Diff: main.cpp

Revision:

0:031c505c5d69

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Nov 20 16:40:47 2013 +0000
@@ -0,0 +1,80 @@
+#include "mbed.h"
+
+Timer     t;
+ 
+AnalogIn   ain_v1(p20);
+AnalogIn   ain_v2(p19);
+AnalogOut  aout(p18);
+
+int main()
+{
+  float t1,   t2;
+  float V1,   V1scaled;
+  float V2,   V2scaled;
+  float Cmbed;
+  
+  float Cout, Cout1, Cout2;
+  float e, e1, e2;
+  float V2Ref;
+  float controlfreq, delaytime;
+  
+  // Initialize variables
+  Cout1  = 0.0;
+  Cout2  = 0.0;
+  e1     = 0.0;
+  e2     = 0.0;
+  
+  // Starts timer
+  t.start();
+  while(t.read()<10.0)
+  {
+  
+  t1 = t.read();                // Gets elapsed time from when t.start() was done. 
+ 
+  // Sense
+  V1scaled = ain_v1.read()*3.3; // 0.0<ain.read()<1.0. Normalized voltage. / Multiple by 3.3 to get voltage.   
+  V1 = (V1scaled-1.65)*6.06;    // Re-calculate actual V1(t) voltage.
+      
+  V2scaled = ain_v2.read()*3.3; // 0.0<ain.read()<1.0. Normalized voltage. Multiple by 3.3 to get voltage.   
+  V2 = (V2scaled-1.65)*6.06;    // Re-calculate actual V1(t) voltage.
+  
+  // Decide
+  
+ // Reference voltage
+ V2Ref = 2.0; // (V)
+
+ // Error signal
+ e = V2Ref-V2; // (V)
+
+ // Commanded voltage (V)
+ Cout = (1.948051948051948)*Cout1+(-0.948051948051948)*Cout2+(0.00746223086813)*e+(-0.008291367631262)*e1+(0.002211031368337)*e2;
+ //Cout =(1.96078)*Cout1+(-0.96078)*Cout2+(0.01027)*e+(-0.01539)*e1+(0.00571)*e2;
+
+ // Age variables
+ Cout2 = Cout1;
+ Cout1 = Cout;
+ e2    = e1;
+ e1    = e;
+ 
+  // Actuate
+  Cmbed = Cout/6.06+1.65; // Scale to 0<Cmbed<3.3
+  
+  // Saturate Cmbed for safety
+  if(Cmbed>3.3)
+    Cmbed = 3.3;
+  if(Cmbed<0.0)
+    Cmbed = 0.0;
+  
+  // Cmbed = 1.65;        // Must be between 0<Cmbed<3.3
+  aout.write(Cmbed/3.3);  // 0<aout<1. Normalized voltage
+  t2 = t.read();
+  
+  controlfreq = 100;
+    
+  //log variable for plotting
+  
+   printf("v1 = %.4f, v2 = %.4f, Cmbed = %.4f, Cout = %f\n\r",V1,V2,Cmbed,Cout);
+   delaytime =(1/(controlfreq)-(t2-t1)); // Make routine run at 0.01 (sec)
+   wait(delaytime);
+   }
+}