Revision 0:cbabd9031b37, committed 2018-10-15

Comitter:

Rhein

Date:

Mon Oct 15 09:41:49 2018 +0000

Commit message:

PES_Lecture5_Assignment

Changed in this revision

diff -r 000000000000 -r cbabd9031b37 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 15 09:41:49 2018 +0000
@@ -0,0 +1,55 @@
+#include "mbed.h"
+
+DigitalOut gpo(D0);
+DigitalOut led(LED_RED);
+DigitalOut motor_dir(D7);
+
+double Kp = 17.5;
+double Ki = 1.02;
+double Kd = 23.2;
+double Ts = 0.01; //Sample time in seconds
+    
+    double GetReferenceVelocity() //Determine reference value
+    {
+        const float maxVelocity = 8.4;
+        double referenceVelocity;
+        
+        if (botton1)
+        {
+            referenceVelocity = PotMeterIn * maxVelocity;
+            }
+            else
+            {
+                referenceVelocity = -1*PotMeterIn * maxVelocity;
+                }
+            return referenceVelocity;    
+    
+    }
+    
+    double GetActualPosition() // measure plant output
+    {
+        double pos_rad = - (pos_counts - pos_offset_counts) / (double)counts_per_rad;
+        return pos_rad;
+        }
+    
+    double PID_controller(double error)
+    {
+        static double error_integral = 0;
+        static double error_prev = error;
+        static Biquad LowpassFilter(0.0640,0.1279,0.0640,-1.1683,0.4241);
+        
+        //P part
+        double u_k = Kp * e;
+        
+        //I part
+        error_integral = error_integral + error * Ts;
+        double u_i = Ki * error_integral;
+        
+        //D part
+        double error_derivative = (error - error_prev)/Ts;
+        double filtered_error_derivatice = LowPassFilter.step(error_derivative);
+        double u_d = Kd * filtered_error_derivative;
+        error_prev = error;
+        
+        return u_k + u_i + u_d;
+        }
\ No newline at end of file

diff -r 000000000000 -r cbabd9031b37 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Oct 15 09:41:49 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187
\ No newline at end of file