Oliver Wenzel
/
mbed_amf_controlsystem_iO_copy
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Fork of
mbed_amf_controlsystem
by 
Matti Borchers
Revision 14:48cdd880ca1a, committed 2016-02-07
- Comitter:
- OWenzel
- Date:
- Sun Feb 07 10:41:16 2016 +0000
- Parent:
- 13:34f7f783ad24
- Commit message:
- 1. COmmit;
Changed in this revision
--- a/Controller/MachineDirectionController.cpp Fri Feb 05 16:06:44 2016 +0000
+++ b/Controller/MachineDirectionController.cpp Sun Feb 07 10:41:16 2016 +0000
@@ -27,27 +27,34 @@
void MachineDirectionController::cylic_control() {
check_queues();
+ if( velocity_set < 0.1)
+ {
+ velocity_set=velocity_set_alt;
+ }
+ else if(velocity_set > 1.0){
+ velocity_set=1.0;
+ }
Vorsteuerung=88.316*velocity_set+175.17;
- l_e = velocity_set-velocity_current;
- l_esum = l_esum + l_e;
+ //l_e = velocity_set-velocity_current;
+//l_esum = l_esum + l_e;
- PI_Regler =l_Kp*l_e+l_Ki * l_esum;
+ // PI_Regler =l_Kp*l_e+l_Ki * l_esum;
- l_output=Vorsteuerung+PI_Regler;
+ // l_output=Vorsteuerung+PI_Regler;
+
- l_PWM = 1500+l_output;
-
+ // l_PWM = 1500+l_output;
+ l_PWM=1500+Vorsteuerung;
if(l_PWM<1500) {
l_PWM = 1500;
l_esum = l_esum-2*l_e;
} else if(l_PWM>2000) {
l_PWM = 2000;
l_esum = l_esum-2*l_e;
- } else if(velocity_set < 0.1) {
- l_PWM = 1500;
}
+ velocity_set_alt=velocity_set;
- pwmOut->pulsewidth_us(1700);
- //pwmOut.pulsewidth_us(l_PWM);
+ //pwmOut->pulsewidth_us(1700);
+ pwmOut->pulsewidth_us(l_PWM);
}
\ No newline at end of file
--- a/Controller/MachineDirectionController.h Fri Feb 05 16:06:44 2016 +0000
+++ b/Controller/MachineDirectionController.h Sun Feb 07 10:41:16 2016 +0000
@@ -23,7 +23,7 @@
float velocity_set;
float velocity_current;
float l_esum, Vorsteuerung, PI_Regler, l_output, l_PWM, l_e, l_Kp, l_Ki;
-
+ float velocity_set_alt;
void init();
void check_queues();
public:
--- a/main.cpp Fri Feb 05 16:06:44 2016 +0000
+++ b/main.cpp Sun Feb 07 10:41:16 2016 +0000
@@ -72,6 +72,14 @@
ptr = (char*)receive_buffer;
x = 22;
}
+ if(rc_valid != 0)
+ {
+ serialMinnow.putc('a');//Aktiviert
+ }
+ else
+ {
+ serialMinnow.putc('d');//Deaktiviert
+ }
//Thread::wait(100);
}
@@ -101,7 +109,7 @@
Thread machineDirectionControl(serial_thread);
Thread hearbeatThread(hearbeat_thread);
- RtosTimer machine_direction_control_timer(redirect_quadrature_controller);
+ RtosTimer machine_direction_control_timer(redirect_machine_direction_controller);
RtosTimer quadrature_control_timer(redirect_quadrature_controller);
// Konfiguration AMF-IMU