Morgan Mayborne / Mbed OS Lab3_experiment_example

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Dependencies:   ExperimentServer QEI_pmw MotorShield

Files at this revision

API Documentation at this revision

Revision 23:4056ae374b62, committed 2021-09-27

Comitter:
elijahsj
Date:
Mon Sep 27 19:55:21 2021 +0000
Parent:
22:c010476ffeb8
Child:
24:4d2f1b7746de
Commit message:
Added theta term;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Sat Sep 25 21:09:19 2021 +0000
+++ b/main.cpp	Mon Sep 27 19:55:21 2021 +0000
@@ -22,6 +22,7 @@
 //Controller values
 float volt = 0;
 float duty = 0;
+float cum_error = 0;
 
 Serial pc(USBTX, USBRX);    // USB Serial Terminal
 ExperimentServer server;    // Object that lets us communicate with MATLAB
@@ -38,6 +39,7 @@
 void current_control()   //Current control function
 {
     float error = 0;
+    theta = encoderA.getPulses()*(6.2831/1200.0);
     velocity = encoderA.getVelocity()*(6.2831/1200.0);
     current = -(motorShield.readCurrentA()*(30.0/65536.0)-15.0); //read current for motor A in amps. Note: this is a slightly different current sensor so its a different conversion than last lab.            
     error = current_d - current;
@@ -94,7 +96,7 @@
             // Run experiment
             while( t.read() < 5 ) {
                 // Perform control loop logic
-                // current_d = 0; // Set commanded current from impedance controller here.
+                //current_d = 0; // Set commanded current from impedance controller here.
                 
                 // Send data to MATLAB
                 float output_data[NUM_OUTPUTS];