Jesse Kaiser / Mbed 2 deprecated Motorcontrol_Gr6

Script voor aansturen motoren

Dependencies:   Encoder HIDScope MODSERIAL mbed-dsp mbed

main.cpp@9:18e7a0273106, 2014-10-27 (annotated)

Committer:
jessekaiser
Date:
Mon Oct 27 19:32:52 2014 +0000
Revision:
9:18e7a0273106
Parent:
8:0bbbe93bd1c4
Child:
10:a2a2e7bfdc86
Speed en Positie kunnen worden afgelezen met Putty;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 0:d5d3b731340c 1 #include "mbed.h"
jessekaiser 0:d5d3b731340c 2 #include "encoder.h"
jessekaiser 0:d5d3b731340c 3 #include "HIDScope.h"
jessekaiser 9:18e7a0273106 4 #include "MODSERIAL.h"
jessekaiser 0:d5d3b731340c 5
jessekaiser 9:18e7a0273106 6
jessekaiser 9:18e7a0273106 7 #define TSAMP 0.01
jessekaiser 0:d5d3b731340c 8 #define K_P (0.1)
jessekaiser 0:d5d3b731340c 9 #define K_I (0.03 *TSAMP)
jessekaiser 0:d5d3b731340c 10 #define K_D (0.001 /TSAMP)
jessekaiser 0:d5d3b731340c 11 #define I_LIMIT 1.
jessekaiser 0:d5d3b731340c 12
jessekaiser 7:697293226e5e 13 #define M1_PWM PTC8
jessekaiser 7:697293226e5e 14 #define M1_DIR PTC9
jessekaiser 7:697293226e5e 15 #define M2_PWM PTA5
jessekaiser 7:697293226e5e 16 #define M2_DIR PTA4
jessekaiser 7:697293226e5e 17
jessekaiser 7:697293226e5e 18 //Groene kabel moet op de GROUND en blauw op de 3.3v aansluiting
jessekaiser 0:d5d3b731340c 19
jessekaiser 3:dcc4cebba0d7 20 Serial pc(USBTX, USBRX);
jessekaiser 4:db3dad7e53e3 21 DigitalOut led1(LED_RED);
jessekaiser 9:18e7a0273106 22 HIDScope scope(4);
jessekaiser 0:d5d3b731340c 23
jessekaiser 7:697293226e5e 24 //motor 25D
jessekaiser 9:18e7a0273106 25 Encoder motor1(PTD3,PTD5,true); //wit, geel
jessekaiser 7:697293226e5e 26 PwmOut pwm_motor1(M2_PWM);
jessekaiser 7:697293226e5e 27 DigitalOut motordir1(M2_DIR);
jessekaiser 3:dcc4cebba0d7 28
jessekaiser 7:697293226e5e 29 //motor2 37D
jessekaiser 9:18e7a0273106 30 Encoder motor2(PTD2, PTD0,true); //wit, geel
jessekaiser 7:697293226e5e 31 PwmOut pwm_motor2(M1_PWM);
jessekaiser 7:697293226e5e 32 DigitalOut motordir2(M1_DIR);
jessekaiser 7:697293226e5e 33
jessekaiser 7:697293226e5e 34 bool flip=false;
jessekaiser 7:697293226e5e 35
jessekaiser 7:697293226e5e 36 void attime()
jessekaiser 0:d5d3b731340c 37 {
jessekaiser 7:697293226e5e 38 flip = !flip;
jessekaiser 0:d5d3b731340c 39 }
jessekaiser 0:d5d3b731340c 40
jessekaiser 7:697293226e5e 41 void looper()
jessekaiser 7:697293226e5e 42 {
jessekaiser 7:697293226e5e 43 motordir1=0;
jessekaiser 9:18e7a0273106 44 pwm_motor1.write(1);
jessekaiser 7:697293226e5e 45 scope.set(0, motor1.getPosition());
jessekaiser 8:0bbbe93bd1c4 46 scope.set(1, motor1.getSpeed());
jessekaiser 8:0bbbe93bd1c4 47 scope.set(2, motor2.getPosition());
jessekaiser 9:18e7a0273106 48 scope.set(3, motor2.getPosition());
jessekaiser 7:697293226e5e 49 scope.send();
jessekaiser 7:697293226e5e 50 }
jessekaiser 3:dcc4cebba0d7 51
jessekaiser 8:0bbbe93bd1c4 52 /*void clamp(float * in, float min, float max)
jessekaiser 8:0bbbe93bd1c4 53 {
jessekaiser 8:0bbbe93bd1c4 54 *in > min ? *in < max? : *in = max: *in = min;
jessekaiser 8:0bbbe93bd1c4 55 }
jessekaiser 8:0bbbe93bd1c4 56
jessekaiser 8:0bbbe93bd1c4 57 float pi(float setpoint, float measurement)
jessekaiser 8:0bbbe93bd1c4 58 {
jessekaiser 8:0bbbe93bd1c4 59 float error;
jessekaiser 8:0bbbe93bd1c4 60 float out_p = 0;
jessekaiser 8:0bbbe93bd1c4 61 static float out_i = 0;
jessekaiser 8:0bbbe93bd1c4 62 error = setpoint - motor1.getPosition();
jessekaiser 8:0bbbe93bd1c4 63 out_p = error*K_P;
jessekaiser 8:0bbbe93bd1c4 64 out_i += error*K_I;
jessekaiser 8:0bbbe93bd1c4 65 clamp(&out_i,-I_LIMIT,I_LIMIT);
jessekaiser 8:0bbbe93bd1c4 66
jessekaiser 8:0bbbe93bd1c4 67 return out_p + out_i;
jessekaiser 8:0bbbe93bd1c4 68 }*/
jessekaiser 3:dcc4cebba0d7 69
jessekaiser 0:d5d3b731340c 70 int main()
jessekaiser 3:dcc4cebba0d7 71 {
jessekaiser 8:0bbbe93bd1c4 72 /*motordir1=0;
jessekaiser 8:0bbbe93bd1c4 73 pwm_motor1.period_us(100);
jessekaiser 8:0bbbe93bd1c4 74 pwm_motor1.write(1);
jessekaiser 8:0bbbe93bd1c4 75 wait(0.034);
jessekaiser 8:0bbbe93bd1c4 76 pwm_motor1.write(0);
jessekaiser 8:0bbbe93bd1c4 77 wait(1);
jessekaiser 8:0bbbe93bd1c4 78 motordir1=1;
jessekaiser 8:0bbbe93bd1c4 79 pwm_motor1.write(1);
jessekaiser 8:0bbbe93bd1c4 80 wait(0.034);
jessekaiser 8:0bbbe93bd1c4 81 pwm_motor1.write(0);*/
jessekaiser 9:18e7a0273106 82
jessekaiser 9:18e7a0273106 83
jessekaiser 7:697293226e5e 84 Ticker log_timer;
jessekaiser 7:697293226e5e 85 Ticker timer;
jessekaiser 7:697293226e5e 86 log_timer.attach(looper, TSAMP);
jessekaiser 7:697293226e5e 87 timer.attach(&attime, 7);
jessekaiser 8:0bbbe93bd1c4 88
jessekaiser 9:18e7a0273106 89 pc.baud(115200);
jessekaiser 0:d5d3b731340c 90 while(1) {
jessekaiser 9:18e7a0273106 91 wait(0.2);
jessekaiser 9:18e7a0273106 92 pc.printf("pos: %d, speed %f \r\n", motor1.getPosition(), motor1.getSpeed());
jessekaiser 6:f260176f704b 93 }
jessekaiser 0:d5d3b731340c 94 }