Bouke Scheltinga / Mbed 2 deprecated P_controller_motor

Minimal code to spin the motor

Dependencies:   Encoder MODSERIAL mbed

main.cpp

Committer:
ThomasBNL
Date:
2015-09-17
Revision:
0:843492f4fe62
Child:
1:b0d3c64bd4d8

File content as of revision 0:843492f4fe62:

#include "mbed.h"
#include "HIDScope.h"

//P Motor Controller

// Controller gain
const double motorP_Kp=2.5;
const double Convert_volt_to_position=0.00300;

// Reusable P controller (FUNCTIE)
double P (double error, const double Kp)
    {
            Return Kp*error;
    }
    
// Error measurement and apply the output to the plant
void motorP_Controller()
    {
        double reference_position = potmeter1.read();
        double position = Convert_volt_to_position*encoder1.getPosition();
        motorP=P(reference_position - position, motorP_Kp);
    }
    
int main()
    {
        myControllerTicker.attach(&motorP_Controller,0.01f); //100Hz
        while(1){}
    }