this code is for inverted pendulum balancer. it is based on two-loop PID controller. One controller is for Angle and another one is for velocity.
Dependencies: HCSR04 L298HBridge mbed
communication/communication.cpp@0:489498e8dae5, 2017-08-25 (annotated)
- Committer:
- dudu941014
- Date:
- Fri Aug 25 21:10:23 2017 +0000
- Revision:
- 0:489498e8dae5
this code is for inverted pendulum balancer. it is based on two-loop PID controller. one PID controller is for angle and another one is for velocity.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dudu941014 | 0:489498e8dae5 | 1 | ////////////////////////////////////////////////////////////////////////////////// |
dudu941014 | 0:489498e8dae5 | 2 | // Company: edinburgh of university |
dudu941014 | 0:489498e8dae5 | 3 | // Engineer: ZEjun DU |
dudu941014 | 0:489498e8dae5 | 4 | // |
dudu941014 | 0:489498e8dae5 | 5 | // Create Date: 2017/08/20 13:06:52 |
dudu941014 | 0:489498e8dae5 | 6 | // Design Name: Inverted Pendulum Balancer |
dudu941014 | 0:489498e8dae5 | 7 | // Module Name: commnication with GUI |
dudu941014 | 0:489498e8dae5 | 8 | // Tool Versions: “Keil 5” or “Mbed Complie Online” |
dudu941014 | 0:489498e8dae5 | 9 | // Description: this funcition is to commucation with GUI through Bluetooth HC05 |
dudu941014 | 0:489498e8dae5 | 10 | // the system can invoke this function to send the packet and decode the result |
dudu941014 | 0:489498e8dae5 | 11 | // Pin 28 --------> (TX) RX pin of the Bluetooth module |
dudu941014 | 0:489498e8dae5 | 12 | // Pin 27 --------> (RX) TX pin of the Bluetooth module |
dudu941014 | 0:489498e8dae5 | 13 | // GND -----------> GND of the Bluetooth module |
dudu941014 | 0:489498e8dae5 | 14 | // VOUT (3.3 V) --> VCC of the Bluetooth module |
dudu941014 | 0:489498e8dae5 | 15 | // |
dudu941014 | 0:489498e8dae5 | 16 | ////////////////////////////////////////////////////////////////////////////////// |
dudu941014 | 0:489498e8dae5 | 17 | |
dudu941014 | 0:489498e8dae5 | 18 | #include "communication.h" |
dudu941014 | 0:489498e8dae5 | 19 | #include "get_angle.h" |
dudu941014 | 0:489498e8dae5 | 20 | #include "controller.h" |
dudu941014 | 0:489498e8dae5 | 21 | #include "stabilizer.h" |
dudu941014 | 0:489498e8dae5 | 22 | #include "distance.h" |
dudu941014 | 0:489498e8dae5 | 23 | |
dudu941014 | 0:489498e8dae5 | 24 | Serial bluetooth(p28,p27); // p28: TX, p27: RX (LPC1768) |
dudu941014 | 0:489498e8dae5 | 25 | |
dudu941014 | 0:489498e8dae5 | 26 | DigitalOut led1(LED1);//LED init |
dudu941014 | 0:489498e8dae5 | 27 | DigitalOut led2(LED2);//LED init |
dudu941014 | 0:489498e8dae5 | 28 | DigitalOut led3(LED3);//LED init |
dudu941014 | 0:489498e8dae5 | 29 | DigitalOut led4(LED4);//LED init |
dudu941014 | 0:489498e8dae5 | 30 | |
