Jasper Gerth / controlandadjust

Library with P, PI and PID controller

Dependents:   buttoncontrol includeair includeair Oudverslag

controlandadjust.cpp@1:ece12a295ce3, 2015-10-06 (annotated)

Committer:
Gerth
Date:
Tue Oct 06 12:35:20 2015 +0000
Revision:
1:ece12a295ce3
Parent:
0:041a12a5b315
Child:
5:5794dbc42c3d
Added a readout function for PWM signal;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gerth 0:041a12a5b315 1 #include "controlandadjust.h"
Gerth 0:041a12a5b315 2 #include "mbed.h"
Gerth 0:041a12a5b315 3 #include "QEI.h"
Gerth 0:041a12a5b315 4 #include <string>
Gerth 0:041a12a5b315 5
Gerth 0:041a12a5b315 6 float CW=1;
Gerth 0:041a12a5b315 7 float CCW=0;
Gerth 0:041a12a5b315 8 float direction1;
Gerth 0:041a12a5b315 9 float speed1;
Gerth 0:041a12a5b315 10 float direction2;
Gerth 0:041a12a5b315 11 float speed2;
Gerth 0:041a12a5b315 12
Gerth 0:041a12a5b315 13 DigitalOut motor1_dir(D7);// draairichting motor 1 (1 is CW encoder als je daar op kijkt en CW shaft als je daar op kijkt)
Gerth 0:041a12a5b315 14 PwmOut motor1_speed(D6);//aanstuursnelheid motor 1
Gerth 0:041a12a5b315 15 PwmOut motor2_speed(D5);
Gerth 0:041a12a5b315 16 DigitalOut motor2_dir(D4);
Gerth 0:041a12a5b315 17
Gerth 0:041a12a5b315 18
Gerth 0:041a12a5b315 19
Gerth 0:041a12a5b315 20 controlandadjust::controlandadjust(void)
Gerth 0:041a12a5b315 21 {
Gerth 1:ece12a295ce3 22 //motor1_speed.write(0);
Gerth 1:ece12a295ce3 23 // motor2_speed.write(0);
Gerth 1:ece12a295ce3 24
Gerth 1:ece12a295ce3 25
Gerth 0:041a12a5b315 26 }
Gerth 0:041a12a5b315 27
Gerth 0:041a12a5b315 28 void controlandadjust::verwerksignaal(float signaal1,float signaal2)
Gerth 0:041a12a5b315 29 {
Gerth 0:041a12a5b315 30 //motor1
Gerth 0:041a12a5b315 31 if (signaal1>=0) {//determine CW or CCW rotation
Gerth 0:041a12a5b315 32 direction1=CW;
Gerth 0:041a12a5b315 33 } else {
Gerth 0:041a12a5b315 34 direction1=CCW;
Gerth 0:041a12a5b315 35 }
Gerth 0:041a12a5b315 36
Gerth 0:041a12a5b315 37 if (fabs(signaal1)>=1) { //check if signal is <1
Gerth 0:041a12a5b315 38 speed1=1;//if signal >1 make it 1 to not damage motor
Gerth 0:041a12a5b315 39 } else {
Gerth 0:041a12a5b315 40 speed1=fabs(signaal1);// if signal<1 use signal
Gerth 0:041a12a5b315 41 }
Gerth 0:041a12a5b315 42
Gerth 0:041a12a5b315 43 //motor2
Gerth 0:041a12a5b315 44 if (signaal2>=0) {//determine CW or CCW rotation
Gerth 0:041a12a5b315 45 direction2=CW;
Gerth 0:041a12a5b315 46 } else {
Gerth 0:041a12a5b315 47 direction2=CCW;
Gerth 0:041a12a5b315 48 }
Gerth 0:041a12a5b315 49
Gerth 0:041a12a5b315 50 if (fabs(signaal2)>=1) { //check if signal is <1
Gerth 0:041a12a5b315 51 speed2=1;//if signal >1 make it 1 to not damage motor
Gerth 0:041a12a5b315 52 } else {
