test
Dependencies: BSP_DISCO_F429ZI LCD_DISCO_F429ZI Motor PID TS_DISCO_F429ZI mbed
main.cpp@0:4a219a0d6583, 2017-09-26 (annotated)
- Committer:
- levkovigor
- Date:
- Tue Sep 26 16:23:36 2017 +0000
- Revision:
- 0:4a219a0d6583
test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
levkovigor | 0:4a219a0d6583 | 1 | #include "mbed.h" |
levkovigor | 0:4a219a0d6583 | 2 | #include "TS_DISCO_F429ZI.h" |
levkovigor | 0:4a219a0d6583 | 3 | #include "LCD_DISCO_F429ZI.h" |
levkovigor | 0:4a219a0d6583 | 4 | #include "Motor.h" |
levkovigor | 0:4a219a0d6583 | 5 | #include "PID.h" |
levkovigor | 0:4a219a0d6583 | 6 | |
levkovigor | 0:4a219a0d6583 | 7 | LCD_DISCO_F429ZI lcd; |
levkovigor | 0:4a219a0d6583 | 8 | TS_DISCO_F429ZI ts; |
levkovigor | 0:4a219a0d6583 | 9 | |
levkovigor | 0:4a219a0d6583 | 10 | PwmOut right_sk(PE_5); |
levkovigor | 0:4a219a0d6583 | 11 | PwmOut left_sk(PE_6); |
levkovigor | 0:4a219a0d6583 | 12 | |
levkovigor | 0:4a219a0d6583 | 13 | DigitalOut right_en(PE_4); //Enable |
levkovigor | 0:4a219a0d6583 | 14 | DigitalOut right_fr(PE_3); //Direction |
levkovigor | 0:4a219a0d6583 | 15 | DigitalOut right_bk(PE_2); //Break |
levkovigor | 0:4a219a0d6583 | 16 | |
levkovigor | 0:4a219a0d6583 | 17 | DigitalOut left_en(PD_2); //Enable |
levkovigor | 0:4a219a0d6583 | 18 | DigitalOut left_fr(PD_4); //Direction |
levkovigor | 0:4a219a0d6583 | 19 | DigitalOut left_bk(PD_5); //Break |
levkovigor | 0:4a219a0d6583 | 20 | |
levkovigor | 0:4a219a0d6583 | 21 | |
levkovigor | 0:4a219a0d6583 | 22 | //Serial pc(PG_14, PG_9, 115200); // tx, rx |
levkovigor | 0:4a219a0d6583 | 23 | //Serial pc(PC_12, PD_2, 115200); // tx, rx |
levkovigor | 0:4a219a0d6583 | 24 | |
levkovigor | 0:4a219a0d6583 | 25 | DigitalOut led1(LED1); |
levkovigor | 0:4a219a0d6583 | 26 | char buffer[20]; |
levkovigor | 0:4a219a0d6583 | 27 | char buffer2[20]; |
levkovigor | 0:4a219a0d6583 | 28 | |
levkovigor | 0:4a219a0d6583 | 29 | class Counter { |
levkovigor | 0:4a219a0d6583 | 30 | public: |
levkovigor | 0:4a219a0d6583 | 31 | Counter(PinName pin) : _interrupt(pin) { // create the InterruptIn on the pin specified to Counter |
levkovigor | 0:4a219a0d6583 | 32 | _interrupt.fall(this, &Counter::increment); // attach increment function of this counter instance |
levkovigor | 0:4a219a0d6583 | 33 | } |
levkovigor | 0:4a219a0d6583 | 34 | |
levkovigor | 0:4a219a0d6583 | 35 | void increment() { |
levkovigor | 0:4a219a0d6583 | 36 | _count++; |
levkovigor | 0:4a219a0d6583 | 37 | } |
levkovigor | 0:4a219a0d6583 | 38 | |
levkovigor | 0:4a219a0d6583 | 39 | long read() { |
levkovigor | 0:4a219a0d6583 | 40 | return _count; |
levkovigor | 0:4a219a0d6583 | 41 | } |
levkovigor | 0:4a219a0d6583 | 42 | |
levkovigor | 0:4a219a0d6583 | 43 | void zero(){ |
