zejun du / Mbed 2 deprecated inverted_pendulum_system

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

controller/controller.h@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?

UserRevisionLine numberNew contents of line
dudu941014 0:489498e8dae5 1 //#ifndef CONTROLLER_H
dudu941014 0:489498e8dae5 2 //#define CONTROLLER_H
dudu941014 0:489498e8dae5 3
dudu941014 0:489498e8dae5 4 #include "mbed.h"
dudu941014 0:489498e8dae5 5 #include "PID.h"
dudu941014 0:489498e8dae5 6 #include "L298HBridge.h"
dudu941014 0:489498e8dae5 7
dudu941014 0:489498e8dae5 8 #define controllerAng_update_dt 0.005
dudu941014 0:489498e8dae5 9 #define controllerVel_Update_dt 0.005
dudu941014 0:489498e8dae5 10
dudu941014 0:489498e8dae5 11 #define AngleOutputLimit 600 //attitude output limit at 60% power
dudu941014 0:489498e8dae5 12 #define AngleErrLimit 450 //attitude pitch error limit at 45degree * 10 = 450
dudu941014 0:489498e8dae5 13 #define velOutputLimit 600 //altitude output limit at 60% power
dudu941014 0:489498e8dae5 14 #define VelocityLimit 100
dudu941014 0:489498e8dae5 15 #define offset_moving 400 //the duty start at 40%
dudu941014 0:489498e8dae5 16
dudu941014 0:489498e8dae5 17
dudu941014 0:489498e8dae5 18
dudu941014 0:489498e8dae5 19 extern PidObject pidAngle;
dudu941014 0:489498e8dae5 20 extern PidObject pidVelocity;
dudu941014 0:489498e8dae5 21
dudu941014 0:489498e8dae5 22 //extern float pitchOutput;
dudu941014 0:489498e8dae5 23 //extern float AngleOutput;
dudu941014 0:489498e8dae5 24
dudu941014 0:489498e8dae5 25 extern L298HBridge Motor_PWM;
dudu941014 0:489498e8dae5 26 extern float Motor;
dudu941014 0:489498e8dae5 27
dudu941014 0:489498e8dae5 28 extern float I_term;
dudu941014 0:489498e8dae5 29
dudu941014 0:489498e8dae5 30 void controller_init(void);
dudu941014 0:489498e8dae5 31 float controller_Angle_PID(float angle_result);
dudu941014 0:489498e8dae5 32 float controller_Velocity_PID(float Velocity_result);
dudu941014 0:489498e8dae5 33 void controllerResetAllPID(void);
dudu941014 0:489498e8dae5 34 float controllerGetActuatorOutput();
dudu941014 0:489498e8dae5 35 void MOTOR_Update(float Motor);
dudu941014 0:489498e8dae5 36
dudu941014 0:489498e8dae5 37
dudu941014 0:489498e8dae5 38