Wessel Klumperman / Mbed 2 deprecated hoi_gpio

PID Controller

Dependencies:   HIDScope mbed

Files at this revision

API Documentation at this revision

Revision 0:d566a0281325, committed 2018-10-22

Comitter:
Wimboo
Date:
Mon Oct 22 08:33:23 2018 +0000
Commit message:
Lijkt wel oke te werken;

Changed in this revision

HIDScope.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HIDScope.lib	Mon Oct 22 08:33:23 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/tomlankhorst/code/HIDScope/#d23c6edecc49

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 22 08:33:23 2018 +0000
@@ -0,0 +1,45 @@
+#include "mbed.h"
+#include "HIDScope.h"
+
+DigitalOut gpo(D0);
+DigitalOut led(LED_RED);
+HIDScope scope(2);
+
+const float Kp = 2;
+const float Ki = 0.2;
+const float Kd = 0;
+const float Timestep = 0.001;
+float G = 15;          //input
+float Output = 0 ; //Starting value
+float P = 0 ; // Starting value
+float e1 = 0 ; //Starting value 
+float e2 = 0 ; // Starting value
+float e3;       
+float Output_Last;  // Remember previous position
+float Y;            // Value that is outputted to motor control
+float P_Last = 0;   // Starting position
+const float Max_Speed = 400;      //Max speed of the motor
+int main()
+{
+    while (true) {
+         P_Last = P;        
+         e1 = e2;
+         e2 = e3;
+         e3 = G - P;
+         Output_Last = Output;
+         Output = Kp * (e3 - e2) + Output_Last +Ki * e3 + Kd * (e3 - 2*e2 + e1);
+             Y = Output;
+        if (Output >= 1){
+            Y = 1;
+        }
+        else if (Output <= -1){
+            Y = -1;
+        }
+        P = P_Last + Y * Timestep * Max_Speed;
+    wait(0.1f);
+    scope.set(0,Output);
+    scope.set(1,P);
+    scope.send();
+    }
+    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Oct 22 08:33:23 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/675da3299148
\ No newline at end of file