dudu941014 | 0:489498e8dae5 | 31 | int j = 500;//the defualt PWM(50% PWM) |
dudu941014 | 0:489498e8dae5 | 32 | int i = 0; //the Bytes' numbers |
dudu941014 | 0:489498e8dae5 | 33 | float AY, EP, ER;//redundant variables |
dudu941014 | 0:489498e8dae5 | 34 | |
dudu941014 | 0:489498e8dae5 | 35 | uint8_t usart_rx_buf[64];//this variable is to load the packet from GUI |
dudu941014 | 0:489498e8dae5 | 36 | |
dudu941014 | 0:489498e8dae5 | 37 | uint8_t Tx_Buf[24] = //this is the buff which should be sent to GUI |
dudu941014 | 0:489498e8dae5 | 38 | { |
dudu941014 | 0:489498e8dae5 | 39 | 'A','T', |
dudu941014 | 0:489498e8dae5 | 40 | '0','0','0','0', |
dudu941014 | 0:489498e8dae5 | 41 | '0','0','0','0', |
dudu941014 | 0:489498e8dae5 | 42 | '0','0','0','0', |
dudu941014 | 0:489498e8dae5 | 43 | '0','0','0','0', |
dudu941014 | 0:489498e8dae5 | 44 | '0','0','0','0', |
dudu941014 | 0:489498e8dae5 | 45 | '0','0' |
dudu941014 | 0:489498e8dae5 | 46 | }; |
dudu941014 | 0:489498e8dae5 | 47 | |
dudu941014 | 0:489498e8dae5 | 48 | |
dudu941014 | 0:489498e8dae5 | 49 | //////////////////////////////////////////////////////////// |
dudu941014 | 0:489498e8dae5 | 50 | //this funcition is to load the data (distance and angle) and send the whole packet |
dudu941014 | 0:489498e8dae5 | 51 | //////////////////////////////////////////////////////////// |
dudu941014 | 0:489498e8dae5 | 52 | void Send_Messge(void) |
dudu941014 | 0:489498e8dae5 | 53 | { |
dudu941014 | 0:489498e8dae5 | 54 | int X;//the number of current Byte |
dudu941014 | 0:489498e8dae5 | 55 | |
dudu941014 | 0:489498e8dae5 | 56 | Tx_Buf[2] = (int32_t)angle>>24;//send 8 bits each time |
dudu941014 | 0:489498e8dae5 | 57 | Tx_Buf[3] = (int32_t)angle>>16;//angle |
dudu941014 | 0:489498e8dae5 | 58 | Tx_Buf[4] = (int32_t)angle>>8; |
dudu941014 | 0:489498e8dae5 | 59 | Tx_Buf[5] = (int32_t)angle; |
dudu941014 | 0:489498e8dae5 | 60 | |
dudu941014 | 0:489498e8dae5 | 61 | Tx_Buf[6] = (int32_t)distance>>24;//send 8 bits each time |
dudu941014 | 0:489498e8dae5 | 62 | Tx_Buf[7] = (int32_t)distance>>16;//distance |
dudu941014 | 0:489498e8dae5 | 63 | Tx_Buf[8] = (int32_t)distance>>8; |
dudu941014 | 0:489498e8dae5 | 64 | Tx_Buf[9] = (int32_t)distance; |
dudu941014 | 0:489498e8dae5 | 65 | |
dudu941014 | 0:489498e8dae5 | 66 | Tx_Buf[10] = (int32_t)AY>>24;//send 8 bits each time |
dudu941014 | 0:489498e8dae5 | 67 | Tx_Buf[11] = (int32_t)AY>>16; |
dudu941014 | 0:489498e8dae5 | 68 | Tx_Buf[12] = (int32_t)AY>>8; |
dudu941014 | 0:489498e8dae5 | 69 | Tx_Buf[13] = (int32_t)AY; |
dudu941014 | 0:489498e8dae5 | 70 | |
dudu941014 | 0:489498e8dae5 | 71 | Tx_Buf[14] = (int32_t)EP>>24;//send 8 bits each time |
dudu941014 | 0:489498e8dae5 | 72 | Tx_Buf[15] = (int32_t)EP>>16; |
dudu941014 | 0:489498e8dae5 | 73 | Tx_Buf[16] = (int32_t)EP>>8; |