levkovigor | 0:4a219a0d6583 | 44 | _count = 0; |
levkovigor | 0:4a219a0d6583 | 45 | } |
levkovigor | 0:4a219a0d6583 | 46 | |
levkovigor | 0:4a219a0d6583 | 47 | private: |
levkovigor | 0:4a219a0d6583 | 48 | InterruptIn _interrupt; |
levkovigor | 0:4a219a0d6583 | 49 | volatile long _count; |
levkovigor | 0:4a219a0d6583 | 50 | }; |
levkovigor | 0:4a219a0d6583 | 51 | |
levkovigor | 0:4a219a0d6583 | 52 | |
levkovigor | 0:4a219a0d6583 | 53 | Counter counterLeft(PC_13); |
levkovigor | 0:4a219a0d6583 | 54 | Counter counterRight(PC_12); |
levkovigor | 0:4a219a0d6583 | 55 | |
levkovigor | 0:4a219a0d6583 | 56 | |
levkovigor | 0:4a219a0d6583 | 57 | |
levkovigor | 0:4a219a0d6583 | 58 | Motor leftMotor(PE_5, PB_3, PB_3); //pwm, inB, inA |
levkovigor | 0:4a219a0d6583 | 59 | Motor rightMotor(PE_6, PB_4, PB_4); //pwm, inA, inB |
levkovigor | 0:4a219a0d6583 | 60 | PID leftPid(0.4, 0.1, 0.0, 0.01); //Kc, Ti, Td |
levkovigor | 0:4a219a0d6583 | 61 | PID rightPid(0.4, 0.1, 0.0, 0.01); //Kc, Ti, Td |
levkovigor | 0:4a219a0d6583 | 62 | |
levkovigor | 0:4a219a0d6583 | 63 | //------------------------------- |
levkovigor | 0:4a219a0d6583 | 64 | |
levkovigor | 0:4a219a0d6583 | 65 | |
levkovigor | 0:4a219a0d6583 | 66 | |
levkovigor | 0:4a219a0d6583 | 67 | |
levkovigor | 0:4a219a0d6583 | 68 | int main() |
levkovigor | 0:4a219a0d6583 | 69 | { |
levkovigor | 0:4a219a0d6583 | 70 | TS_StateTypeDef TS_State; |
levkovigor | 0:4a219a0d6583 | 71 | uint16_t x, y; |
levkovigor | 0:4a219a0d6583 | 72 | uint8_t text[30]; |
levkovigor | 0:4a219a0d6583 | 73 | uint8_t status; |
levkovigor | 0:4a219a0d6583 | 74 | |
levkovigor | 0:4a219a0d6583 | 75 | BSP_LCD_SetFont(&Font20); |
levkovigor | 0:4a219a0d6583 | 76 | |
levkovigor | 0:4a219a0d6583 | 77 | lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN", CENTER_MODE); |
levkovigor | 0:4a219a0d6583 | 78 | lcd.DisplayStringAt(0, LINE(6), (uint8_t *)"DEMO", CENTER_MODE); |
levkovigor | 0:4a219a0d6583 | 79 | wait(1); |
levkovigor | 0:4a219a0d6583 | 80 | |
levkovigor | 0:4a219a0d6583 | 81 | status = ts.Init(lcd.GetXSize(), lcd.GetYSize()); |
levkovigor | 0:4a219a0d6583 | 82 | |
levkovigor | 0:4a219a0d6583 | 83 | if (status != TS_OK) |
levkovigor | 0:4a219a0d6583 | 84 | { |
levkovigor | 0:4a219a0d6583 | 85 | lcd.Clear(LCD_COLOR_RED); |
levkovigor | 0:4a219a0d6583 | 86 | lcd.SetBackColor(LCD_COLOR_RED); |
levkovigor | 0:4a219a0d6583 | 87 | lcd.SetTextColor(LCD_COLOR_WHITE); |
levkovigor | 0:4a219a0d6583 | 88 | lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN", CENTER_MODE); |
levkovigor | 0:4a219a0d6583 | 89 | lcd.DisplayStringAt(0, LINE(6), (uint8_t *)"INIT FAIL", CENTER_MODE); |
levkovigor | 0:4a219a0d6583 | 90 | } |
levkovigor | 0:4a219a0d6583 | 91 | else |
