Luccas Eagles
/
CONTROL_MOTOR_MELODY
added melody to old motorcontol
main.cpp@23:e5a2e8cef243, 2020-03-13 (annotated)
- Committer:
- kubitz
- Date:
- Fri Mar 13 20:26:17 2020 +0000
- Revision:
- 23:e5a2e8cef243
- Parent:
- 22:af49b9e79d9c
- Child:
- 24:6d85dda245e1
cleaned-up startup routine
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
estott | 0:de4320f74764 | 1 | #include "mbed.h" |
kubitz | 13:58ada64bb664 | 2 | #include "rtos.h" |
estott | 0:de4320f74764 | 3 | //Photointerrupter input pins |
estott | 10:a4b5723b6c9d | 4 | #define I1pin D3 |
estott | 10:a4b5723b6c9d | 5 | #define I2pin D6 |
estott | 10:a4b5723b6c9d | 6 | #define I3pin D5 |
estott | 2:4e88faab6988 | 7 | |
estott | 2:4e88faab6988 | 8 | //Incremental encoder input pins |
estott | 10:a4b5723b6c9d | 9 | #define CHApin D12 |
estott | 10:a4b5723b6c9d | 10 | #define CHBpin D11 |
estott | 0:de4320f74764 | 11 | |
estott | 0:de4320f74764 | 12 | //Motor Drive output pins //Mask in output byte |
estott | 10:a4b5723b6c9d | 13 | #define L1Lpin D1 //0x01 |
estott | 10:a4b5723b6c9d | 14 | #define L1Hpin A3 //0x02 |
estott | 10:a4b5723b6c9d | 15 | #define L2Lpin D0 //0x04 |
estott | 10:a4b5723b6c9d | 16 | #define L2Hpin A6 //0x08 |
estott | 10:a4b5723b6c9d | 17 | #define L3Lpin D10 //0x10 |
estott | 10:a4b5723b6c9d | 18 | #define L3Hpin D2 //0x20 |
estott | 10:a4b5723b6c9d | 19 | |
estott | 10:a4b5723b6c9d | 20 | #define PWMpin D9 |
estott | 5:08f338b5e4d9 | 21 | |
estott | 5:08f338b5e4d9 | 22 | //Motor current sense |
estott | 5:08f338b5e4d9 | 23 | #define MCSPpin A1 |
estott | 5:08f338b5e4d9 | 24 | #define MCSNpin A0 |
estott | 0:de4320f74764 | 25 | |
estott | 11:5ff18183764a | 26 | //Test outputs |
estott | 11:5ff18183764a | 27 | #define TP0pin D4 |
estott | 11:5ff18183764a | 28 | #define TP1pin D13 |
estott | 11:5ff18183764a | 29 | #define TP2pin A2 |
estott | 11:5ff18183764a | 30 | |
kubitz | 14:0146695df1a5 | 31 | Serial pc(SERIAL_TX, SERIAL_RX); |
kubitz | 14:0146695df1a5 | 32 | |
kubitz | 22:af49b9e79d9c | 33 | |
kubitz | 14:0146695df1a5 | 34 | |
kubitz | 22:af49b9e79d9c | 35 | // Controller variables |
kubitz | 14:0146695df1a5 | 36 | Timer timer_velocity; |
kubitz | 14:0146695df1a5 | 37 | uint32_t last_time_MtrCtlr; |
kubitz | 14:0146695df1a5 | 38 | int i = 0; |
kubitz | 18:01977903e972 | 39 | |
kubitz | 22:af49b9e79d9c | 40 | // Velocity Controller Variables |
kubitz | 22:af49b9e79d9c | 41 | float target_velocity = 30; |
kubitz | 22:af49b9e79d9c | 42 | float integral_vel = 0; |
kubitz | 22:af49b9e79d9c | 43 | float derivative_vel = 0; |
kubitz | 22:af49b9e79d9c | 44 | float last_vel_error = 0; |
kubitz | 22:af49b9e79d9c | 45 | |
kubitz | 22:af49b9e79d9c | 46 | int previous_position = 0; |
kubitz | 22:af49b9e79d9c | 47 | int current_position = 0; |
kubitz | 22:af49b9e79d9c | 48 | |
kubitz | 22:af49b9e79d9c | 49 | float kp_vel = 20; |
kubitz | 22:af49b9e79d9c | 50 | float ki_vel = 0; |
kubitz | 22:af49b9e79d9c | 51 | float kd_vel = 0; |
kubitz | 22:af49b9e79d9c | 52 | |
kubitz | 22:af49b9e79d9c | 53 | // Position Controller Variables |
kubitz | 22:af49b9e79d9c | 54 | float target_position = 500; |