Gerth 0:041a12a5b315 53 speed2=fabs(signaal2);// if signal<1 use signal
Gerth 0:041a12a5b315 54 }
Gerth 0:041a12a5b315 55 //write to motor
Gerth 0:041a12a5b315 56 motor1_dir.write(direction1);
Gerth 0:041a12a5b315 57 motor1_speed.write(speed1);
Gerth 0:041a12a5b315 58 motor2_dir.write(direction2);
Gerth 0:041a12a5b315 59 motor2_speed.write(speed2);
Gerth 0:041a12a5b315 60
Gerth 0:041a12a5b315 61 }
Gerth 1:ece12a295ce3 62 float controlandadjust::motor1pwm()
Gerth 1:ece12a295ce3 63 {
Gerth 1:ece12a295ce3 64 return speed1;
Gerth 1:ece12a295ce3 65 }
Gerth 1:ece12a295ce3 66
Gerth 1:ece12a295ce3 67 float controlandadjust::motor2pwm()
Gerth 1:ece12a295ce3 68 {
Gerth 1:ece12a295ce3 69 return speed2;
Gerth 1:ece12a295ce3 70 }
Gerth 1:ece12a295ce3 71
Gerth 0:041a12a5b315 72
Gerth 0:041a12a5b315 73 void controlandadjust::P(float error1,float error2,float Kp)
Gerth 0:041a12a5b315 74 {
Gerth 0:041a12a5b315 75 float signaal1=error1*Kp;
Gerth 0:041a12a5b315 76 float signaal2=error2*Kp;
Gerth 0:041a12a5b315 77 verwerksignaal(signaal1,signaal2);
Gerth 0:041a12a5b315 78 }
Gerth 0:041a12a5b315 79
Gerth 0:041a12a5b315 80 void controlandadjust::PI(float error1, float error2, float Kp, float Ki,float Ts, float &error1_int, float &error2_int)
Gerth 0:041a12a5b315 81 {
Gerth 0:041a12a5b315 82 error1_int = error1_int + Ts * error1;
Gerth 0:041a12a5b315 83 float signaal1=Kp*error1+Ki*error1_int;
Gerth 0:041a12a5b315 84
Gerth 0:041a12a5b315 85 error2_int = error2_int + Ts * error2;
Gerth 0:041a12a5b315 86 float signaal2=Kp*error2+Ki*error2_int;
Gerth 0:041a12a5b315 87
Gerth 0:041a12a5b315 88 verwerksignaal (signaal1,signaal2);
Gerth 0:041a12a5b315 89 }
Gerth 0:041a12a5b315 90
Gerth 0:041a12a5b315 91 void controlandadjust::PID(float error1, float error2, float Kp, float Ki,float Kd,float Ts,
Gerth 1:ece12a295ce3 92 float &error1_int, float &error2_int, float &error1_prev, float &error2_prev)
Gerth 0:041a12a5b315 93 {
Gerth 0:041a12a5b315 94 // Derivative
Gerth 0:041a12a5b315 95 double error1_der = (error1 - error1_prev)/Ts;
Gerth 0:041a12a5b315 96 error1_prev = error1;
Gerth 0:041a12a5b315 97
Gerth 0:041a12a5b315 98 double error2_der = (error2 - error2_prev)/Ts;
Gerth 0:041a12a5b315 99 error2_prev = error2;
Gerth 0:041a12a5b315 100
Gerth 0:041a12a5b315 101 // Integral
Gerth 0:041a12a5b315 102 error1_int = error1_int + Ts * error1;
Gerth 0:041a12a5b315 103 error2_int = error2_int + Ts * error2;
Gerth 0:041a12a5b315 104 // PID
Gerth 0:041a12a5b315 105 float signaal1= Kp * error1 + Ki * error1_int + Kd * error1_der;
Gerth 0:041a12a5b315 106 float signaal2= Kp * error2 + Ki * error2_int + Kd * error2_der;
Gerth 0:041a12a5b315 107
Gerth 0:041a12a5b315 108 verwerksignaal(signaal1,signaal2);
Gerth 0:041a12a5b315 109 }