Marcelo Costanzo Miranda / Mbed 2 deprecated idle_control_stepper

Controle P de atuador de marcha lenta

Dependencies:   mbed

main.cpp@2:aee0cbc8b7dd, 2019-04-08 (annotated)

Committer:
Marcelocostanzo
Date:
Mon Apr 08 13:59:52 2019 +0000
Revision:
2:aee0cbc8b7dd
Parent:
0:b5a9e0614efd 
Controle de atuador de marcha lenta (motor de passo)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 0:b5a9e0614efd 1 #include "mbed.h"
mbed_official 0:b5a9e0614efd 2
Marcelocostanzo 2:aee0cbc8b7dd 3 #define setpoint 1000 //alvo de rotação
Marcelocostanzo 2:aee0cbc8b7dd 4 #define KP 0.0007 //ganho proporcional
Marcelocostanzo 2:aee0cbc8b7dd 5 #define close 0 //sentido dos passos
Marcelocostanzo 2:aee0cbc8b7dd 6 #define open 1 //sentido dos passos
Marcelocostanzo 2:aee0cbc8b7dd 7
Marcelocostanzo 2:aee0cbc8b7dd 8 //----Configurando pinos de saida-----------
Marcelocostanzo 2:aee0cbc8b7dd 9 DigitalOut DIR_STEP(D6);
Marcelocostanzo 2:aee0cbc8b7dd 10 DigitalOut STEP(D7);
Marcelocostanzo 2:aee0cbc8b7dd 11
Marcelocostanzo 2:aee0cbc8b7dd 12 //-----Configurando pino de interrupção externa-----------
Marcelocostanzo 2:aee0cbc8b7dd 13 InterruptIn crank_sensor(D8);
Marcelocostanzo 2:aee0cbc8b7dd 14
Marcelocostanzo 2:aee0cbc8b7dd 15 //-----Inclusão da função timer------------------
Marcelocostanzo 2:aee0cbc8b7dd 16 Timer t1;
Marcelocostanzo 2:aee0cbc8b7dd 17
Marcelocostanzo 2:aee0cbc8b7dd 18 //Serial pc(USBTX, USBRX);
Marcelocostanzo 2:aee0cbc8b7dd 19
Marcelocostanzo 2:aee0cbc8b7dd 20 //------Variavel global-------------------
Marcelocostanzo 2:aee0cbc8b7dd 21 float time_rpm = 0;
Marcelocostanzo 2:aee0cbc8b7dd 22
Marcelocostanzo 2:aee0cbc8b7dd 23 //----------Rotina de para ler o tempo entre bordas de descida--------------
Marcelocostanzo 2:aee0cbc8b7dd 24 void timer_read()
Marcelocostanzo 2:aee0cbc8b7dd 25 {
Marcelocostanzo 2:aee0cbc8b7dd 26 t1.stop();
Marcelocostanzo 2:aee0cbc8b7dd 27 time_rpm = t1.read();
Marcelocostanzo 2:aee0cbc8b7dd 28 t1.reset();
Marcelocostanzo 2:aee0cbc8b7dd 29 t1.start();
Marcelocostanzo 2:aee0cbc8b7dd 30 }
Marcelocostanzo 2:aee0cbc8b7dd 31
Marcelocostanzo 2:aee0cbc8b7dd 32 //-------Rotina para referenciar o motor de passso-----------------------------------
Marcelocostanzo 2:aee0cbc8b7dd 33 void ref()
Marcelocostanzo 2:aee0cbc8b7dd 34 {
Marcelocostanzo 2:aee0cbc8b7dd 35 for(int i = 0; i < 300; i++)//curso de 250 passos, 300 para garantia de referenciamento
Marcelocostanzo 2:aee0cbc8b7dd 36 {
Marcelocostanzo 2:aee0cbc8b7dd 37 DIR_STEP = close;
Marcelocostanzo 2:aee0cbc8b7dd 38 STEP = 1;
Marcelocostanzo 2:aee0cbc8b7dd 39 wait_us(10);
Marcelocostanzo 2:aee0cbc8b7dd 40 STEP = 0;
Marcelocostanzo 2:aee0cbc8b7dd 41 wait_ms(5);
Marcelocostanzo 2:aee0cbc8b7dd 42 }
Marcelocostanzo 2:aee0cbc8b7dd 43 }
