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Motor programma
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of frdm_Motor_V2_3 by
Diff: main.cpp
- Revision:
- 15:7fbee317af2d
- Parent:
- 14:baebaef79aa6
- Child:
- 16:5b729bd56155
--- a/main.cpp Tue Sep 29 16:58:52 2015 +0000 +++ b/main.cpp Tue Sep 29 17:15:46 2015 +0000 @@ -14,18 +14,15 @@ Ticker ScopeTime; Ticker myControllerTicker; -double Aantal_Degs; -double Aantal_pulses; double reference; double position; -double m2_ref; +double m2_ref = 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, Aantal_Degs); - Aantal_Degs = Encoder.getPulses()*360/(0.5*128*131); + scope.set(2, position); scope.send(); @@ -70,12 +67,12 @@ // Motor control void motor2_Controller() { - reference = m2_ref; + reference = m2_ref; // Setpoint 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); - if(P2 > 0) + motor2speed = abs(P2); // Speed control + if(P2 > 0) // Direction control { motor2direction = 0; } @@ -83,7 +80,7 @@ { motor2direction = 1; } - + pc.printf("position = %f aantal degs = %f \n",reference,position); } int main() @@ -104,7 +101,6 @@ { m2_ref = m2_ref - 5; } - pc.printf("position = %f aantal degs = %f \n",reference,position); } } \ No newline at end of file