Gunar Kroeger
Receives a measured height of a ping-pong ball from a PC, and uses it to control the PWM of a fan to keep the height as set with the keypad. Information is shown on the LCD
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mbed-os-example-mbed5-blinky
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mbed-os-examples
Revision 41:3bc2a3885b9d, committed 2017-07-04
- Comitter:
- gunarthon
- Date:
- Tue Jul 04 16:36:18 2017 +0000
- Parent:
- 40:19d51f6e6800
- Child:
- 42:b69538bba4f9
- Commit message:
- improved menu navigation
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Sun Jul 02 19:01:07 2017 +0000
+++ b/main.cpp Tue Jul 04 16:36:18 2017 +0000
@@ -17,6 +17,8 @@
const double Kp = 0.02;
const double Ki = 0;
const double Kd = 0;
+const double configStep = 0.001;
+const double configFastStep = configStep*10;
const int simulationSeconds = 10;
@@ -32,7 +34,7 @@
AnalogIn buttons(A0);
//Threads
-Thread blueThread;
+Thread lcdThread;
Thread pidThread;
Thread communicationThread;
Thread hmiThread;
@@ -48,21 +50,30 @@
int menu = menuSETPOINT;
int parameter = parameterKP;
int simul = simulNONE;
+bool setPointSimul = false;
void SerialCallback(int);
//=============================Thread Methodes==================================
void setPointMethode(void)
{
- while(1)
+ while(1) //toggle every 20 seconds between 2 setPoint values
{
- pidController->setSetPoint(0.2);
- Thread::wait(20000);
- pidController->setSetPoint(0.8);
- Thread::wait(20000);
+ while(!setPointSimul) Thread::wait(2000);
+
+ if(setPointSimul)
+ {
+ pidController->setSetPoint(0.2);
+ Thread::wait(20000);
+ if(setPointSimul)
+ {
+ pidController->setSetPoint(0.8);
+ Thread::wait(20000);
+ }
+ }
}
}
-void BlueMethode(void)
+void LcdMethode(void)
{
while(true)
{
@@ -99,7 +110,12 @@
{
lcd.cls();
if(simul == simulNONE)
- lcd.printf("u:STEP dwn:RAMP");
+ {
+ if(setPointSimul)
+ lcd.printf("u:STEP * d:RAMP");
+ else
+ lcd.printf("u:STEP _ d:RAMP");
+ }
else
lcd.printf("set $in$ out");
lcd.locate(0,1);
@@ -143,25 +159,14 @@
serial.format(8, SerialBase::None, 1);
double input = 0;
- //event_callback_t functionpointer;
- //functionpointer.attach(&SerialCallback);
-
while(true)
{
- //serial.read(&input, 1, functionpointer);
input = double(serial.getc()+(serial.getc()<<8)) / heightResolution;
- //lcd.cls();
- //lcd.printf("%d", int(input));
message_t *message = mpool.alloc();
message->input = input;
messageQueue.put(message);
}
}
-/*
-void SerialCallback(int)
-{
- //ut =
-}*/
unsigned readButtons()
{
@@ -190,14 +195,17 @@
{
unsigned button = btnNONE;
+ bool fastChange = false;
while(true)
{
- //while(button == btnNONE)
- //{
+ button = readButtons();
+ while(button == btnNONE)
+ {
button = readButtons();
- // Thread::wait(10);
- //}
+ Thread::wait(10);
+ fastChange = false;
+ }
double prevSetPoint = pidController->getSetPoint();
double newSetPoint = prevSetPoint;
@@ -210,13 +218,13 @@
else if(menu == menuSETPOINT)
{
if(button == btnUP)
- newSetPoint += 0.001;
+ newSetPoint += fastChange ? configFastStep : configStep;
else if(button == btnDOWN)
- newSetPoint -= 0.001;
+ newSetPoint -= fastChange ? configFastStep : configStep;
else if(button == btnLEFT)
- newSetPoint -= 0.01;
+ newSetPoint -= fastChange ? 10*configFastStep : 10*configStep;
else if(button == btnRIGHT)
- newSetPoint += 0.01;
+ newSetPoint += fastChange ? 10*configFastStep : 10*configStep;
pidController->setSetPoint(newSetPoint);
}
@@ -225,20 +233,20 @@
if(button == btnUP)
{
if(parameter == parameterKP)
- pidController->addKp(0.001);
+ pidController->addKp(fastChange ? configFastStep : configStep);
else if(parameter == parameterKI)
- pidController->addKi(0.001);
+ pidController->addKi(fastChange ? configFastStep : configStep);
else if(parameter == parameterKD)
- pidController->addKd(0.001);
+ pidController->addKd(fastChange ? configFastStep : configStep);
}
else if(button == btnDOWN)
{
if(parameter == parameterKP)
- pidController->addKp(-0.001);
+ pidController->addKp(fastChange ? -configFastStep : -configStep);
else if(parameter == parameterKI)
- pidController->addKi(-0.001);
+ pidController->addKi(fastChange ? -configFastStep : -configStep);
else if(parameter == parameterKD)
- pidController->addKd(-0.001);
+ pidController->addKd(fastChange ? -configFastStep : -configStep);
}
else if(button == btnLEFT)
parameter = (parameter+1) % parameterSIZE;
@@ -276,20 +284,21 @@
}
simul = simulNONE;
}
- else if(button == btnLEFT) //ramp
- {
- setPointThread.start(setPointMethode);
- }
+ else if(button == btnLEFT)
+ setPointSimul = true;
else if(button == btnRIGHT)
- setPointThread.terminate();
+ setPointSimul = false;
}
-
- /*while(button != btnNONE)
+ unsigned repeatCount = 0;
+ while(button != btnNONE && !fastChange)
{
+ repeatCount++;
button = readButtons();
Thread::wait(10);
- }*/
+ if(repeatCount > 50)
+ fastChange = true;
+ }
Thread::wait(100);
}
}
@@ -307,10 +316,11 @@
pidController = new Pid(Kp, Ki, Kd);
pidController->setSetPoint(setPoint);
- blueThread.start(BlueMethode);
+ lcdThread.start(LcdMethode);
pidThread.start(PidMethode);
communicationThread.start(CommunicationMethode);
hmiThread.start(hmiMethode);
+ setPointThread.start(setPointMethode);
while (true) {
Thread::wait(1100);