levkovigor | 0:4a219a0d6583 | 92 | { |
levkovigor | 0:4a219a0d6583 | 93 | lcd.Clear(LCD_COLOR_GREEN); |
levkovigor | 0:4a219a0d6583 | 94 | lcd.SetBackColor(LCD_COLOR_GREEN); |
levkovigor | 0:4a219a0d6583 | 95 | lcd.SetTextColor(LCD_COLOR_WHITE); |
levkovigor | 0:4a219a0d6583 | 96 | lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN", CENTER_MODE); |
levkovigor | 0:4a219a0d6583 | 97 | lcd.DisplayStringAt(0, LINE(6), (uint8_t *)"INIT OK", CENTER_MODE); |
levkovigor | 0:4a219a0d6583 | 98 | } |
levkovigor | 0:4a219a0d6583 | 99 | |
levkovigor | 0:4a219a0d6583 | 100 | wait(1); |
levkovigor | 0:4a219a0d6583 | 101 | lcd.Clear(LCD_COLOR_BLUE); |
levkovigor | 0:4a219a0d6583 | 102 | lcd.SetBackColor(LCD_COLOR_BLUE); |
levkovigor | 0:4a219a0d6583 | 103 | lcd.SetTextColor(LCD_COLOR_WHITE); |
levkovigor | 0:4a219a0d6583 | 104 | |
levkovigor | 0:4a219a0d6583 | 105 | /* |
levkovigor | 0:4a219a0d6583 | 106 | do1 = 0; |
levkovigor | 0:4a219a0d6583 | 107 | do2 = 1; |
levkovigor | 0:4a219a0d6583 | 108 | do3 = 1; |
levkovigor | 0:4a219a0d6583 | 109 | //do1 = 0; |
levkovigor | 0:4a219a0d6583 | 110 | pwm1.period(1.0/10000); // 4 second period |
levkovigor | 0:4a219a0d6583 | 111 | pwm1.write(0.50f); // 50% duty cycle, relative to period |
levkovigor | 0:4a219a0d6583 | 112 | |
levkovigor | 0:4a219a0d6583 | 113 | while(1) |
levkovigor | 0:4a219a0d6583 | 114 | { |
levkovigor | 0:4a219a0d6583 | 115 | |
levkovigor | 0:4a219a0d6583 | 116 | ts.GetState(&TS_State); |
levkovigor | 0:4a219a0d6583 | 117 | if (TS_State.TouchDetected) |
levkovigor | 0:4a219a0d6583 | 118 | { |
levkovigor | 0:4a219a0d6583 | 119 | x = TS_State.X; |
levkovigor | 0:4a219a0d6583 | 120 | y = TS_State.Y; |
levkovigor | 0:4a219a0d6583 | 121 | sprintf((char*)text, "x=%d y=%d ", x, y); |
levkovigor | 0:4a219a0d6583 | 122 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)&text, LEFT_MODE); |
levkovigor | 0:4a219a0d6583 | 123 | if (x <= 120) { do2 = 0;} else { do2 = 1;} |
levkovigor | 0:4a219a0d6583 | 124 | float k = float(y)/320.00f; |
levkovigor | 0:4a219a0d6583 | 125 | pwm1.write(k); |
levkovigor | 0:4a219a0d6583 | 126 | } |
levkovigor | 0:4a219a0d6583 | 127 | sprintf((char*)text, "c=%d ", counter.read()); |
levkovigor | 0:4a219a0d6583 | 128 | lcd.DisplayStringAt(0, LINE(1), (uint8_t *)&text, LEFT_MODE); |
levkovigor | 0:4a219a0d6583 | 129 | } |
levkovigor | 0:4a219a0d6583 | 130 | */ |
levkovigor | 0:4a219a0d6583 | 131 | |
levkovigor | 0:4a219a0d6583 | 132 | //right_en = 0; |
levkovigor | 0:4a219a0d6583 | 133 | //left_en = 0; |
levkovigor | 0:4a219a0d6583 | 134 | right_bk = 1; |
levkovigor | 0:4a219a0d6583 | 135 | right_en = 0; |
levkovigor | 0:4a219a0d6583 | 136 | //right_fr = 1; |
