File content as of revision 19:9417d2011e8b:

#include "mbed.h"
#include "MODSERIAL.h"
#include "HIDScope.h"
#include "QEI.h"
#include "biquadFilter.h"
 
Serial pc(USBTX, USBRX); // tx, rx
DigitalIn Button(SW2);
DigitalOut LedR(LED_RED);
DigitalOut LedG(LED_GREEN);
DigitalOut LedB(LED_BLUE);
DigitalOut motor2direction(D4); //D4 en D5 zijn motor 2 (op het motorshield)
PwmOut motor2speed(D5);
AnalogIn potmeter2(A5);
QEI Encoder(D3, D2, NC, 128);
HIDScope scope(3);

Ticker ScopeTime;
Ticker myControllerTicker;

double reference;
double position;
double m2_ref = 0;
int count = 0;

void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt
{
    scope.set(0, motor2direction.read());
    scope.set(1, motor2speed.read());
    scope.set(2, position);

    scope.send();
    
}
// Sample time (motor2-step)
const double m2_Ts = 0.01;

// Controller gain
const double m2_Kp = 0.5,m2_Ki = 0.005, m2_Kd = 0.5;
double m2_err_int = 0, m2_prev_err = 0;

//Derivative filter coeffs
const double BiGain = 0.016955;
const double m2_f_a1 = -0.96608908283*BiGain, m2_f_a2 = 0.0*BiGain, m2_f_b0 = 1.0*BiGain, m2_f_b1 = 1.0*BiGain, m2_f_b2 = 0.0*BiGain;

// Filter variables
double m2_f_v1 = 0, m2_f_v2 = 0;

// Biquad filter
double biquad( double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2 )
{
    double v = u - a1*v1 - a2*v2;
    double y = b0*v + b1*v1 + b2*v2;
    v2 = v1; v1 = v;
    return y;
}    


// Reusable PID controller
double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev, double &f_v1, double &f_v2,
const double f_a1,const double f_a2, const double f_b0, const double f_b1, const double f_b2)
{
    // Derivative
    double e_der = (e-e_prev)/Ts;
    e_der = biquad(e_der,f_v1,f_v2,f_a1,f_a2,f_b0,f_b1,f_b2);
    e_prev = e;
    // Integral
    e_int = e_int + Ts*e;
    // PID
    return Kp * e + Ki*e_int + Kd*e_der;
}

// Motor2 control
void motor2_Controller() 
{
    reference = m2_ref; // Setpoint
    double pulses = Encoder.getPulses();
    position = Encoder.getPulses()*360/(0.5*128*131); // Aantal Degs
    double P2 = PID( reference - position, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err, m2_f_v1, m2_f_v2, m2_f_a1, m2_f_a2, 
    m2_f_b0, m2_f_b1, m2_f_b2);
    motor2speed = abs(P2); // Speed control
    if(P2 > 0) // Direction control
    {  
        motor2direction = 0;
    }
    else
    {
        motor2direction = 1;
    }
    pc.printf("position = %f aantal degs = %f, pulses = %f\n",reference,position, pulses);
}

int main()
{   
    pc.baud(115200);
    pc.printf("Tot aan loop werkt\n");
    
    ScopeTime.attach_us(&ScopeSend, 10e4);
    myControllerTicker.attach( &motor2_Controller, 0.01f ); // 100 Hz
    while(true)
    {      
       switch (count)
       {
           case (0):
           {
                LedR.write(0);
                char c = pc.getc();
                if(c == 'r')
                {
                    m2_ref = m2_ref + 5;
                    if (m2_ref > 90)
                    {
                        m2_ref = 90;
                    }
                }
                if(c == 'f')
                {
                    m2_ref = m2_ref - 5;
                    if (m2_ref < -90)
                    {
                        m2_ref = -90;
                    }
                }
                break;
            }
            
            case (1):
            {
                LedG.write(0);
                // code voor het besturen van de 2e motor
                break;
            }
            
            default:
            {
                LedB.write(1);
                break;
            }
        } 
    }

}