Marijke Abma / Mbed 2 deprecated motor1aansturing201014

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Dependencies:   Encoder MODSERIAL mbed-dsp mbed

Fork of motor1aansturing by BMT M9 Groep01

main.cpp@14:6ec84bfda0f3, 2014-10-08 (annotated)

Committer:
Jolein
Date:
Wed Oct 08 12:56:20 2014 +0000
Revision:
14:6ec84bfda0f3
Parent:
13:76a40e4c8982
Child:
15:3a6074f3ceaf
wat kleine verbeteringen;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jolein 0:eb00992c1597 1 #include "mbed.h"
Jolein 0:eb00992c1597 2 #include "encoder.h"
Jolein 0:eb00992c1597 3 #define TSAMP 0.01
Jolein 0:eb00992c1597 4 #define K_P (0.01)
Jolein 0:eb00992c1597 5 #define K_I (0 *TSAMP)
Jolein 2:ef0fa691e77e 6 #define K_D (0 /TSAMP)
Jolein 0:eb00992c1597 7 #define I_LIMIT 1.
Jolein 0:eb00992c1597 8 #define POT_AVG 50
Jolein 0:eb00992c1597 9
Jolein 0:eb00992c1597 10 void clamp(float * in, float min, float max);
Jolein 0:eb00992c1597 11 float pid(float setpoint, float measurement);
Jolein 2:ef0fa691e77e 12 //-------------------------------------------------------------------------------------------Input potentiometer-------------------------------
Jolein 0:eb00992c1597 13 AnalogIn potmeter(PTC2);
Jolein 0:eb00992c1597 14 volatile bool looptimerflag;
Jolein 0:eb00992c1597 15 float potsamples[POT_AVG];
Jolein 0:eb00992c1597 16
Jolein 0:eb00992c1597 17
Jolein 0:eb00992c1597 18 void setlooptimerflag(void)
Jolein 0:eb00992c1597 19 {
Jolein 0:eb00992c1597 20 looptimerflag = true;
Jolein 0:eb00992c1597 21 }
Jolein 0:eb00992c1597 22
Jolein 0:eb00992c1597 23 int main()
Jolein 0:eb00992c1597 24 {
Jolein 14:6ec84bfda0f3 25 int toestand;
Jolein 14:6ec84bfda0f3 26
Jolein 0:eb00992c1597 27 Encoder motor1(PTD0,PTC9);
Jolein 0:eb00992c1597 28 PwmOut pwm_motor(PTA5);
Jolein 0:eb00992c1597 29 pwm_motor.period_us(100);
Jolein 0:eb00992c1597 30 DigitalOut motordir(PTD1);
Jolein 0:eb00992c1597 31 Ticker looptimer;
Jolein 0:eb00992c1597 32 looptimer.attach(setlooptimerflag,TSAMP);
Jolein 0:eb00992c1597 33 while(1) {
Jolein 0:eb00992c1597 34 float setpoint;
Jolein 0:eb00992c1597 35 float new_pwm;
Jolein 0:eb00992c1597 36 while(!looptimerflag);
Jolein 2:ef0fa691e77e 37 looptimerflag = false;
Jolein 12:92a64fe08de8 38 //---------------------------------------------------------leest potentiometer (?), probably won't do what I want it to do ------------------
Jolein 12:92a64fe08de8 39 //---------------------------------------------------------int 6? ---------------------------------------------------------------------------
Jolein 14:6ec84bfda0f3 40 if(toestand==2)
Jolein 4:2a3b8c562f4a 41 {
Jolein 14:6ec84bfda0f3 42 if ( 4.5 < potmeter.read() && potmeter.read()< 6.0 && angle<maxangle)
Jolein 14:6ec84bfda0f3 43 {
Jolein 14:6ec84bfda0f3 44 setpoint = v3; //experimenteel bepaald, snelheid om bovenste goal te raken
Jolein 14:6ec84bfda0f3 45 }