levkovigor | 0:4a219a0d6583 | 137 | //right_sk.period(0.00005); |
levkovigor | 0:4a219a0d6583 | 138 | //right_sk.write(0.50f); |
levkovigor | 0:4a219a0d6583 | 139 | left_bk = 1; |
levkovigor | 0:4a219a0d6583 | 140 | left_en = 0; |
levkovigor | 0:4a219a0d6583 | 141 | //left_fr = 1; |
levkovigor | 0:4a219a0d6583 | 142 | //left_sk.period(0.00005); |
levkovigor | 0:4a219a0d6583 | 143 | //left_sk.write(0.50f); |
levkovigor | 0:4a219a0d6583 | 144 | leftMotor.period(0.00005); //Set motor PWM periods to 20KHz. |
levkovigor | 0:4a219a0d6583 | 145 | rightMotor.period(0.00005); |
levkovigor | 0:4a219a0d6583 | 146 | |
levkovigor | 0:4a219a0d6583 | 147 | //Input and output limits have been determined |
levkovigor | 0:4a219a0d6583 | 148 | //empirically with the specific motors being used. |
levkovigor | 0:4a219a0d6583 | 149 | //Change appropriately for different motors. |
levkovigor | 0:4a219a0d6583 | 150 | //Input units: counts per second. |
levkovigor | 0:4a219a0d6583 | 151 | //Output units: PwmOut duty cycle as %. |
levkovigor | 0:4a219a0d6583 | 152 | //Default limits are for moving forward. |
levkovigor | 0:4a219a0d6583 | 153 | leftPid.setInputLimits(0, 1500); |
levkovigor | 0:4a219a0d6583 | 154 | leftPid.setOutputLimits(0.2, 0.9); |
levkovigor | 0:4a219a0d6583 | 155 | leftPid.setMode(AUTO_MODE); |
levkovigor | 0:4a219a0d6583 | 156 | rightPid.setInputLimits(0, 1500); |
levkovigor | 0:4a219a0d6583 | 157 | rightPid.setOutputLimits(0.2, 0.9); |
levkovigor | 0:4a219a0d6583 | 158 | rightPid.setMode(AUTO_MODE); |
levkovigor | 0:4a219a0d6583 | 159 | |
levkovigor | 0:4a219a0d6583 | 160 | |
levkovigor | 0:4a219a0d6583 | 161 | long leftPulses = 0; //How far the left wheel has travelled. |
levkovigor | 0:4a219a0d6583 | 162 | long leftPrevPulses = 0; //The previous reading of how far the left wheel |
levkovigor | 0:4a219a0d6583 | 163 | //has travelled. |
levkovigor | 0:4a219a0d6583 | 164 | float leftVelocity = 0.0; //The velocity of the left wheel in pulses per |
levkovigor | 0:4a219a0d6583 | 165 | //second. |
levkovigor | 0:4a219a0d6583 | 166 | long rightPulses = 0; //How far the right wheel has travelled. |
levkovigor | 0:4a219a0d6583 | 167 | long rightPrevPulses = 0; //The previous reading of how far the right wheel |
levkovigor | 0:4a219a0d6583 | 168 | //has travelled. |
levkovigor | 0:4a219a0d6583 | 169 | float rightVelocity = 0.0; //The velocity of the right wheel in pulses per |
levkovigor | 0:4a219a0d6583 | 170 | //second. |
levkovigor | 0:4a219a0d6583 | 171 | long distance = 3000; //Number of pulses to travel. |
levkovigor | 0:4a219a0d6583 | 172 | //while(1){ |
levkovigor | 0:4a219a0d6583 | 173 | right_bk = 1; |
levkovigor | 0:4a219a0d6583 | 174 | left_bk = 1; |