dudu941014 | 0:489498e8dae5 | 74 | Tx_Buf[17] = (int32_t)EP; |
dudu941014 | 0:489498e8dae5 | 75 | |
dudu941014 | 0:489498e8dae5 | 76 | Tx_Buf[18] = (int32_t)ER>>24;//send 8 bits each time |
dudu941014 | 0:489498e8dae5 | 77 | Tx_Buf[19] = (int32_t)ER>>16; |
dudu941014 | 0:489498e8dae5 | 78 | Tx_Buf[20] = (int32_t)ER>>8; |
dudu941014 | 0:489498e8dae5 | 79 | Tx_Buf[21] = (int32_t)ER; |
dudu941014 | 0:489498e8dae5 | 80 | |
dudu941014 | 0:489498e8dae5 | 81 | Tx_Buf[22] = 0; |
dudu941014 | 0:489498e8dae5 | 82 | Tx_Buf[23] = 0; |
dudu941014 | 0:489498e8dae5 | 83 | // bluetooth.printf("this sentence is used to test"); |
dudu941014 | 0:489498e8dae5 | 84 | |
dudu941014 | 0:489498e8dae5 | 85 | for(X=0; X<24; X++) |
dudu941014 | 0:489498e8dae5 | 86 | { |
dudu941014 | 0:489498e8dae5 | 87 | bluetooth.printf("%c", Tx_Buf[X]);//send the packet |
dudu941014 | 0:489498e8dae5 | 88 | } |
dudu941014 | 0:489498e8dae5 | 89 | } |
dudu941014 | 0:489498e8dae5 | 90 | |
dudu941014 | 0:489498e8dae5 | 91 | |
dudu941014 | 0:489498e8dae5 | 92 | //////////////////////////////////////////////////////////// |
dudu941014 | 0:489498e8dae5 | 93 | //this funcition is to deocode the data from GUI |
dudu941014 | 0:489498e8dae5 | 94 | //////////////////////////////////////////////////////////// |
dudu941014 | 0:489498e8dae5 | 95 | void commander(void) |
dudu941014 | 0:489498e8dae5 | 96 | { |
dudu941014 | 0:489498e8dae5 | 97 | usart_rx_buf[i] = bluetooth.getc(); |
dudu941014 | 0:489498e8dae5 | 98 | i++; |
dudu941014 | 0:489498e8dae5 | 99 | if(i==6){ |
dudu941014 | 0:489498e8dae5 | 100 | i=0; |
dudu941014 | 0:489498e8dae5 | 101 | if( (usart_rx_buf[0]=='G') && (usart_rx_buf[1]=='O'))//"GO" |
dudu941014 | 0:489498e8dae5 | 102 | { |
dudu941014 | 0:489498e8dae5 | 103 | PID_ctrl = 1;//enable PID mode |
dudu941014 | 0:489498e8dae5 | 104 | Velocity_ctrl = 1;//enable velocity PID |
dudu941014 | 0:489498e8dae5 | 105 | |
dudu941014 | 0:489498e8dae5 | 106 | led1 = 1; |
dudu941014 | 0:489498e8dae5 | 107 | led2 = 0; |
dudu941014 | 0:489498e8dae5 | 108 | led3 = 0; |
dudu941014 | 0:489498e8dae5 | 109 | led4 = 0; |
dudu941014 | 0:489498e8dae5 | 110 | }//unlock the inverted pendulum, its means that we start the pid control |
dudu941014 | 0:489498e8dae5 | 111 | |
dudu941014 | 0:489498e8dae5 | 112 | if( (usart_rx_buf[0]=='S') && (usart_rx_buf[1]=='T'))//"STOP" |
dudu941014 | 0:489498e8dae5 | 113 | { |
dudu941014 | 0:489498e8dae5 | 114 | PID_ctrl = 0;//disable PID mode |
dudu941014 | 0:489498e8dae5 | 115 | Velocity_ctrl = 0;//disable velocity PID |
dudu941014 | 0:489498e8dae5 | 116 | |
dudu941014 | 0:489498e8dae5 | 117 | led1 = 0; |
dudu941014 | 0:489498e8dae5 | 118 | led2 = 1; |
dudu941014 | 0:489498e8dae5 | 119 | led3 = 0; |
