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Dependencies: Encoder HIDScope MODSERIAL mbed-dsp mbed
Fork of
BMT-M9_motorcontrol_groep3
by 
Aukie Hooglugt
Revision 0:c9e647421e54, committed 2013-09-26
- Comitter:
- vsluiter
- Date:
- Thu Sep 26 11:31:08 2013 +0000
- Child:
- 1:5ac85aad9da4
- Commit message:
- placed pid in function, coerce in function;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder.lib Thu Sep 26 11:31:08 2013 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/vsluiter/code/Encoder/#c90b36abcbf8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Thu Sep 26 11:31:08 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Sissors/code/MODSERIAL/#9a41078f0488
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Sep 26 11:31:08 2013 +0000
@@ -0,0 +1,66 @@
+#include "mbed.h"
+#include "encoder.h"
+#include "MODSERIAL.h"
+
+#define K_P 0.015//184997836671646
+#define K_I 0.//000824387821287097
+#define K_D 0.077//972091946803081
+
+void coerce(float * in, float min, float max);
+float pid(float setpoint, float measurement);
+
+volatile bool looptimerflag;
+
+void setlooptimerflag(void)
+{
+ looptimerflag = true;
+}
+
+int main() {
+ Encoder motor1(PTD0,PTC9);
+ MODSERIAL pc(USBTX,USBRX);
+ PwmOut pwm_motor(PTA12);
+ DigitalOut motordir(PTD3);
+ AnalogIn potmeter(PTC2);
+ pc.baud(115200);
+ Ticker looptimer;
+ looptimer.attach(setlooptimerflag,0.01);
+ while(1) {
+ static float setpoint = 0;
+ float new_pwm;
+ while(!looptimerflag);
+ looptimerflag = false;
+ setpoint = (potmeter.read()-0.5)*2000;
+ new_pwm = pid(setpoint, motor1.getPosition());
+ coerce(&new_pwm, -1,1);
+ if(new_pwm > 0)
+ motordir = 1;
+ else
+ motordir = 0;
+ pwm_motor.write(abs(new_pwm));
+ }
+}
+
+void coerce(float * in, float min, float max)
+{
+ *in > min ? *in < max? : *in = max: *in = min;
+}
+
+
+float pid(float setpoint, float measurement)
+{
+ //static int16_t setpoint = 0 //static int16_t setpoint = 0
+ float error;
+ static float prev_error = 0;
+ float out_p = 0;
+ static float out_i = 0;
+ float out_d = 0;
+ error = setpoint-measurement;
+ out_p = error*K_P;
+ out_i += error*K_I;
+ out_d = (error-prev_error)*K_D;
+ coerce(&out_i,-0.5,0.5);
+ prev_error = error;
+ return out_p + out_i + out_d;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Sep 26 11:31:08 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f \ No newline at end of file