kubitz | 22:af49b9e79d9c | 55 | float integral_pos = 0; |
kubitz | 22:af49b9e79d9c | 56 | float derivative_pos = 0; |
kubitz | 22:af49b9e79d9c | 57 | float last_pos_error = 0; |
kubitz | 22:af49b9e79d9c | 58 | |
kubitz | 22:af49b9e79d9c | 59 | float kp_pos = 20; |
kubitz | 22:af49b9e79d9c | 60 | float ki_pos = 0; |
kubitz | 22:af49b9e79d9c | 61 | float kd_pos = 10; |
kubitz | 22:af49b9e79d9c | 62 | |
kubitz | 22:af49b9e79d9c | 63 | |
estott | 0:de4320f74764 | 64 | //Mapping from sequential drive states to motor phase outputs |
estott | 0:de4320f74764 | 65 | /* |
estott | 0:de4320f74764 | 66 | State L1 L2 L3 |
estott | 0:de4320f74764 | 67 | 0 H - L |
estott | 0:de4320f74764 | 68 | 1 - H L |
estott | 0:de4320f74764 | 69 | 2 L H - |
estott | 0:de4320f74764 | 70 | 3 L - H |
estott | 0:de4320f74764 | 71 | 4 - L H |
estott | 0:de4320f74764 | 72 | 5 H L - |
estott | 0:de4320f74764 | 73 | 6 - - - |
estott | 0:de4320f74764 | 74 | 7 - - - |
estott | 0:de4320f74764 | 75 | */ |
estott | 0:de4320f74764 | 76 | //Drive state to output table |
estott | 0:de4320f74764 | 77 | const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; |
estott | 2:4e88faab6988 | 78 | |
estott | 0:de4320f74764 | 79 | //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid |
kubitz | 13:58ada64bb664 | 80 | const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; |
estott | 2:4e88faab6988 | 81 | //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed |
estott | 2:4e88faab6988 | 82 | |
kubitz | 13:58ada64bb664 | 83 | const float pwm_period =0.25f; |
kubitz | 13:58ada64bb664 | 84 | |
kubitz | 22:af49b9e79d9c | 85 | |
kubitz | 13:58ada64bb664 | 86 | |
kubitz | 13:58ada64bb664 | 87 | // SHARED GLOBAL VARIABLES // |
kubitz | 13:58ada64bb664 | 88 | Semaphore pos_semaphore(0); |
kubitz | 22:af49b9e79d9c | 89 | float position = 0; |
kubitz | 13:58ada64bb664 | 90 | bool direction = 1; |
kubitz | 13:58ada64bb664 | 91 | |
kubitz | 13:58ada64bb664 | 92 | int lead = 2; |
kubitz | 13:58ada64bb664 | 93 | |
kubitz | 13:58ada64bb664 | 94 | // NON-SHARED GLOBAL VARIABLES // |
kubitz | 13:58ada64bb664 | 95 | int lead_old; |
estott | 0:de4320f74764 | 96 | |
estott | 0:de4320f74764 | 97 | //Status LED |
estott | 0:de4320f74764 | 98 | DigitalOut led1(LED1); |
estott | 0:de4320f74764 | 99 | |
estott | 0:de4320f74764 | 100 | //Photointerrupter inputs |
kubitz | 13:58ada64bb664 | 101 | InterruptIn I1(I1pin); |
kubitz | 13:58ada64bb664 | 102 | InterruptIn I2(I2pin); |
kubitz | 13:58ada64bb664 | 103 | InterruptIn I3(I3pin); |
estott | 0:de4320f74764 | 104 | |
estott | 0:de4320f74764 | 105 | //Motor Drive outputs |
estott | 0:de4320f74764 | 106 | DigitalOut L1L(L1Lpin); |
estott | 0:de4320f74764 | 107 | DigitalOut L1H(L1Hpin); |
estott | 0:de4320f74764 | 108 | DigitalOut L2L(L2Lpin); |
estott | 0:de4320f74764 | 109 | DigitalOut L2H(L2Hpin); |
estott | 0:de4320f74764 | 110 | DigitalOut L3L(L3Lpin); |
estott | 0:de4320f74764 | 111 | DigitalOut L3H(L3Hpin); |
estott | 0:de4320f74764 | 112 | |
estott | 11:5ff18183764a | 113 | DigitalOut TP1(TP1pin); |
estott | 11:5ff18183764a | 114 | PwmOut MotorPWM(PWMpin); |
