver 5:2ae500da8fe1 17 QEI Encoder(D8,D9,NC,8400);
Floris_Hoek 8:7dab565a208e 18
Floris_Hoek 8:7dab565a208e 19 float PI = 3.1415926535897932384626433832795028841971693993;
paulstuiver 5:2ae500da8fe1 20 float timeinterval = 0.001;
paulstuiver 5:2ae500da8fe1 21
paulstuiver 5:2ae500da8fe1 22 // README
paulstuiver 5:2ae500da8fe1 23
paulstuiver 5:2ae500da8fe1 24
paulstuiver 5:2ae500da8fe1 25 //P control implementation (behaves like a spring)
paulstuiver 5:2ae500da8fe1 26 double P_controller(double error)
paulstuiver 5:2ae500da8fe1 27 {
Floris_Hoek 8:7dab565a208e 28 double Kp = 17.5;
paulstuiver 5:2ae500da8fe1 29 //Proportional part:
paulstuiver 5:2ae500da8fe1 30 double u_k = Kp * error;
paulstuiver 5:2ae500da8fe1 31
paulstuiver 5:2ae500da8fe1 32 //sum all parts and return it
paulstuiver 5:2ae500da8fe1 33 return u_k;
paulstuiver 5:2ae500da8fe1 34 }
paulstuiver 2:75b2f713161c 35
Floris_Hoek 8:7dab565a208e 36 void nothing(){// Do nothing
paulstuiver 2:75b2f713161c 37 }
paulstuiver 2:75b2f713161c 38
RobertoO 0:67c50348f842 39 int main()
RobertoO 0:67c50348f842 40 {
Floris_Hoek 8:7dab565a208e 41 double frequency = 17000.0;
Floris_Hoek 8:7dab565a208e 42 double period_signal = 1.0/frequency;
RobertoO 0:67c50348f842 43 pc.baud(115200);
Floris_Hoek 8:7dab565a208e 44 pc.printf("Starting...\r\n\r\n");
paulstuiver 2:75b2f713161c 45 motor1Velocity.period(period_signal);
Floris_Hoek 8:7dab565a208e 46 measurecontrol.attach(measureandcontrol, timeinterval);
Floris_Hoek 8:7dab565a208e 47 bool aa = true;
Floris_Hoek 8:7dab565a208e 48 while(aa)
paulstuiver 2:75b2f713161c 49 {
Floris_Hoek 8:7dab565a208e 50 char c = pc.getcNb();
Floris_Hoek 8:7dab565a208e 51 aa = c == 'c' ? false : true;
RobertoO 0:67c50348f842 52 }
Floris_Hoek 8:7dab565a208e 53 pc.printf("Programm stops running\r\n");
Floris_Hoek 8:7dab565a208e 54 sendtomotor(0);
Floris_Hoek 8:7dab565a208e 55 measurecontrol.attach(nothing,10000);
Floris_Hoek 8:7dab565a208e 56 return 0;
Floris_Hoek 8:7dab565a208e 57 }