Jolein 14:6ec84bfda0f3 46 else if ( 3 < potmeter.read())
Jolein 14:6ec84bfda0f3 47 {
Jolein 14:6ec84bfda0f3 48 setpoint = v2; //experimenteel bepaald, snelheid om middelste goal te raken
Jolein 14:6ec84bfda0f3 49 }
Jolein 14:6ec84bfda0f3 50 else if (1.5 < potmeter.read())
Jolein 14:6ec84bfda0f3 51 {
Jolein 14:6ec84bfda0f3 52 setpoint = v1; //experimenteel bepaald, snelheid om bovenste goal te raken
Jolein 14:6ec84bfda0f3 53 }
Jolein 14:6ec84bfda0f3 54 else
Jolein 14:6ec84bfda0f3 55 {
Jolein 14:6ec84bfda0f3 56 setpoint = 0;
Jolein 14:6ec84bfda0f3 57 }
Jolein 4:2a3b8c562f4a 58 }
Jolein 4:2a3b8c562f4a 59 // setpoint = (potmeter.read()-.5)*500;
Jolein 4:2a3b8c562f4a 60 //----------------------------------------------------------------------new_pwm = getal?.....----------------------------------------------------
Jolein 0:eb00992c1597 61 new_pwm = pid(setpoint, motor1.getPosition());
Jolein 0:eb00992c1597 62 clamp(&new_pwm, -1,1);
Jolein 4:2a3b8c562f4a 63 //-------------------------------------------------------------------------------------output motor richting-------------------------------------
Jolein 0:eb00992c1597 64 if(new_pwm > 0)
Jolein 0:eb00992c1597 65 motordir = 0;
Jolein 0:eb00992c1597 66 else
Jolein 0:eb00992c1597 67 motordir = 1;
Jolein 4:2a3b8c562f4a 68 //-------------------------------------------------------------------------------output motorsnelhied (wij willen 4 distinctive stappen)---------
Jolein 0:eb00992c1597 69 pwm_motor.write(abs(new_pwm));
Jolein 14:6ec84bfda0f3 70 if(angle>anglemax)
Jolein 14:6ec84bfda0f3 71 {
Jolein 14:6ec84bfda0f3 72 toestand = terugkeren;
Jolein 14:6ec84bfda0f3 73 }
Jolein 0:eb00992c1597 74 }
Jolein 14:6ec84bfda0f3 75
Jolein 0:eb00992c1597 76 }
Jolein 0:eb00992c1597 77
Jolein 0:eb00992c1597 78 void clamp(float * in, float min, float max)
Jolein 0:eb00992c1597 79 {
Jolein 0:eb00992c1597 80 *in > min ? *in < max? : *in = max: *in = min;
Jolein 0:eb00992c1597 81 }
Jolein 0:eb00992c1597 82
Jolein 0:eb00992c1597 83
Jolein 0:eb00992c1597 84 float pid(float setpoint, float measurement)
Jolein 0:eb00992c1597 85 {
Jolein 12:92a64fe08de8 86 //What I want: if getposition gives value beneath min v=0!, If above max: return to 0 position(from the way it came)
Jolein 0:eb00992c1597 87 float error;
Jolein 0:eb00992c1597 88 static float prev_error = 0;
Jolein 0:eb00992c1597 89 float out_p = 0;
Jolein 0:eb00992c1597 90 static float out_i = 0;
Jolein 0:eb00992c1597 91 float out_d = 0;
Jolein 0:eb00992c1597 92 error = setpoint-measurement;
Jolein 0:eb00992c1597 93 out_p = error*K_P;
Jolein 0:eb00992c1597 94 out_i += error*K_I;
Jolein 0:eb00992c1597 95 out_d = (error-prev_error)*K_D;
Jolein 0:eb00992c1597 96 clamp(&out_i,-I_LIMIT,I_LIMIT);
Jolein 0:eb00992c1597 97 prev_error = error;
Jolein 0:eb00992c1597 98 return out_p + out_i + out_d;
Jolein 0:eb00992c1597 99 }