Nicolas Borla
/
PES2_mbed_os
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Revision 3:a292bdaf03f6, committed 2021-03-16
- Comitter:
- boro
- Date:
- Tue Mar 16 17:28:04 2021 +0100
- Parent:
- 2:87ca9b0c9992
- Commit message:
- controller updated
Changed in this revision
--- a/Controller.cpp Sat Mar 13 11:06:23 2021 +0100
+++ b/Controller.cpp Tue Mar 16 17:28:04 2021 +0100
@@ -6,7 +6,7 @@
const float Controller::COUNTS_PER_TURN = 1200.0f; // encoder resolution
const float Controller::LOWPASS_FILTER_FREQUENCY = 300.0f; // given in [rad/s]
const float Controller::KN = 40.0f; // speed constant in [rpm/V]
-const float Controller::KP = 0.2f; // speed control parameter
+const float Controller::KP = 0.15f; // speed control parameter
const float Controller::MAX_VOLTAGE = 12.0f; // battery voltage in [V]
const float Controller::MIN_DUTY_CYCLE = 0.02f; // minimum duty-cycle
const float Controller::MAX_DUTY_CYCLE = 0.98f; // maximum duty-cycle
@@ -14,7 +14,7 @@
Controller::Controller(PwmOut& pwmLeft, PwmOut& pwmRight,
EncoderCounter& counterLeft, EncoderCounter& counterRight) :
pwmLeft(pwmLeft), pwmRight(pwmRight),
- counterLeft(counterLeft), counterRight(counterRight) {
+ counterLeft(counterLeft), counterRight(counterRight), thread(osPriorityHigh, STACK_SIZE) {
// Initialisieren der PWM Ausgaenge
--- a/Controller.h Sat Mar 13 11:06:23 2021 +0100
+++ b/Controller.h Tue Mar 16 17:28:04 2021 +0100
@@ -22,6 +22,7 @@
private:
+ static const uint32_t STACK_SIZE = 4096; // stack size of thread, given in [bytes]
static const float PERIOD;
static const float COUNTS_PER_TURN;
static const float LOWPASS_FILTER_FREQUENCY;
--- a/main.cpp Sat Mar 13 11:06:23 2021 +0100
+++ b/main.cpp Tue Mar 16 17:28:04 2021 +0100
@@ -12,10 +12,6 @@
#include "Controller.h"
-// Blinking rate in milliseconds
-#define BLINKING_RATE_MS 500
-
-
int main()
{
@@ -32,7 +28,7 @@
EncoderCounter counter3(PA_0, PA_1);
// create controller
- Controller controller(pwm_motor1, pwm_motor2, counter1, counter1);
+ Controller controller(pwm_motor1, pwm_motor2, counter1, counter2);
DigitalOut enable(PB_15);
@@ -49,12 +45,12 @@
DigitalOut myled(LED1);
-
+ /*
// initialise PWM
pwm_motor1.period(0.00005f);// 0.05ms 20KHz
pwm_motor1.write(0.5f);
pwm_motor2.period(0.00005f);// 0.05ms 20KHz
- pwm_motor2.write(0.5f);
+ pwm_motor2.write(0.5f);*/
pwm_motor3.period(0.00005f);// 0.05ms 20KHz
pwm_motor3.write(0.5f);
@@ -85,7 +81,7 @@
// enable driver DC motors
enable = 1;
-
+
while (true) {
if(!user_button) {
@@ -93,11 +89,12 @@
myled = 0;
controller.setDesiredSpeedLeft(50.0f);
controller.setDesiredSpeedRight(50.0f);
- pwm_motor3.write(0.9f);
+ pwm_motor3.write(0.7f);
+
- S0.SetPosition(1200);
- S1.SetPosition(1200);
- S2.SetPosition(1200);
+ S0.SetPosition(1000);
+ S1.SetPosition(1000);
+ S2.SetPosition(1000);
} else {
// LED on, reset controller speed, pwm2, position servo
@@ -106,14 +103,16 @@
controller.setDesiredSpeedRight(0.0f);
pwm_motor3.write(0.5f);
- S0.SetPosition(1900);
- S1.SetPosition(1900);
- S2.SetPosition(1900);
+ S0.SetPosition(1500);
+ S1.SetPosition(1500);
+ S2.SetPosition(1500);
}
+
- printf("counter1 = %d counter2 = %d counter3 = %d\r\n",counter1.read(), counter2.read(), counter3.read());
+ printf("speedLeft: %f, speedRight: %f\r\n",controller.getSpeedLeft(), controller.getSpeedRight());
+ //printf("counter1 = %d counter2 = %d counter3 = %d\r\n",counter1.read(), counter2.read(), counter3.read());
- thread_sleep_for(BLINKING_RATE_MS);
+ thread_sleep_for(200);
}
}