lee sanghun / Mbed 2 deprecated 202001131705

45

Dependencies:   mbed BufferedSerial LS7366LIB FastPWM

main.h@0:c21936a3520a, 2020-03-23 (annotated)

Committer:
lsh2205
Date:
Mon Mar 23 08:38:40 2020 +0000
Revision:
0:c21936a3520a
ss

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lsh2205 0:c21936a3520a 1 double Speed_Igain[6]={ 0.1,
lsh2205 0:c21936a3520a 2 0.1,
lsh2205 0:c21936a3520a 3 0.1,
lsh2205 0:c21936a3520a 4 0.1,
lsh2205 0:c21936a3520a 5 0.1,
lsh2205 0:c21936a3520a 6 0.1};
lsh2205 0:c21936a3520a 7 double Speed_Pgain[6]={ 5,
lsh2205 0:c21936a3520a 8 5,
lsh2205 0:c21936a3520a 9 5,
lsh2205 0:c21936a3520a 10 5,
lsh2205 0:c21936a3520a 11 5,
lsh2205 0:c21936a3520a 12 5};
lsh2205 0:c21936a3520a 13 double Position_input_filter[6]
lsh2205 0:c21936a3520a 14 ={ 0.05,
lsh2205 0:c21936a3520a 15 0.05,
lsh2205 0:c21936a3520a 16 0.05,
lsh2205 0:c21936a3520a 17 0.05,
lsh2205 0:c21936a3520a 18 0.05,
lsh2205 0:c21936a3520a 19 0.05};
lsh2205 0:c21936a3520a 20
lsh2205 0:c21936a3520a 21 double position_Pgain[6]
lsh2205 0:c21936a3520a 22 ={ 20,
lsh2205 0:c21936a3520a 23 20,
lsh2205 0:c21936a3520a 24 20,
lsh2205 0:c21936a3520a 25 20,
lsh2205 0:c21936a3520a 26 20,
lsh2205 0:c21936a3520a 27 20};
lsh2205 0:c21936a3520a 28
lsh2205 0:c21936a3520a 29 double offset[6]={ 1480,
lsh2205 0:c21936a3520a 30 1480,
lsh2205 0:c21936a3520a 31 1480,
lsh2205 0:c21936a3520a 32 1480,
lsh2205 0:c21936a3520a 33 1480,
lsh2205 0:c21936a3520a 34 1480};
lsh2205 0:c21936a3520a 35
lsh2205 0:c21936a3520a 36 double Speed_I_input_filter[6]
lsh2205 0:c21936a3520a 37 ={ 0.005,
lsh2205 0:c21936a3520a 38 0.005,
lsh2205 0:c21936a3520a 39 0.005,
lsh2205 0:c21936a3520a 40 0.005,
lsh2205 0:c21936a3520a 41 0.005,
lsh2205 0:c21936a3520a 42 0.005};
lsh2205 0:c21936a3520a 43
lsh2205 0:c21936a3520a 44
lsh2205 0:c21936a3520a 45 // SPI
lsh2205 0:c21936a3520a 46 #define SPI_MOSI1 PA_7
lsh2205 0:c21936a3520a 47 #define SPI_MISO1 PA_6
lsh2205 0:c21936a3520a 48 #define SPI_SCK1 PA_5
lsh2205 0:c21936a3520a 49
lsh2205 0:c21936a3520a 50 // Encoder
lsh2205 0:c21936a3520a 51 #define ENCODER_CS1 PB_0
lsh2205 0:c21936a3520a 52 #define ENCODER_CS2 PC_1
lsh2205 0:c21936a3520a 53 #define ENCODER_CS3 PC_0
lsh2205 0:c21936a3520a 54 #define ENCODER_CS4 PB_15
lsh2205 0:c21936a3520a 55 #define ENCODER_CS5 PB_14
lsh2205 0:c21936a3520a 56 #define ENCODER_CS6 PB_13
lsh2205 0:c21936a3520a 57
lsh2205 0:c21936a3520a 58 // Limit switch
lsh2205 0:c21936a3520a 59
lsh2205 0:c21936a3520a 60 #define LIMIT_SW1 PC_3
lsh2205 0:c21936a3520a 61 #define LIMIT_SW2 PC_2
lsh2205 0:c21936a3520a 62 #define LIMIT_SW3 PC_5
lsh2205 0:c21936a3520a 63 #define LIMIT_SW4 PC_9
lsh2205 0:c21936a3520a 64 #define LIMIT_SW5 PC_6
lsh2205 0:c21936a3520a 65 #define LIMIT_SW6 PC_8
lsh2205 0:c21936a3520a 66
lsh2205 0:c21936a3520a 67 // Motor
lsh2205 0:c21936a3520a 68 #define MOTOR_PWM1 PA_15
lsh2205 0:c21936a3520a 69 #define MOTOR_PWM2 PA_9
lsh2205 0:c21936a3520a 70 #define MOTOR_PWM3 PA_8
lsh2205 0:c21936a3520a 71 #define MOTOR_PWM4 PB_10
lsh2205 0:c21936a3520a 72 #define MOTOR_PWM5 PB_3
lsh2205 0:c21936a3520a 73 #define MOTOR_PWM6 PA_10
lsh2205 0:c21936a3520a 74
lsh2205 0:c21936a3520a 75 #include "spi_setup.h"
lsh2205 0:c21936a3520a 76 #include "motor.h"
lsh2205 0:c21936a3520a 77 #include "encoder.h"
lsh2205 0:c21936a3520a 78 #include "timer.h"
lsh2205 0:c21936a3520a 79 #include "speed_pid.h"
lsh2205 0:c21936a3520a 80 #include "target_position_cal.h"
lsh2205 0:c21936a3520a 81 #include "Position.h"
lsh2205 0:c21936a3520a 82 #include "pc_serial.h"
lsh2205 0:c21936a3520a 83 #include "limit.h"
lsh2205 0:c21936a3520a 84 //#include "SPI_TO_UART.h"
lsh2205 0:c21936a3520a 85
lsh2205 0:c21936a3520a 86
lsh2205 0:c21936a3520a 87 void board_init()
lsh2205 0:c21936a3520a 88 {
lsh2205 0:c21936a3520a 89 /*
lsh2205 0:c21936a3520a 90 set_data[1]=Speed_Igain;
lsh2205 0:c21936a3520a 91 set_data[2]=Speed_Pgain;
lsh2205 0:c21936a3520a 92 set_data[4]=Position_input_filter;
lsh2205 0:c21936a3520a 93 set_data[5]=position_Pgain1;
lsh2205 0:c21936a3520a 94 set_data[6]=position_Pgain2;
lsh2205 0:c21936a3520a 95 set_data[7]=position_Pgain3;
lsh2205 0:c21936a3520a 96 set_data[8]=offset;
lsh2205 0:c21936a3520a 97 */
lsh2205 0:c21936a3520a 98 limit_init();
lsh2205 0:c21936a3520a 99 SPI_INIT();
lsh2205 0:c21936a3520a 100 motor_init();
lsh2205 0:c21936a3520a 101 Serial_Init();
lsh2205 0:c21936a3520a 102 timer_init();
lsh2205 0:c21936a3520a 103
lsh2205 0:c21936a3520a 104 }