Diff: main.cpp

Revision:

0:b1d44d6f9adf

Child:

1:f974481c37b6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Jun 13 00:05:45 2015 +0000
@@ -0,0 +1,87 @@
+#include "mbed.h"
+#include "PID.h"
+#include "QEI.h"
+#include "rtos.h"
+#include "math.h"
+
+#define ROTATE_PER_REVOLUTIONS  24 //QEI 1 rotate by count
+#define THR 560  /PTH pull up register value
+#define THB 3380  //PTH B number
+#define THCR 10000 //25C PTH register
+#define OV_LL 0.0 //PID calcurate output value 0.0 = 0%
+#define OV_HL 1.0 //PID calcurate output value 1.0 = 100%
+#define SV_LL 0.0 //PID setpoint % value for lo limit
+#define SV_HL 100.0 //PID setpoint % value for high limit
+#define P 1.0
+#define I 0.2
+#define D 0.1
+#define RATE 0.1
+#define Bias 0.2
+#define InitialSP 50.0 // PID initial setpoint
+#define RangeSPL 30.0
+#define RangeSPH 120.0
+
+//Kc, Ti, Td, interval
+PID TIC(P, I, D, RATE);
+
+AnalogIn THAI(dp4);
+PwmOut   out(dp1);
+DigitalOut led1(dp14),led2(dp28);
+DigitalIn Run(dp17,PullUp);
+QEI wheel(dp11, PullUp, dp13,PullUp, NC, ROTATE_PER_REVOLUTIONS, QEI::X2_ENCODING);
+float temp_sv_input;
+double temp_pv,temp_cal;
+
+void LCD_thread(void const *args) {
+    while (true) {
+        led2 = !led2;
+        Thread::wait(1000);
+    }
+}
+ 
+
+int main(){
+ //input for change to 0 to 100% range by 50C to 120C
+ temp_sv_input = wheel.getPulses() * 0.5 + RangeSPL;
+
+ if (temp_sv_input <= RangeSPL){
+     temp_sv_input = RangeSPL;
+     }
+     else if (temp_sv_input >= RangeSPH){
+              temp_sv_input = RangeSPH;
+                                        } 
+
+
+ temp_cal = THAI.read();
+//six order polynomial
+ temp_pv =-0.7964*pow(temp_cal,6.0) - 2.5431*pow(temp_cal,5.0) +63.605*pow(temp_cal,4.0) - 274.1*pow(temp_cal,3.0) + 522.57*pow(temp_cal,2.0) - 539.26*temp_cal + 405.76;
+
+  //Analog input from 50.0C to 120.0C
+  TIC.setInputLimits(SV_LL, SV_HL);
+  //Pwm output from 0.0 to 1.0
+  TIC.setOutputLimits(OV_LL, OV_HL);
+  //If there's a bias.
+  TIC.setBias(Bias);
+  TIC.setMode(Run);
+  //We want the process variable to be 1.7V
+  TIC.setSetPoint(temp_sv_input);
+ 
+  while(Run == 1){
+    //Update the process variable.
+    TIC.setProcessValue(temp_cal);
+    //Set the new output.
+    out = TIC.compute();
+    //Wait for another loop calculation.
+    wait(RATE);
+
+    Thread thread(LCD_thread);
+    
+/*    while (true) {
+        led1 = !led1;
+        Thread::wait(500);
+                }  */
+
+out = OV_LL; 
+                }
+ 
+}