File content as of revision 13:deb1e793f125:

#include "mbed.h"
#include "rtos.h"
#include "definitions.h"
#include "motorControl.h"

#define kp 0.75f
#define ki 0.5f
#define kd 1.0f
#define dt 0.02f //given in ms, used to call a ticker

volatile uint8_t state = 0;
//volatile uint8_t orState = 0;                   //Motor rotor offset.
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 angle = 6.283;                    //2*pi for 1 revolution
Timer dt_I3;
Timer motorTimer;
Ticker controlTicker;

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 accError = 0;
volatile float prevError = 0;

float getDuty(float w){
    for (int i=0;i<16;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];
            }
            else {
                return dutyCycles[i+1];
            }
        }
    }
    return 0;
}

void control(){
    fi0 = 6.283 * count_i3; //fi0 = 2*pi*revs
    float error = fi - fi0;
    accError += error*dt;
    float dError = (prevError - error)/dt;
    goalW = kp*error + ki*accError + kd*dError;
    prevError = error;
    duty = getDuty(goalW);
}

void i3rise(){
    state = updateState();
    motorOut((state-orState+lead+6)%6, duty);
    
    w3 = angle/dt_I3.read();      //Calc angular velocity
    
    dt_I3.reset();
    count_i3++;                   
}

void i_edge(){
   state = updateState();
   motorOut((state-orState+lead+6)%6, duty);
}  

void CHA_rise(){
}
void CHA_fall(){
}
void CHB_rise(){
}
void CHB_fall(){
}

int main() {
    motorHome();  //Initialise motor before any interrupt
    
    dt_I3.start();          //Start the time counters for velocity
        
    controlTicker.attach(&control, dt);
    
    I1.rise(&i_edge);       //Assign interrupt handlers for LEDs
    I1.fall(&i_edge);
    I2.rise(&i_edge);
    I2.fall(&i_edge);
    I3.rise(&i3rise);
    I3.fall(&i_edge);
//    CHA.rise(&CHA_rise);
//    CHA.fall(&CHA_fall);
//    CHB.rise(&CHB_rise);
//    CHB.fall(&CHB_fall);

    state = updateState();
    motorTimer.start();
    motorOut((state-orState+lead+6)%6, 0.5f);            //Kickstart the motor
    wait(60);
    
    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;    
        }
        */
    }
    stopMotor();
    return 0;
}