estott | 11:5ff18183764a | 115 | |
kubitz | 13:58ada64bb664 | 116 | Ticker motorCtrlTicker; |
kubitz | 14:0146695df1a5 | 117 | Thread thread_motorCtrl (osPriorityNormal,1024); |
kubitz | 13:58ada64bb664 | 118 | |
kubitz | 13:58ada64bb664 | 119 | volatile int8_t orState = 0; //Rotot offset at motor state 0 |
kubitz | 13:58ada64bb664 | 120 | volatile int8_t intState = 0; |
kubitz | 13:58ada64bb664 | 121 | volatile int8_t intStateOld = 0; |
kubitz | 13:58ada64bb664 | 122 | |
kubitz | 13:58ada64bb664 | 123 | |
estott | 0:de4320f74764 | 124 | //Set a given drive state |
kubitz | 13:58ada64bb664 | 125 | void motorOut(int8_t driveState) |
kubitz | 13:58ada64bb664 | 126 | { |
kubitz | 13:58ada64bb664 | 127 | |
estott | 2:4e88faab6988 | 128 | //Lookup the output byte from the drive state. |
estott | 2:4e88faab6988 | 129 | int8_t driveOut = driveTable[driveState & 0x07]; |
kubitz | 13:58ada64bb664 | 130 | |
estott | 2:4e88faab6988 | 131 | //Turn off first |
estott | 2:4e88faab6988 | 132 | if (~driveOut & 0x01) L1L = 0; |
estott | 2:4e88faab6988 | 133 | if (~driveOut & 0x02) L1H = 1; |
estott | 2:4e88faab6988 | 134 | if (~driveOut & 0x04) L2L = 0; |
estott | 2:4e88faab6988 | 135 | if (~driveOut & 0x08) L2H = 1; |
estott | 2:4e88faab6988 | 136 | if (~driveOut & 0x10) L3L = 0; |
estott | 2:4e88faab6988 | 137 | if (~driveOut & 0x20) L3H = 1; |
kubitz | 13:58ada64bb664 | 138 | |
estott | 2:4e88faab6988 | 139 | //Then turn on |
estott | 2:4e88faab6988 | 140 | if (driveOut & 0x01) L1L = 1; |
estott | 2:4e88faab6988 | 141 | if (driveOut & 0x02) L1H = 0; |
estott | 2:4e88faab6988 | 142 | if (driveOut & 0x04) L2L = 1; |
estott | 2:4e88faab6988 | 143 | if (driveOut & 0x08) L2H = 0; |
estott | 2:4e88faab6988 | 144 | if (driveOut & 0x10) L3L = 1; |
estott | 2:4e88faab6988 | 145 | if (driveOut & 0x20) L3H = 0; |
kubitz | 13:58ada64bb664 | 146 | } |
kubitz | 13:58ada64bb664 | 147 | |
kubitz | 13:58ada64bb664 | 148 | //Convert photointerrupter inputs to a rotor state |
kubitz | 13:58ada64bb664 | 149 | inline int8_t readRotorState() |
kubitz | 13:58ada64bb664 | 150 | { |
kubitz | 13:58ada64bb664 | 151 | return stateMap[I1 + 2*I2 + 4*I3]; |
kubitz | 13:58ada64bb664 | 152 | } |
kubitz | 13:58ada64bb664 | 153 | |
kubitz | 13:58ada64bb664 | 154 | |
kubitz | 13:58ada64bb664 | 155 | void move() |
kubitz | 13:58ada64bb664 | 156 | { |
kubitz | 13:58ada64bb664 | 157 | intState = readRotorState(); |
kubitz | 13:58ada64bb664 | 158 | |
kubitz | 13:58ada64bb664 | 159 | // Updates direction only if statechanges by 1 |
kubitz | 13:58ada64bb664 | 160 | // If state chance is missed then interrupt is unchanged |
kubitz | 13:58ada64bb664 | 161 | if( intState == 0 && intStateOld == 5) { |
kubitz | 13:58ada64bb664 | 162 | direction = 1; |
kubitz | 13:58ada64bb664 | 163 | position++; |
kubitz | 13:58ada64bb664 | 164 | } else if( intState == 5 && intStateOld == 0) { |
kubitz | 13:58ada64bb664 | 165 | direction = 0; |
kubitz | 13:58ada64bb664 | 166 | position--; |
kubitz | 13:58ada64bb664 | 167 | } else if ( intState == intStateOld + 1 ) { |
kubitz | 13:58ada64bb664 | 168 | direction = 1; |