dudu941014 | 0:489498e8dae5 | 120 | led4 = 0; |
dudu941014 | 0:489498e8dae5 | 121 | MOTOR_Update(0); |
dudu941014 | 0:489498e8dae5 | 122 | }//shut down all controlling |
dudu941014 | 0:489498e8dae5 | 123 | |
dudu941014 | 0:489498e8dae5 | 124 | if( (usart_rx_buf[0]=='A') && (usart_rx_buf[1]=='U'))//keyboard control |
dudu941014 | 0:489498e8dae5 | 125 | { |
dudu941014 | 0:489498e8dae5 | 126 | if(usart_rx_buf[2]=='1'){//go forward manually |
dudu941014 | 0:489498e8dae5 | 127 | Motor_PWM.Stop();//to avoid turnning on all switches of L298n. turnning on all switches will damage the L298n |
dudu941014 | 0:489498e8dae5 | 128 | wait_us(50); |
dudu941014 | 0:489498e8dae5 | 129 | Motor_PWM.Fwd(); |
dudu941014 | 0:489498e8dae5 | 130 | Motor_PWM.Speed(j); |
dudu941014 | 0:489498e8dae5 | 131 | led1 = 0; |
dudu941014 | 0:489498e8dae5 | 132 | led2 = 0; |
dudu941014 | 0:489498e8dae5 | 133 | led3 = 1; |
dudu941014 | 0:489498e8dae5 | 134 | led4 = 0; |
dudu941014 | 0:489498e8dae5 | 135 | |
dudu941014 | 0:489498e8dae5 | 136 | } |
dudu941014 | 0:489498e8dae5 | 137 | else if(usart_rx_buf[2]=='2'){//go reverse manually |
dudu941014 | 0:489498e8dae5 | 138 | Motor_PWM.Stop(); |
dudu941014 | 0:489498e8dae5 | 139 | wait_us(50); |
dudu941014 | 0:489498e8dae5 | 140 | Motor_PWM.Rev(); |
dudu941014 | 0:489498e8dae5 | 141 | Motor_PWM.Speed(j); |
dudu941014 | 0:489498e8dae5 | 142 | led1 = 0; |
dudu941014 | 0:489498e8dae5 | 143 | led2 = 0; |
dudu941014 | 0:489498e8dae5 | 144 | led3 = 0; |
dudu941014 | 0:489498e8dae5 | 145 | led4 = 1; |
dudu941014 | 0:489498e8dae5 | 146 | } |
dudu941014 | 0:489498e8dae5 | 147 | else if(usart_rx_buf[2]=='3'){//change the force to motor manually |
dudu941014 | 0:489498e8dae5 | 148 | j=j+100; |
dudu941014 | 0:489498e8dae5 | 149 | if(j>=1000) |
dudu941014 | 0:489498e8dae5 | 150 | j=1000; |
dudu941014 | 0:489498e8dae5 | 151 | Motor_PWM.Speed(j); |
dudu941014 | 0:489498e8dae5 | 152 | led1 = 0; |
dudu941014 | 0:489498e8dae5 | 153 | led2 = 0; |
dudu941014 | 0:489498e8dae5 | 154 | led3 = 1; |
dudu941014 | 0:489498e8dae5 | 155 | led4 = 0; |
dudu941014 | 0:489498e8dae5 | 156 | } |
dudu941014 | 0:489498e8dae5 | 157 | else if(usart_rx_buf[2]=='4'){//change the force to motor manually |
dudu941014 | 0:489498e8dae5 | 158 | j=j-100; |
dudu941014 | 0:489498e8dae5 | 159 | if(j<=0) |
dudu941014 | 0:489498e8dae5 | 160 | j=0; |
dudu941014 | 0:489498e8dae5 | 161 | Motor_PWM.Speed(j); |
dudu941014 | 0:489498e8dae5 | 162 | led1 = 0; |
dudu941014 | 0:489498e8dae5 | 163 | led2 = 0; |
dudu941014 | 0:489498e8dae5 | 164 | led3 = 0; |
dudu941014 | 0:489498e8dae5 | 165 | led4 = 1; |
dudu941014 | 0:489498e8dae5 | 166 | } |
dudu941014 | 0:489498e8dae5 | 167 | else if(usart_rx_buf[2]=='5'){ |
dudu941014 | 0:489498e8dae5 | 168 | PID_ctrl = 0; |