levkovigor | 0:4a219a0d6583 | 175 | leftPulses = 0; //How far the left wheel has travelled. |
levkovigor | 0:4a219a0d6583 | 176 | leftPrevPulses = 0; //The previous reading of how far the left wheel |
levkovigor | 0:4a219a0d6583 | 177 | //has travelled. |
levkovigor | 0:4a219a0d6583 | 178 | leftVelocity = 0.0; //The velocity of the left wheel in pulses per |
levkovigor | 0:4a219a0d6583 | 179 | //second. |
levkovigor | 0:4a219a0d6583 | 180 | rightPulses = 0; //How far the right wheel has travelled. |
levkovigor | 0:4a219a0d6583 | 181 | rightPrevPulses = 0; //The previous reading of how far the right wheel |
levkovigor | 0:4a219a0d6583 | 182 | //has travelled. |
levkovigor | 0:4a219a0d6583 | 183 | rightVelocity = 0.0; //The velocity of the right wheel in pulses per |
levkovigor | 0:4a219a0d6583 | 184 | counterLeft.zero(); |
levkovigor | 0:4a219a0d6583 | 185 | counterRight.zero(); |
levkovigor | 0:4a219a0d6583 | 186 | distance = 3000; //Number of pulses to travel. |
levkovigor | 0:4a219a0d6583 | 187 | right_fr = 1; |
levkovigor | 0:4a219a0d6583 | 188 | left_fr = 0; |
levkovigor | 0:4a219a0d6583 | 189 | |
levkovigor | 0:4a219a0d6583 | 190 | //wait(5); //Wait a few seconds before we start moving. |
levkovigor | 0:4a219a0d6583 | 191 | |
levkovigor | 0:4a219a0d6583 | 192 | //Velocity to mantain in pulses per second. |
levkovigor | 0:4a219a0d6583 | 193 | leftPid.setSetPoint(1000); |
levkovigor | 0:4a219a0d6583 | 194 | rightPid.setSetPoint(1000); |
levkovigor | 0:4a219a0d6583 | 195 | |
levkovigor | 0:4a219a0d6583 | 196 | |
levkovigor | 0:4a219a0d6583 | 197 | while ((leftPulses < distance) || (rightPulses < distance)) { |
levkovigor | 0:4a219a0d6583 | 198 | |
levkovigor | 0:4a219a0d6583 | 199 | //Get the current pulse count and subtract the previous one to |
levkovigor | 0:4a219a0d6583 | 200 | //calculate the current velocity in counts per second. |
levkovigor | 0:4a219a0d6583 | 201 | leftPulses = counterLeft.read(); |
levkovigor | 0:4a219a0d6583 | 202 | leftVelocity = (leftPulses - leftPrevPulses) / 0.01; |
levkovigor | 0:4a219a0d6583 | 203 | leftPrevPulses = leftPulses; |
levkovigor | 0:4a219a0d6583 | 204 | //Use the absolute value of velocity as the PID controller works |
levkovigor | 0:4a219a0d6583 | 205 | //in the % (unsigned) domain and will get confused with -ve values. |
levkovigor | 0:4a219a0d6583 | 206 | leftPid.setProcessValue(fabs(leftVelocity)); |
levkovigor | 0:4a219a0d6583 | 207 | leftMotor.speed(leftPid.compute()); |
levkovigor | 0:4a219a0d6583 | 208 | |
levkovigor | 0:4a219a0d6583 | 209 | rightPulses = counterRight.read(); |
levkovigor | 0:4a219a0d6583 | 210 | rightVelocity = (rightPulses - rightPrevPulses) / 0.01; |
levkovigor | 0:4a219a0d6583 | 211 | rightPrevPulses = rightPulses; |
