Francesco Pistone / Mbed 2 deprecated Viaro_SpandiConcime_V3_inizio

copia12092018

Dependencies:   mbed

variables.h@3:1cd8d048cd4a, 2018-06-19 (annotated)

Committer:
viaromassimo
Date:
Tue Jun 19 16:47:15 2018 +0000
Revision:
3:1cd8d048cd4a
Parent:
0:b0a79a3a9da8
Child:
4:1643fea75703
- added control for minimal speed (below wich it stops); - added ramp for motor startup

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 0:b0a79a3a9da8 1 int SD_faultA=0;
nerit 0:b0a79a3a9da8 2 int SD_faultB=0;
nerit 0:b0a79a3a9da8 3 int DC_brake=1;
nerit 0:b0a79a3a9da8 4 int DC_forward=1;
nerit 0:b0a79a3a9da8 5
nerit 0:b0a79a3a9da8 6 string MachineType("electric"); //two options: "electric" or "idraulic"
nerit 0:b0a79a3a9da8 7
nerit 0:b0a79a3a9da8 8 float Percent(1.0); //variable to add/take out a Percent of product with PlusPercentPin/MinusPercentPin
nerit 0:b0a79a3a9da8 9 char ChangeFromOffToOn(1); //used to reset Previous millis() when the operator switch off and back on
nerit 0:b0a79a3a9da8 10 char StopTheMotorWeGoTooSlow(1); //stop the motor, we go too slow
nerit 0:b0a79a3a9da8 11 char MotorSensorError(1); //stop the motor, we go too slow
nerit 0:b0a79a3a9da8 12 int TrigsPerWheelRevolution(10); //number of triggers per weheel complete revolution
nerit 0:b0a79a3a9da8 13 int WheelDiameter(400); //wheel diameter in millimeters
nerit 0:b0a79a3a9da8 14 unsigned long WantedMotorSpeed(0); //motor speed (initial is 0)
nerit 0:b0a79a3a9da8 15 unsigned long ReadMotorSpeed(0); //motor speed (initial is 0)
nerit 0:b0a79a3a9da8 16 float MotorSpeedCorrected(0); //motor speed (initial is 0)
nerit 0:b0a79a3a9da8 17 float MotorSpeedPwmTemp(0); //motor speed pwm (initial is 0)
nerit 0:b0a79a3a9da8 18 float MotorSpeedPwm(0); //motor speed pwm (initial is 0)
nerit 0:b0a79a3a9da8 19 int MinMotorPwm(1); //min pwm for the motor to start
viaromassimo 3:1cd8d048cd4a 20 int MinMotorSpeed(1300); //min motor speed
nerit 0:b0a79a3a9da8 21 int MaxMotorSpeed(100000); //max motor speed
nerit 0:b0a79a3a9da8 22 float WheelToMotorRatio; //set the ideal ratio between wheel speed and motor speed
nerit 0:b0a79a3a9da8 23 //float ReductionRatio(24);
nerit 0:b0a79a3a9da8 24 float MotorCorrection(1.0); //set the initial motor correction factor
nerit 0:b0a79a3a9da8 25 int MotorSensorSecurityCheck(0); //set the initial motor correction factor
nerit 0:b0a79a3a9da8 26 float DecelerationControlRatio(1.5); //ratio to control wheel decelaration accepted limit
viaromassimo 3:1cd8d048cd4a 27 const int ConstArrayIns(4); //the number set the array values
nerit 0:b0a79a3a9da8 28 CB1<int,ConstArrayIns> ReadWheelArray; //Circular array (for LIFO purposes) for wheel sensor readings
nerit 0:b0a79a3a9da8 29 CB1<int,ConstArrayIns> ReadMotorArray; //Circular array (for LIFO purposes) for wheel sensor readings
nerit 0:b0a79a3a9da8 30 int i; //general purpose integer for loops
nerit 0:b0a79a3a9da8 31 int a; //general purpose integer for loops
nerit 0:b0a79a3a9da8 32 unsigned long TempRead; //temporal read of wheel sensor millis for analysis
nerit 0:b0a79a3a9da8 33 unsigned long TempReadM; //temporal read of motor sensor millis for analysis
nerit 0:b0a79a3a9da8 34 unsigned long Elapsed(0); //used to take note of Elapsed time
nerit 0:b0a79a3a9da8 35 unsigned long ElapsedM(0); //used to take note of Elapsed time
nerit 0:b0a79a3a9da8 36 unsigned long CheckIfReadMChanges(0); //feedback of motor sensor
nerit 0:b0a79a3a9da8 37 //from PID library: 0.0 - 1.0
viaromassimo 3:1cd8d048cd4a 38 PID motorPID(1.0, 0.4, 0.3, 0.3); //Kc, Ti, Td, interval (0.1ms)
nerit 0:b0a79a3a9da8 39
nerit 0:b0a79a3a9da8 40 //the below declarations are meant to prevent problems on switches due to tractor vibrations
nerit 0:b0a79a3a9da8 41 int VibrationTimer(500); //timer for avoid vibrations in millis
nerit 0:b0a79a3a9da8 42 char ChangeStatusOfOnOffPinToHigh(1);
nerit 0:b0a79a3a9da8 43 char ChangeStatusOfOnOffPinToLow(1);
nerit 0:b0a79a3a9da8 44 unsigned long OnOffPinTimerToHigh(0); //this is to avoid false positive on ON/OFF switch due to vibrations
nerit 0:b0a79a3a9da8 45 unsigned long OnOffPinTimerToLow(0); //this is to avoid false positive on ON/OFF switch due to vibrations
nerit 0:b0a79a3a9da8 46 char ChangeStatusOfPlusPercentPinToHigh(1);
nerit 0:b0a79a3a9da8 47 char ChangeStatusOfPlusPercentPinToLow(1);
nerit 0:b0a79a3a9da8 48 unsigned long PlusPercentPinTimerToHigh(0); //this is to avoid false positive on Plus switch due to vibrations
nerit 0:b0a79a3a9da8 49 unsigned long PlusPercentPinTimerToLow(0); //this is to avoid false positive on Plus switch due to vibrations
nerit 0:b0a79a3a9da8 50 char PercentPlus(0);
nerit 0:b0a79a3a9da8 51 char ChangeStatusOfMinusPercentPinToHigh(1);
nerit 0:b0a79a3a9da8 52 char ChangeStatusOfMinusPercentPinToLow(1);
nerit 0:b0a79a3a9da8 53 unsigned long MinusPercentPinTimerToHigh(0); //this is to avoid false positive on Minus switch due to vibrations
nerit 0:b0a79a3a9da8 54 unsigned long MinusPercentPinTimerToLow(0); //this is to avoid false positive on Minus switch due to vibrations
nerit 0:b0a79a3a9da8 55 char PercentMinus(0);