Revision 0:c88d52f96f32, committed 2015-03-02
- Comitter:
- cstab94
- Date:
- Mon Mar 02 14:37:01 2015 +0000
- Commit message:
- Final Integral Code
Changed in this revision
diff -r 000000000000 -r c88d52f96f32 Motor.lib
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.lib Mon Mar 02 14:37:01 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/Motor/#f265e441bcd9
diff -r 000000000000 -r c88d52f96f32 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Mar 02 14:37:01 2015 +0000
@@ -0,0 +1,58 @@
+// Integral Control
+// Changdae Hahm and Charles Stabler
+// LAB 4 ES202
+// 26FEB15
+
+#include "mbed.h"
+#include "Motor.h"
+
+Serial pc(USBTX, USBRX); // initialize serial comms
+AnalogIn ted(p19); // pin for sensor
+Motor m(p26,p29,p30); // motor control
+Timer t;
+
+float k = 0.6;
+float height;
+float read;
+float mspd;
+float err;
+float integral_value;
+int i = 0;
+
+int main() {
+
+ pc.baud(9600);
+ pc.format(7,SerialBase::None,1);
+ t.start();
+
+ while(1) {
+ while (i == 0) { // top floor loop
+ read = ted.read();
+ height = ((495.425114818726*pow(read,3)) - (734.715379566225*pow(read,2)) + (358.613836921017*read) - 35.5785628052144)-3.5;
+ pc.printf("%f,%f\n", height,t.read());
+ err = 18.0 - height;
+ integral_value += err*0.02; // adds up power if not at correct height
+ mspd = (k*err) + k*integral_value;
+ m.speed(mspd);
+ if(abs(err) <= 0.1){ // logic for stopping motor at desired height
+ m.speed(0);
+ i = 1; // switching desired floors, exiting this loop
+ integral_value = 0.0; // clearing the integral value for next loop
+ }
+ }
+ while(i == 1){ // bottom floor loop
+ read = ted.read();
+ height = ((495.425114818726*pow(read,3)) - (734.715379566225*pow(read,2)) + (358.613836921017*read) - 35.5785628052144)+1.5;
+ pc.printf("%f,%f\n", height,t.read());
+ err = 10.0 - height;
+ integral_value += err*0.02; // integrating error
+ mspd = (k*err) + k*integral_value;
+ m.speed(mspd);
+ if(abs(err) <= 0.1){ // stop at desired height
+ m.speed(0);
+ i = 0; // switch desired floors and exit loop
+ integral_value = 0.0; // clearing the integral value for next loop
+ }
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r c88d52f96f32 mbed.bld
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Mon Mar 02 14:37:01 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9ad691361fac
\ No newline at end of file