Ruxin Qi / Mbed 2 deprecated tracking_ball_0516

Forked version by ATalkingDog

Dependencies:   mbed existing_references

main.cpp@2:3e2b01ddcc0e, 2021-05-24 (annotated)

Committer:
atalkingdog
Date:
Mon May 24 09:10:50 2021 +0000
Revision:
2:3e2b01ddcc0e
Parent:
1:26da8b1fd7f4 
test;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
helenh 0:d8cd915552c0 1 #include "mbed.h"
helenh 0:d8cd915552c0 2 #include "Serial_Transport.h"
helenh 1:26da8b1fd7f4 3 #include "PID_Controller.h"
helenh 1:26da8b1fd7f4 4 #include "MOTOR_CONTROL_CLASS.h"
helenh 1:26da8b1fd7f4 5 #define pid_p 100
helenh 1:26da8b1fd7f4 6 #define pid_i 10
helenh 1:26da8b1fd7f4 7 #define pid_d 1
helenh 1:26da8b1fd7f4 8 #define pid_k 10
helenh 1:26da8b1fd7f4 9 #define PWM_PERIOD 0.01f //10ms ,100Hz
helenh 1:26da8b1fd7f4 10 #define PWM_WIDTH_RATIO 0.00f
helenh 0:d8cd915552c0 11
helenh 0:d8cd915552c0 12 DigitalOut myled(LED1);
helenh 1:26da8b1fd7f4 13 //Serial pc(SERIAL_TX, SERIAL_RX);
helenh 1:26da8b1fd7f4 14 unsigned char recv_buff[100];
helenh 1:26da8b1fd7f4 15 Serial pc(SERIAL_TX, SERIAL_RX);
helenh 0:d8cd915552c0 16
helenh 0:d8cd915552c0 17 int main() {
helenh 1:26da8b1fd7f4 18
helenh 1:26da8b1fd7f4 19 pc.baud(115200);
helenh 1:26da8b1fd7f4 20
helenh 1:26da8b1fd7f4 21 //是否有新的预设置位置
helenh 1:26da8b1fd7f4 22 unsigned char hasrecv_position;
helenh 1:26da8b1fd7f4 23 //预设置位置值
helenh 1:26da8b1fd7f4 24 unsigned int preset_value=0;
helenh 1:26da8b1fd7f4 25 //实际位置值
helenh 1:26da8b1fd7f4 26 unsigned int actual_value=0;
helenh 1:26da8b1fd7f4 27
helenh 1:26da8b1fd7f4 28 //PID输出值
helenh 1:26da8b1fd7f4 29 int controll_value=0;
helenh 1:26da8b1fd7f4 30
helenh 1:26da8b1fd7f4 31 //串口屏通讯对象指针
helenh 1:26da8b1fd7f4 32 Serial_class * preset_Com;
helenh 1:26da8b1fd7f4 33 //创建实例
helenh 1:26da8b1fd7f4 34 preset_Com=new Serial_class(D1,D0);
helenh 1:26da8b1fd7f4 35
helenh 1:26da8b1fd7f4 36 //摄像头通讯对象
helenh 1:26da8b1fd7f4 37 Serial_class * pOpenmv_Com;
helenh 1:26da8b1fd7f4 38 //创建实例
helenh 1:26da8b1fd7f4 39 pOpenmv_Com=new Serial_class(D5,D4);
helenh 1:26da8b1fd7f4 40
helenh 1:26da8b1fd7f4 41 //声明并创建PID对象
helenh 1:26da8b1fd7f4 42 Ball_PID * ball_pid=new Ball_PID(pid_p,pid_i,pid_d,pid_k);
helenh 1:26da8b1fd7f4 43
helenh 1:26da8b1fd7f4 44 //创建PWM对象
helenh 1:26da8b1fd7f4 45 Motor_Control_Class mypwmout(D10);
helenh 1:26da8b1fd7f4 46 mypwmout.Set_Para(PWM_PERIOD,PWM_WIDTH_RATIO);//10ms ,100Hz
helenh 1:26da8b1fd7f4 47
helenh 0:d8cd915552c0 48 while(1) {
helenh 0:d8cd915552c0 49 // myled = 1;
helenh 0:d8cd915552c0 50 // wait(0.2);
helenh 0:d8cd915552c0 51 // myled = 0;
helenh 0:d8cd915552c0 52 // wait(0.2);
helenh 0:d8cd915552c0 53
helenh 1:26da8b1fd7f4 54 //pc.printf("data is received succesfully");
helenh 1:26da8b1fd7f4 55 //读取串口屏对象接收的数据
helenh 1:26da8b1fd7f4 56 hasrecv_position=preset_Com->HasRecv();
helenh 1:26da8b1fd7f4 57 pc.printf("state=%d\n",hasrecv_position);
helenh 1:26da8b1fd7f4 58 if(hasrecv_position==4)
helenh 1:26da8b1fd7f4 59 {
helenh 1:26da8b1fd7f4 60 //收到完整的信息,位置值
helenh 1:26da8b1fd7f4 61 preset_value=preset_Com->ReadInfor();
helenh 1:26da8b1fd7f4 62 pc.printf("value=%d",preset_value);
helenh 1:26da8b1fd7f4 63 //pc.printf("data is received succesfully");
helenh 1:26da8b1fd7f4 64 }
helenh 1:26da8b1fd7f4 65 //
helenh 1:26da8b1fd7f4 66 // //
helenh 1:26da8b1fd7f4 67 // //读取OPENMV对象接收的数据
helenh 1:26da8b1fd7f4 68 // hasrecv_position=pOpenmv_Com->HasRecv();
helenh 1:26da8b1fd7f4 69 // if(hasrecv_position==1)
helenh 1:26da8b1fd7f4 70 // {
helenh 1:26da8b1fd7f4 71 // //收到完整的信息,位置值
helenh 1:26da8b1fd7f4 72 // actual_value=pOpenmv_Com->ReadInfor();
helenh 1:26da8b1fd7f4 73 //
helenh 1:26da8b1fd7f4 74 // }
helenh 1:26da8b1fd7f4 75 //
helenh 1:26da8b1fd7f4 76 // //交给PID模块处理,获得控制量
helenh 1:26da8b1fd7f4 77 // controll_value=ball_pid->PID_Calculation(preset_value,actual_value/2);
helenh 1:26da8b1fd7f4 78 //
helenh 1:26da8b1fd7f4 79 // //转换为占空比并输出
helenh 1:26da8b1fd7f4 80 // mypwmout.Set_Output(controll_value);
helenh 1:26da8b1fd7f4 81 // //
helenh 1:26da8b1fd7f4 82 wait(0.5);
atalkingdog 2:3e2b01ddcc0e 83 //lll
helenh 0:d8cd915552c0 84 }
helenh 0:d8cd915552c0 85 }
helenh 0:d8cd915552c0 86
helenh 0:d8cd915552c0 87