Aukie Hooglugt / Mbed 2 deprecated Regelaar_motor

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Dependencies:   Encoder HIDScope mbed

main.cpp

Committer:
wbuysman
Date:
2014-10-23
Revision:
4:91b583d4d8c4
Parent:
3:e40763e01a80
Child:
5:7fb05dfead4d

File content as of revision 4:91b583d4d8c4:

#include "mbed.h"
#include "encoder.h"
#include "HIDScope.h"


HIDScope scope(4);

int main()
{
    //motor 1, 25D
    Encoder motor1(PTD3, PTD5);
    DigitalOut motor1dir(PTC9);
    PwmOut pwm_motor1(PTC8);
    pwm_motor1.period_us(100); //10kHz PWM frequency

    //motor 2, 25D
    Encoder motor2(PTD2,PTD0);
    DigitalOut motor2dir(PTA4);
    PwmOut pwm_motor2(PTA5);
    pwm_motor2.period_us(100); //10kHz PWM frequency


    float integral1 = 0;
    float setpoint1 = 3;
    float dt1 = 0.01;
    float Kp1 = 1;
    float Ki1 = 0.5;
    float error1 = 0;
    float output1 = 0;
    float omrekenfactor = 4480.0/6.28;

    while(1) {

        error1 = setpoint1 - motor1.getSpeed()/omrekenfactor;     // (omrekenfactor)/dt1;
        //motorpositie omgerekend naar rad/s
        integral1 = integral1 + error1*dt1;
        output1 = Kp1*error1 + Ki1*integral1;
        pwm_motor1.write(abs(output1));
        wait(dt1);


        if(output1 > 0) {
            motor1dir = 0;
        } else {
            motor1dir = 1;
        }
        scope.set(0, error1);
        scope.set(1, output1);
        scope.set(2, motor1.getSpeed()/omrekenfactor);
        scope.set(3, motor1.getPosition()/(omrekenfactor));
        scope.send();

    }
}