kubitz | 13:58ada64bb664 | 169 | position++; |
kubitz | 13:58ada64bb664 | 170 | } else if (intState == intStateOld - 1) { |
kubitz | 13:58ada64bb664 | 171 | direction = 0; |
kubitz | 13:58ada64bb664 | 172 | position--; |
estott | 0:de4320f74764 | 173 | } |
kubitz | 13:58ada64bb664 | 174 | |
kubitz | 13:58ada64bb664 | 175 | pos_semaphore.release(); |
kubitz | 13:58ada64bb664 | 176 | |
kubitz | 13:58ada64bb664 | 177 | intStateOld = intState; |
kubitz | 13:58ada64bb664 | 178 | |
kubitz | 13:58ada64bb664 | 179 | motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive |
estott | 0:de4320f74764 | 180 | } |
estott | 0:de4320f74764 | 181 | |
kubitz | 13:58ada64bb664 | 182 | |
kubitz | 13:58ada64bb664 | 183 | void motorCtrlTick() |
kubitz | 13:58ada64bb664 | 184 | { |
kubitz | 14:0146695df1a5 | 185 | thread_motorCtrl.signal_set(0x1); |
kubitz | 14:0146695df1a5 | 186 | //osSignalSet(thread_motorCtrl, 0x1); |
kubitz | 13:58ada64bb664 | 187 | } |
kubitz | 13:58ada64bb664 | 188 | |
kubitz | 22:af49b9e79d9c | 189 | float get_vel_control_out(float velocity_error) |
kubitz | 18:01977903e972 | 190 | { |
kubitz | 22:af49b9e79d9c | 191 | integral_vel += velocity_error; |
kubitz | 22:af49b9e79d9c | 192 | derivative_vel = velocity_error - last_vel_error; |
kubitz | 22:af49b9e79d9c | 193 | float velocity_out = (kp_vel*velocity_error) + (ki_vel*integral_vel) + (kd_vel*derivative_vel); |
kubitz | 22:af49b9e79d9c | 194 | last_vel_error = velocity_error; |
kubitz | 18:01977903e972 | 195 | return velocity_out; |
kubitz | 13:58ada64bb664 | 196 | } |
kubitz | 13:58ada64bb664 | 197 | |
kubitz | 22:af49b9e79d9c | 198 | float get_pos_control_out(float position_error){ |
kubitz | 22:af49b9e79d9c | 199 | integral_pos += position_error; |
kubitz | 22:af49b9e79d9c | 200 | derivative_pos = position_error - last_pos_error; |
kubitz | 22:af49b9e79d9c | 201 | float velocity_out = (kp_pos*position_error) + (ki_pos*integral_pos) + (kd_pos*derivative_pos); |
kubitz | 22:af49b9e79d9c | 202 | last_pos_error = position_error; |
kubitz | 22:af49b9e79d9c | 203 | return velocity_out; |
kubitz | 13:58ada64bb664 | 204 | } |
kubitz | 13:58ada64bb664 | 205 | |
kubitz | 17:baffdedf9590 | 206 | float get_motor_out(float velocity_out) |
kubitz | 13:58ada64bb664 | 207 | { |
kubitz | 13:58ada64bb664 | 208 | float motor_out; |
kubitz | 17:baffdedf9590 | 209 | if( velocity_out < 0) { |
kubitz | 17:baffdedf9590 | 210 | motor_out = velocity_out*-1; |
kubitz | 13:58ada64bb664 | 211 | } else { |
kubitz | 17:baffdedf9590 | 212 | motor_out = velocity_out; |
kubitz | 13:58ada64bb664 | 213 | } |
kubitz | 17:baffdedf9590 | 214 | if (velocity_out > 1 || velocity_out < -1) { |
kubitz | 13:58ada64bb664 | 215 | motor_out = 1; |
kubitz | 13:58ada64bb664 | 216 | } |
kubitz | 13:58ada64bb664 | 217 | return motor_out; |
estott | 0:de4320f74764 | 218 | } |
kubitz | 13:58ada64bb664 | 219 | |
kubitz | 17:baffdedf9590 | 220 | int get_current_position(){ |
kubitz | 13:58ada64bb664 | 221 | pos_semaphore.wait(); |
kubitz | 13:58ada64bb664 | 222 | return position; |
kubitz | 13:58ada64bb664 | 223 | } |
