Jitse Giesen
/
Koppeling
Hier Roodmans
main.cpp@5:aa191ca932ab, 2017-10-24 (annotated)
- Committer:
- Jitse_Giesen
- Date:
- Tue Oct 24 07:45:59 2017 +0000
- Revision:
- 5:aa191ca932ab
- Parent:
- 4:050dd85ffcf5
rood fix deze shit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Jitse_Giesen | 0:3e98322ac0e2 | 1 | #include "mbed.h" |
Jitse_Giesen | 0:3e98322ac0e2 | 2 | #include "math.h" |
Jitse_Giesen | 4:050dd85ffcf5 | 3 | #include "encoder.h" |
Jitse_Giesen | 4:050dd85ffcf5 | 4 | #include "QEI.h" |
Jitse_Giesen | 0:3e98322ac0e2 | 5 | |
Jitse_Giesen | 4:050dd85ffcf5 | 6 | DigitalIn button1(D8); |
Jitse_Giesen | 4:050dd85ffcf5 | 7 | DigitalIn button2(D9); |
Jitse_Giesen | 4:050dd85ffcf5 | 8 | //AnalogIn potMeterIn(A1); |
Jitse_Giesen | 4:050dd85ffcf5 | 9 | float potMeterIn; // = 0.01; snelheid in, zonder potmeter gebruik |
Jitse_Giesen | 4:050dd85ffcf5 | 10 | |
Jitse_Giesen | 4:050dd85ffcf5 | 11 | DigitalOut motor1DirectionPin(D4); |
Jitse_Giesen | 4:050dd85ffcf5 | 12 | PwmOut motor1MagnitudePin(D5); |
Jitse_Giesen | 4:050dd85ffcf5 | 13 | |
Jitse_Giesen | 4:050dd85ffcf5 | 14 | QEI Encoder(D12,D13,NC,32); |
Jitse_Giesen | 4:050dd85ffcf5 | 15 | |
Jitse_Giesen | 4:050dd85ffcf5 | 16 | |
Jitse_Giesen | 4:050dd85ffcf5 | 17 | int counts = Encoder.getPulses(); |
Jitse_Giesen | 4:050dd85ffcf5 | 18 | int delta; |
Jitse_Giesen | 0:3e98322ac0e2 | 19 | DigitalOut led(LED_RED); |
Jitse_Giesen | 0:3e98322ac0e2 | 20 | DigitalOut ledd(LED_GREEN); |
Jitse_Giesen | 2:263a53d72bb7 | 21 | DigitalOut leddd(LED_BLUE); |
Jitse_Giesen | 0:3e98322ac0e2 | 22 | InterruptIn button(SW2); |
Jitse_Giesen | 0:3e98322ac0e2 | 23 | Timer t; |
Jitse_Giesen | 0:3e98322ac0e2 | 24 | Serial pc(USBTX, USBRX); |
Jitse_Giesen | 5:aa191ca932ab | 25 | |
Jitse_Giesen | 5:aa191ca932ab | 26 | int Xin=-5; |
Jitse_Giesen | 5:aa191ca932ab | 27 | /*float huidigetijdX; |
Jitse_Giesen | 0:3e98322ac0e2 | 28 | void ledtX(){ |
Jitse_Giesen | 0:3e98322ac0e2 | 29 | t.reset(); |
Jitse_Giesen | 0:3e98322ac0e2 | 30 | Xin++; |
Jitse_Giesen | 0:3e98322ac0e2 | 31 | pc.printf("Xin is %i\n",Xin); |
Jitse_Giesen | 0:3e98322ac0e2 | 32 | ledd=0; |
Jitse_Giesen | 0:3e98322ac0e2 | 33 | led=1; |
Jitse_Giesen | 0:3e98322ac0e2 | 34 | wait(0.5); |
Jitse_Giesen | 0:3e98322ac0e2 | 35 | ledd=1; |
Jitse_Giesen | 0:3e98322ac0e2 | 36 | led=0; |
Jitse_Giesen | 0:3e98322ac0e2 | 37 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 38 | |
Jitse_Giesen | 0:3e98322ac0e2 | 39 | int tellerX(){ |
Jitse_Giesen | 0:3e98322ac0e2 | 40 | ledd=1; |
Jitse_Giesen | 2:263a53d72bb7 | 41 | leddd=1; |
Jitse_Giesen | 5:aa191ca932ab | 42 | while(true){ |
Jitse_Giesen | 0:3e98322ac0e2 | 43 | button.fall(ledtX); |
Jitse_Giesen | 0:3e98322ac0e2 | 44 | /*if (EMG>threshold){ |