dudu941014 | 0:489498e8dae5 | 169 | |
dudu941014 | 0:489498e8dae5 | 170 | led1 = 1; |
dudu941014 | 0:489498e8dae5 | 171 | led2 = 1; |
dudu941014 | 0:489498e8dae5 | 172 | led3 = 0; |
dudu941014 | 0:489498e8dae5 | 173 | led4 = 0; |
dudu941014 | 0:489498e8dae5 | 174 | MOTOR_Update(0); |
dudu941014 | 0:489498e8dae5 | 175 | } |
dudu941014 | 0:489498e8dae5 | 176 | |
dudu941014 | 0:489498e8dae5 | 177 | else if(usart_rx_buf[2]=='6'){//set the original of angle and distance |
dudu941014 | 0:489498e8dae5 | 178 | angle_offset = angle_voltage.read(); |
dudu941014 | 0:489498e8dae5 | 179 | usensor.start(); |
dudu941014 | 0:489498e8dae5 | 180 | home = usensor.get_dist_cm(); |
dudu941014 | 0:489498e8dae5 | 181 | |
dudu941014 | 0:489498e8dae5 | 182 | led1 = 1; |
dudu941014 | 0:489498e8dae5 | 183 | led2 = 1; |
dudu941014 | 0:489498e8dae5 | 184 | led3 = 1; |
dudu941014 | 0:489498e8dae5 | 185 | led4 = 1; |
dudu941014 | 0:489498e8dae5 | 186 | |
dudu941014 | 0:489498e8dae5 | 187 | } |
dudu941014 | 0:489498e8dae5 | 188 | else if(usart_rx_buf[2]=='7'){//set the original of distance |
dudu941014 | 0:489498e8dae5 | 189 | usensor.start(); |
dudu941014 | 0:489498e8dae5 | 190 | home = usensor.get_dist_cm(); |
dudu941014 | 0:489498e8dae5 | 191 | Velocity_ctrl = 1; |
dudu941014 | 0:489498e8dae5 | 192 | |
dudu941014 | 0:489498e8dae5 | 193 | led1 = 1; |
dudu941014 | 0:489498e8dae5 | 194 | led2 = 0; |
dudu941014 | 0:489498e8dae5 | 195 | led3 = 1; |
dudu941014 | 0:489498e8dae5 | 196 | led4 = 0; |
dudu941014 | 0:489498e8dae5 | 197 | |
dudu941014 | 0:489498e8dae5 | 198 | } |
dudu941014 | 0:489498e8dae5 | 199 | }// change the direction of car by keyboard |
dudu941014 | 0:489498e8dae5 | 200 | |
dudu941014 | 0:489498e8dae5 | 201 | |
dudu941014 | 0:489498e8dae5 | 202 | |
dudu941014 | 0:489498e8dae5 | 203 | |
dudu941014 | 0:489498e8dae5 | 204 | //change the volecity of car |
dudu941014 | 0:489498e8dae5 | 205 | if(usart_rx_buf[0] == 'P' && usart_rx_buf[1] == 'W') |
dudu941014 | 0:489498e8dae5 | 206 | { |
dudu941014 | 0:489498e8dae5 | 207 | M_Thr = (usart_rx_buf[2] << 8) | usart_rx_buf[3]; |
dudu941014 | 0:489498e8dae5 | 208 | MOTOR_Update(M_Thr); |
dudu941014 | 0:489498e8dae5 | 209 | } |
dudu941014 | 0:489498e8dae5 | 210 | |
dudu941014 | 0:489498e8dae5 | 211 | //Launch Control |
dudu941014 | 0:489498e8dae5 | 212 | if(usart_rx_buf[0] == 'L' && usart_rx_buf[1] == 'C') |
dudu941014 | 0:489498e8dae5 | 213 | { |
dudu941014 | 0:489498e8dae5 | 214 | PID_ctrl = 0; |
dudu941014 | 0:489498e8dae5 | 215 | Velocity_ctrl = 0; |
dudu941014 | 0:489498e8dae5 | 216 | if(angle <=0) |
dudu941014 | 0:489498e8dae5 | 217 | { |
dudu941014 | 0:489498e8dae5 | 218 | Motor_PWM.Rev(); |
dudu941014 | 0:489498e8dae5 | 219 | Motor_PWM.Speed(900); |