mbed_official 0:b5a9e0614efd 44
Marcelocostanzo 2:aee0cbc8b7dd 45 int main()
Marcelocostanzo 2:aee0cbc8b7dd 46 {
Marcelocostanzo 2:aee0cbc8b7dd 47 ref();//chama a rotina para refernciar
Marcelocostanzo 2:aee0cbc8b7dd 48
Marcelocostanzo 2:aee0cbc8b7dd 49 //----------variaveis locais----------
Marcelocostanzo 2:aee0cbc8b7dd 50 float rpm = 0, error = 0, delay = 0;
Marcelocostanzo 2:aee0cbc8b7dd 51 int steps_counter = 0;
Marcelocostanzo 2:aee0cbc8b7dd 52
Marcelocostanzo 2:aee0cbc8b7dd 53 //--------habilita a interrupção externa e aponta para o endereço da rotina de medição de tempo--------------
Marcelocostanzo 2:aee0cbc8b7dd 54 crank_sensor.fall(&timer_read);
Marcelocostanzo 2:aee0cbc8b7dd 55
Marcelocostanzo 2:aee0cbc8b7dd 56 while(1)
Marcelocostanzo 2:aee0cbc8b7dd 57 {
Marcelocostanzo 2:aee0cbc8b7dd 58 rpm = 1 / time_rpm; //converte tempo em frequencia
Marcelocostanzo 2:aee0cbc8b7dd 59
Marcelocostanzo 2:aee0cbc8b7dd 60 error = setpoint - rpm; //calcula o erro entre alvo e feedback
Marcelocostanzo 2:aee0cbc8b7dd 61
Marcelocostanzo 2:aee0cbc8b7dd 62 //-----Rotina caso o erro seja positivo---------
Marcelocostanzo 2:aee0cbc8b7dd 63 if(error > 30)
Marcelocostanzo 2:aee0cbc8b7dd 64 {
Marcelocostanzo 2:aee0cbc8b7dd 65 DIR_STEP = close;
Marcelocostanzo 2:aee0cbc8b7dd 66 STEP = 1;
Marcelocostanzo 2:aee0cbc8b7dd 67 wait_us(10);
Marcelocostanzo 2:aee0cbc8b7dd 68 steps_counter--;
Marcelocostanzo 2:aee0cbc8b7dd 69 STEP = 0;
Marcelocostanzo 2:aee0cbc8b7dd 70 delay = 1 / (error * KP);
Marcelocostanzo 2:aee0cbc8b7dd 71 wait_ms(delay);
Marcelocostanzo 2:aee0cbc8b7dd 72 }
Marcelocostanzo 2:aee0cbc8b7dd 73
Marcelocostanzo 2:aee0cbc8b7dd 74 //-----Rotina caso o erro seja negativo---------
Marcelocostanzo 2:aee0cbc8b7dd 75 if(error < -30)
Marcelocostanzo 2:aee0cbc8b7dd 76 {
Marcelocostanzo 2:aee0cbc8b7dd 77 error = error * -1.0f;
Marcelocostanzo 2:aee0cbc8b7dd 78 DIR_STEP = open;
Marcelocostanzo 2:aee0cbc8b7dd 79 STEP = 1;
Marcelocostanzo 2:aee0cbc8b7dd 80 wait_us(10);
Marcelocostanzo 2:aee0cbc8b7dd 81 steps_counter++;
Marcelocostanzo 2:aee0cbc8b7dd 82 STEP = 0;
Marcelocostanzo 2:aee0cbc8b7dd 83 delay = 1 / (error * KP);
Marcelocostanzo 2:aee0cbc8b7dd 84 wait_ms(delay);
Marcelocostanzo 2:aee0cbc8b7dd 85 }
Marcelocostanzo 2:aee0cbc8b7dd 86
Marcelocostanzo 2:aee0cbc8b7dd 87 //-----Rotina caso o erro seja neutro---------
Marcelocostanzo 2:aee0cbc8b7dd 88 else
Marcelocostanzo 2:aee0cbc8b7dd 89 {
Marcelocostanzo 2:aee0cbc8b7dd 90 STEP = 0;
Marcelocostanzo 2:aee0cbc8b7dd 91 }
Marcelocostanzo 2:aee0cbc8b7dd 92
Marcelocostanzo 2:aee0cbc8b7dd 93 //pc.printf("\n\rerror %f",error);
Marcelocostanzo 2:aee0cbc8b7dd 94 //pc.printf("\n\rdelay %f",delay);
mbed_official 0:b5a9e0614efd 95 }
mbed_official 0:b5a9e0614efd 96 }