Velocity Closed Loop Dynamic error correction
Dependencies: mbed QEI PID DmTftLibraryEx
Diff: main.cpp
- Revision:
- 25:5fd2d69e2927
- Parent:
- 23:b9d23a2f390e
- Child:
- 26:bfca0c471a87
diff -r 9f96fd6764d2 -r 5fd2d69e2927 main.cpp --- a/main.cpp Thu Feb 10 12:31:40 2022 +0000 +++ b/main.cpp Thu Feb 10 13:19:59 2022 +0000 @@ -29,7 +29,7 @@ // PWM // === // -//PwmOut PWM_PB3(PWM_OUT); // LA: PWM_OUT = D3 = PB_3 +PwmOut PWM_PB3(PWM_OUT); // LA: PWM_OUT = D3 = PB_3 // Motion // ====== @@ -130,13 +130,15 @@ // PWM_SetOut.attach_us (&PWM____tScan, 40); // Scansione base PWM @40us, Duty Cycle 4ms, 0- 100% // PWM_SetOut.attach_us (&PWM____tScan, 100); // Scansione base PWM @40us, Duty Cycle 5ms, 0- 100% -// PWM_PB3.period_us(100); // LA: TimeBase is 100us -// PWM_PB3.pulsewidth_us(50); // 0.. 100us -> 0.. 100% + PWM_PB3.period_us(100); // LA: TimeBase is 100us + PWM_PB3.pulsewidth_us(50); // 0.. 100us -> 0.. 100% while (1) { // int32_t i32_Pulses; // i32_Pulses = Stabilus322699.getPulses(); + PosizionatoreSW (in_PosizionatoreSW, out_PosizionatoreSW); + // LA: Wedge 4 LCDRefresh StabilusMenu (out_PosizionatoreSW.ui32_PreviousStep_ms, out_PosizionatoreSW.ui32_ActualStepSampled_ms, out_PosizionatoreSW.ui32_PassedActual_ms, Stabilus322699.getPulses()); // StabilusMenu (0, 1, 2, i32_Pulses); @@ -145,13 +147,14 @@ // StabilusMenu (); // i32_Pulses); // StabilusMenu (1); // i32_Pulses); + /* PWM_PB3 = PWM_PB3+ (float)0.01; - wait_ms(10); - +// wait_ms(10); if (PWM_PB3 >= (float)1.0) PWM_PB3 = 0; */ + } }