Charles Stabler
Proportional control algorithm for lab 4
Revision 0:99b19c26b13e, committed 2015-03-02
- Comitter:
- cstab94
- Date:
- Mon Mar 02 14:39:18 2015 +0000
- Commit message:
- Proportional control
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Mon Mar 02 14:39:18 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Mar 02 14:39:18 2015 +0000
@@ -0,0 +1,53 @@
+// Proportional Motor Control Code
+// 19 FEB 15
+// Changdae Hahm and Charles Stabler
+
+#include "mbed.h"
+#include "Motor.h"
+
+Motor m(p26,p29,p30); // motor control
+AnalogIn ted(p19); // sensor pin
+Serial pc(USBTX,USBRX); // serial comms
+Timer t;
+
+float mspd;
+float k = 0.4; // proportional value
+float err;
+float Hold_value = 0.2;
+float height;
+float read;
+int time_count = 0;
+int i = 0;
+
+int main() {
+
+ pc.baud(9600);
+ pc.format(7,SerialBase::None,1);
+ t.start();
+
+ while(1) {
+ while(i == 0){
+ read = ted.read(); // reads in sensor values
+ height = ((495.425114818726*pow(read,3)) - (734.715379566225*pow(read,2)) + (358.613836921017*read) - 35.5785628052144)-3.5; // height calculation based on sensor calibration
+ pc.printf("%f,%f\n", height,t.read()); // prints height and time for TeraTerm
+ err = 18.0 - height;
+ mspd = (k * err) + Hold_value; // sets motor speed based on distance from desired floor, most likely value is positive
+ m.speed(mspd);
+ if(abs(err) <= 0.2){ // breaks loop when elevator reaches desired floor
+ i = 1;
+ }
+ }
+
+ while(i == 1){
+ read = ted.read(); // reading sensor values
+ height = ((495.425114818726*pow(read,3)) - (734.715379566225*pow(read,2)) + (358.613836921017*read) - 35.5785628052144)+1.5; // height calculations based on sensor calibration
+ pc.printf("%f,%f\n", height,t.read());
+ err = 7.0 - height;
+ mspd = (k * err) + Hold_value; // sets motor speed based on distance from floor, most likely value is negative
+ m.speed(mspd);
+ if(abs(err) <= 0.2){ // breaks loop when desired floor is reached
+ i = 0;
+ }
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Mar 02 14:39:18 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e188a91d3eaa \ No newline at end of file