Jitse_Giesen | 5:aa191ca932ab | 45 | ledtX(); // dit is wat je uiteindelijk wil dat er staat |
Jitse_Giesen | 5:aa191ca932ab | 46 | }*//* |
Jitse_Giesen | 0:3e98322ac0e2 | 47 | t.start(); |
Jitse_Giesen | 0:3e98322ac0e2 | 48 | huidigetijdX=t.read(); |
Jitse_Giesen | 3:08bf605844eb | 49 | if (huidigetijdX>2){ |
Jitse_Giesen | 0:3e98322ac0e2 | 50 | led=1; // ga door naar het volgende programma |
Jitse_Giesen | 2:263a53d72bb7 | 51 | return 0; |
Jitse_Giesen | 0:3e98322ac0e2 | 52 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 53 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 54 | } |
Jitse_Giesen | 5:aa191ca932ab | 55 | */int Yin=-3;/* |
Jitse_Giesen | 0:3e98322ac0e2 | 56 | float huidigetijdY; |
Jitse_Giesen | 0:3e98322ac0e2 | 57 | void ledtY(){ |
Jitse_Giesen | 0:3e98322ac0e2 | 58 | t.reset(); |
Jitse_Giesen | 0:3e98322ac0e2 | 59 | Yin++; |
Jitse_Giesen | 0:3e98322ac0e2 | 60 | pc.printf("Yin is %i\n",Yin); |
Jitse_Giesen | 0:3e98322ac0e2 | 61 | ledd=0; |
Jitse_Giesen | 2:263a53d72bb7 | 62 | leddd=1; |
Jitse_Giesen | 0:3e98322ac0e2 | 63 | wait(0.5); |
Jitse_Giesen | 0:3e98322ac0e2 | 64 | ledd=1; |
Jitse_Giesen | 2:263a53d72bb7 | 65 | leddd=0; |
Jitse_Giesen | 0:3e98322ac0e2 | 66 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 67 | |
Jitse_Giesen | 0:3e98322ac0e2 | 68 | int tellerY(){ |
Jitse_Giesen | 0:3e98322ac0e2 | 69 | t.reset(); |
Jitse_Giesen | 2:263a53d72bb7 | 70 | ledd=1; |
Jitse_Giesen | 2:263a53d72bb7 | 71 | leddd=0; |
Jitse_Giesen | 0:3e98322ac0e2 | 72 | while(true){ |
Jitse_Giesen | 0:3e98322ac0e2 | 73 | button.fall(ledtY); |
Jitse_Giesen | 0:3e98322ac0e2 | 74 | /*if (EMG>threshold){ |
Jitse_Giesen | 0:3e98322ac0e2 | 75 | Piek(); // dit is wat je uiteindelijk wil dat er staat |
Jitse_Giesen | 5:aa191ca932ab | 76 | }*//* |
Jitse_Giesen | 0:3e98322ac0e2 | 77 | t.start(); |
Jitse_Giesen | 0:3e98322ac0e2 | 78 | huidigetijdY=t.read(); |
Jitse_Giesen | 3:08bf605844eb | 79 | if (huidigetijdY>2){ |
Jitse_Giesen | 2:263a53d72bb7 | 80 | leddd=1; |
Jitse_Giesen | 2:263a53d72bb7 | 81 | button.fall(0); |
Jitse_Giesen | 3:08bf605844eb | 82 | return 0; // ga door naar het volgende programma |
Jitse_Giesen | 0:3e98322ac0e2 | 83 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 84 | } |
Jitse_Giesen | 5:aa191ca932ab | 85 | }*/ |
Jitse_Giesen | 2:263a53d72bb7 | 86 | int B; |
Jitse_Giesen | 0:3e98322ac0e2 | 87 | float Pox = 0; |
Jitse_Giesen | 0:3e98322ac0e2 | 88 | float Poy = 0; |
Jitse_Giesen | 0:3e98322ac0e2 | 89 | float Pbx = 0; |
Jitse_Giesen | 0:3e98322ac0e2 | 90 | float Pby = 887; |
Jitse_Giesen | 0:3e98322ac0e2 | 91 | float Prx = 768; |
Jitse_Giesen | 0:3e98322ac0e2 | 92 | float Pry = 443; |
Jitse_Giesen | 0:3e98322ac0e2 | 93 | float Pex=121; |
Jitse_Giesen | 0:3e98322ac0e2 | 94 | float Pey=308; |
