Mura kazu / Mbed 2 deprecated 0_PID_renew

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Dependencies:   BNO055 SBDBT_lib___muratani mbed

Files at this revision

API Documentation at this revision

Revision 0:079a31fc71bb, committed 19 months ago

Comitter:
e2137
Date:
Wed Dec 14 07:50:11 2022 +0000
Commit message:
muratani;

Changed in this revision

BNO055.lib Show annotated file Show diff for this revision Revisions of this file
SBDBT_lib.lib Show annotated file Show diff for this revision Revisions of this file
arrc_mbed.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.lib	Wed Dec 14 07:50:11 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/StressedDave/code/BNO055/#1f722ffec323

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SBDBT_lib.lib	Wed Dec 14 07:50:11 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/e2137/code/SBDBT_lib___muratani/#0685b44234a3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/arrc_mbed.lib	Wed Dec 14 07:50:11 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/2022_Ateam/code/arrc_mbed____muratani/#1afe330294ee

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 14 07:50:11 2022 +0000
@@ -0,0 +1,63 @@
+#include <mbed.h>
+#include <DCmotor.hpp>
+#include <rotary_inc.hpp>
+
+DCmotor MOTOR(PA_0,PA_1, 0.5,0.0, 1);
+RotaryInc Rotary(PC_3, PC_2, 256, 1, 4);
+Timer TIME;
+
+int main()
+{
+    TIME.start();
+    double e1 = 0;
+    double e2 = 0;
+    double e3 = 0;
+    double Kp = 0.00040;//0.00000264;
+    double Ki = 0.000021;
+    double Kd = 0.000003;
+    double target = 360;
+    double now = 0;
+    double now_ang_v = 0.0;
+    double P = 0;
+    double I = 0;
+    double D = 0;
+    double dt = 0.01;
+    double time = 0;
+    double pwm = 0.0;
+    double last = 0.0;
+    while(1)
+    {
+        MOTOR.drive(pwm);
+        last = now;
+        now = Rotary.degree_now();//角度
+        //now_ang_v = (now - last) / dt;
+        //now_ang_v = (now - last);
+        
+        e3 = e2;
+        e2 = e1;
+        e1 = target - now;
+        P = Kp * (e1 - e2);
+        I = Ki * e1 * dt;
+        D = Kd * (e1 - 2 * e2 + e3) / dt;
+        pwm += P + I + D;
+        printf("%lf,%lf\n",now,target);
+        //printf("ang_vel %lf\tpwm %lf\te1 %lf\te2 %lf\te3 %lf\n",now,pwm, e1, e2, e3);
+        while(TIME.read_ms() - time <= 10);
+        time = TIME.read_ms();
+        /*if(target * 0.99 <= now_ang_v && now_ang_v <= target * 1.01){
+            printf("Finish\n");
+            MOTOR.drive(0);
+            break;
+        }*/
+    }
+}
+        //sum = Rotary.degree_diff();
+        //printf("P : %lf I : %lf D : %lf pwm : %d\n",P, I, D, pwm);
+        //MOTOR.out(pwm);
+        //e2 = e1;
+        //e1 = now = Rotary.degree_now();
+        //e3 = (e1 - e2) / dt;
+        //now = Rotary.getSpeed();
+        //printf("%lf %lf\n",pwm,now);
+        //MOTOR.drive(pwm += 0.001);
+        //pwm += P + I;
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Dec 14 07:50:11 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file