Matthew Marino
4/4/19
Revision 0:a859fb8b0f6b, committed 2019-04-04
- Comitter:
- LukeMar
- Date:
- Thu Apr 04 17:53:54 2019 +0000
- Commit message:
- EW306 control stuff
Changed in this revision
diff -r 000000000000 -r a859fb8b0f6b QEI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Thu Apr 04 17:53:54 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r a859fb8b0f6b main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Apr 04 17:53:54 2019 +0000
@@ -0,0 +1,103 @@
+#include "mbed.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <QEI.h>
+
+
+DigitalOut led1(LED1);
+PwmOut pwm(p25);
+DigitalOut dir(p27);
+Serial pc(USBTX,USBRX);
+QEI turret(p17, p18, NC, 1600);
+Timer t;
+
+float pulses;
+float revs;
+float dc;
+float theta;
+float err = 0.0;
+float err_old = 0.0;
+float err_ancient = 0.0;
+float dc_old = 0.0;
+float dc_ancient = 0.0;
+float des_theta=0.0;
+
+//float t;
+//float t_2;
+int yes;
+
+/*ticker controller(){
+
+
+ pc.printf("Pulses is: %i\n\r", turret.getPulses());
+ pc.printf("State is: %i\n\r", turret.getCurrentState());
+ pc.printf("State is: %i\n\r", turret.getRevolutions());
+ }*/
+
+int main()
+{
+ float t_now;
+ float pwm_now;
+
+ pc.baud(9600); // set baud rate
+
+ dir=1;
+ pwm.period(1.0/(20*10^3));
+ //pwm.write(abs(dc));
+ //reader.attach(&reading, 0.5);
+ while(1) {
+ pc.printf("start?");
+ pc.scanf("%d",&yes);
+
+ t.start();
+ //pwm_now = 0.5;
+ //pwm.write(pwm_now);
+ while( t.read() <= 20 ) {
+ /*if (t.read() <= 5 ){
+ des_angle = 45;
+ }
+ if (t.read() <= 10 && t.read() >5 ){
+ des_angle = 90;
+ }
+ if (t.read() <= 15 && t.read()>10){
+ des_angle = 125;
+ }
+ if (t.read()<= 20 && t.read() >15){
+ des_angle = 180;
+ }*/
+ des_theta = 45.0;
+ pulses = turret.getPulses();
+ revs = -pulses / 3200.0;
+ theta = revs*360.0;
+
+ err = des_theta-theta;
+
+ dc = 1.9703*dc_old - 0.9703*dc_ancient + 0.01471*err - 0.0293*err_old + 0.0146*err_ancient;
+
+ err_ancient = err_old;
+ err_old = err;
+ dc_ancient = dc_old;
+ dc_old = dc;
+
+
+ t_now = t.read();
+
+ if (dc>0) {
+ dir = 1;
+ } else {
+ dir = 0;
+ }
+ pc.printf("Error: %.3f, DC: %.3f\n", err, dc);
+ pwm.write(abs(dc));
+
+ }
+
+
+
+
+
+ wait(5);
+ }
+
+
+}
\ No newline at end of file
diff -r 000000000000 -r a859fb8b0f6b mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Apr 04 17:53:54 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file