Jitse_Giesen | 0:3e98322ac0e2 | 95 | float diamtrklosje=20; |
Jitse_Giesen | 0:3e98322ac0e2 | 96 | float pi=3.14159265359; |
Jitse_Giesen | 2:263a53d72bb7 | 97 | float omtrekklosje=diamtrklosje*pi; |
Jitse_Giesen | 0:3e98322ac0e2 | 98 | float Lou; |
Jitse_Giesen | 0:3e98322ac0e2 | 99 | float Lbu; |
Jitse_Giesen | 0:3e98322ac0e2 | 100 | float Lru; |
Jitse_Giesen | 2:263a53d72bb7 | 101 | float dLod; |
Jitse_Giesen | 2:263a53d72bb7 | 102 | float dLbd; |
Jitse_Giesen | 2:263a53d72bb7 | 103 | float dLrd; |
Jitse_Giesen | 0:3e98322ac0e2 | 104 | float roto; |
Jitse_Giesen | 0:3e98322ac0e2 | 105 | float rotb; |
Jitse_Giesen | 0:3e98322ac0e2 | 106 | float rotr; |
Jitse_Giesen | 2:263a53d72bb7 | 107 | float rotzo; |
Jitse_Giesen | 2:263a53d72bb7 | 108 | float rotzb; |
Jitse_Giesen | 2:263a53d72bb7 | 109 | float rotzr; |
Jitse_Giesen | 0:3e98322ac0e2 | 110 | float counto; |
Jitse_Giesen | 0:3e98322ac0e2 | 111 | float countb; |
Jitse_Giesen | 2:263a53d72bb7 | 112 | float countr; |
Jitse_Giesen | 2:263a53d72bb7 | 113 | float countzo; |
Jitse_Giesen | 2:263a53d72bb7 | 114 | float countzb; |
Jitse_Giesen | 2:263a53d72bb7 | 115 | float countzr; |
Jitse_Giesen | 0:3e98322ac0e2 | 116 | float Psx; |
Jitse_Giesen | 0:3e98322ac0e2 | 117 | float Psy; |
Jitse_Giesen | 0:3e98322ac0e2 | 118 | float Vex; |
Jitse_Giesen | 0:3e98322ac0e2 | 119 | float Vey; |
Jitse_Giesen | 4:050dd85ffcf5 | 120 | float Kz=0.7; // nadersnelheid instellen |
Jitse_Giesen | 0:3e98322ac0e2 | 121 | float modVe; |
Jitse_Giesen | 0:3e98322ac0e2 | 122 | float Vmax=20; |
Jitse_Giesen | 0:3e98322ac0e2 | 123 | float Pstx; |
Jitse_Giesen | 0:3e98322ac0e2 | 124 | float Psty; |
Jitse_Giesen | 0:3e98322ac0e2 | 125 | float T=0.02;//seconds |
Jitse_Giesen | 0:3e98322ac0e2 | 126 | |
Jitse_Giesen | 4:050dd85ffcf5 | 127 | |
Jitse_Giesen | 4:050dd85ffcf5 | 128 | //Deel om motor(en) aan te sturen-------------------------------------------- |
Jitse_Giesen | 4:050dd85ffcf5 | 129 | |
Jitse_Giesen | 4:050dd85ffcf5 | 130 | void calcdelta(void) { |
Jitse_Giesen | 4:050dd85ffcf5 | 131 | delta = (counto - Encoder.getPulses()); |
Jitse_Giesen | 4:050dd85ffcf5 | 132 | } |
Jitse_Giesen | 4:050dd85ffcf5 | 133 | |
Jitse_Giesen | 4:050dd85ffcf5 | 134 | //Encoder motor1(D12,D13); //Gear ratio = encoder ratio = 131.25:1 & |
Jitse_Giesen | 4:050dd85ffcf5 | 135 | // factor 64: To compute the counts per revolution of the gearbox output, multiply the gear ratio by 64. |
Jitse_Giesen | 4:050dd85ffcf5 | 136 | |
Jitse_Giesen | 4:050dd85ffcf5 | 137 | float referenceVelocity; |
Jitse_Giesen | 4:050dd85ffcf5 | 138 | float motorValue; |
Jitse_Giesen | 4:050dd85ffcf5 | 139 | |
Jitse_Giesen | 4:050dd85ffcf5 | 140 | Ticker controlmotor1; // één ticker van maken? |
