Matti Borchers / Mbed 2 deprecated mbed_amf_controlsystem_iO_copy

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Dependencies:   mbed-rtos mbed

Fork of mbed_amf_controlsystem_iO_copy by Oliver Wenzel

Controller/MachineDirectionController.cpp@13:34f7f783ad24, 2016-02-05 (annotated)

Committer:
mborchers
Date:
Fri Feb 05 16:06:44 2016 +0000
Revision:
13:34f7f783ad24
Child:
14:48cdd880ca1a
L?ngsregelung ausgelagert

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mborchers 13:34f7f783ad24 1 #include "Controller/MachineDirectionController.h"
mborchers 13:34f7f783ad24 2
mborchers 13:34f7f783ad24 3 MachineDirectionController::MachineDirectionController(PwmOut *pwmOut, Queue<float, 2> *machine_direction_queue, Queue<float, 2> *imu_queue_velocity) {
mborchers 13:34f7f783ad24 4 this->pwmOut = pwmOut;
mborchers 13:34f7f783ad24 5 this->machine_direction_queue = machine_direction_queue;
mborchers 13:34f7f783ad24 6 this->imu_queue_velocity = imu_queue_velocity;
mborchers 13:34f7f783ad24 7 init();
mborchers 13:34f7f783ad24 8 }
mborchers 13:34f7f783ad24 9
mborchers 13:34f7f783ad24 10 void MachineDirectionController::init() {
mborchers 13:34f7f783ad24 11 timer_velocity_sampling_time=0.01;
mborchers 13:34f7f783ad24 12
mborchers 13:34f7f783ad24 13 l_Ki=0.1*timer_velocity_sampling_time;
mborchers 13:34f7f783ad24 14 }
mborchers 13:34f7f783ad24 15
mborchers 13:34f7f783ad24 16 void MachineDirectionController::check_queues() {
mborchers 13:34f7f783ad24 17 velocity_set_event = machine_direction_queue->get(0);
mborchers 13:34f7f783ad24 18 if (velocity_set_event.status == osEventMessage) {
mborchers 13:34f7f783ad24 19 velocity_set = *(float*)velocity_set_event.value.p;
mborchers 13:34f7f783ad24 20 }
mborchers 13:34f7f783ad24 21
mborchers 13:34f7f783ad24 22 velocity_current_event = imu_queue_velocity->get(0);
mborchers 13:34f7f783ad24 23 if (velocity_current_event.status == osEventMessage) {
mborchers 13:34f7f783ad24 24 velocity_current = *(float *)velocity_current_event.value.p;
mborchers 13:34f7f783ad24 25 }
mborchers 13:34f7f783ad24 26 }
mborchers 13:34f7f783ad24 27
mborchers 13:34f7f783ad24 28 void MachineDirectionController::cylic_control() {
mborchers 13:34f7f783ad24 29 check_queues();
mborchers 13:34f7f783ad24 30
mborchers 13:34f7f783ad24 31 Vorsteuerung=88.316*velocity_set+175.17;
mborchers 13:34f7f783ad24 32 l_e = velocity_set-velocity_current;
mborchers 13:34f7f783ad24 33 l_esum = l_esum + l_e;
mborchers 13:34f7f783ad24 34
mborchers 13:34f7f783ad24 35 PI_Regler =l_Kp*l_e+l_Ki * l_esum;
mborchers 13:34f7f783ad24 36
mborchers 13:34f7f783ad24 37 l_output=Vorsteuerung+PI_Regler;
mborchers 13:34f7f783ad24 38
mborchers 13:34f7f783ad24 39 l_PWM = 1500+l_output;
mborchers 13:34f7f783ad24 40
mborchers 13:34f7f783ad24 41 if(l_PWM<1500) {
mborchers 13:34f7f783ad24 42 l_PWM = 1500;
mborchers 13:34f7f783ad24 43 l_esum = l_esum-2*l_e;
mborchers 13:34f7f783ad24 44 } else if(l_PWM>2000) {
mborchers 13:34f7f783ad24 45 l_PWM = 2000;
mborchers 13:34f7f783ad24 46 l_esum = l_esum-2*l_e;
mborchers 13:34f7f783ad24 47 } else if(velocity_set < 0.1) {
mborchers 13:34f7f783ad24 48 l_PWM = 1500;
mborchers 13:34f7f783ad24 49 }
mborchers 13:34f7f783ad24 50
mborchers 13:34f7f783ad24 51 pwmOut->pulsewidth_us(1700);
mborchers 13:34f7f783ad24 52 //pwmOut.pulsewidth_us(l_PWM);
mborchers 13:34f7f783ad24 53 }