kubitz | 13:58ada64bb664 | 224 | |
kubitz | 13:58ada64bb664 | 225 | void attach_ISR(){ |
kubitz | 13:58ada64bb664 | 226 | I1.rise(&move); |
kubitz | 13:58ada64bb664 | 227 | I1.fall(&move); |
kubitz | 13:58ada64bb664 | 228 | I2.rise(&move); |
kubitz | 13:58ada64bb664 | 229 | I2.fall(&move); |
kubitz | 13:58ada64bb664 | 230 | I3.rise(&move); |
kubitz | 13:58ada64bb664 | 231 | I3.fall(&move); |
kubitz | 13:58ada64bb664 | 232 | } |
kubitz | 13:58ada64bb664 | 233 | |
kubitz | 13:58ada64bb664 | 234 | |
kubitz | 22:af49b9e79d9c | 235 | float combine_control_out(float position_control_out, float velocity_control_out, float current_velocity) |
kubitz | 13:58ada64bb664 | 236 | { |
kubitz | 22:af49b9e79d9c | 237 | float velocity_out = 0; |
kubitz | 22:af49b9e79d9c | 238 | if(current_velocity <= 0) { |
kubitz | 22:af49b9e79d9c | 239 | velocity_out = std::max(position_control_out, velocity_control_out); } |
kubitz | 13:58ada64bb664 | 240 | else { |
kubitz | 22:af49b9e79d9c | 241 | velocity_out = std::min(position_control_out, velocity_control_out); |
estott | 2:4e88faab6988 | 242 | } |
kubitz | 22:af49b9e79d9c | 243 | return velocity_out; |
kubitz | 13:58ada64bb664 | 244 | } |
kubitz | 13:58ada64bb664 | 245 | |
kubitz | 22:af49b9e79d9c | 246 | float get_current_velocity(float current_position) { |
kubitz | 22:af49b9e79d9c | 247 | float velocity_factor = (1000/(timer_velocity.read_ms()-last_time_MtrCtlr)); |
kubitz | 22:af49b9e79d9c | 248 | float velocity = ((current_position - previous_position)/6)*velocity_factor; |
kubitz | 22:af49b9e79d9c | 249 | last_time_MtrCtlr = timer_velocity.read_ms(); |
kubitz | 22:af49b9e79d9c | 250 | previous_position = current_position; |
kubitz | 22:af49b9e79d9c | 251 | return velocity; |
kubitz | 22:af49b9e79d9c | 252 | } |
kubitz | 13:58ada64bb664 | 253 | |
kubitz | 17:baffdedf9590 | 254 | void update_lead(float velocity_out){ |
kubitz | 13:58ada64bb664 | 255 | // No functionality for breaking |
kubitz | 17:baffdedf9590 | 256 | if(velocity_out >= 0){ |
kubitz | 13:58ada64bb664 | 257 | lead = 2; |
kubitz | 13:58ada64bb664 | 258 | } |
kubitz | 13:58ada64bb664 | 259 | else { |
kubitz | 13:58ada64bb664 | 260 | lead = -2; |
kubitz | 13:58ada64bb664 | 261 | } |
kubitz | 13:58ada64bb664 | 262 | |
estott | 0:de4320f74764 | 263 | } |
kubitz | 14:0146695df1a5 | 264 | void motorInitSequence() |
kubitz | 13:58ada64bb664 | 265 | { |
kubitz | 13:58ada64bb664 | 266 | motorCtrlTicker.attach_us(&motorCtrlTick,100000); |
kubitz | 22:af49b9e79d9c | 267 | last_pos_error = target_position; |
kubitz | 15:2c9b3251c383 | 268 | last_time_MtrCtlr = 0; |
kubitz | 15:2c9b3251c383 | 269 | |
kubitz | 13:58ada64bb664 | 270 | MotorPWM.write(1); |
kubitz | 13:58ada64bb664 | 271 | MotorPWM.period(pwm_period); |
kubitz | 13:58ada64bb664 | 272 | |
kubitz | 13:58ada64bb664 | 273 | motorOut(0); |
kubitz | 13:58ada64bb664 | 274 | wait(3.0); |
kubitz | 13:58ada64bb664 | 275 | orState = readRotorState(); |
kubitz | 19:e95f6004f365 | 276 | attach_ISR(); |
kubitz | 19:e95f6004f365 | 277 | |
kubitz | 17:baffdedf9590 | 278 | if(target_velocity > 0){ |
kubitz | 13:58ada64bb664 | 279 | lead = 2; |
