Thomas Burgers
/
Samenwerking_Motor12
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Dependencies: Encoder MODSERIAL HIDScope mbed
Revision 25:75cce8f86272, committed 2015-09-22
- Comitter:
- ThomasBNL
- Date:
- Tue Sep 22 21:36:28 2015 +0000
- Parent:
- 24:465efbd884d5
- Child:
- 26:6bdfc1856531
- Commit message:
- Created structure with comments and lay-out; -> Basic P-controller
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Sep 22 15:06:17 2015 +0000
+++ b/main.cpp Tue Sep 22 21:36:28 2015 +0000
@@ -1,32 +1,51 @@
+//------------------------------------------------------------------------------------------------------------------------------------
+// GROUP 12: THE CHENNE ROBOT (bottle xylophone)
+//------------------------------------------------------------------------------------------------------------------------------------
+//INCLUDE LIBRARY
+//------------------------------------------------------------------------------------------------------------------------------------
#include "mbed.h"
#include "HIDScope.h"
#include "encoder.h"
#include "MODSERIAL.h"
-//Motor 2
-DigitalOut motor2direction(D4); //D4 en D5 zijn motor 2 (op het motorshield)
-PwmOut motor2speed(D5); // D5 is an input on the motor that controls the speed of motor number 2
-DigitalIn button(PTA4); // PTA4 is used as a button controller (0 when pressed and 1 when not pressed)
-Encoder motor2(D13,D12,true); // The encoder is able to read and set position/speed values
-MODSERIAL pc(USBTX,USBRX); // This input is used to send data to the pc
-Ticker TickerController; // This adds a Ticker to the function +TickerController
-HIDScope scope(2);
-//AnalogIn potmeter2(A0); /NIEUW
+//------------------------------------------------------------------------------------------------------------------------------------
+// Defining inputs/outputs/constants
+//------------------------------------------------------------------------------------------------------------------------------------
+
+// MOTOR 2 SIGNALS
+DigitalOut motor2direction(D4); //D4 and D5 are Motor 2 inputs
+PwmOut motor2speed(D5); // D5 is an input on the motor that controls the speed of motor number 2
+DigitalIn button(PTA4); // PTA4 is used as a button controller (0 when pressed and 1 when not pressed)
+Encoder motor2(D13,D12,true); // The encoder is able to read and set position/speed values
+Ticker TickerController; // This adds a Ticker to the function +TickerController
+//AnalogIn potmeter2(A0); // NOT IMPLEMENTED YET
+
+
+// OUTPUT DATA
+MODSERIAL pc(USBTX,USBRX); // This input is used to send data to the pc
+HIDScope scope(2); // This adds two HIDScope channels (1) and (0) to display signals to HIDScope
+
-// Defining constants
-double counts_per_revolution=4200;
-double degrees_per_turn=360;
-double counts_per_degree=counts_per_revolution/degrees_per_turn; //11.67 counts/degree
-const double motor2_Kp = 1; //controller gain which will be multiplied with the error (*how fast will the error be corrected)
-const double reference = 400;
+// DEFINING CONSTANTS
+double counts_per_rev=4200; // Counts per revolution DERIVED FROM TESTS (NOG DOEN)
+double degrees_per_turn=360; // Degrees for one revolution
+double counts_per_degree=counts_per_rev/degrees_per_turn; // 11.67 counts/degree //divide counts by 11.67 to obtain degrees
+const double motor2_Kp = 1; // Controller gain which will be multiplied with the error (*how fast will the error be corrected)
+const double reference = 400; // Reference value to what position (counts) shall the motor return
-// Function P-controller
+//------------------------------------------------------------------------------------------------------------------------------------
+// Defining functions
+//------------------------------------------------------------------------------------------------------------------------------------
+
+// FUNCTION 1: P-controller
double P(double error, const double Kp) //returns error * controller gain
-{
- return Kp*error;
-}
-// Function that calls the P-controller
-double motor2_controller() // Void function that compares the current position with a reference value and outputs
+ {
+ return Kp*error;
+ }
+
+
+// FUNCTION 2: Calculates the errors and puts the value into function 1
+double motor2_controller()
{
double position=motor2.getPosition(); //current motor position
double error=reference-position;
@@ -36,37 +55,64 @@
return P(error,motor2_Kp);
}
+//------------------------------------------------------------------------------------------------------------------------------------
+// Execution of the programm (MAIN)
+//------------------------------------------------------------------------------------------------------------------------------------
+
// MAIN
-int main()
+int main() // Begin main loop 1
{
- pc.baud(9600); // baud rate at which the information is processed to the computer
- //motor2.setPosition(0); // calls the current position of the motor zero
- while(true) {
- if (button.read() < 0.5) { //if button pressed
- motor2direction = 0; // zero is clockwise (front view)
- motor2speed = 0.5f; // motorspeed
- pc.printf("positie = %d \r\n", motor2.getPosition());
- } else { // If button is not pressed
- double output_motor = motor2_controller();
- while(output_motor>0){
- motor2speed=output_motor;
- motor2direction=1;
- break;}
- while(output_motor<0){
- motor2speed=fabs(output_motor);
- motor2direction=0;
- break;}
- {
- pc.printf("else loop controller");
- }
- }
+ // CALLIBRATION BEGIN POSITION
+ pc.baud(9600); // baud rate at which the information is processed to the computer
+ //motor2.setPosition(0); // calls the current position of the motor zero
-// Piece of code that keeps the value of the position between the counts per revolution
- 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
- {
- motor2.setPosition(0);
- pc.printf(" HE \r\n LLO \r\n WO \r\n RLD \r\n !!! \r\n FOO! \r\n");
- break;
- }
- }
- }
\ No newline at end of file
+ while(true) { // while loop 1
+ // IF BUTTON IS PRESSED
+ if (button.read() < 0.5)
+ { // start if else loop 1
+ motor2direction = 0; // clockwise motor rotation (front view)
+ motor2speed = 0.5f; // motorspeed
+
+ pc.printf("positie = %d \r\n", motor2.getPosition());
+ }
+ // IF BUTTON IS NOT PRESSED
+ else
+ {
+ double output_motor = motor2_controller(); //extract value from motor2_controller
+
+ //Case 1
+ while(output_motor>0) // Value to correct for by the motor >0
+ {
+ motor2speed=output_motor; //then apply this value
+ motor2direction=1; //to the motor in anti-clockwise direction
+ break; // abort the loop and continue the script
+ }
+
+ //Case 2
+ while(output_motor<0) // Value to correct for by the motor <0
+ {
+ motor2speed=fabs(output_motor);// then apply the absolute value
+ motor2direction=0; // to the motor in clockwise direction
+ break; // then abort the loop and continue the script
+ }
+ // ATTACHING TICKER
+ {
+ TickerController.attach(&motor2_controller,0.01f);//100Hz
+ pc.printf("else loop controller");
+ }
+ } // end of if-else loop 1
+
+ // CALLIBRATION POSITION OF MOTOR
+ // The position is limited to number of counts per revolution
+
+ while ((motor2.getPosition()>counts_per_rev) || (motor2.getPosition()<-counts_per_rev))
+ // If value is outside -4200 and 4200 (number of counts equal to one revolution) reset to zero
+ {
+ motor2.setPosition(0);
+ pc.printf(" HE \r\n LLO \r\n WO \r\n RLD \r\n !!! \r\n FOO! \r\n");
+ break;
+ }
+ } // end of while loop 1
+ } // end of main
+
+//------------------------------------------------------------------------------------------------------------------------------------
\ No newline at end of file
