Aukie Hooglugt / Mbed 2 deprecated Regelaar_motor

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Dependencies:   Encoder HIDScope mbed

main.cpp@2:302174acdac7, 2014-10-23 (annotated)

Committer:
wbuysman
Date:
Thu Oct 23 12:05:16 2014 +0000
Revision:
2:302174acdac7
Parent:
0:c205dc094877
Child:
3:e40763e01a80
Fouten eruit gehaald, identifiers toegevoegd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wbuysman 0:c205dc094877 1 #include "mbed.h"
wbuysman 0:c205dc094877 2 #include "encoder.h"
wbuysman 0:c205dc094877 3 #include "HIDScope.h"
wbuysman 0:c205dc094877 4
wbuysman 0:c205dc094877 5
wbuysman 0:c205dc094877 6
wbuysman 0:c205dc094877 7 HIDScope scope(3);
wbuysman 0:c205dc094877 8
wbuysman 0:c205dc094877 9 int main()
wbuysman 0:c205dc094877 10 {
wbuysman 0:c205dc094877 11 //motor 1, 25D
wbuysman 0:c205dc094877 12 Encoder motor1(PTD3, PTD5);
wbuysman 0:c205dc094877 13 DigitalOut motor1dir(PTC9);
wbuysman 0:c205dc094877 14 PwmOut pwm_motor1(PTC8);
wbuysman 0:c205dc094877 15 pwm_motor1.period_us(100); //10kHz PWM frequency
wbuysman 0:c205dc094877 16
wbuysman 0:c205dc094877 17 //motor 2, 25D
wbuysman 0:c205dc094877 18 Encoder motor2(PTD2,PTD0);
wbuysman 0:c205dc094877 19 DigitalOut motor2dir(PTA4);
wbuysman 0:c205dc094877 20 PwmOut pwm_motor2(PTA5);
wbuysman 0:c205dc094877 21 pwm_motor2.period_us(100); //10kHz PWM frequency
wbuysman 0:c205dc094877 22
wbuysman 0:c205dc094877 23
wbuysman 2:302174acdac7 24 float integral1 = 0;
wbuysman 2:302174acdac7 25 float setpoint1 = 9.5;
wbuysman 2:302174acdac7 26 float dt1 = 0.01;
wbuysman 2:302174acdac7 27 float Kp1 = 0.01;
wbuysman 2:302174acdac7 28 float Ki1 = 0.01;
wbuysman 2:302174acdac7 29 float error1 = 0;
wbuysman 2:302174acdac7 30 float output1 = 0;
wbuysman 2:302174acdac7 31
wbuysman 0:c205dc094877 32 while(1) {
wbuysman 0:c205dc094877 33 start:
wbuysman 2:302174acdac7 34 float error1 = setpoint1 - motor1.getPosition/(4480*6.28)/dt1; //motorpositie omgerekend naar rad/s
wbuysman 0:c205dc094877 35 integral1 = integral1 + error1*dt1;
wbuysman 0:c205dc094877 36 output1 = Kp1*error1 + Ki1*integral1;
wbuysman 2:302174acdac7 37 pwm_motor1.write(abs(output1));
wbuysman 0:c205dc094877 38 wait(dt1)
wbuysman 2:302174acdac7 39 goto start;
wbuysman 0:c205dc094877 40
wbuysman 0:c205dc094877 41 if(new_pwm > 0) {
wbuysman 0:c205dc094877 42 motor1dir = 0;
wbuysman 0:c205dc094877 43 } else {
wbuysman 0:c205dc094877 44 motor1dir = 1;
wbuysman 0:c205dc094877 45 }
wbuysman 0:c205dc094877 46
wbuysman 2:302174acdac7 47 scope.set(0, output1);
wbuysman 0:c205dc094877 48 scope.set(1, motor1.getPosition());
wbuysman 2:302174acdac7 49 scope.set(2, motor1.getPosition()/(4480*6.28)/dt1);
wbuysman 0:c205dc094877 50 scope.send();
wbuysman 0:c205dc094877 51 }
wbuysman 0:c205dc094877 52 }