Thomas Burgers / Mbed 2 deprecated Samenwerking_Motor12

Samenwerking Groep 12

Dependencies:   Encoder MODSERIAL HIDScope mbed

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main.cpp@16:8975d6c900f0, 2015-09-21 (annotated)

Committer:
ThomasBNL
Date:
Mon Sep 21 15:05:33 2015 +0000
Revision:
16:8975d6c900f0
Parent:
15:80af7a7671d4
Child:
19:269f19917d80
bezig met P controller, errors weggewerkt (systeem functioneert nog niet naar wens)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ThomasBNL 10:e923f51f18c4 1 #include "mbed.h"
ThomasBNL 10:e923f51f18c4 2 #include "HIDScope.h"
ThomasBNL 10:e923f51f18c4 3 #include "encoder.h"
ThomasBNL 10:e923f51f18c4 4 #include "MODSERIAL.h"
ThomasBNL 10:e923f51f18c4 5
ThomasBNL 10:e923f51f18c4 6 //Motor 2
ThomasBNL 10:e923f51f18c4 7 DigitalOut motor2direction(D4); //D4 en D5 zijn motor 2 (op het motorshield)
ThomasBNL 10:e923f51f18c4 8 PwmOut motor2speed(D5);
ThomasBNL 10:e923f51f18c4 9 DigitalIn button(PTA4);
ThomasBNL 10:e923f51f18c4 10 Encoder motor2(D13,D12);
ThomasBNL 10:e923f51f18c4 11 MODSERIAL pc(USBTX,USBRX);
ThomasBNL 13:a0113cf2fc5f 12 Ticker myControllerTicker;
ThomasBNL 10:e923f51f18c4 13 //AnalogIn potmeter2(A0); /NIEUW
ThomasBNL 13:a0113cf2fc5f 14
ThomasBNL 13:a0113cf2fc5f 15 // constantes definieren
ThomasBNL 13:a0113cf2fc5f 16 double counts_per_revolution=4200;
ThomasBNL 13:a0113cf2fc5f 17 double degrees_per_turn=360;
ThomasBNL 13:a0113cf2fc5f 18 double counts_per_degree=counts_per_revolution/degrees_per_turn; //11.67 counts/degree
ThomasBNL 13:a0113cf2fc5f 19 const double motor2_Kp = 2.5; //constante motor
ThomasBNL 13:a0113cf2fc5f 20
ThomasBNL 13:a0113cf2fc5f 21 //functies
ThomasBNL 13:a0113cf2fc5f 22 double P(double error, const double Kp)
ThomasBNL 13:a0113cf2fc5f 23 {
ThomasBNL 13:a0113cf2fc5f 24 return Kp*error;
ThomasBNL 13:a0113cf2fc5f 25 }
ThomasBNL 13:a0113cf2fc5f 26
ThomasBNL 15:80af7a7671d4 27
ThomasBNL 13:a0113cf2fc5f 28
ThomasBNL 10:e923f51f18c4 29 int main()
ThomasBNL 10:e923f51f18c4 30 {
ThomasBNL 10:e923f51f18c4 31 pc.baud(9600);
ThomasBNL 10:e923f51f18c4 32 motor2.setPosition(0);
ThomasBNL 10:e923f51f18c4 33 while(true) {
ThomasBNL 10:e923f51f18c4 34 if (button.read() < 0.5) { //if button pressed
ThomasBNL 13:a0113cf2fc5f 35 motor2direction = 0; // zero is clockwise (front view)
ThomasBNL 10:e923f51f18c4 36 motor2speed = 0.5f;
ThomasBNL 10:e923f51f18c4 37 pc.printf("positie = %d \r\n", motor2.getPosition());
ThomasBNL 10:e923f51f18c4 38 } else { // If button is not pressed
ThomasBNL 10:e923f51f18c4 39 motor2direction = 0;
ThomasBNL 10:e923f51f18c4 40 motor2speed = 0;
ThomasBNL 15:80af7a7671d4 41 //while (motor2_Controller /// WHILE MOTOR > ... <... HIER BEZIG
ThomasBNL 15:80af7a7671d4 42 double reference=400;
ThomasBNL 15:80af7a7671d4 43 double position=motor2.getPosition();
ThomasBNL 15:80af7a7671d4 44 double Error_position=(reference-position)*motor2_Kp;
ThomasBNL 15:80af7a7671d4 45 pc.printf("positie = %d en Error_positie =%d \r\n", motor2.getPosition(), Error_position);
ThomasBNL 13:a0113cf2fc5f 46 //myControllerTicker.attach(&motor2_Controller,0.01f);
ThomasBNL 16:8975d6c900f0 47 while (Error_position > 0) {
ThomasBNL 15:80af7a7671d4 48 motor2direction = 0;
ThomasBNL 15:80af7a7671d4 49 motor2speed=0.3f;}
ThomasBNL 16:8975d6c900f0 50 while (Error_position < 0) {
ThomasBNL 15:80af7a7671d4 51 motor2direction = 1;
ThomasBNL 15:80af7a7671d4 52 motor2speed=0.3f;}
ThomasBNL 10:e923f51f18c4 53 }
ThomasBNL 12:af428d56b4eb 54
ThomasBNL 13:a0113cf2fc5f 55 while ((motor2.getPosition()>counts_per_revolution) || (motor2.getPosition()<-counts_per_revolution)) // If value is outside -4200 and 4200 (number of counts equal to one revolution) reset to zero
ThomasBNL 12:af428d56b4eb 56 {
ThomasBNL 10:e923f51f18c4 57 motor2.setPosition(0);
ThomasBNL 13:a0113cf2fc5f 58 pc.printf(" HE \r\n LLO \r\n WO \r\n RLD \r\n !!! \r\n FOO! \r\n");
ThomasBNL 10:e923f51f18c4 59 break;
ThomasBNL 12:af428d56b4eb 60 }
ThomasBNL 10:e923f51f18c4 61 }
ThomasBNL 12:af428d56b4eb 62 }