Pascal Keller / Mbed 2 deprecated GRT_VC_PIDT1

Regler von Kellep15

Dependencies:   mbed

main.cpp@1:92f175969d90, 2019-05-10 (annotated)

Committer:
pmic
Date:
Fri May 10 14:25:24 2019 +0000
Revision:
1:92f175969d90
Parent:
0:05dd1de8cc3f
Child:
2:394782101261
A few cosmetic improvements, version can be compiled and loaded on nucleo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:05dd1de8cc3f 1 #include "mbed.h"
altb2 0:05dd1de8cc3f 2 #include "EncoderCounter.h"
pmic 1:92f175969d90 3 #include "PID_Cntrl.h"
altb2 0:05dd1de8cc3f 4 #include "LinearCharacteristics.h"
altb2 0:05dd1de8cc3f 5 //------------------------------------------
altb2 0:05dd1de8cc3f 6 #define PI 3.1415927f
altb2 0:05dd1de8cc3f 7 //------------------------------------------
pmic 1:92f175969d90 8
altb2 0:05dd1de8cc3f 9 /* GRT: Control of voice-coil with PID-T1 - Controller
pmic 1:92f175969d90 10
pmic 1:92f175969d90 11 Eigther reseting the Nucleo via the black button or save a new software on
pmic 1:92f175969d90 12 the Nucleo sets the analog output to zero. Zero is equal to -4 Ampere!!!
pmic 1:92f175969d90 13 Therefor: NEVER !!! reset or save a new software while the VC is powered on
pmic 1:92f175969d90 14 (the green button on the VC is glowing green)
pmic 1:92f175969d90 15
altb2 0:05dd1de8cc3f 16 */
altb2 0:05dd1de8cc3f 17 Serial pc(SERIAL_TX, SERIAL_RX); // serial connection via USB - programmer
altb2 0:05dd1de8cc3f 18 InterruptIn button(USER_BUTTON); // User Button, short presses: reduce speed, long presses: increase speed
altb2 0:05dd1de8cc3f 19 AnalogOut out(PA_5); // Analog OUT on PA_5 1.6 V -> 0A 3.2A -> 4A (see ESCON)
altb2 0:05dd1de8cc3f 20
altb2 0:05dd1de8cc3f 21 bool key_was_pressed = false;
altb2 0:05dd1de8cc3f 22 bool controller_active = false;
altb2 0:05dd1de8cc3f 23 void pressed(void); // user Button pressed
altb2 0:05dd1de8cc3f 24 void released(void); // user Button released
pmic 1:92f175969d90 25
altb2 0:05dd1de8cc3f 26 //------------------------------------------
altb2 0:05dd1de8cc3f 27 // ... here define variables like gains etc.
altb2 0:05dd1de8cc3f 28 //------------------------------------------
pmic 1:92f175969d90 29 LinearCharacteristics i2u(-4.0f, 4.0f, 0.0f, 3.2f/3.3f); // output is normalized output
altb2 0:05dd1de8cc3f 30 //------------------------------------------
altb2 0:05dd1de8cc3f 31 Ticker ControllerLoopTimer; // interrupt for control loop
altb2 0:05dd1de8cc3f 32 EncoderCounter counter1(PB_6, PB_7); // initialize counter on PB_6 and PB_7
altb2 0:05dd1de8cc3f 33 Timer t_but; // define timer for button
altb2 0:05dd1de8cc3f 34 // ----- User defined functions -----------
altb2 0:05dd1de8cc3f 35 void updateLoop(void); // loop for State machine (via interrupt)
altb2 0:05dd1de8cc3f 36 float Ts = 0.0005f; // sample time of main loop
altb2 0:05dd1de8cc3f 37 uint16_t k = 0;
pmic 1:92f175969d90 38 // initiate PIDT1 controller objects
pmic 1:92f175969d90 39 // ???
pmic 1:92f175969d90 40 // ???