dudu941014 | 0:489498e8dae5 | 220 | wait(0.7); |
dudu941014 | 0:489498e8dae5 | 221 | Motor_PWM.Fwd(); |
dudu941014 | 0:489498e8dae5 | 222 | Motor_PWM.Speed(700); |
dudu941014 | 0:489498e8dae5 | 223 | wait(0.3); |
dudu941014 | 0:489498e8dae5 | 224 | } |
dudu941014 | 0:489498e8dae5 | 225 | else |
dudu941014 | 0:489498e8dae5 | 226 | { |
dudu941014 | 0:489498e8dae5 | 227 | Motor_PWM.Fwd(); |
dudu941014 | 0:489498e8dae5 | 228 | Motor_PWM.Speed(900); |
dudu941014 | 0:489498e8dae5 | 229 | wait(0.7); |
dudu941014 | 0:489498e8dae5 | 230 | Motor_PWM.Rev(); |
dudu941014 | 0:489498e8dae5 | 231 | Motor_PWM.Speed(700); |
dudu941014 | 0:489498e8dae5 | 232 | wait(0.3); |
dudu941014 | 0:489498e8dae5 | 233 | } |
dudu941014 | 0:489498e8dae5 | 234 | PID_ctrl = 1; |
dudu941014 | 0:489498e8dae5 | 235 | Velocity_ctrl = 1; |
dudu941014 | 0:489498e8dae5 | 236 | |
dudu941014 | 0:489498e8dae5 | 237 | } |
dudu941014 | 0:489498e8dae5 | 238 | |
dudu941014 | 0:489498e8dae5 | 239 | |
dudu941014 | 0:489498e8dae5 | 240 | |
dudu941014 | 0:489498e8dae5 | 241 | //this is function for distance |
dudu941014 | 0:489498e8dae5 | 242 | //to set the 'home' point |
dudu941014 | 0:489498e8dae5 | 243 | if( (usart_rx_buf[0]=='H') && (usart_rx_buf[1]=='O')) |
dudu941014 | 0:489498e8dae5 | 244 | { |
dudu941014 | 0:489498e8dae5 | 245 | usensor.start(); |
dudu941014 | 0:489498e8dae5 | 246 | home = usensor.get_dist_cm(); |
dudu941014 | 0:489498e8dae5 | 247 | } |
dudu941014 | 0:489498e8dae5 | 248 | |
dudu941014 | 0:489498e8dae5 | 249 | if(usart_rx_buf[0] == 'S' && usart_rx_buf[1] == 'H') |
dudu941014 | 0:489498e8dae5 | 250 | { |
dudu941014 | 0:489498e8dae5 | 251 | Velocity_ctrl = 0; |
dudu941014 | 0:489498e8dae5 | 252 | M_Alt = 0; |
dudu941014 | 0:489498e8dae5 | 253 | } |
dudu941014 | 0:489498e8dae5 | 254 | |
dudu941014 | 0:489498e8dae5 | 255 | if(usart_rx_buf[0] == 'H' && usart_rx_buf[1] == 'P') |
dudu941014 | 0:489498e8dae5 | 256 | { |
dudu941014 | 0:489498e8dae5 | 257 | pidVelocity.kp = -(usart_rx_buf[2]<<8)|(usart_rx_buf[3]); |
dudu941014 | 0:489498e8dae5 | 258 | |
dudu941014 | 0:489498e8dae5 | 259 | pidVelocity.kp /= 1000; |
dudu941014 | 0:489498e8dae5 | 260 | } |
dudu941014 | 0:489498e8dae5 | 261 | if(usart_rx_buf[0] == 'H' && usart_rx_buf[1] == 'I') |
dudu941014 | 0:489498e8dae5 | 262 | { |
dudu941014 | 0:489498e8dae5 | 263 | pidVelocity.ki = -(usart_rx_buf[2]<<8)|(usart_rx_buf[3]); |
dudu941014 | 0:489498e8dae5 | 264 | |
dudu941014 | 0:489498e8dae5 | 265 | pidVelocity.ki /= 1000; |
dudu941014 | 0:489498e8dae5 | 266 | } |
dudu941014 | 0:489498e8dae5 | 267 | if(usart_rx_buf[0] == 'H' && usart_rx_buf[1] == 'D') |
dudu941014 | 0:489498e8dae5 | 268 | { |
dudu941014 | 0:489498e8dae5 | 269 | pidVelocity.kd = -(usart_rx_buf[2]<<8)|(usart_rx_buf[3]); |
