Shota Asao / Mbed 2 deprecated RobotEx_Test01

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Dependencies:   mbed

main.cpp@0:1e31c3d92e90, 2017-12-21 (annotated)

Committer:
Jecours
Date:
Thu Dec 21 04:16:17 2017 +0000
Revision:
0:1e31c3d92e90
mbed otita;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jecours 0:1e31c3d92e90 1 #include "mbed.h"
Jecours 0:1e31c3d92e90 2 #include "Encoder.h"
Jecours 0:1e31c3d92e90 3
Jecours 0:1e31c3d92e90 4 PwmOut motor1(PC_8);
Jecours 0:1e31c3d92e90 5 PwmOut motor2(PC_9);
Jecours 0:1e31c3d92e90 6 DigitalOut led1(LED1);
Jecours 0:1e31c3d92e90 7 TIM_Encoder_InitTypeDef encoder1;
Jecours 0:1e31c3d92e90 8 TIM_Handle_TypeDef timer;
Jecours 0:1e31c3d92e90 9
Jecours 0:1e31c3d92e90 10 Ticker t;
Jecours 0:1e31c3d92e90 11
Jecours 0:1e31c3d92e90 12 float kp = 2.0f;
Jecours 0:1e31c3d92e90 13 float kd = 0.0f;
Jecours 0:1e31c3d92e90 14 float ki = 0.0f;
Jecours 0:1e31c3d92e90 15
Jecours 0:1e31c3d92e90 16 void motor(int16_t a);
Jecours 0:1e31c3d92e90 17
Jecours 0:1e31c3d92e90 18 uint16_t count = 0;
Jecours 0:1e31c3d92e90 19 uint16_t countd = 0;
Jecours 0:1e31c3d92e90 20 uint16_t integral= 0;
Jecours 0:1e31c3d92e90 21
Jecours 0:1e31c3d92e90 22 uint16_t counter = 32000;
Jecours 0:1e31c3d92e90 23
Jecours 0:1e31c3d92e90 24 int main()
Jecours 0:1e31c3d92e90 25 {
Jecours 0:1e31c3d92e90 26 EncoderInit(encoder1,timer,TIM8,65535,TIM_ENCODERMODE_TI12);
Jecours 0:1e31c3d92e90 27 while(1) {
Jecours 0:1e31c3d92e90 28 led1 = !led1;
Jecours 0:1e31c3d92e90 29 wait(1);
Jecours 0:1e31c3d92e90 30 }
Jecours 0:1e31c3d92e90 31 }
Jecours 0:1e31c3d92e90 32
Jecours 0:1e31c3d92e90 33 void calc_control(){
Jecours 0:1e31c3d92e90 34 countd = count;
Jecours 0:1e31c3d92e90 35 count = __HAL_TIM_GET_COUNTER(&timer);
Jecours 0:1e31c3d92e90 36 integral += count-countd;
Jecours 0:1e31c3d92e90 37 int output = (counter - count)*kp + (count - countd)*kd + integral * ki;
Jecours 0:1e31c3d92e90 38 motor(output);
Jecours 0:1e31c3d92e90 39 }
Jecours 0:1e31c3d92e90 40
Jecours 0:1e31c3d92e90 41 void motor(int16_t a)
Jecours 0:1e31c3d92e90 42 {
Jecours 0:1e31c3d92e90 43 float x = a/32768;
Jecours 0:1e31c3d92e90 44 if(x>0) {
Jecours 0:1e31c3d92e90 45 motor1.write(x);
Jecours 0:1e31c3d92e90 46 motor2.write(0);
Jecours 0:1e31c3d92e90 47 }else{
Jecours 0:1e31c3d92e90 48 x = abs(x);
Jecours 0:1e31c3d92e90 49 motor2.write(x);
Jecours 0:1e31c3d92e90 50 motor1.write(0);
Jecours 0:1e31c3d92e90 51 }
Jecours 0:1e31c3d92e90 52 }