Revision 1:26da8b1fd7f4, committed 2021-05-24

Comitter:

helenh

Date:

Mon May 24 09:02:42 2021 +0000

Parent:

0:d8cd915552c0

Commit message:

Sharing

Changed in this revision

diff -r d8cd915552c0 -r 26da8b1fd7f4 existing_references.lib
--- a/existing_references.lib	Sun May 16 12:22:32 2021 +0000
+++ b/existing_references.lib	Mon May 24 09:02:42 2021 +0000
@@ -1,1 +1,1 @@
-existing_references#7f16c88e4047
+https://os.mbed.com/users/helenh/code/existing_references/#a668eb71516b

diff -r d8cd915552c0 -r 26da8b1fd7f4 main.cpp
--- a/main.cpp	Sun May 16 12:22:32 2021 +0000
+++ b/main.cpp	Mon May 24 09:02:42 2021 +0000
@@ -1,26 +1,86 @@
 #include "mbed.h"
 #include "Serial_Transport.h"
-
-
-
-
+#include "PID_Controller.h"
+#include "MOTOR_CONTROL_CLASS.h"
+#define pid_p 100
+#define pid_i 10
+#define pid_d 1
+#define pid_k 10
+#define PWM_PERIOD 0.01f //10ms ,100Hz
+#define PWM_WIDTH_RATIO 0.00f  
 
 DigitalOut myled(LED1);
-//Interruptin button(Do_Recv);
-
-
-
+//Serial pc(SERIAL_TX, SERIAL_RX); 
+unsigned char recv_buff[100];
+Serial pc(SERIAL_TX, SERIAL_RX);
 
 int main() {
+    
+    pc.baud(115200);
+    
+    //是否有新的预设置位置
+    unsigned char hasrecv_position;
+    //预设置位置值
+    unsigned int preset_value=0; 
+    //实际位置值
+    unsigned int actual_value=0;
+    
+    //PID输出值
+    int controll_value=0;
+    
+    //串口屏通讯对象指针
+    Serial_class * preset_Com;
+    //创建实例
+    preset_Com=new Serial_class(D1,D0);
+    
+    //摄像头通讯对象
+    Serial_class * pOpenmv_Com;
+    //创建实例
+    pOpenmv_Com=new Serial_class(D5,D4);
+    
+    //声明并创建PID对象
+    Ball_PID * ball_pid=new Ball_PID(pid_p,pid_i,pid_d,pid_k);
+    
+    //创建PWM对象     
+    Motor_Control_Class mypwmout(D10);
+    mypwmout.Set_Para(PWM_PERIOD,PWM_WIDTH_RATIO);//10ms ,100Hz
+      
     while(1) {
 //        myled = 1;
 //        wait(0.2);
 //        myled = 0;
 //        wait(0.2);
         
-      //  Interruptinbutton(Do_Recv);
-        //openmv_port.attach(&Do_Recv,SerialBase::RxIrq);
-        openmv_init();
+         //pc.printf("data is received succesfully");      
+        //读取串口屏对象接收的数据
+        hasrecv_position=preset_Com->HasRecv();
+        pc.printf("state=%d\n",hasrecv_position);
+        if(hasrecv_position==4)
+       {
+           //收到完整的信息,位置值
+           preset_value=preset_Com->ReadInfor();
+           pc.printf("value=%d",preset_value);
+           //pc.printf("data is received succesfully");
+       }
+//        
+//        //
+//        //读取OPENMV对象接收的数据
+//        hasrecv_position=pOpenmv_Com->HasRecv();
+//        if(hasrecv_position==1)
+//        {
+//           //收到完整的信息,位置值
+//           actual_value=pOpenmv_Com->ReadInfor();
+//           
+//        }
+//        
+//        //交给PID模块处理,获得控制量
+//        controll_value=ball_pid->PID_Calculation(preset_value,actual_value/2);
+//        
+//        //转换为占空比并输出
+//        mypwmout.Set_Output(controll_value);
+//        //        
+       wait(0.5);
+           
     }
 }