Jitse_Giesen | 4:050dd85ffcf5 | 141 | Ticker calculatedelta; |
Jitse_Giesen | 4:050dd85ffcf5 | 142 | Ticker feedbacktick; |
Jitse_Giesen | 4:050dd85ffcf5 | 143 | Ticker printdata; //aparte ticker om print pc aan te kunnen spreken zonder get te worden van hoeveelheid geprinte waardes |
Jitse_Giesen | 4:050dd85ffcf5 | 144 | |
Jitse_Giesen | 4:050dd85ffcf5 | 145 | float GetReferenceVelocity() |
Jitse_Giesen | 4:050dd85ffcf5 | 146 | { |
Jitse_Giesen | 4:050dd85ffcf5 | 147 | // Returns reference velocity in rad/s. |
Jitse_Giesen | 4:050dd85ffcf5 | 148 | // Positive value means clockwise rotation. |
Jitse_Giesen | 5:aa191ca932ab | 149 | float maxVelocity=Vex*25+Vey*25; // max 8.4 in rad/s of course! |
Jitse_Giesen | 5:aa191ca932ab | 150 | referenceVelocity = (-1)*potMeterIn * maxVelocity; |
Jitse_Giesen | 5:aa191ca932ab | 151 | |
Jitse_Giesen | 5:aa191ca932ab | 152 | if (Encoder.getPulses() < (counto+1)) |
Jitse_Giesen | 5:aa191ca932ab | 153 | { potMeterIn = 0.1; |
Jitse_Giesen | 4:050dd85ffcf5 | 154 | } |
Jitse_Giesen | 5:aa191ca932ab | 155 | else if (Encoder.getPulses() > (counto-1)) |
Jitse_Giesen | 5:aa191ca932ab | 156 | { potMeterIn = -0.1; |
Jitse_Giesen | 4:050dd85ffcf5 | 157 | } |
Jitse_Giesen | 4:050dd85ffcf5 | 158 | else |
Jitse_Giesen | 4:050dd85ffcf5 | 159 | { potMeterIn = 0; |
Jitse_Giesen | 4:050dd85ffcf5 | 160 | } |
Jitse_Giesen | 4:050dd85ffcf5 | 161 | |
Jitse_Giesen | 4:050dd85ffcf5 | 162 | return referenceVelocity; |
Jitse_Giesen | 4:050dd85ffcf5 | 163 | } |
Jitse_Giesen | 4:050dd85ffcf5 | 164 | |
Jitse_Giesen | 4:050dd85ffcf5 | 165 | |
Jitse_Giesen | 4:050dd85ffcf5 | 166 | void SetMotor1(float motorValue) |
Jitse_Giesen | 4:050dd85ffcf5 | 167 | { |
Jitse_Giesen | 4:050dd85ffcf5 | 168 | // Given -1<=motorValue<=1, this sets the PWM and direction |
Jitse_Giesen | 4:050dd85ffcf5 | 169 | // bits for motor 1. Positive value makes motor rotating |
Jitse_Giesen | 4:050dd85ffcf5 | 170 | // clockwise. motorValues outside range are truncated to |
Jitse_Giesen | 4:050dd85ffcf5 | 171 | // within range |
Jitse_Giesen | 4:050dd85ffcf5 | 172 | if (motorValue >=0) motor1DirectionPin=1; |
Jitse_Giesen | 4:050dd85ffcf5 | 173 | else motor1DirectionPin=0; |
Jitse_Giesen | 4:050dd85ffcf5 | 174 | if (fabs(motorValue)>1) motor1MagnitudePin = 1; |
Jitse_Giesen | 4:050dd85ffcf5 | 175 | else motor1MagnitudePin = fabs(motorValue); |
Jitse_Giesen | 4:050dd85ffcf5 | 176 | |
Jitse_Giesen | 4:050dd85ffcf5 | 177 | } |
Jitse_Giesen | 4:050dd85ffcf5 | 178 | |
Jitse_Giesen | 4:050dd85ffcf5 | 179 | float FeedForwardControl(float referenceVelocity) |
Jitse_Giesen | 4:050dd85ffcf5 | 180 | { |
Jitse_Giesen | 4:050dd85ffcf5 | 181 | // very simple linear feed-forward control |
Jitse_Giesen | 4:050dd85ffcf5 | 182 | const float MotorGain=8.4; // unit: (rad/s) / PWM, max 8.4 |
