Margreeth de Breij / Mbed 2 deprecated frdm_Motor_V2_2

Definitieve motorscript in aanbouw

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of frdm_Motor_V2_2 by Robert Schulte

main.cpp@9:774fc3c6a39e, 2015-09-29 (annotated)

Committer:
Rvs94
Date:
Tue Sep 29 13:25:09 2015 +0000
Revision:
9:774fc3c6a39e
Parent:
8:69bde5e32dbf
Child:
10:80fe931a71e4
Werkend, functies toegevoegd net als in college, aangestuurd door potmeter. Kp waarde is redelijk accuraat.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Margreeth95 0:284ed397e046 1 #include "mbed.h"
Margreeth95 0:284ed397e046 2 #include "MODSERIAL.h"
Margreeth95 0:284ed397e046 3 #include "HIDScope.h"
Margreeth95 0:284ed397e046 4 #include "QEI.h"
Margreeth95 0:284ed397e046 5
Margreeth95 0:284ed397e046 6 Serial pc(USBTX, USBRX); // tx, rx
Margreeth95 0:284ed397e046 7 DigitalOut motor2direction(D4); //D4 en D5 zijn motor 2 (op het motorshield)
Margreeth95 0:284ed397e046 8 PwmOut motor2speed(D5);
Margreeth95 0:284ed397e046 9 DigitalIn button1(SW3);
Rvs94 9:774fc3c6a39e 10 DigitalIn encoderA(D3);
Rvs94 9:774fc3c6a39e 11 DigitalIn encoderB(D2);
Rvs94 9:774fc3c6a39e 12 AnalogIn potmeter2(A5);
Rvs94 5:455773cf460b 13 QEI Encoder(D3, D2, NC, 128);
Rvs94 1:48aba8d5610a 14 HIDScope scope(3);
Margreeth95 0:284ed397e046 15 Ticker ScopeTime;
Rvs94 9:774fc3c6a39e 16 Ticker myControllerTicker;
Rvs94 7:67b50d4fb03c 17
Rvs94 7:67b50d4fb03c 18 double Aantal_Degs;
Rvs94 7:67b50d4fb03c 19 double Aantal_pulses;
Rvs94 2:099da0fc31b6 20
Margreeth95 0:284ed397e046 21 void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt
Margreeth95 0:284ed397e046 22 {
Margreeth95 0:284ed397e046 23 scope.set(0, motor2direction.read());
Margreeth95 0:284ed397e046 24 scope.set(1, motor2speed.read());
Rvs94 1:48aba8d5610a 25 scope.set(2, Aantal_Degs);
Rvs94 5:455773cf460b 26 Aantal_Degs = Encoder.getPulses()*360/128/131;
Rvs94 4:0d4aff8b57b3 27
Margreeth95 0:284ed397e046 28 scope.send();
Rvs94 1:48aba8d5610a 29
Margreeth95 0:284ed397e046 30 }
Rvs94 9:774fc3c6a39e 31 // Controller gain
Rvs94 9:774fc3c6a39e 32 const double motor1_Kp = 0.05;
Rvs94 9:774fc3c6a39e 33 // Reusable P controller
Rvs94 9:774fc3c6a39e 34 double P( double error, const double Kp )
Rvs94 9:774fc3c6a39e 35 {
Rvs94 9:774fc3c6a39e 36 return Kp * error;
Rvs94 9:774fc3c6a39e 37 }
Margreeth95 0:284ed397e046 38
Rvs94 9:774fc3c6a39e 39 // Next task, measure the error and apply the output to the plant
Rvs94 9:774fc3c6a39e 40 void motor1_Controller()
Rvs94 9:774fc3c6a39e 41 {
Rvs94 9:774fc3c6a39e 42 double reference = potmeter2.read()*360;
Rvs94 9:774fc3c6a39e 43 double position = Encoder.getPulses()*360/128/131; // Aantal Degs
Rvs94 9:774fc3c6a39e 44 double P2 = P( reference - position, motor1_Kp );
Rvs94 9:774fc3c6a39e 45 motor2speed = abs(P2);
Rvs94 9:774fc3c6a39e 46 if(P2 > 0)
Rvs94 9:774fc3c6a39e 47 {
Rvs94 9:774fc3c6a39e 48 motor2direction = 0;
Rvs94 9:774fc3c6a39e 49 }
Rvs94 9:774fc3c6a39e 50 else
Rvs94 9:774fc3c6a39e 51 {
Rvs94 9:774fc3c6a39e 52 motor2direction = 1;
Rvs94 9:774fc3c6a39e 53 }
Rvs94 9:774fc3c6a39e 54
Rvs94 9:774fc3c6a39e 55 }
Rvs94 3:687729d7996e 56
Margreeth95 0:284ed397e046 57 int main()
Rvs94 9:774fc3c6a39e 58 {
Margreeth95 0:284ed397e046 59 pc.baud(115200);
Rvs94 3:687729d7996e 60 pc.printf("Tot aan loop werkt\n");
Rvs94 9:774fc3c6a39e 61
Margreeth95 0:284ed397e046 62 ScopeTime.attach_us(&ScopeSend, 10e4);
Rvs94 9:774fc3c6a39e 63 myControllerTicker.attach( &motor1_Controller, 0.01f ); // 100 Hz
Rvs94 9:774fc3c6a39e 64 while(true)
Margreeth95 0:284ed397e046 65 {
Rvs94 9:774fc3c6a39e 66 pc.printf("position = %f aantal degs = %f \n",potmeter2.read()*360,Aantal_Degs);
Rvs94 9:774fc3c6a39e 67 wait(0.1f);
Margreeth95 0:284ed397e046 68 }
Rvs94 9:774fc3c6a39e 69
Margreeth95 0:284ed397e046 70 }