Jorn-Jan van de Beld / Mbed 2 deprecated PID_pulses

PID control with use of pulses of encoder

Dependencies:   QEI mbed

main.cpp

Committer:
JornJan
Date:
2017-10-20
Revision:
0:cf438428bc75
Child:
1:8c585244c1b0

File content as of revision 0:cf438428bc75:

#include "mbed.h"
#include "Serial.h"
#include "QEI.h"
#include "math.h"


QEI encoder(D13, D12, NC, 32);       //encoder instellen
DigitalOut  motor1DirectionPin(D4);  //Motorrichting op D4 (connected op het bord)
PwmOut      motor1MagnitudePin(D5);  //Motorkracht op D5 (connected op het bord)
Ticker      controller;                //toets sample tijd

int pulses;
int ref = 400;
int er;
float Kp=0.0008;
float P;

void PD()
{
pulses=encoder.getPulses();
er=ref-pulses;
P = Kp*er;

if (P<0)
{
motor1MagnitudePin = fabs(P);
motor1DirectionPin = 1;
}
else if (P>0)
{
motor1MagnitudePin = fabs(P);
motor1DirectionPin = 0;
}

}

int main()
{
controller.attach_us(&PD, 10000);
    
while(true)
{
}

    
}