Thomas Burgers / Mbed 2 deprecated P_controller_motor_Bouke2

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Dependencies:   Encoder MODSERIAL mbed

Fork of P_controller_motor_Bouke by Thomas Burgers

main.cpp@10:1d8b21515ed1, 2015-09-17 (annotated)

Committer:
ThomasBNL
Date:
Thu Sep 17 12:53:08 2015 +0000
Revision:
10:1d8b21515ed1
Parent:
9:3278558361a5
Child:
11:c5befe79aa53
hidscope + P controller motor - scope set werkt niet verder geen errors (niet getest nog);

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ThomasBNL 0:843492f4fe62 1 #include "mbed.h"
ThomasBNL 0:843492f4fe62 2 #include "HIDScope.h"
ThomasBNL 3:eee8d5461256 3 #include "encoder.h"
ThomasBNL 0:843492f4fe62 4
ThomasBNL 1:b0d3c64bd4d8 5 // Define the HIDScope and Ticker object
ThomasBNL 10:1d8b21515ed1 6 HIDScope scope(2);
ThomasBNL 10:1d8b21515ed1 7 Ticker scopeTimer;
ThomasBNL 10:1d8b21515ed1 8 Ticker motorP;
ThomasBNL 4:dfdfcb518e60 9
ThomasBNL 4:dfdfcb518e60 10 // Define Encoder
ThomasBNL 4:dfdfcb518e60 11
ThomasBNL 6:34b39eb3dcb6 12 Encoder encoder1(PTD0,PTC9,true);
ThomasBNL 4:dfdfcb518e60 13 Serial pc(USBTX,USBRX);
ThomasBNL 4:dfdfcb518e60 14
ThomasBNL 4:dfdfcb518e60 15 // Define Potmeter
ThomasBNL 5:8ea7a765c1f7 16 AnalogIn potmeter1(PTB0);
ThomasBNL 4:dfdfcb518e60 17
ThomasBNL 1:b0d3c64bd4d8 18 ////// P Motor Controller
ThomasBNL 0:843492f4fe62 19
ThomasBNL 0:843492f4fe62 20 // Controller gain
ThomasBNL 5:8ea7a765c1f7 21 const double motorP_Kp=2.500 ;
ThomasBNL 5:8ea7a765c1f7 22 const double Convert_volt_to_position=0.00300 ;
ThomasBNL 0:843492f4fe62 23
ThomasBNL 0:843492f4fe62 24 // Reusable P controller (FUNCTIE)
ThomasBNL 0:843492f4fe62 25 double P (double error, const double Kp)
ThomasBNL 0:843492f4fe62 26 {
ThomasBNL 3:eee8d5461256 27 return Kp*error;
ThomasBNL 0:843492f4fe62 28 }
ThomasBNL 3:eee8d5461256 29
ThomasBNL 6:34b39eb3dcb6 30
ThomasBNL 0:843492f4fe62 31 // Error measurement and apply the output to the plant
ThomasBNL 9:3278558361a5 32 void motorP_Controller()
ThomasBNL 0:843492f4fe62 33 {
ThomasBNL 0:843492f4fe62 34 double reference_position = potmeter1.read();
ThomasBNL 6:34b39eb3dcb6 35 double position = Convert_volt_to_position*encoder1.getPosition();
ThomasBNL 9:3278558361a5 36 double motorP = P(reference_position-position, motorP_Kp);
ThomasBNL 0:843492f4fe62 37 }
ThomasBNL 0:843492f4fe62 38
ThomasBNL 0:843492f4fe62 39 int main()
ThomasBNL 0:843492f4fe62 40 {
ThomasBNL 9:3278558361a5 41 motorP.attach(&motorP_Controller, 0.01f); //100Hz
ThomasBNL 0:843492f4fe62 42 while(1){}
ThomasBNL 0:843492f4fe62 43 }
ThomasBNL 3:eee8d5461256 44
ThomasBNL 3:eee8d5461256 45 // Read the analog input
ThomasBNL 10:1d8b21515ed1 46
ThomasBNL 3:eee8d5461256 47
ThomasBNL 3:eee8d5461256 48 // The data read and send function
ThomasBNL 3:eee8d5461256 49 void scopeSend()
ThomasBNL 3:eee8d5461256 50 {
ThomasBNL 10:1d8b21515ed1 51 scope.set(0,Ticker motorP);
ThomasBNL 3:eee8d5461256 52 scope.send();
ThomasBNL 3:eee8d5461256 53 }
ThomasBNL 3:eee8d5461256 54
ThomasBNL 6:34b39eb3dcb6 55 int scopeattach()
ThomasBNL 3:eee8d5461256 56 {
ThomasBNL 6:34b39eb3dcb6 57 // Attach the data read and send function at 100 Hz
ThomasBNL 10:1d8b21515ed1 58 scopeTimer.attach_us(&scopeSend, 1e4);
ThomasBNL 3:eee8d5461256 59
ThomasBNL 3:eee8d5461256 60 while(1) { }
ThomasBNL 3:eee8d5461256 61 }