Jitse_Giesen | 4:050dd85ffcf5 | 183 | float motorValue = referenceVelocity / MotorGain; |
Jitse_Giesen | 4:050dd85ffcf5 | 184 | return motorValue; |
Jitse_Giesen | 4:050dd85ffcf5 | 185 | } |
Jitse_Giesen | 4:050dd85ffcf5 | 186 | |
Jitse_Giesen | 5:aa191ca932ab | 187 | void MeasureAndControl() |
Jitse_Giesen | 4:050dd85ffcf5 | 188 | { |
Jitse_Giesen | 4:050dd85ffcf5 | 189 | // This function measures the potmeter position, extracts a |
Jitse_Giesen | 4:050dd85ffcf5 | 190 | // reference velocity from it, and controls the motor with |
Jitse_Giesen | 4:050dd85ffcf5 | 191 | // a simple FeedForward controller. Call this from a Ticker. |
Jitse_Giesen | 4:050dd85ffcf5 | 192 | float referenceVelocity = GetReferenceVelocity(); |
Jitse_Giesen | 4:050dd85ffcf5 | 193 | float motorValue = FeedForwardControl(referenceVelocity); |
Jitse_Giesen | 4:050dd85ffcf5 | 194 | SetMotor1(motorValue); |
Jitse_Giesen | 4:050dd85ffcf5 | 195 | } |
Jitse_Giesen | 4:050dd85ffcf5 | 196 | |
Jitse_Giesen | 5:aa191ca932ab | 197 | void readdata() |
Jitse_Giesen | 4:050dd85ffcf5 | 198 | { //pc.printf("CurrentState = %i \r\n",Encoder.getCurrentState()); |
Jitse_Giesen | 4:050dd85ffcf5 | 199 | pc.printf("Pulses = %i \r\n",Encoder.getPulses()); |
Jitse_Giesen | 4:050dd85ffcf5 | 200 | //pc.printf("Revolutions = %i \r\n",Encoder.getRevolutions()); |
Jitse_Giesen | 4:050dd85ffcf5 | 201 | pc.printf("Delta = %i \r\n",delta); |
Jitse_Giesen | 4:050dd85ffcf5 | 202 | } |
Jitse_Giesen | 4:050dd85ffcf5 | 203 | |
Jitse_Giesen | 4:050dd85ffcf5 | 204 | // einde deel motor------------------------------------------------------------------------------------ |
Jitse_Giesen | 4:050dd85ffcf5 | 205 | |
Jitse_Giesen | 0:3e98322ac0e2 | 206 | Ticker loop; |
Jitse_Giesen | 0:3e98322ac0e2 | 207 | float touwlengtes(){ |
Jitse_Giesen | 0:3e98322ac0e2 | 208 | Lou=sqrt(pow((Pstx-Pox),2)+pow((Psty-Poy),2)); // rekent touwlengtes uit die nodig zijn voor de nieuwe positie aan de hand van de ingegeven coördinaten en de posities van de palen |
Jitse_Giesen | 0:3e98322ac0e2 | 209 | Lbu=sqrt(pow((Pstx-Pox),2)+pow((Psty-Pby),2)); |
Jitse_Giesen | 0:3e98322ac0e2 | 210 | Lru=sqrt(pow((Pstx-Prx),2)+pow((Psty-Pry),2)); |
Jitse_Giesen | 0:3e98322ac0e2 | 211 | return 0; |
Jitse_Giesen | 0:3e98322ac0e2 | 212 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 213 | float turns(){ |
Jitse_Giesen | 2:263a53d72bb7 | 214 | |
Jitse_Giesen | 0:3e98322ac0e2 | 215 | roto=Lou/omtrekklosje; |
Jitse_Giesen | 0:3e98322ac0e2 | 216 | rotb=Lbu/omtrekklosje; |
Jitse_Giesen | 0:3e98322ac0e2 | 217 | rotr=Lru/omtrekklosje; |
Jitse_Giesen | 4:050dd85ffcf5 | 218 | counto=roto*4200; |
Jitse_Giesen | 4:050dd85ffcf5 | 219 | //counto = (int)(counto + 0.5); // omzetten van rotaties naar counts |