levkovigor | 0:4a219a0d6583 | 212 | rightPid.setProcessValue(fabs(rightVelocity)); |
levkovigor | 0:4a219a0d6583 | 213 | rightMotor.speed(rightPid.compute()); |
levkovigor | 0:4a219a0d6583 | 214 | |
levkovigor | 0:4a219a0d6583 | 215 | wait(0.01); |
levkovigor | 0:4a219a0d6583 | 216 | sprintf((char*)text, "left=%d ", leftPulses); |
levkovigor | 0:4a219a0d6583 | 217 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)&text, LEFT_MODE); |
levkovigor | 0:4a219a0d6583 | 218 | sprintf((char*)text, "right=%d ", rightPulses); |
levkovigor | 0:4a219a0d6583 | 219 | lcd.DisplayStringAt(0, LINE(1), (uint8_t *)&text, LEFT_MODE); |
levkovigor | 0:4a219a0d6583 | 220 | |
levkovigor | 0:4a219a0d6583 | 221 | } |
levkovigor | 0:4a219a0d6583 | 222 | |
levkovigor | 0:4a219a0d6583 | 223 | leftMotor.brake(); |
levkovigor | 0:4a219a0d6583 | 224 | rightMotor.brake(); |
levkovigor | 0:4a219a0d6583 | 225 | |
levkovigor | 0:4a219a0d6583 | 226 | |
levkovigor | 0:4a219a0d6583 | 227 | |
levkovigor | 0:4a219a0d6583 | 228 | |
levkovigor | 0:4a219a0d6583 | 229 | |
levkovigor | 0:4a219a0d6583 | 230 | right_bk = 0; |
levkovigor | 0:4a219a0d6583 | 231 | left_bk = 0; |
levkovigor | 0:4a219a0d6583 | 232 | |
levkovigor | 0:4a219a0d6583 | 233 | |
levkovigor | 0:4a219a0d6583 | 234 | /* |
levkovigor | 0:4a219a0d6583 | 235 | right_bk = 1; |
levkovigor | 0:4a219a0d6583 | 236 | left_bk = 1; |
levkovigor | 0:4a219a0d6583 | 237 | leftPulses = 0; //How far the left wheel has travelled. |
levkovigor | 0:4a219a0d6583 | 238 | leftPrevPulses = 0; //The previous reading of how far the left wheel |
levkovigor | 0:4a219a0d6583 | 239 | //has travelled. |
levkovigor | 0:4a219a0d6583 | 240 | leftVelocity = 0.0; //The velocity of the left wheel in pulses per |
levkovigor | 0:4a219a0d6583 | 241 | //second. |
levkovigor | 0:4a219a0d6583 | 242 | rightPulses = 0; //How far the right wheel has travelled. |
levkovigor | 0:4a219a0d6583 | 243 | rightPrevPulses = 0; //The previous reading of how far the right wheel |
levkovigor | 0:4a219a0d6583 | 244 | //has travelled. |
levkovigor | 0:4a219a0d6583 | 245 | rightVelocity = 0.0; //The velocity of the right wheel in pulses per |
levkovigor | 0:4a219a0d6583 | 246 | counterLeft.zero(); |
levkovigor | 0:4a219a0d6583 | 247 | counterRight.zero(); |
levkovigor | 0:4a219a0d6583 | 248 | distance = 30000; //Number of pulses to travel. |
levkovigor | 0:4a219a0d6583 | 249 | |
levkovigor | 0:4a219a0d6583 | 250 | right_fr = 1; |
levkovigor | 0:4a219a0d6583 | 251 | left_fr = 1; |
levkovigor | 0:4a219a0d6583 | 252 | |
levkovigor | 0:4a219a0d6583 | 253 | //wait(5); //Wait a few seconds before we start moving. |
levkovigor | 0:4a219a0d6583 | 254 | |
levkovigor | 0:4a219a0d6583 | 255 | //Velocity to mantain in pulses per second. |