dudu941014 | 0:489498e8dae5 | 270 | |
dudu941014 | 0:489498e8dae5 | 271 | pidVelocity.kd /= 1000; |
dudu941014 | 0:489498e8dae5 | 272 | } |
dudu941014 | 0:489498e8dae5 | 273 | |
dudu941014 | 0:489498e8dae5 | 274 | //change the distance |
dudu941014 | 0:489498e8dae5 | 275 | if(usart_rx_buf[0] == 'E' && usart_rx_buf[1] == 'H') |
dudu941014 | 0:489498e8dae5 | 276 | { |
dudu941014 | 0:489498e8dae5 | 277 | pidVelocity.desired = (usart_rx_buf[2] << 8) | usart_rx_buf[3]; |
dudu941014 | 0:489498e8dae5 | 278 | if(usart_rx_buf[4]=='-') |
dudu941014 | 0:489498e8dae5 | 279 | pidVelocity.desired = -(pidVelocity.desired /1000); |
dudu941014 | 0:489498e8dae5 | 280 | if(usart_rx_buf[4]=='+') |
dudu941014 | 0:489498e8dae5 | 281 | pidVelocity.desired = pidVelocity.desired /1000; |
dudu941014 | 0:489498e8dae5 | 282 | } |
dudu941014 | 0:489498e8dae5 | 283 | |
dudu941014 | 0:489498e8dae5 | 284 | //the following part is to set PID of angle |
dudu941014 | 0:489498e8dae5 | 285 | if(usart_rx_buf[0] == 'S' && usart_rx_buf[1] == 'P') |
dudu941014 | 0:489498e8dae5 | 286 | { |
dudu941014 | 0:489498e8dae5 | 287 | pidAngle.kp = (usart_rx_buf[2]<<8)|(usart_rx_buf[3]); |
dudu941014 | 0:489498e8dae5 | 288 | |
dudu941014 | 0:489498e8dae5 | 289 | pidAngle.kp /= 1000; |
dudu941014 | 0:489498e8dae5 | 290 | } |
dudu941014 | 0:489498e8dae5 | 291 | |
dudu941014 | 0:489498e8dae5 | 292 | if(usart_rx_buf[0] == 'S' && usart_rx_buf[1] == 'I') |
dudu941014 | 0:489498e8dae5 | 293 | { |
dudu941014 | 0:489498e8dae5 | 294 | pidAngle.ki = (usart_rx_buf[2]<<8)|(usart_rx_buf[3]); |
dudu941014 | 0:489498e8dae5 | 295 | |
dudu941014 | 0:489498e8dae5 | 296 | pidAngle.ki /= 1000; |
dudu941014 | 0:489498e8dae5 | 297 | } |
dudu941014 | 0:489498e8dae5 | 298 | |
dudu941014 | 0:489498e8dae5 | 299 | if(usart_rx_buf[0] == 'S' && usart_rx_buf[1] == 'D') |
dudu941014 | 0:489498e8dae5 | 300 | { |
dudu941014 | 0:489498e8dae5 | 301 | pidAngle.kd = ( usart_rx_buf[2]<<8)|(usart_rx_buf[3]); |
dudu941014 | 0:489498e8dae5 | 302 | |
dudu941014 | 0:489498e8dae5 | 303 | pidAngle.kd /= 1000; |
dudu941014 | 0:489498e8dae5 | 304 | } |
dudu941014 | 0:489498e8dae5 | 305 | |
dudu941014 | 0:489498e8dae5 | 306 | if(usart_rx_buf[0] == 'E' && usart_rx_buf[1] == 'P') |
dudu941014 | 0:489498e8dae5 | 307 | { |
dudu941014 | 0:489498e8dae5 | 308 | pidAngle.desired =( usart_rx_buf[2]<<8)|(usart_rx_buf[3]); |
dudu941014 | 0:489498e8dae5 | 309 | if(usart_rx_buf[4]=='-') |
dudu941014 | 0:489498e8dae5 | 310 | pidAngle.desired = -(pidAngle.desired /1000); |
dudu941014 | 0:489498e8dae5 | 311 | if(usart_rx_buf[4]=='+') |
dudu941014 | 0:489498e8dae5 | 312 | pidAngle.desired /= 1000; |
dudu941014 | 0:489498e8dae5 | 313 | } |
dudu941014 | 0:489498e8dae5 | 314 | } |
dudu941014 | 0:489498e8dae5 | 315 | } |