File content as of revision 3:5f59cbe53d7d:

#include "mbed.h"
#include "encoder.h"
#include "HIDScope.h"
#include "QEI.h"
#include "MODSERIAL.h"

DigitalOut  motor1_direction(D4);
PwmOut      motor1_speed(D5);
PwmOut      led(D9);
DigitalIn   button_1(PTC6); //counterclockwise
DigitalIn   button_2(PTA4); //clockwise
Encoder     motor1(D12,D13);
HIDScope    scope(1);
AnalogIn PotMeter1(A1);
Ticker controller;
Ticker ticker_regelaar;

MODSERIAL   pc(USBTX, USBRX);
volatile bool regelaar_ticker_flag;

void setregelaar_ticker_flag()
{
    regelaar_ticker_flag = true;
}

#define SAMPLETIME_REGELAAR 0.005

//define states
enum state {GOTOHOMEPOSITION, MOVE_MOTOR, BACKTOHOMEPOSITION, STOP};
uint8_t state = GOTOHOMEPOSITION;

// Berekening van de output shaft resolution. Het aantal counts per 1 graden verandering
const double g = 360; // Aantal graden 1 rotatie
const double c = 4200; // Aantal counts 1 rotatie
const double q = c/(g);

//PI-controller constante
const double motor1_Kp = 2.0; // Dit is de proportionele gain motor 1
const double motor1_Ki = 0.002; // Integrating gain m1.
const double motor1_Ts = 0.01; // Time step m1
double err_int_m1 = 0 ; // De integrating error op het beginstijdstip m1

// Reusable P controller
double Pc (double error, const double Kp)
{
    return motor1_Kp * error;
}

// Measure the error and apply output to the plant
void motor1_controlP()
{
    double referenceP1 = PotMeter1.read();
    double positionP1 = q*motor1.getPosition();
    double motorP1 = Pc(referenceP1 - positionP1, motor1_Kp);
}

// Reusable PI controller
double PI (double error, const double Kp, const double Ki, const double Ts, double &err_int)
{
    err_int = err_int * Ts*error; // Dit is de fout die er door de integrator uit wordt gehaald. Deze wordt elke meting aangepast door het &-teken
    return motor1_Kp*error + motor1_Ki*err_int;
} // De totale fout die wordt hersteld met behulp van PI control.

void motor1_controlPI()
{
    double referencePI1 = PotMeter1.read();
    double positionPI1 = q*motor1.getPosition();
    double motorPI1 = PI(referencePI1 - positionPI1, motor1_Kp, motor1_Ki, motor1_Ts, err_int_m1);
}

const int pressed = 0;

double H;
double P;
double D;


void sethome(){
    H = motor1.getPosition();
}

void move_motor1_ccw (){
    motor1_direction = 0;
    motor1_speed = 0.8;
}

void move_motor1_cw (){
    motor1_direction = 1;
    motor1_speed = 0.8;
}

void movetohome(){
    P = motor1.getPosition();
    D = (P - H);
 
    if (D >= -36 && D <= 36){
        motor1_speed = 0;
    }
    else if (D > 24){
        motor1_direction = 1;
        motor1_speed = 0.1;
    }
    else if (D < -24){
        motor1_direction = 0;
        motor1_speed = 0.1;
    }
}

void move_motor1()
{
    if (button_1 == pressed) {
        move_motor1_cw ();
    } else if (button_2 == pressed) {
        move_motor1_ccw ();
    } else { 
        motor1_speed = 0;
    }
}

void read_encoder1 ()    // aflezen van encoder via hidscope??
{
    scope.set(0,motor1.getPosition());
    led.write(motor1.getPosition()/100.0);
    scope.send();
    wait(0.2f);
}

int main()
{    
    while (true) {
        pc.baud(9600);          //pc baud rate van de computer
        
    switch (state) {                //zorgt voor het in goede volgorde uitvoeren van de cases
        
        case GOTOHOMEPOSITION:      //positie op 0 zetten voor arm 1
         {
            pc.printf("gotohomeposition\n\r");
            read_encoder1();
            sethome();
            state = MOVE_MOTOR;
            break;
        }
        
        case MOVE_MOTOR:            //motor kan cw en ccw bewegen a.d.h.v. buttons
        {
            pc.printf("move_motor\n\r");
            while (state == MOVE_MOTOR){
            pc.printf("whiletrue\n\r");
            move_motor1();
            if (button_1 == pressed && button_2 == pressed){
            state = BACKTOHOMEPOSITION;
            }
            }
            wait (1);
            break; 
        }
        
        case BACKTOHOMEPOSITION:    //motor gaat terug naar homeposition
        {
            pc.printf("backhomeposition\n\r");
            wait (1);
            
            ticker_regelaar.attach(setregelaar_ticker_flag, SAMPLETIME_REGELAAR);
            
            while(state == BACKTOHOMEPOSITION){
                movetohome();
                while(regelaar_ticker_flag != true);
                regelaar_ticker_flag = false;
                
                pc.printf("pulsmotorposition1 %d", motor1.getPosition());
                pc.printf("referentie %d\n\r", H);
                
                if (motor1.getPosition() <=24 && motor1.getPosition() >= -24){
                motor1.setPosition(0);
                H = motor1.getPosition();
                state = STOP;
                break;
                }
            }
        }
        case STOP:
        {
           const int einde = 1;
           while(state == STOP){
            motor1_speed = 0;
            if (einde == 1){
            pc.printf("homepositie %d\n\r", H);
            pc.printf("huidige positie %d\n\r", P);
            pc.printf("einde\n\r");
            
            }
               }
            break;
            }
}
}
}