levkovigor | 0:4a219a0d6583 | 256 | leftPid.setSetPoint(100000); |
levkovigor | 0:4a219a0d6583 | 257 | rightPid.setSetPoint(100000); |
levkovigor | 0:4a219a0d6583 | 258 | |
levkovigor | 0:4a219a0d6583 | 259 | |
levkovigor | 0:4a219a0d6583 | 260 | while ((leftPulses < distance) || (rightPulses < distance)) { |
levkovigor | 0:4a219a0d6583 | 261 | |
levkovigor | 0:4a219a0d6583 | 262 | //Get the current pulse count and subtract the previous one to |
levkovigor | 0:4a219a0d6583 | 263 | //calculate the current velocity in counts per second. |
levkovigor | 0:4a219a0d6583 | 264 | leftPulses = counterLeft.read(); |
levkovigor | 0:4a219a0d6583 | 265 | leftVelocity = (leftPulses - leftPrevPulses) / 0.01; |
levkovigor | 0:4a219a0d6583 | 266 | leftPrevPulses = leftPulses; |
levkovigor | 0:4a219a0d6583 | 267 | //Use the absolute value of velocity as the PID controller works |
levkovigor | 0:4a219a0d6583 | 268 | //in the % (unsigned) domain and will get confused with -ve values. |
levkovigor | 0:4a219a0d6583 | 269 | leftPid.setProcessValue(fabs(leftVelocity)); |
levkovigor | 0:4a219a0d6583 | 270 | leftMotor.speed(leftPid.compute()); |
levkovigor | 0:4a219a0d6583 | 271 | |
levkovigor | 0:4a219a0d6583 | 272 | rightPulses = counterRight.read(); |
levkovigor | 0:4a219a0d6583 | 273 | rightVelocity = (rightPulses - rightPrevPulses) / 0.01; |
levkovigor | 0:4a219a0d6583 | 274 | rightPrevPulses = rightPulses; |
levkovigor | 0:4a219a0d6583 | 275 | rightPid.setProcessValue(fabs(rightVelocity)); |
levkovigor | 0:4a219a0d6583 | 276 | rightMotor.speed(rightPid.compute()); |
levkovigor | 0:4a219a0d6583 | 277 | |
levkovigor | 0:4a219a0d6583 | 278 | wait(0.01); |
levkovigor | 0:4a219a0d6583 | 279 | sprintf((char*)text, "left=%d ", leftPulses); |
levkovigor | 0:4a219a0d6583 | 280 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)&text, LEFT_MODE); |
levkovigor | 0:4a219a0d6583 | 281 | sprintf((char*)text, "right=%d ", rightPulses); |
levkovigor | 0:4a219a0d6583 | 282 | lcd.DisplayStringAt(0, LINE(1), (uint8_t *)&text, LEFT_MODE); |
levkovigor | 0:4a219a0d6583 | 283 | |
levkovigor | 0:4a219a0d6583 | 284 | } |
levkovigor | 0:4a219a0d6583 | 285 | |
levkovigor | 0:4a219a0d6583 | 286 | leftMotor.brake(); |
levkovigor | 0:4a219a0d6583 | 287 | rightMotor.brake(); |
levkovigor | 0:4a219a0d6583 | 288 | right_bk = 0; |
levkovigor | 0:4a219a0d6583 | 289 | left_bk = 0; |
levkovigor | 0:4a219a0d6583 | 290 | |
levkovigor | 0:4a219a0d6583 | 291 | |
levkovigor | 0:4a219a0d6583 | 292 | |
levkovigor | 0:4a219a0d6583 | 293 | */ |
levkovigor | 0:4a219a0d6583 | 294 | |
levkovigor | 0:4a219a0d6583 | 295 | |
levkovigor | 0:4a219a0d6583 | 296 | |
levkovigor | 0:4a219a0d6583 | 297 | //} |
