Zeljko Tokalic / Mbed 2 deprecated Steptestcsv

PI Step test csv

Dependencies:   Motor PID QEI mbed

Fork of PIDRover by Aaron Berk

main.cpp@1:811bb0e318a8, 2015-11-26 (annotated)

Committer:
Tokalic
Date:
Thu Nov 26 07:21:21 2015 +0000
Revision:
1:811bb0e318a8
Parent:
0:be99ed42340d 
Step test to csv

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tokalic 1:811bb0e318a8 1 #include "PID.h"
aberk 0:be99ed42340d 2 #include "QEI.h"
Tokalic 1:811bb0e318a8 3 #define RATE 0.01
Tokalic 1:811bb0e318a8 4 #define Kc 0.473
Tokalic 1:811bb0e318a8 5 #define Ti 0.025
Tokalic 1:811bb0e318a8 6 #define Td 0.0
aberk 0:be99ed42340d 7
Tokalic 1:811bb0e318a8 8 PwmOut Motor(p21);
Tokalic 1:811bb0e318a8 9 QEI Qei(p29, p30, NC, 504);
Tokalic 1:811bb0e318a8 10 PID Controller(Kc, Ti, Td, RATE);
Tokalic 1:811bb0e318a8 11 //-------
Tokalic 1:811bb0e318a8 12 // Datoteke
Tokalic 1:811bb0e318a8 13 //-------
Tokalic 1:811bb0e318a8 14 LocalFileSystem local("local");
Tokalic 1:811bb0e318a8 15 FILE* fp;
aberk 0:be99ed42340d 16
Tokalic 1:811bb0e318a8 17 Timer endTimer;
Tokalic 1:811bb0e318a8 18
Tokalic 1:811bb0e318a8 19 //Radne varijable
aberk 0:be99ed42340d 20
Tokalic 1:811bb0e318a8 21 volatile int Pulses = 0;
Tokalic 1:811bb0e318a8 22 volatile int PrevPulses = 0;
Tokalic 1:811bb0e318a8 23 volatile float PwmDuty = 0.0;
Tokalic 1:811bb0e318a8 24 volatile float Velocity = 0.0;
Tokalic 1:811bb0e318a8 25 //Zadana brzina
Tokalic 1:811bb0e318a8 26 int goal = 21000;
Tokalic 1:811bb0e318a8 27
aberk 0:be99ed42340d 28
Tokalic 1:811bb0e318a8 29 void initializeMotors(void);
Tokalic 1:811bb0e318a8 30 void initializePidControllers(void);
Tokalic 1:811bb0e318a8 31 void initializeMotors(void){
Tokalic 1:811bb0e318a8 32
Tokalic 1:811bb0e318a8 33 Motor.period_us(50);
Tokalic 1:811bb0e318a8 34 Motor = 1.0;
Tokalic 1:811bb0e318a8 35 }
Tokalic 1:811bb0e318a8 36
Tokalic 1:811bb0e318a8 37 void initializePidControllers(void){
Tokalic 1:811bb0e318a8 38
Tokalic 1:811bb0e318a8 39 Controller.setInputLimits(0.0, 54500);
Tokalic 1:811bb0e318a8 40 Controller.setOutputLimits(0.0, 1.0);
Tokalic 1:811bb0e318a8 41 Controller.setBias(1.0);
Tokalic 1:811bb0e318a8 42 Controller.setMode(AUTO_MODE);
Tokalic 1:811bb0e318a8 43 }
Tokalic 1:811bb0e318a8 44
Tokalic 1:811bb0e318a8 45 int main() {
Tokalic 1:811bb0e318a8 46 wait(2);
Tokalic 1:811bb0e318a8 47 //Inicijalizacija
Tokalic 1:811bb0e318a8 48 initializeMotors();
Tokalic 1:811bb0e318a8 49 initializePidControllers();
Tokalic 1:811bb0e318a8 50
Tokalic 1:811bb0e318a8 51 //Kreiranje datoteke za spremanje rezultata.
Tokalic 1:811bb0e318a8 52 fp = fopen("/local/pidtest.csv", "w");
Tokalic 1:811bb0e318a8 53
Tokalic 1:811bb0e318a8 54 endTimer.start();
Tokalic 1:811bb0e318a8 55
Tokalic 1:811bb0e318a8 56 Controller.setSetPoint(goal);
Tokalic 1:811bb0e318a8 57
Tokalic 1:811bb0e318a8 58 //Vrijeme mjerenja je 3 sekunde
Tokalic 1:811bb0e318a8 59 while (endTimer.read() < 3.0){
Tokalic 1:811bb0e318a8 60 Pulses = Qei.getPulses();
Tokalic 1:811bb0e318a8 61 Velocity = (Pulses - PrevPulses) / RATE;
Tokalic 1:811bb0e318a8 62 PrevPulses = Pulses;
Tokalic 1:811bb0e318a8 63 Controller.setProcessValue(Velocity);
Tokalic 1:811bb0e318a8 64 PwmDuty = Controller.compute();
Tokalic 1:811bb0e318a8 65 Motor = PwmDuty;
Tokalic 1:811bb0e318a8 66 fprintf(fp, "%f,%f,\n", Velocity, PwmDuty);
Tokalic 1:811bb0e318a8 67 wait(RATE);
aberk 0:be99ed42340d 68 }
Tokalic 1:811bb0e318a8 69 //Spremanje izmjerenih podataka
Tokalic 1:811bb0e318a8 70 fclose(fp);
aberk 0:be99ed42340d 71 }