Diff: main.cpp

Revision:

30:e60fd3834ee7

Parent:

15:b6025338e0eb

Parent:

16:d4948633c559

Child:

35:5857105c9956

--- a/main.cpp	Tue Mar 14 22:04:55 2017 +0000
+++ b/main.cpp	Tue Mar 14 22:18:55 2017 +0000
@@ -7,34 +7,36 @@
 #define kp 0.75f
 #define ki 0.5f
 #define kd 1.0f
-#define dt 0.02f //given in ms, used to call a ticker
+#define dt 0.02f                        //given in ms, used to call the PID c.
 
 volatile uint8_t state = 0;
-//volatile uint8_t orState = 0;                   //Motor rotor offset.
-volatile float w3 = 0;               //Angular velocity
+volatile float w3 = 0;                  //Angular velocity
 volatile float duty = 0.40;
 volatile int count_i3 = 0;
-const float angularVelocities[17] = {0, 112.355598, 164.975998, 218.721725,
-260.672943, 291.491364, 308.479126, 316.805908, 321.183929, 324.010712, 
-326.146759, 336.187103, 351.175629, 364.887604, 377.856659, 387.58432, 
-392.540314};
-const float dutyCycles [17] = {0, 0.28, 0.33, 0.38, 0.42, 0.47, 0.52, 0.57,
-                            0.63, 0.68, 0.73, 0.78, 0.83, 0.88, 0.93, 0.98, 1};
+const float angularVelocities[29] = {0, 0, 0, 56.3705020, 153.953598, 
+221.162308, 436.561981, 652.034058, 669.472534, 671.117249, 703.662231, 
+704.767273, 695.868835, 676.609924, 689.303345, 685.318481, 680.420166, 
+681.527283, 683.529175, 700.758423, 742.759216, 737.354797, 733.224365, 
+716.746521, 714.952209, 717.483154, 723.597839, 727.788757, 727.957336};
 
-const float angle = 6.283;                    //2*pi for 1 revolution
+const float dutyCycles [29] = { 0, 0.05, 0.10, 0.15, 0.20, 0.25, 0.30, 0.35, 
+                                0.36, 0.37, 0.38, 0.39, 0.40, 0.41, 0.42, 0.43, 
+                                0.44, 0.45, 0.50, 0.55, 0.60, 0.65, 0.70, 0.75, 
+                                0.80, 0.85, 0.90, 0.95, 1};
+const float angle = 6.283;              //2*pi for 1 revolution
 Timer dt_I3;
 Timer motorTimer;
 Ticker controlTicker;
 
-volatile float fi0 = 0;     //number of revs done
+volatile float fi0 = 0;                 //number of revs done
 volatile int goalRevs = 50;
 volatile float fi = 2*3.1415*goalRevs;
-volatile float goalW = 0;      //desired angular velocity
+volatile float goalW = 0;               //desired angular velocity
 volatile float accError = 0;
 volatile float prevError = 0;
 
 float getDuty(float w){
-    for (int i=0;i<16;i++) {    //iterate through the angular velocities
+    for (int i = 0; i < 28; i++) {      //iterate through the angular velocities
         if (w > angularVelocities[i] && w <= angularVelocities[i+1]) {
             if (w-angularVelocities[i] < angularVelocities[i+1]-w ) {
                 return dutyCycles[i];
@@ -48,7 +50,7 @@
 }
 
 void control(){
-    fi0 = 6.283 * count_i3; //fi0 = 2*pi*revs
+    fi0 = 6.283 * count_i3;             //fi0 = 2*pi*revs
     float error = fi - fi0;
     accError += error*dt;
     float dError = (prevError - error)/dt;
@@ -61,7 +63,7 @@
     state = updateState();
     motorOut((state-orState+lead+6)%6, duty);
     
-    w3 = angle/dt_I3.read();      //Calc angular velocity
+    w3 = angle/dt_I3.read();            //Calc angular velocity
     
     dt_I3.reset();
     count_i3++;                   
@@ -82,13 +84,13 @@
 }
 
 int main() {
-    motorHome();  //Initialise motor before any interrupt
+    motorHome();                        //Initialise motor before any interrupt
     
-    dt_I3.start();          //Start the time counters for velocity
+    dt_I3.start();                      //Start the time counters for velocity
         
     controlTicker.attach(&control, dt);
     
-    I1.rise(&i_edge);       //Assign interrupt handlers for LEDs
+    I1.rise(&i_edge);                   //Assign interrupt handlers for LEDs
     I1.fall(&i_edge);
     I2.rise(&i_edge);
     I2.fall(&i_edge);
@@ -101,18 +103,17 @@
 
     state = updateState();
     motorTimer.start();
-    motorOut((state-orState+lead+6)%6, 0.5f);            //Kickstart the motor
-    wait(60);
-    
-    while (count_i3<=goalRevs) {
+    motorOut((state-orState+lead+6)%6, 1.0f);            //Kickstart the motor
+
+    while (count_i3 <= goalRevs) {
+
         pc.printf("Speed: %f, duty cycle: %f, revs done: %d \n\r",w3, duty, count_i3);
         /*
         if(duty < 0.00f) {
             stopMotor();
             return 0;    
         }
-        */
-        /*
+        
         if(motorTimer.read() >= 30) {
             stopMotor();
             return 0;