Revision 40:82addb417220, committed 2019-10-14

Comitter:

JornD

Date:

Mon Oct 14 11:46:35 2019 +0000

Parent:

33:5e2e95c322da

Child:

41:7c4c41326cc6

Commit message:

Added some files and commented out Jordan's code;

Changed in this revision

--- a/controller.cpp	Wed Oct 09 15:26:54 2019 +0000
+++ b/controller.cpp	Mon Oct 14 11:46:35 2019 +0000
@@ -1,25 +1,8 @@
-//Gains
-double e = 1.02; 
-double Ts = 0.92;
+#include "structures.h"
 
-    double K_p = 1;//Position gain
-    double K_i = 1;//Integral gain
-    double K_d = 1;//Diverentiation gain
-    
-    //static double u_i = 0;
-    static double e_Prev = 0;
-
-double ControllerPID(double e, double Ts)
+void InitializeControllers(void)
 {
-    double u_p = K_p*e;               //Position action
-    double u_i = K_i*(e*Ts+u_i);      //Integral action
-    double u_d = K_d*((e-e_Prev)/Ts);   //Diverential action
-    
-    e_Prev = e; //Write error to previous error
+    ControllerSettings SetOne;
+    MemoryIO MemOne;
     
-    double u;
-    
-    u = u_p + u_i + u_d;
-    
-    return u;
 }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/controller_copy.cpp	Mon Oct 14 11:46:35 2019 +0000
@@ -0,0 +1,25 @@
+//Gains
+double e = 1.02; 
+double Ts = 0.92;
+
+    double K_p = 1;//Position gain
+    double K_i = 1;//Integral gain
+    double K_d = 1;//Diverentiation gain
+    
+    //static double u_i = 0;
+    static double e_Prev = 0;
+
+double ControllerPID(double e, double Ts)
+{
+    double u_p = K_p*e;               //Position action
+    double u_i = K_i*(e*Ts+u_i);      //Integral action
+    double u_d = K_d*((e-e_Prev)/Ts);   //Diverential action
+    
+    e_Prev = e; //Write error to previous error
+    
+    double u;
+    
+    u = u_p + u_i + u_d;
+    
+    return u;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/functions.h	Mon Oct 14 11:46:35 2019 +0000
@@ -0,0 +1,25 @@
+#ifndef header_h
+#define header_h
+int AddInt(int a, int b);
+
+double ControllerPID(double e, double Ts); //e = error, Ts = sampling time
+//void motorAndEncoder(float PWM1, float PWM2, float dt);
+
+
+    
+    //Define global variables
+    extern double X; //Input from EMG, signal X
+    
+    //Define structures
+
+
+#endif
+
+//double motorAndEncoder(float voltage1, float periodMotor1, float voltage2, float periodMotor2, float dt,  float &countsMotor1Return, float &countsMotor2Return, float &velocityMotor1Return, float &velocityMotor2Return);
+    //voltage in PWM (between -1 and 1), -1 for negative direction full power, 1 for positive direction full power
+    //period in seconds
+    //dt the time between measurements, i.o.w. Ticker timing, for velocity calculation
+    //Returns (velocityMotor1, velocityMotor2, countsMotor1[1], countsMotor2[0])
+        //Velocity in radians/s
+        
+//double ProcessEMG(double X);
\ No newline at end of file

--- a/global.h	Wed Oct 09 15:26:54 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,6 +0,0 @@
-#ifndef global_h
-#define global_h
-
-
-
-#endif
\ No newline at end of file

--- a/header.h	Wed Oct 09 15:26:54 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,38 +0,0 @@
-#ifndef header_h
-#define header_h
-int AddInt(int a, int b);
-
-double ControllerPID(double e, double Ts); //e = error, Ts = sampling time
-//void motorAndEncoder(float PWM1, float PWM2, float dt);
-
-    //Structures
-    struct motorReturnSub
-    {
-        int counts;
-        float angle;
-        float velocity;
-    };
-    
-    struct motorData
-    {
-        motorReturnSub motor1;
-        motorReturnSub motor2;
-        motorReturnSub motor3;
-    };
-    
-    //Define global variables
-    extern double X; //Input from EMG, signal X
-    
-    //Define structures
-    extern motorData motorReturn; 
-
-#endif
-
-//double motorAndEncoder(float voltage1, float periodMotor1, float voltage2, float periodMotor2, float dt,  float &countsMotor1Return, float &countsMotor2Return, float &velocityMotor1Return, float &velocityMotor2Return);
-    //voltage in PWM (between -1 and 1), -1 for negative direction full power, 1 for positive direction full power
-    //period in seconds
-    //dt the time between measurements, i.o.w. Ticker timing, for velocity calculation
-    //Returns (velocityMotor1, velocityMotor2, countsMotor1[1], countsMotor2[0])
-        //Velocity in radians/s
-        
-//double ProcessEMG(double X);
\ No newline at end of file

--- a/main.cpp	Wed Oct 09 15:26:54 2019 +0000
+++ b/main.cpp	Mon Oct 14 11:46:35 2019 +0000
@@ -7,8 +7,8 @@
     
 //Homebrew libraries
 
-    //#include "global.h"
-    #include "header.h"
+    #include "structures.h"
+    #include "functions.h"
 
 
 //Objects

--- a/motorAndSensorControl.cpp	Wed Oct 09 15:26:54 2019 +0000
+++ b/motorAndSensorControl.cpp	Mon Oct 14 11:46:35 2019 +0000
@@ -2,11 +2,14 @@
 //period in seconds
 //dt the time between measurements, i.o.w. Ticker timing 
 
+/*
 #include "mbed.h"
 #include "FastPWM.h"
 #include "QEI.h"
-#include "global.h"
-#include "header.h"
+#include "functions.h"
+#include "structures.h"
+
+    extern motorData motorReturn; 
 
 //Objects
     //Motors
@@ -85,3 +88,4 @@
     motorReturn.motor1.velocity = velocityMotor1;
     motorReturn.motor2.velocity = velocityMotor2;
 }
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/structures.h	Mon Oct 14 11:46:35 2019 +0000
@@ -0,0 +1,38 @@
+#ifndef global_h
+#define global_h
+
+//Structures
+//--Motor data
+    struct motorReturnSub
+    {
+        int counts;
+        float angle;
+        float velocity;
+    };
+    
+    struct motorData
+    {
+        motorReturnSub motor1;
+        motorReturnSub motor2;
+        motorReturnSub motor3;
+    };
+//--PID controller settings
+    struct ControllerSettings //Controller settings of the discrete TF
+    {
+        float A;
+        float B;
+        float C;
+        float D;
+        float E;
+    };
+//--Memory of Input/Output
+    struct MemoryIO
+    {
+        float dY;   //output, delayed once
+        float ddY;  //output, delayed twice
+        float dX;   //input, delayed once
+        float ddX;  //input, delayed twice
+    };   
+
+
+#endif
\ No newline at end of file