File content as of revision 1:fa246c82ab54:

// THE FIGHTING BANANA SLUGS!!!
 
#include "mbed.h"       // mbed library
#include "QEI.h"        // quadrature encoder library to count encoder ticks

//Setup
//Motor 1
DigitalOut mDir1_A(p5);
DigitalOut mDir1_B(p6);
AnalogIn aIn1(p19);
PwmOut pwmOut1(p21);
QEI encoder1(p23, p24, NC, 1200, QEI::X4_ENCODING);

//Motor 2
DigitalOut mDir2_A(p11);
DigitalOut mDir2_B(p12);
AnalogIn aIn2(p20);
PwmOut pwmOut2(p22);
QEI encoder2(p25, p26, NC, 1200, QEI::X4_ENCODING);

// Declare other objects
Ticker ctrlTicker;                // creates an instance of the ticker class, which can be used for running functions at a specified frequency.
Ticker trajTicker;
Serial mySerial(USBTX, USBRX);  // create a serial connection to the computer over the tx/rx pins

float a1_t0 = 0;    //motor angle 1 from previous time step
float a1_t1 = 0;    //motor angle 1 from current time step
float a2_t0 = 0;    //motor angle 2 from current time step
float a2_t1 = 0;    //motor angle 2 from current time step
float w1 = 0;
float w2 = 0;
float fTraj = 0.5;   //time frequency of trajectory commands
float fPWM = 100;
int nTraj = 0; //trajectory index
float traj1[] = {0.0, 0.5, 1.0, 1.5, 2.0, 2.5, 3.0};
float traj2[] = {0.0, 0.5, 1.0, 1.5, 2.0, 2.5, 3.0};
float Ad[2] = {0.0, 0.0};
int numPoints;
//float traj1[] = {0.7854,0.7854,0.78538,0.78488,0.7817,0.77462,0.76353,0.74871,0.73061,0.70985,0.68715,0.66323,0.63881,0.61442,0.59051,0.56748,0.54558,0.52503,0.50594,0.48841,0.4725,0.45823,0.44563,0.43472,0.42551,0.41801,0.41224,0.40823,0.40603,0.40571,0.4073,0.41054,0.41521,0.42106,0.42787,0.43545,0.44363,0.45228,0.46129,0.47054,0.47995,0.48943,0.49893,0.50835,0.51762,0.52666,0.53572,0.54496,0.55436,0.56391,0.57363,0.58349,0.59352,0.60389,0.61482,0.62627,0.63823,0.6507,0.66367,0.67717,0.69121,0.7058,0.72099,0.73683,0.75335,0.77064,0.7888,0.80797,0.82834,0.85026,0.87437,0.9016,0.92915,0.95698,0.98204,1.0049,1.0263,1.0466,1.0662,1.0849,1.103,1.1205,1.1374,1.1536,1.1693,1.1844,1.1989,1.2128,1.2261,1.2389,1.251,1.2626,1.2735,1.2838,1.2935,1.3027,1.3111,1.319,1.3263,1.3329,1.339,1.3444,1.3492,1.3535,1.3572,1.3603,1.3629,1.365,1.3666,1.3678,1.3685,1.3688,1.3686,1.3679,1.3667,1.3651,1.363,1.3603,1.3571,1.3532,1.3485,1.343,1.3367,1.3295,1.3213,1.312,1.3016,1.29,1.2771,1.2628,1.2471,1.2297,1.2112,1.1922,1.173,1.1541,1.1347,1.1145,1.0933,1.0696,1.0427,1.0124,0.97855,0.9409,0.89924,0.85172};
//float traj2[] = {0.0,0.0,0.0,0.00063466,0.0045936,0.013526,0.027801,0.047381,0.071993,0.10117,0.13426,0.17054,0.20922,0.24967,0.29134,0.3337,0.37633,0.41893,0.46125,0.50311,0.5444,0.58501,0.62488,0.66395,0.70219,0.73957,0.77608,0.81171,0.84653,0.88097,0.91256,0.94131,0.9672,0.99033,1.0108,1.0289,1.0446,1.0583,1.07,1.08,1.0883,1.0952,1.1007,1.105,1.1081,1.1103,1.1116,1.1121,1.1119,1.1109,1.1092,1.1068,1.1036,1.0996,1.0946,1.0887,1.0818,1.0738,1.0646,1.0544,1.0429,1.0302,1.0163,1.001,0.98433,0.96625,0.94662,0.92532,0.90212,0.87666,0.84819,0.8156,0.78232,0.74848,0.71788,0.68994,0.66369,0.63865,0.61459,0.59136,0.56886,0.54703,0.52581,0.50515,0.48502,0.46539,0.44622,0.4275,0.40921,0.39132,0.37382,0.35668,0.33991,0.32348,0.30739,0.29163,0.27618,0.26106,0.24624,0.23174,0.21755,0.20368,0.19014,0.17694,0.16409,0.15161,0.13952,0.12787,0.11633,0.10487,0.093503,0.082227,0.071049,0.059976,0.049015,0.038174,0.027463,0.016894,0.0062166,-0.0046431,-0.01562,-0.026652,-0.037675,-0.04862,-0.059416,-0.069981,-0.080228,-0.090055,-0.099352,-0.10799,-0.11583,-0.1227,-0.12829,-0.13237,-0.13496,-0.13617,-0.13614,-0.13485,-0.1322,-0.12782,-0.12111,-0.11153,-0.098492,-0.081307,-0.059248,-0.030488};
float e1 = 0;
float e2 = 0;
float kp = 0.5;
float kd = 0.0;
bool done = false;

void pdControl() { 
    float in1 = Ad[0];
    float in2 = Ad[1];
    //get motor position
    a1_t1 = encoder1.getPulses()*2*3.14/1200.0;
    a2_t1 = encoder2.getPulses()*2*3.14/1200.0;
    //calculate error
    e1 = a1_t1-in1;
    e2 = a2_t1-in2;
    //calculate motor speed
    w1 = abs(a1_t1-a1_t0)*fTraj;
    w2 = abs(a2_t1-a2_t0)*fTraj;
    //set motor direction
    mDir1_A = (e1<0);
    mDir1_B = !(e1<0);
    mDir2_A = (e2>0);
    mDir2_B = !(e2>0);
    //command motor speed
    pwmOut1.period(.0001); //set pwm frequency to 10kHz
    pwmOut2.period(.0001); //set pwm frequency to 10kHz
    pwmOut1.write(abs(kp*e1)+abs(w1*kd));
    pwmOut2.write(abs(kp*e2)+abs(w2*kd));
    
    a1_t0 = a1_t1; //save encoder position for next step (to find angular velocity)
    a2_t0 = a2_t1;
}

void setTraj() {
    if (nTraj >= numPoints){
        done = true;
    } else {
        done = false;
        Ad[0] = traj1[nTraj];
        Ad[1] = traj2[nTraj];
        nTraj++;
    }
}

int main() {
    mDir1_A = 1;
    mDir1_B = 0;
    mDir2_A = 1;
    mDir2_B = 0;
    
    if (sizeof(traj1) == sizeof(traj2)) {
        numPoints = sizeof(traj1)/4;
        trajTicker.attach(setTraj, 1/fTraj);
        ctrlTicker.attach(pdControl, 1/fPWM);
        while (!done) {mySerial.printf("d: %f a: %f \n\r", Ad[0], a1_t1);}
        mySerial.printf("Done\n\r");
        mDir1_A = 0;
        mDir1_B = 0;
        mDir2_A = 0;
        mDir2_B = 0;
    } else {
        mySerial.printf("Input error\n\r");
    }
}