Alexandre Bernal
/
tuto_tp
w
main.cpp@0:c0509139a295, 2016-08-01 (annotated)
- Committer:
- co838_ab981
- Date:
- Mon Aug 01 15:31:47 2016 +0000
- Revision:
- 0:c0509139a295
test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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co838_ab981 | 0:c0509139a295 | 1 | /** |
co838_ab981 | 0:c0509139a295 | 2 | * @author Aaron Berk |
co838_ab981 | 0:c0509139a295 | 3 | * |
co838_ab981 | 0:c0509139a295 | 4 | * @section LICENSE |
co838_ab981 | 0:c0509139a295 | 5 | * |
co838_ab981 | 0:c0509139a295 | 6 | * Copyright (c) 2010 ARM Limited |
co838_ab981 | 0:c0509139a295 | 7 | * |
co838_ab981 | 0:c0509139a295 | 8 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
co838_ab981 | 0:c0509139a295 | 9 | * of this software and associated documentation files (the "Software"), to deal |
co838_ab981 | 0:c0509139a295 | 10 | * in the Software without restriction, including without limitation the rights |
co838_ab981 | 0:c0509139a295 | 11 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
co838_ab981 | 0:c0509139a295 | 12 | * copies of the Software, and to permit persons to whom the Software is |
co838_ab981 | 0:c0509139a295 | 13 | * furnished to do so, subject to the following conditions: |
co838_ab981 | 0:c0509139a295 | 14 | * |
co838_ab981 | 0:c0509139a295 | 15 | * The above copyright notice and this permission notice shall be included in |
co838_ab981 | 0:c0509139a295 | 16 | * all copies or substantial portions of the Software. |
co838_ab981 | 0:c0509139a295 | 17 | * |
co838_ab981 | 0:c0509139a295 | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
co838_ab981 | 0:c0509139a295 | 19 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
co838_ab981 | 0:c0509139a295 | 20 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
co838_ab981 | 0:c0509139a295 | 21 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
co838_ab981 | 0:c0509139a295 | 22 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
co838_ab981 | 0:c0509139a295 | 23 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
co838_ab981 | 0:c0509139a295 | 24 | * THE SOFTWARE. |
co838_ab981 | 0:c0509139a295 | 25 | * |
co838_ab981 | 0:c0509139a295 | 26 | * @section DESCRIPTION |
co838_ab981 | 0:c0509139a295 | 27 | * |
co838_ab981 | 0:c0509139a295 | 28 | * A PID controller is a widely used feedback controller commonly found in |
co838_ab981 | 0:c0509139a295 | 29 | * industry. |
co838_ab981 | 0:c0509139a295 | 30 | * |
co838_ab981 | 0:c0509139a295 | 31 | * This library is a port of Brett Beauregard's Arduino PID library: |
co838_ab981 | 0:c0509139a295 | 32 | * |
co838_ab981 | 0:c0509139a295 | 33 | * http://www.arduino.cc/playground/Code/PIDLibrary |
co838_ab981 | 0:c0509139a295 | 34 | * |
co838_ab981 | 0:c0509139a295 | 35 | * The wikipedia article on PID controllers is a good place to start on |
co838_ab981 | 0:c0509139a295 | 36 | * understanding how they work: |
co838_ab981 | 0:c0509139a295 | 37 | * |
co838_ab981 | 0:c0509139a295 | 38 | * http://en.wikipedia.org/wiki/PID_controller |
co838_ab981 | 0:c0509139a295 | 39 | * |
co838_ab981 | 0:c0509139a295 | 40 | * For a clear and elegant explanation of how to implement and tune a |
co838_ab981 | 0:c0509139a295 | 41 | * controller, the controlguru website by Douglas J. Cooper (who also happened |
co838_ab981 | 0:c0509139a295 | 42 | * to be Brett's controls professor) is an excellent reference: |
co838_ab981 | 0:c0509139a295 | 43 | * |
co838_ab981 | 0:c0509139a295 | 44 | * http://www.controlguru.com/ |
co838_ab981 | 0:c0509139a295 | 45 | */ |
co838_ab981 | 0:c0509139a295 | 46 | |
co838_ab981 | 0:c0509139a295 | 47 | |
co838_ab981 | 0:c0509139a295 | 48 | |
co838_ab981 | 0:c0509139a295 | 49 | /** |
co838_ab981 | 0:c0509139a295 | 50 | * Includes |
co838_ab981 | 0:c0509139a295 | 51 | */ |
co838_ab981 | 0:c0509139a295 | 52 | #include "mbed.h" |
co838_ab981 | 0:c0509139a295 | 53 | |
co838_ab981 | 0:c0509139a295 | 54 | Serial host (USBTX, USBRX); |
co838_ab981 | 0:c0509139a295 | 55 | DigitalIn btn(D2); |
co838_ab981 | 0:c0509139a295 | 56 | DigitalOut led(LED1); |
co838_ab981 | 0:c0509139a295 | 57 | |
co838_ab981 | 0:c0509139a295 | 58 | /** |
co838_ab981 | 0:c0509139a295 | 59 | * Proportional-integral-derivative controller. |
co838_ab981 | 0:c0509139a295 | 60 | */ |
co838_ab981 | 0:c0509139a295 | 61 | int main() |
co838_ab981 | 0:c0509139a295 | 62 | { |
co838_ab981 | 0:c0509139a295 | 63 | int i = 0; |
co838_ab981 | 0:c0509139a295 | 64 | host.baud (38400); |
co838_ab981 | 0:c0509139a295 | 65 | while (true) { |
co838_ab981 | 0:c0509139a295 | 66 | if (!btn) { |
co838_ab981 | 0:c0509139a295 | 67 | /// show msg in serial |
co838_ab981 | 0:c0509139a295 | 68 | host.printf ("Hello, count = %d \r\n", i); |
co838_ab981 | 0:c0509139a295 | 69 | i++; |
co838_ab981 | 0:c0509139a295 | 70 | } |
co838_ab981 | 0:c0509139a295 | 71 | else |
co838_ab981 | 0:c0509139a295 | 72 | host.printf ("Wait... \r\n"); |
co838_ab981 | 0:c0509139a295 | 73 | led = btn; |
co838_ab981 | 0:c0509139a295 | 74 | wait(0.2f); |
co838_ab981 | 0:c0509139a295 | 75 | } |
co838_ab981 | 0:c0509139a295 | 76 | } |