Jitse_Giesen | 0:3e98322ac0e2 | 220 | countb=rotb*4200; |
Jitse_Giesen | 4:050dd85ffcf5 | 221 | //countb = (int)(countb + 0.5); |
Jitse_Giesen | 0:3e98322ac0e2 | 222 | countr=rotr*4200; |
Jitse_Giesen | 4:050dd85ffcf5 | 223 | //countr = (int)(countr + 0.5); |
Jitse_Giesen | 0:3e98322ac0e2 | 224 | return 0; |
Jitse_Giesen | 0:3e98322ac0e2 | 225 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 226 | |
Jitse_Giesen | 0:3e98322ac0e2 | 227 | |
Jitse_Giesen | 0:3e98322ac0e2 | 228 | float Pst(){ |
Jitse_Giesen | 0:3e98322ac0e2 | 229 | Pstx=Pex+Vex*T; |
Jitse_Giesen | 0:3e98322ac0e2 | 230 | Psty=Pey+Vey*T; |
Jitse_Giesen | 0:3e98322ac0e2 | 231 | touwlengtes(); |
Jitse_Giesen | 5:aa191ca932ab | 232 | Pex=Pstx; |
Jitse_Giesen | 0:3e98322ac0e2 | 233 | Pey=Psty; |
Jitse_Giesen | 0:3e98322ac0e2 | 234 | //pc.printf("een stappie verder\n\r x=%.2f\n\r y=%.2f\n\r",Pstx,Psty); |
Jitse_Giesen | 0:3e98322ac0e2 | 235 | //pc.printf("met lengtes:\n\r Lo=%.2f Lb=%.2f Lr=%.2f\n\r",Lou,Lbu,Lru); |
Jitse_Giesen | 0:3e98322ac0e2 | 236 | turns(); |
Jitse_Giesen | 0:3e98322ac0e2 | 237 | //pc.printf("rotatie per motor:\n\r o=%.2f b=%.2f r=%.2f\n\r",roto,rotb,rotr); |
Jitse_Giesen | 0:3e98322ac0e2 | 238 | pc.printf("counts per motor:\n\r o=%.2f b=%.2f r=%.2f\n\r",counto,countb,countr); |
Jitse_Giesen | 0:3e98322ac0e2 | 239 | /*float R; |
Jitse_Giesen | 0:3e98322ac0e2 | 240 | R=Vex/Vey; // met dit stukje kan je zien dat de verhouding tussen Vex en Vey constand is en de end efector dus een rechte lijn maakt |
Jitse_Giesen | 0:3e98322ac0e2 | 241 | pc.printf("\n\r R=%f",R);*/ |
Jitse_Giesen | 0:3e98322ac0e2 | 242 | return 0; |
Jitse_Giesen | 0:3e98322ac0e2 | 243 | } |
Jitse_Giesen | 2:263a53d72bb7 | 244 | |
Jitse_Giesen | 0:3e98322ac0e2 | 245 | float Ps(){ |
Jitse_Giesen | 0:3e98322ac0e2 | 246 | Psx=(Xin)*30+121; |
Jitse_Giesen | 0:3e98322ac0e2 | 247 | Psy=(Yin)*30+308; |
Jitse_Giesen | 0:3e98322ac0e2 | 248 | pc.printf("x=%.2f \n\r y=%.2f \n\r",Psx,Psy); |
Jitse_Giesen | 0:3e98322ac0e2 | 249 | return 0; |
Jitse_Giesen | 0:3e98322ac0e2 | 250 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 251 | void Ve(){ |
Jitse_Giesen | 0:3e98322ac0e2 | 252 | Vex=Kz*(Psx-Pex); |
Jitse_Giesen | 0:3e98322ac0e2 | 253 | Vey=Kz*(Psy-Pey); |
Jitse_Giesen | 0:3e98322ac0e2 | 254 | modVe=sqrt(pow(Vex,2)+pow(Vey,2)); |
Jitse_Giesen | 0:3e98322ac0e2 | 255 | if(modVe>Vmax){ |
Jitse_Giesen | 0:3e98322ac0e2 | 256 | Vex=(Vex/modVe)*Vmax; |
Jitse_Giesen | 0:3e98322ac0e2 | 257 | Vey=(Vey/modVe)*Vmax; |
Jitse_Giesen | 0:3e98322ac0e2 | 258 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 259 | Pst(); |
Jitse_Giesen | 0:3e98322ac0e2 | 260 | pc.printf("Vex=%.2f \r\n Vey=%.2f \r\n",Vex,Vey); |