altb2 0:05dd1de8cc3f 41 //******************************************************************************
altb2 0:05dd1de8cc3f 42 //---------- main loop -------------
altb2 0:05dd1de8cc3f 43 //******************************************************************************
altb2 0:05dd1de8cc3f 44 int main()
pmic 1:92f175969d90 45 {
altb2 0:05dd1de8cc3f 46 pc.baud(115200); // for serial comm.
altb2 0:05dd1de8cc3f 47 counter1.reset(); // encoder reset
altb2 0:05dd1de8cc3f 48 out.write(i2u(0.0));
altb2 0:05dd1de8cc3f 49 button.fall(&pressed); // attach key pressed function
altb2 0:05dd1de8cc3f 50 button.rise(&released); // attach key pressed function
pmic 1:92f175969d90 51 pc.printf("Start controller now or reset...\r\n");
altb2 0:05dd1de8cc3f 52 ControllerLoopTimer.attach(&updateLoop, Ts); //Assume Fs = ...;
altb2 0:05dd1de8cc3f 53 while(1);
altb2 0:05dd1de8cc3f 54 } // END OF main
altb2 0:05dd1de8cc3f 55 //******************************************************************************
altb2 0:05dd1de8cc3f 56 //---------- main loop (called via interrupt) -------------
altb2 0:05dd1de8cc3f 57 //******************************************************************************
pmic 1:92f175969d90 58 void updateLoop(void)
pmic 1:92f175969d90 59 {
altb2 0:05dd1de8cc3f 60 float x = (float)(counter1)/1000.0f; // get counts from Encoder
altb2 0:05dd1de8cc3f 61 float i_des = 0.0f; // default: set motor current to zero (will be overwritten)
pmic 1:92f175969d90 62 if(controller_active) {
pmic 1:92f175969d90 63 // controller update
pmic 1:92f175969d90 64 // ???
pmic 1:92f175969d90 65 }
altb2 0:05dd1de8cc3f 66 out.write(i2u(i_des));
pmic 1:92f175969d90 67 if(++k>1000) {
altb2 0:05dd1de8cc3f 68 pc.printf("x: %1.3f, i: %1.4f\r\n",x,i_des);
pmic 1:92f175969d90 69 k = 0;
pmic 1:92f175969d90 70
pmic 1:92f175969d90 71 }
altb2 0:05dd1de8cc3f 72 } // END OF updateLoop(void)
pmic 1:92f175969d90 73
altb2 0:05dd1de8cc3f 74 //******************************************************************************
pmic 1:92f175969d90 75
pmic 1:92f175969d90 76
altb2 0:05dd1de8cc3f 77 // start timer as soon as Button is pressed
altb2 0:05dd1de8cc3f 78 void pressed()
altb2 0:05dd1de8cc3f 79 {
altb2 0:05dd1de8cc3f 80 t_but.start();
altb2 0:05dd1de8cc3f 81 }
pmic 1:92f175969d90 82 // Falling edge of button: enable/disable controller
altb2 0:05dd1de8cc3f 83 void released()
altb2 0:05dd1de8cc3f 84 {
altb2 0:05dd1de8cc3f 85 // readout, stop and reset timer
altb2 0:05dd1de8cc3f 86 float ButtonTime = t_but.read();
altb2 0:05dd1de8cc3f 87 t_but.stop();
altb2 0:05dd1de8cc3f 88 t_but.reset();
pmic 1:92f175969d90 89 if(ButtonTime > 0.05f) {
altb2 0:05dd1de8cc3f 90 controller_active = !controller_active;
pmic 1:92f175969d90 91 if(controller_active) {
pmic 1:92f175969d90 92 pc.printf("Controller actived\r\n");
pmic 1:92f175969d90 93 // reset controller here!!!
pmic 1:92f175969d90 94 // ???
pmic 1:92f175969d90 95 } else
altb2 0:05dd1de8cc3f 96 pc.printf("Controller disabled\r\n");
altb2 0:05dd1de8cc3f 97 }
altb2 0:05dd1de8cc3f 98 }