kubitz | 23:e5a2e8cef243 | 280 | for (int i = 1; i<4; i++){ |
kubitz | 23:e5a2e8cef243 | 281 | motorOut(i); |
kubitz | 23:e5a2e8cef243 | 282 | wait(0.2); |
kubitz | 23:e5a2e8cef243 | 283 | } |
kubitz | 13:58ada64bb664 | 284 | } |
kubitz | 13:58ada64bb664 | 285 | else{ |
kubitz | 13:58ada64bb664 | 286 | lead = -2; |
kubitz | 23:e5a2e8cef243 | 287 | for (int i = 5; i > 2 ; i --){ |
kubitz | 23:e5a2e8cef243 | 288 | motorOut(i); |
kubitz | 23:e5a2e8cef243 | 289 | wait(0.2); |
kubitz | 23:e5a2e8cef243 | 290 | } |
kubitz | 13:58ada64bb664 | 291 | } |
kubitz | 17:baffdedf9590 | 292 | current_position = get_current_position(); |
kubitz | 17:baffdedf9590 | 293 | previous_position = current_position; |
kubitz | 15:2c9b3251c383 | 294 | timer_velocity.start(); |
kubitz | 14:0146695df1a5 | 295 | } |
kubitz | 14:0146695df1a5 | 296 | |
kubitz | 14:0146695df1a5 | 297 | void motorCtrlFn() |
kubitz | 14:0146695df1a5 | 298 | { |
kubitz | 13:58ada64bb664 | 299 | while(1) { |
kubitz | 16:53d3445dcf6b | 300 | thread_motorCtrl.signal_wait(0x1); |
kubitz | 22:af49b9e79d9c | 301 | |
kubitz | 17:baffdedf9590 | 302 | current_position = get_current_position(); |
kubitz | 22:af49b9e79d9c | 303 | float current_velocity = get_current_velocity(current_position); |
kubitz | 20:4371ed979fbf | 304 | |
kubitz | 22:af49b9e79d9c | 305 | float velocity_error = target_velocity - current_velocity; |
kubitz | 22:af49b9e79d9c | 306 | float velocity_control_out = get_vel_control_out(velocity_error); |
kubitz | 20:4371ed979fbf | 307 | |
kubitz | 22:af49b9e79d9c | 308 | float position_error = target_position - (current_position/6); |
kubitz | 22:af49b9e79d9c | 309 | float position_control_out = get_pos_control_out(position_error); |
kubitz | 21:302d9043cb4b | 310 | |
kubitz | 22:af49b9e79d9c | 311 | float velocity_out = combine_control_out(position_control_out, velocity_control_out, current_velocity); |
kubitz | 22:af49b9e79d9c | 312 | float motor_out = get_motor_out(position_control_out); |
kubitz | 20:4371ed979fbf | 313 | |
kubitz | 22:af49b9e79d9c | 314 | update_lead(velocity_out); |
kubitz | 13:58ada64bb664 | 315 | MotorPWM.period(pwm_period); |
kubitz | 22:af49b9e79d9c | 316 | MotorPWM.write(motor_out); |
kubitz | 13:58ada64bb664 | 317 | |
kubitz | 22:af49b9e79d9c | 318 | if(i > 10) { |
kubitz | 22:af49b9e79d9c | 319 | pc.printf("Velocity = %f, Position = %f, MotorOut = %f, y = %f, lead = %d\r\n", current_velocity, (position/6), motor_out, velocity_out, lead); |
kubitz | 22:af49b9e79d9c | 320 | i = 0; |
kubitz | 22:af49b9e79d9c | 321 | } |
kubitz | 13:58ada64bb664 | 322 | i++; |
kubitz | 13:58ada64bb664 | 323 | } |
kubitz | 13:58ada64bb664 | 324 | } |
kubitz | 13:58ada64bb664 | 325 | |
kubitz | 13:58ada64bb664 | 326 | |
kubitz | 13:58ada64bb664 | 327 | //Main |
kubitz | 13:58ada64bb664 | 328 | int main() |
kubitz | 13:58ada64bb664 | 329 | { |
kubitz | 14:0146695df1a5 | 330 | motorInitSequence(); |
kubitz | 14:0146695df1a5 | 331 | thread_motorCtrl.start(motorCtrlFn); |
kubitz | 14:0146695df1a5 | 332 | |
kubitz | 13:58ada64bb664 | 333 | } |
kubitz | 13:58ada64bb664 | 334 |