Revision 0:eb94c702a103, committed 2017-11-28

Comitter:

m193672

Date:

Tue Nov 28 04:22:29 2017 +0000

Commit message:

asdfghjk

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorID.cpp	Tue Nov 28 04:22:29 2017 +0000
@@ -0,0 +1,231 @@
+/*************************************************************************************
+Program Name: ES305 Laboratory Experiment 1, part 1 - mbed serial setup and streaming
+Description: A basic code to run a DC motor using a Ticker object. The user specifies
+sun rimte, and duty cycle. The program runs at 100 Hz and streams data at 50 Hz
+Author: Levi DeVries, PhD, USNA
+Date: 8/14/2017
+**************************************************************************************/
+
+// Include necessary libraries
+#include "mbed.h"
+#include "mbedWSEsbc.h"
+#define PI (3.14159)
+
+
+// Declare objects (if necessary)
+Ticker Controller; // declare Ticker object named "Controller"
+DigitalOut myled(LED1); // LED, flash lights for debugging
+
+
+// variables for data handling and storage
+float TotalTime;        // Total run time
+float Time;             // Current elapsed time
+float Ts = 0.0083;        // Control update period (seconds) (100 Hz equivalent)
+float Tstrm = 0.01;     // Data streaming period (seconds) (50 Hz equivalent)
+float usrDC;            // uaser-specified duty cycle
+float ang,angp,speed;   // variables for approximating speed from encoder measurements
+float dc;               // duty cycle applied to motor
+long enc1;              // encoder variable
+float lowDC;
+float dspd;
+float spdErr;
+float Kp;
+float dc_p = 0.0;
+float spdErr_p = 0.0;
+
+
+
+
+// Function definition Prototypes (declarations)
+void ctrCode(); // declare that a separate (other than main) function named "ctrCode" exists
+void twoStepCode();
+void pCtrlCode();
+void PIctrlCode();
+
+
+// Enter main function
+int main ()
+{
+    // Initializes mbed to access functionality of encoder, A/D, driver, etc. chipsets
+    // Input is baud rate for PC communication
+    mbedWSEsbcInit(115200); // also initializes timer object t
+    mot_en1.period(0.020); // sets PWM period to 0.02 seconds for best DC motor operation
+
+    while(1) {
+
+        // Scan serial port for user input to begin experiment
+        //pc.scanf("%f,%f",&TotalTime,&lowDC);
+        pc.scanf("%f,%f,%f",&TotalTime,&dspd,&Kp);
+
+        // perform necessary functions to time the experiment
+        Time = 0.0; // reset time variable
+        t.reset(); // reset timer object
+
+        // Attach the ctrCode function to ticker object specified with period Ts
+        //Controller.attach(&twoStepCode,Ts);
+        Controller.attach(&PIctrlCode,Ts);
+
+        t.start(); // start measuring elapsed time
+
+        // perform operations while the elapsed time is less than the desired total time
+        while(Time <= TotalTime) {
+
+
+
+            // read current elapsed time
+            Time = t.read();
+
+
+            // send data over serial port
+            pc.printf("%f,%f,%f\n",Time,speed,dc);
+
+
+            wait(Tstrm); // print data at approximately 50 Hz
+
+
+
+
+        } // end while(Time<=Ttime)
+
+        Controller.detach(); // detach ticker to turn off controller
+        // Turn motor off at end of experiment
+        mot_control(1,0.0);
+
+    }// end while(1)
+}// end main
+
+
+
+// Additional function definitions
+void ctrCode() // function to attach to ticker
+{
+
+    myled = !myled; // toggle LED 2 to indicate control update
+
+    // Read encoder
+    enc1 = LS7366_read_counter(1); // input is the encoder channel
+
+    // Convert from counts to radians
+    ang = 2.0*PI*enc1/6400.0;
+
+    // Estimate speed
+    speed = (ang-angp)/Ts;
+
+    // Age variables
+    angp = ang;
+
+    // compute duty cycle for motor (will be changed later!)
+    dc = usrDC; // user-specified duty cycle
+
+    // motor control
+    mot_control(1,dc); // first input is the motor channel, second is duty cycle
+
+} // end ctrCode()
+
+
+
+
+// Additional function definitions
+void twoStepCode() // function to attach to ticker
+{
+    myled = !myled; // toggle LED 2 to indicate control update
+
+    // Read encoder
+    enc1 = LS7366_read_counter(1); // input is the encoder channel
+
+    // Convert from counts to radians
+    ang = 2.0*PI*enc1/6400.0;
+
+    // Estimate speed
+    speed = (ang-angp)/Ts;
+
+    // Age variables
+    angp = ang;
+
+    // compute duty cycle for motor over two step inputs
+    if(Time<0.1) {
+        dc = 0.0;
+    } else if(Time<0.55) {
+        dc = lowDC; // low duty cycle
+    } else {
+        dc = 0.10;
+    }
+    // motor control
+    mot_control(1,dc); // first input is the motor channel, second is duty cycle
+} // end twoStepCode()
+
+void pCtrlCode() // function to attach to ticker
+{
+    myled = !myled; // toggle LED 2 to indicate control update
+
+    // Read encoder
+    enc1 = LS7366_read_counter(1); // input is the encoder channel
+
+    // Convert from counts to radians
+    ang = 2.0*PI*enc1/6400.0;
+
+    // Estimate speed
+    speed = (ang-angp)/Ts;
+
+    // Age variables
+    angp = ang;
+
+    // compute error
+    spdErr = dspd-speed;
+
+    // compute duty cycle for motor 
+    if(Time<0.1) {
+        dc = 0.0;
+    } else {
+        dc = Kp*(spdErr);
+    }
+    // enforce duty cycle saturation
+    if(dc>1.0) {
+        dc = 1.0;
+    } else if(dc<-1.0) {
+        dc = -1.0;
+    }
+    // motor control
+    mot_control(1,dc); // first input is the motor channel, second is duty cycle
+} 
+
+void PIctrlCode() // function to attach to ticker
+{
+    myled = !myled; // toggle LED 2 to indicate control update
+
+    // Read encoder
+    enc1 = LS7366_read_counter(1); // input is the encoder channel
+
+    // Convert from counts to radians
+    ang = 2.0*PI*enc1/6400.0;
+
+    // Estimate speed
+    speed = (ang-angp)/Ts;
+
+    // Age variables
+    angp = ang;
+
+    // compute error
+    spdErr = dspd-speed;
+    
+    
+    // compute duty cycle for motor 
+    if(Time<0.1) {
+        dc = 0.0;
+    } else {
+        dc = dc_p + 0.03554*spdErr - 0.030412*spdErr_p;
+        //dc = dc_p+(0.6593/20)*(1.079*spdErr-0.9213*spdErr_p);
+    }
+    dc_p = dc;
+        spdErr_p = spdErr;
+    // enforce duty cycle saturation
+    if(dc>1.0) {
+        dc = 1.0;
+    } else if(dc<-1.0) {
+        dc = -1.0;
+    }
+    // motor control
+    mot_control(1,dc); // first input is the motor channel, second is duty cycle
+} 
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Nov 28 04:22:29 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed/builds/e2bfab296f20
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbedWSEsbc.lib	Tue Nov 28 04:22:29 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/jebradshaw/code/mbedWSEsbc/#2564f54c89df