Zhixin Li / Mbed 2 deprecated PES_L5Ex1a

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Dependencies:   mbed

main.cpp

Committer:
Rhein
Date:
2018-10-19
Revision:
0:0b04f8ba31ca
Child:
1:693bacef296b

File content as of revision 0:0b04f8ba31ca:

#include "mbed.h"
#include "QEI.h"
#include "MODSERIAL.h"

DigitalOut gpo(D0);
DigitalOut led(LED_RED);
DigitalOut motor_dir(D7);

AnalogIn pot1(A2);
AnalogIn pot2(A3);

double Ts = 0.01; //Sample time in seconds
Serial pc(USBTX,USBRX);    
pc.baud(115200); 
pi = 3.14159261;
QEI Encoder(D12,D13,NC,32);
double countsrotation = 32;
double gear_ration = 131;
int main()
{
    
//Determine reference position in radians between 0 and 2pi
    
        double pos_ref = pot1 * 2pi;
        pc.printf("%f \r\n",pos_ref);
        
// get actual position(measure plant output)
    
        int counts;       
        
        pos_counts = Encoder.getPulses();
        double pos_offset_counts = 0;
        double counts_per_rad = countsrotation / gear_ratio;
        
        double pos_rad = - (pos_counts - pos_offset_counts) / counts_per_rad;
        
// P controller    
    
        double e = pos_ref - pos_rad;
        
        double Kp = potmeter2.read();
        double u_k = Kp * e;
        
        }