Floris Hoek / Mbed 2 deprecated template_biorobotics_Group_18

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp

Committer:
Floris_Hoek
Date:
2019-10-14
Revision:
8:7dab565a208e
Parent:
5:2ae500da8fe1
Child:
9:e8cc37a94fec

File content as of revision 8:7dab565a208e:

#include "mbed.h"
#include "HIDScope.h"
#include "BiQuad.h"
#include "MODSERIAL.h"
#include "FastPWM.h"
#include "QEI.h"
#include <math.h>

#include "Motor_Control.h"

DigitalIn button1(D12);
AnalogIn pot2(A0);
Ticker measurecontrol;
DigitalOut motor1Direction(D7);
FastPWM motor1Velocity(D6);
MODSERIAL pc(USBTX, USBRX);
QEI Encoder(D8,D9,NC,8400);

float PI = 3.1415926535897932384626433832795028841971693993;
float timeinterval = 0.001;

// README


//P control implementation (behaves like a spring)
double P_controller(double error)
{
    double Kp = 17.5;
    //Proportional part:
    double u_k = Kp * error;
    
    //sum all parts and return it
    return u_k;
}

void nothing(){// Do nothing
}

int main()
{
    double frequency = 17000.0;
    double period_signal = 1.0/frequency;
    pc.baud(115200);
    pc.printf("Starting...\r\n\r\n");
    motor1Velocity.period(period_signal);
    measurecontrol.attach(measureandcontrol, timeinterval);
    bool aa = true;
    while(aa)
    {
        char c = pc.getcNb();
        aa = c == 'c' ? false : true;
    }
    pc.printf("Programm stops running\r\n");
    sendtomotor(0);
    measurecontrol.attach(nothing,10000);
    return 0;
}