Jitse_Giesen | 0:3e98322ac0e2 | 261 | if((abs(Vex)<0.01f)&&(abs(Vey)<0.01f)){ |
Jitse_Giesen | 2:263a53d72bb7 | 262 | B=5; |
Jitse_Giesen | 2:263a53d72bb7 | 263 | loop.detach(); |
Jitse_Giesen | 2:263a53d72bb7 | 264 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 265 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 266 | |
Jitse_Giesen | 0:3e98322ac0e2 | 267 | int calculator(){ |
Jitse_Giesen | 0:3e98322ac0e2 | 268 | Ps(); |
Jitse_Giesen | 0:3e98322ac0e2 | 269 | loop.attach(&Ve,0.02); |
Jitse_Giesen | 0:3e98322ac0e2 | 270 | return 0; |
Jitse_Giesen | 0:3e98322ac0e2 | 271 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 272 | |
Jitse_Giesen | 2:263a53d72bb7 | 273 | void zakker(){ |
Jitse_Giesen | 2:263a53d72bb7 | 274 | while(1){ |
Jitse_Giesen | 2:263a53d72bb7 | 275 | wait(1); |
Jitse_Giesen | 5:aa191ca932ab | 276 | if(B==5){ //misschien moet je hier als voorwaarden een delta is 1 zetten // hierdoor wacht dit programma totdat de beweging klaar is |
Jitse_Giesen | 4:050dd85ffcf5 | 277 | dLod=sqrt(pow(Lou,2)+pow(397.85,2))-Lou; //dit is wat je motoren moeten doen om te zakken |
Jitse_Giesen | 2:263a53d72bb7 | 278 | dLbd=sqrt(pow(Lbu,2)+pow(397.85,2))-Lbu; |
Jitse_Giesen | 2:263a53d72bb7 | 279 | dLrd=sqrt(pow(Lru,2)+pow(397.85,2))-Lru; |
Jitse_Giesen | 2:263a53d72bb7 | 280 | rotzo=dLod/omtrekklosje; |
Jitse_Giesen | 2:263a53d72bb7 | 281 | rotzb=dLbd/omtrekklosje; |
Jitse_Giesen | 2:263a53d72bb7 | 282 | rotzr=dLrd/omtrekklosje; |
Jitse_Giesen | 2:263a53d72bb7 | 283 | countzo=rotzo*4200; |
Jitse_Giesen | 2:263a53d72bb7 | 284 | countzb=rotzb*4200; |
Jitse_Giesen | 2:263a53d72bb7 | 285 | countzr=rotzr*4200; |
Jitse_Giesen | 2:263a53d72bb7 | 286 | |
Jitse_Giesen | 2:263a53d72bb7 | 287 | pc.printf("o=%.2fb=%.2fr=%.2f",countzo,countzb,countzr); // hier moet komen te staan hoe het zakken gaat |
Jitse_Giesen | 2:263a53d72bb7 | 288 | } |
Jitse_Giesen | 2:263a53d72bb7 | 289 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 290 | } |
Jitse_Giesen | 0:3e98322ac0e2 | 291 | |
Jitse_Giesen | 0:3e98322ac0e2 | 292 | int main() |
Jitse_Giesen | 0:3e98322ac0e2 | 293 | { |
Jitse_Giesen | 5:aa191ca932ab | 294 | pc.baud(115200); |
Jitse_Giesen | 5:aa191ca932ab | 295 | //tellerX(); |
Jitse_Giesen | 5:aa191ca932ab | 296 | //tellerY(); |
Jitse_Giesen | 0:3e98322ac0e2 | 297 | calculator(); |
Jitse_Giesen | 4:050dd85ffcf5 | 298 | controlmotor1.attach(&MeasureAndControl, 0.01); |
Jitse_Giesen | 4:050dd85ffcf5 | 299 | calculatedelta.attach(&calcdelta, 0.01); |
Jitse_Giesen | 4:050dd85ffcf5 | 300 | printdata.attach(&readdata, 0.5); |
Jitse_Giesen | 4:050dd85ffcf5 | 301 | //zakker(); |
Jitse_Giesen | 4:050dd85ffcf5 | 302 | |
Jitse_Giesen | 0:3e98322ac0e2 | 303 | return 0; |
Jitse_Giesen | 0:3e98322ac0e2 | 304 | } |