levkovigor | 0:4a219a0d6583 | 298 | |
levkovigor | 0:4a219a0d6583 | 299 | |
levkovigor | 0:4a219a0d6583 | 300 | |
levkovigor | 0:4a219a0d6583 | 301 | /* while(1){ |
levkovigor | 0:4a219a0d6583 | 302 | sprintf((char*)text, "left=%d ", counterLeft.read()); |
levkovigor | 0:4a219a0d6583 | 303 | lcd.DisplayStringAt(0, LINE(0), (uint8_t *)&text, LEFT_MODE); |
levkovigor | 0:4a219a0d6583 | 304 | sprintf((char*)text, "right=%d ", counterRight.read()); |
levkovigor | 0:4a219a0d6583 | 305 | lcd.DisplayStringAt(0, LINE(1), (uint8_t *)&text, LEFT_MODE); |
levkovigor | 0:4a219a0d6583 | 306 | |
levkovigor | 0:4a219a0d6583 | 307 | }*/ |
levkovigor | 0:4a219a0d6583 | 308 | |
levkovigor | 0:4a219a0d6583 | 309 | //lcd.Clear(LCD_COLOR_BLUE); |
levkovigor | 0:4a219a0d6583 | 310 | //lcd.SetBackColor(LCD_COLOR_BLUE); |
levkovigor | 0:4a219a0d6583 | 311 | //lcd.SetTextColor(LCD_COLOR_WHITE); |
levkovigor | 0:4a219a0d6583 | 312 | //wait(0.3); |
levkovigor | 0:4a219a0d6583 | 313 | |
levkovigor | 0:4a219a0d6583 | 314 | //led = 0.5f; // shorthand for led.write() |
levkovigor | 0:4a219a0d6583 | 315 | //led.pulsewidth(2); // alternative to led.write, set duty cycle time in seconds |
levkovigor | 0:4a219a0d6583 | 316 | |
levkovigor | 0:4a219a0d6583 | 317 | |
levkovigor | 0:4a219a0d6583 | 318 | /*gyro.GetXYZ(GyroBuffer); |
levkovigor | 0:4a219a0d6583 | 319 | int ret = snprintf(buffer2, sizeof buffer2, " %.1f ", GyroBuffer[0]); |
levkovigor | 0:4a219a0d6583 | 320 | lcd.DisplayStringAt(0, LINE(3), (uint8_t *)buffer2, CENTER_MODE); |
levkovigor | 0:4a219a0d6583 | 321 | ret = snprintf(buffer2, sizeof buffer2, " %.1f ", GyroBuffer[1]); |
levkovigor | 0:4a219a0d6583 | 322 | lcd.DisplayStringAt(0, LINE(4), (uint8_t *)buffer2, CENTER_MODE); |
levkovigor | 0:4a219a0d6583 | 323 | ret = snprintf(buffer2, sizeof buffer2, " %.1f ", GyroBuffer[2]); |
levkovigor | 0:4a219a0d6583 | 324 | lcd.DisplayStringAt(0, LINE(5), (uint8_t *)buffer2, CENTER_MODE);*/ |
levkovigor | 0:4a219a0d6583 | 325 | |
levkovigor | 0:4a219a0d6583 | 326 | |
levkovigor | 0:4a219a0d6583 | 327 | //wait(1); |
levkovigor | 0:4a219a0d6583 | 328 | //pc.printf("Hello World!\n"); |
levkovigor | 0:4a219a0d6583 | 329 | // while(1) { |
levkovigor | 0:4a219a0d6583 | 330 | |
levkovigor | 0:4a219a0d6583 | 331 | /* if (pc.readable()) |
levkovigor | 0:4a219a0d6583 | 332 | { |
levkovigor | 0:4a219a0d6583 | 333 | pc.scanf("%s", &buffer); |
levkovigor | 0:4a219a0d6583 | 334 | pc.printf("%s\r\n", &buffer); |
levkovigor | 0:4a219a0d6583 | 335 | } |
levkovigor | 0:4a219a0d6583 | 336 | */ |
levkovigor | 0:4a219a0d6583 | 337 | //} |
levkovigor | 0:4a219a0d6583 | 338 | |
levkovigor | 0:4a219a0d6583 | 339 | |
levkovigor | 0:4a219a0d6583 | 340 | } |