Thomas Burgers / Mbed 2 deprecated Samenwerking_Motor12

Samenwerking Groep 12

Dependencies:   Encoder MODSERIAL HIDScope mbed

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main.cpp@13:a0113cf2fc5f, 2015-09-21 (annotated)

Committer:
ThomasBNL
Date:
Mon Sep 21 14:32:58 2015 +0000
Revision:
13:a0113cf2fc5f
Parent:
12:af428d56b4eb
Child:
15:80af7a7671d4
Bezig implementeren van P systeem

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 13:a0113cf2fc5f 27 void motor2_Controller(){
ThomasBNL 13:a0113cf2fc5f 28 double reference=400;
ThomasBNL 13:a0113cf2fc5f 29 double position=motor2.getPosition();
ThomasBNL 13:a0113cf2fc5f 30 double Error_position=P(reference-position,motor2_Kp);
ThomasBNL 13:a0113cf2fc5f 31 }
ThomasBNL 13:a0113cf2fc5f 32
ThomasBNL 10:e923f51f18c4 33 int main()
ThomasBNL 10:e923f51f18c4 34 {
ThomasBNL 10:e923f51f18c4 35 pc.baud(9600);
ThomasBNL 10:e923f51f18c4 36 motor2.setPosition(0);
ThomasBNL 10:e923f51f18c4 37 while(true) {
ThomasBNL 10:e923f51f18c4 38 if (button.read() < 0.5) { //if button pressed
ThomasBNL 13:a0113cf2fc5f 39 motor2direction = 0; // zero is clockwise (front view)
ThomasBNL 10:e923f51f18c4 40 motor2speed = 0.5f;
ThomasBNL 10:e923f51f18c4 41 pc.printf("positie = %d \r\n", motor2.getPosition());
ThomasBNL 10:e923f51f18c4 42 } else { // If button is not pressed
ThomasBNL 10:e923f51f18c4 43 motor2direction = 0;
ThomasBNL 10:e923f51f18c4 44 motor2speed = 0;
ThomasBNL 13:a0113cf2fc5f 45 while (motor2_Controller /// WHILE MOTOR > ... <... HIER BEZIG
ThomasBNL 13:a0113cf2fc5f 46 pc.printf("positie = %d en Error_positie \r\n", motor2.getPosition(), Error_position);
ThomasBNL 13:a0113cf2fc5f 47 //myControllerTicker.attach(&motor2_Controller,0.01f);
ThomasBNL 13:a0113cf2fc5f 48 //while(1){}
ThomasBNL 10:e923f51f18c4 49 }
ThomasBNL 12:af428d56b4eb 50
ThomasBNL 13:a0113cf2fc5f 51 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 52 {
ThomasBNL 10:e923f51f18c4 53 motor2.setPosition(0);
ThomasBNL 13:a0113cf2fc5f 54 pc.printf(" HE \r\n LLO \r\n WO \r\n RLD \r\n !!! \r\n FOO! \r\n");
ThomasBNL 10:e923f51f18c4 55 break;
ThomasBNL 12:af428d56b4eb 56 }
ThomasBNL 10:e923f51f18c4 57 }
ThomasBNL 12:af428d56b4eb 58 }