Roy van Zijl
group 2
Revision 0:331597250051, committed 2017-10-03
- Comitter:
- RoyvZ
- Date:
- Tue Oct 03 15:30:08 2017 +0000
- Commit message:
- kijk naar v_ref waarom hij uit en aan gaat ipv harder en zachter
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Tue Oct 03 15:30:08 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Sissors/code/MODSERIAL/#a3b2bc878529
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Oct 03 15:30:08 2017 +0000
@@ -0,0 +1,89 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+#include "math.h"
+
+DigitalOut gpo(D0);
+DigitalOut motorDirection(D4);
+DigitalOut motorSpeed(D5);
+AnalogIn potMeterIn(A1);
+InterruptIn button1(D3);
+Ticker ticker;
+
+MODSERIAL pc(USBTX, USBRX);
+
+
+float GetReferenceVelocity()
+{
+ // Returns reference velocity in rad/s.
+ // Positive value means clockwise rotation.
+ const float maxVelocity=8.4; // in rad/s of course!
+ float referenceVelocity; // in rad/s
+ if (button1) {
+ // Clockwise rotation
+ referenceVelocity = potMeterIn * maxVelocity;
+ }
+ else {
+ // Counterclockwise rotation
+ referenceVelocity = -1*potMeterIn * maxVelocity;
+ }
+ return referenceVelocity;
+}
+
+void setMotor(float motorValue) {
+ if (motorValue >= 0)
+ {
+ //float motor1DirectionPin1 = 1;
+ motorDirection=1;
+ }
+ else
+ {
+ //float motor1DirectionPin1 = 0;
+ motorDirection=0;
+ }
+
+ if (fabs(motorValue)>1)
+ {
+ //float motor1MagnitudePin1 = 1;
+ motorSpeed = 1;
+ }
+ else
+ {
+ //float motor1MagnitudePin1 = fabs(motorValue);
+ motorSpeed = fabs(motorValue);
+ }
+}
+
+float FeedForwardControl(float referenceVelocity)
+{
+ // very simple linear feed-forward control
+ const float MotorGain=8.4; // unit: (rad/s) / PWM
+ float motorValue = referenceVelocity / MotorGain;
+ return motorValue;
+}
+
+
+void MeasureAndControl(void)
+{
+ // This function measures the potmeter position, extracts a
+ // reference velocity from it, and controls the motor with
+ // a simple FeedForward controller. Call this from a Ticker.
+ float referenceVelocity = GetReferenceVelocity();
+ float motorValue = FeedForwardControl(referenceVelocity);
+ setMotor(motorValue);
+}
+
+int main() {
+ pc.baud(115200);
+ //ticker.attach(MeasureAndControl, 0.01);
+ while(true){
+ wait(0.1);
+
+ //pc.printf("%f\r\n",GetReferenceVelocity());
+ float v_ref = GetReferenceVelocity();
+ setMotor(v_ref);
+ pc.printf("%f \r\n", FeedForwardControl(v_ref));
+ motorDirection.write(motorDirection);
+ motorSpeed.write(motorSpeed); //PWM Speed Control
+ }
+}
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Oct 03 15:30:08 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed/builds/235179ab3f27 \ No newline at end of file