Diff: main.cpp

Revision:

10:fb52590deb29

Parent:

9:34e3dd8548c0

diff -r 34e3dd8548c0 -r fb52590deb29 main.cpp
--- a/main.cpp	Mon Oct 29 12:12:18 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,193 +0,0 @@
-#include "mbed.h"
-#include "math.h"
-#include "MODSERIAL.h"
-#include "QEI.h"
-#include "BiQuad.h"
-
-//Tickers
-Ticker TickerMeasureAndControl;
-Ticker TickerPrintToScreen;
-
-//Communication
-MODSERIAL pc(USBTX,USBRX);
-QEI Encoder(D10,D11,NC,32);
-
-//Global pin variables 
-PwmOut PwmPin(D5);
-DigitalOut DirectionPin(D4);
-AnalogIn Potmeter1(A1);
-AnalogIn Potmeter2(A0);
-DigitalIn BUT1(D8);
-DigitalIn BUT2(D9);
-DigitalIn button(SW2);
-//Global variables
-volatile bool PrintFlag = false;
-
-//Global variables for printing on screen
-volatile float PosRefPrint; // for printing value on screen
-volatile float PosMotorPrint; // for printing value on screen
-volatile float ErrorPrint;
-
-//-----------------------------------------------------------------------------
-//The double-functions
-
-//Get reference position
-double GetReferencePosition()
-{
-// This function set the reference position to determine the position of the signal.
-// a positive position is defined as a counterclockwise (CCW) rotation
-    static double PositionRef = 0;
-    if (button)
-    {
-    if (BUT2 == false)
-    {
-        if (PositionRef <= 0.4*(6.2830))
-        {
-            PositionRef += 0.001*(6.2830);
-        }
-    }
-    
-        if (BUT1 == false)
-    {
-        if (PositionRef >= -0.4*(6.2830))
-        {
-            PositionRef -= 0.001*(6.2830);
-        }
-    }
-    }
-    else
-    {
-            if (PositionRef <= 0)
-            {
-                PositionRef += 0.001*(6.2830);
-            }
-        
-            if (PositionRef >= 0)
-            {
-                PositionRef -= 0.001*(6.2830);
-            }
-    }
-   // double ValuePot = Potmeter1.read(); // Read value from potmeter (range from 0-1)
-    
-        
-        //double PositionRef = 0.8*6.2830*ValuePot - 0.8*3.1415; // position reference ranging from -0.4 rotations till 0.4 rotations
-        
-        return PositionRef; //rad
-}
-
-// actual position of the motor
-double GetActualPosition()
-{
-    //This function determines the actual position of the motor
-    //The count:radians relation is 8400:2pi
-    double EncoderCounts = Encoder.getPulses();    //number of counts
-    double PositionMotor = EncoderCounts/8400*(2*6.283); // in rad (6.283 = 2pi), 2* is for compensating X4 --> X2 encoding
-    
-    return PositionMotor;
-}
-
-
-
-///The controller
-double PID_Controller(double Error)
-{
-    //Belt drive parameters
-   double Ts = 0.01; //Sampling time 100 Hz
-   double Kp = 11.1; // proportional gain
-   double Ki = 11.2; //Integral gain
-   double Kd = 5.5; //Differential gain
-   
-   //Arm drive parameters
-   //double Ts = 0.01; //Sampling time 100 Hz
-   //double Kp = 19.8; // proportional gain
-   //double Ki = 19.9; //Intergral gain
-   //double Kd = 9.8; //Differential gain.
-   
-   static double ErrorIntegral = 0;
-   static double ErrorPrevious = Error;
-   static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
-   
-   //Proportional part:
-   double u_k = Kp * Error;
-   
-   //Integral part:
-   ErrorIntegral = ErrorIntegral + Error*Ts;
-   double u_i = Ki * ErrorIntegral;
-   
-   //Derivative part:
-   double ErrorDerivative = (Error - ErrorPrevious)/Ts;
-   double FilteredErrorDerivative = LowPassFilter.step(ErrorDerivative);
-   double u_d = Kd * FilteredErrorDerivative;
-   ErrorPrevious = Error;
-   
-   // sum of parts and return it
-   return u_k + u_i + u_d; //This will become the MotorValue
-}
-
-//Ticker function set motorvalues
-void SetMotor(double MotorValue)
-{
-    if (MotorValue >=0)
-    {
-        DirectionPin = 1;
-    }
-    else
-    {
-        DirectionPin = 0;
-    }
-    
-    if (fabs(MotorValue)>1) // if error more than 1 radian, full duty cycle
-    {
-        PwmPin = 1; 
-    }
-    else
-    {
-        PwmPin = fabs(MotorValue);
-    }
-}
-
-// ----------------------------------------------------------------------------
-//Ticker function
-void MeasureAndControl(void)
-{
-    double PositionRef = GetReferencePosition();
-    double PositionMotor = GetActualPosition();
-    double MotorValue = PID_Controller(PositionRef - PositionMotor); // input is error
-    SetMotor(MotorValue);
-    
-    //for printing on screen
-    PosRefPrint = PositionRef;
-    PosMotorPrint = PositionMotor;
-    ErrorPrint = PositionRef - PositionMotor;
-    
-}
-
-
-
-void PrintToScreen()
-{
-    PrintFlag = true;
-}
-
-
-//-----------------------------------------------------------------------------
-int main()
-{
-    pc.baud(115200);
-    pc.printf("Hello World\n\r");
-    PwmPin.period_us(60); // 16.66667 kHz (default period is too slow!)
-    TickerMeasureAndControl.attach(&MeasureAndControl,0.002); //500 Hz
-    TickerPrintToScreen.attach(&PrintToScreen,0.25); //Every second four times the values on screen
-    
-    while (true) 
-    {
-        if(PrintFlag) // if-statement for printing every second four times to screen
-        {
-            double KpPrint = 3.52;
-            double KiPrint = 0.88;
-            double KdPrint = 6.9;
-            pc.printf("Pos ref = %f, Pos motor = %f, Error = %f, Kp = %f, Ki = %f and Kd = %f\r",PosRefPrint,PosMotorPrint,ErrorPrint,KpPrint,KiPrint,KdPrint);
-            PrintFlag = false;
-        }
-    }
-}
\ No newline at end of file