Aukie Hooglugt / Mbed 2 deprecated Regelaar_motor

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Dependencies:   Encoder HIDScope mbed

main.cpp@3:e40763e01a80, 2014-10-23 (annotated)

Committer:
wbuysman
Date:
Thu Oct 23 12:46:45 2014 +0000
Revision:
3:e40763e01a80
Parent:
2:302174acdac7
Child:
4:91b583d4d8c4
werkende versie, kp en ki moeten nog getuned worden;

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 HIDScope scope(3);
wbuysman 0:c205dc094877 7
wbuysman 0:c205dc094877 8 int main()
wbuysman 0:c205dc094877 9 {
wbuysman 0:c205dc094877 10 //motor 1, 25D
wbuysman 0:c205dc094877 11 Encoder motor1(PTD3, PTD5);
wbuysman 0:c205dc094877 12 DigitalOut motor1dir(PTC9);
wbuysman 0:c205dc094877 13 PwmOut pwm_motor1(PTC8);
wbuysman 0:c205dc094877 14 pwm_motor1.period_us(100); //10kHz PWM frequency
wbuysman 0:c205dc094877 15
wbuysman 0:c205dc094877 16 //motor 2, 25D
wbuysman 0:c205dc094877 17 Encoder motor2(PTD2,PTD0);
wbuysman 0:c205dc094877 18 DigitalOut motor2dir(PTA4);
wbuysman 0:c205dc094877 19 PwmOut pwm_motor2(PTA5);
wbuysman 0:c205dc094877 20 pwm_motor2.period_us(100); //10kHz PWM frequency
wbuysman 0:c205dc094877 21
wbuysman 0:c205dc094877 22
wbuysman 2:302174acdac7 23 float integral1 = 0;
wbuysman 2:302174acdac7 24 float setpoint1 = 9.5;
wbuysman 2:302174acdac7 25 float dt1 = 0.01;
wbuysman 3:e40763e01a80 26 float Kp1 = 0.1;
wbuysman 3:e40763e01a80 27 float Ki1 = 0.1;
wbuysman 2:302174acdac7 28 float error1 = 0;
wbuysman 2:302174acdac7 29 float output1 = 0;
wbuysman 3:e40763e01a80 30 float omrekenfactor = 4480*6.28;
wbuysman 3:e40763e01a80 31
wbuysman 0:c205dc094877 32 while(1) {
wbuysman 3:e40763e01a80 33
wbuysman 3:e40763e01a80 34 error1 = setpoint1 - motor1.getPosition()/(omrekenfactor)/dt1;
wbuysman 3:e40763e01a80 35 //motorpositie omgerekend naar rad/s
wbuysman 0:c205dc094877 36 integral1 = integral1 + error1*dt1;
wbuysman 0:c205dc094877 37 output1 = Kp1*error1 + Ki1*integral1;
wbuysman 2:302174acdac7 38 pwm_motor1.write(abs(output1));
wbuysman 3:e40763e01a80 39 wait(dt1);
wbuysman 3:e40763e01a80 40
wbuysman 0:c205dc094877 41
wbuysman 3:e40763e01a80 42 if(output1 > 0) {
wbuysman 3:e40763e01a80 43 motor1dir = 1;
wbuysman 3:e40763e01a80 44 } else {
wbuysman 3:e40763e01a80 45 motor1dir = 0;
wbuysman 3:e40763e01a80 46 }
wbuysman 3:e40763e01a80 47
wbuysman 3:e40763e01a80 48 scope.set(0, output1);
wbuysman 3:e40763e01a80 49 scope.set(1, motor1.getPosition());
wbuysman 3:e40763e01a80 50 scope.set(2, motor1.getPosition()/(omrekenfactor)/dt1);
wbuysman 3:e40763e01a80 51 scope.send();
wbuysman 3:e40763e01a80 52
wbuysman 0:c205dc094877 53 }
wbuysman 0:c205dc094877 54 }