Revision 0:0a16dac05e84, committed 2017-11-28

Comitter:

matthewhall115

Date:

Tue Nov 28 02:25:35 2017 +0000

Commit message:

h;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Nov 28 02:25:35 2017 +0000
@@ -0,0 +1,85 @@
+#include "mbed.h"
+// ES305 Lab #7
+
+//program to drive the DC motor with a user specified duty cycle
+
+// include libraries and define PI
+#include "mbed.h"
+#include "mbedWSEsbc.h"
+#define PI (3.14159)
+
+Ticker Controller;
+
+//declare variables for data handling
+float TotalTime; //establishing float called Totalime
+float UserDutyCycle; //establishing float called UserDutyCycle
+float Time; //establishing float called Time
+float DataStream = 0.01; //establishing float called DataStream
+float Ts = .0083; //establishing float called Ts
+float speed;  //establishing float called speed
+float enc1, ang, angp, dc, dspd, spderr, kp; //encoder, angle, previous angle, duty cycle
+float K = 0.3996; //establishing float, gain, called K
+float dc_p; //establishing float, dc_p, dc previous
+float spderr_p ;//establishing float, spderr_p, desired speed previous
+
+
+//declare function definitions
+void ctrCode(); //function attaches to ticker
+void pCtrlCode();
+void piCtrlCode();
+
+
+int main ()
+
+{
+    mbedWSEsbcInit(115200);
+    mot_en1.period(0.020);
+
+    while(1)    {
+        pc.scanf("%f,%f,%f", &TotalTime,&dspd, &kp);
+
+//Set current time to zero
+        Time = 0.0;
+        t.reset();
+
+        //attach ctrCode function ticker to the obj with specified period
+
+        Controller.attach(&piCtrlCode,Ts);
+void piCtrlCode() // function to attach to ticker
+{
+
+    // 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;
+
+    // compute error
+    spderr = dspd-speed;
+    
+    // Age variables
+    angp = ang;
+    
+
+    // compute duty cycle for motor
+    if(Time<0.1) {
+        dc = 0.0;
+    } else {
+        dc = (dc_p + K*(1.079*spderr - 0.9213*spderr_p)/20);
+    }
+    
+    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
+} //end pictrl function
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Nov 28 02:25:35 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e7ca05fa8600
\ No newline at end of file