Matthew Maat / Mbed 2 deprecated template_biorobotics

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FXOS8700Q FastPWM

main.cpp@10:e1eb73e19540, 2019-09-20 (annotated)

Committer:
MatthewMaat
Date:
Fri Sep 20 09:47:41 2019 +0000
Revision:
10:e1eb73e19540
Parent:
9:ae548d05ec71
Child:
11:de4a85703169
pwm test 2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RobertoO 0:67c50348f842 1 #include "mbed.h"
MatthewMaat 8:ec3c634390c7 2 #include "HIDScope.h"
MatthewMaat 8:ec3c634390c7 3 #include "QEI.h"
RobertoO 1:b862262a9d14 4 #include "MODSERIAL.h"
RobertoO 0:67c50348f842 5 //#include "BiQuad.h"
MatthewMaat 8:ec3c634390c7 6 #include "FastPWM.h"
MatthewMaat 2:626688c21b6f 7 #include <iostream>
MatthewMaat 10:e1eb73e19540 8 //#include "encoder.h"
MatthewMaat 5:cee5f898b350 9 MODSERIAL pc(USBTX, USBRX);
MatthewMaat 10:e1eb73e19540 10 //Encoder motor1(D13,D12);
MatthewMaat 8:ec3c634390c7 11 PwmOut led(D9);
MatthewMaat 8:ec3c634390c7 12 HIDScope scope(3);
MatthewMaat 10:e1eb73e19540 13 AnalogIn ain(A0);
MatthewMaat 7:a32766b96d91 14
MatthewMaat 10:e1eb73e19540 15 Ticker printstuff;
MatthewMaat 10:e1eb73e19540 16
MatthewMaat 10:e1eb73e19540 17 void stuffz(void)
MatthewMaat 10:e1eb73e19540 18 {
MatthewMaat 10:e1eb73e19540 19 pc.printf("%f",ain*100.0f);
MatthewMaat 10:e1eb73e19540 20 }
MatthewMaat 8:ec3c634390c7 21
MatthewMaat 8:ec3c634390c7 22
MatthewMaat 8:ec3c634390c7 23 int main()
MatthewMaat 4:f988679bf9a1 24 {
MatthewMaat 9:ae548d05ec71 25 /*const float degrees_per_count = 90/200.0; //quick approach
MatthewMaat 8:ec3c634390c7 26 const float ain_degrees_range = 90; //degrees over which the potmeter can control.
MatthewMaat 8:ec3c634390c7 27 const float kp_1_range = -1;
MatthewMaat 8:ec3c634390c7 28 AnalogIn setpoint_1(A0);
MatthewMaat 8:ec3c634390c7 29 AnalogIn p_value(A1);
MatthewMaat 8:ec3c634390c7 30 DigitalOut direction_1(D4);
MatthewMaat 8:ec3c634390c7 31 PwmOut pwm_1(D5);
MatthewMaat 8:ec3c634390c7 32 float degrees_setpoint;
MatthewMaat 8:ec3c634390c7 33 float error;
MatthewMaat 8:ec3c634390c7 34 float output;
MatthewMaat 8:ec3c634390c7 35 pwm_1.period(1.0/10000); //10kHz
MatthewMaat 7:a32766b96d91 36
MatthewMaat 8:ec3c634390c7 37 while (true) {
MatthewMaat 8:ec3c634390c7 38 degrees_setpoint = setpoint_1 * ain_degrees_range;
MatthewMaat 8:ec3c634390c7 39 error = degrees_setpoint-(motor1.getPosition()*degrees_per_count); //error = setpoint - current
MatthewMaat 8:ec3c634390c7 40 output = error*p_value*kp_1_range;
MatthewMaat 8:ec3c634390c7 41 if(output > 0)
MatthewMaat 8:ec3c634390c7 42 {
MatthewMaat 8:ec3c634390c7 43 direction_1.write(true);
MatthewMaat 8:ec3c634390c7 44 }
MatthewMaat 8:ec3c634390c7 45 else
MatthewMaat 8:ec3c634390c7 46 {
MatthewMaat 8:ec3c634390c7 47 direction_1.write(false);
MatthewMaat 8:ec3c634390c7 48 }
MatthewMaat 8:ec3c634390c7 49 pwm_1.write(fabs(output));
MatthewMaat 8:ec3c634390c7 50 scope.set(0,motor1.getPosition());
MatthewMaat 8:ec3c634390c7 51 scope.set(1,error);
MatthewMaat 8:ec3c634390c7 52 scope.set(2,fabs(output));
MatthewMaat 8:ec3c634390c7 53 led.write(motor1.getPosition()/100.0);
MatthewMaat 8:ec3c634390c7 54 scope.send();
MatthewMaat 8:ec3c634390c7 55 wait(0.01);
MatthewMaat 4:f988679bf9a1 56 }
MatthewMaat 9:ae548d05ec71 57 */
MatthewMaat 10:e1eb73e19540 58 pc.baud()
MatthewMaat 10:e1eb73e19540 59 pc.printf("Starting....\r\n");
MatthewMaat 10:e1eb73e19540 60 printstuff.attach(stuffz,1);
MatthewMaat 9:ae548d05ec71 61 led.write(ain);
MatthewMaat 4:f988679bf9a1 62 }