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Dependencies:   mbed-rtos mbed

Fork of mbed_amf_controlsystem_iO_copy by Oliver Wenzel

Controller/MachineDirectionController.cpp

Committer:
OWenzel
Date:
2016-02-07
Revision:
14:48cdd880ca1a
Parent:
13:34f7f783ad24
Child:
15:141de2b5646d

File content as of revision 14:48cdd880ca1a:

#include "Controller/MachineDirectionController.h"

MachineDirectionController::MachineDirectionController(PwmOut *pwmOut, Queue<float, 2> *machine_direction_queue, Queue<float, 2> *imu_queue_velocity) {
    this->pwmOut = pwmOut;
    this->machine_direction_queue = machine_direction_queue;
    this->imu_queue_velocity = imu_queue_velocity;
    init();
}

void MachineDirectionController::init() {
    timer_velocity_sampling_time=0.01;
    
    l_Ki=0.1*timer_velocity_sampling_time;
}

void MachineDirectionController::check_queues() {
    velocity_set_event = machine_direction_queue->get(0);
    if (velocity_set_event.status == osEventMessage) {
        velocity_set = *(float*)velocity_set_event.value.p;
    }
    
    velocity_current_event = imu_queue_velocity->get(0);
    if (velocity_current_event.status == osEventMessage) {
        velocity_current = *(float *)velocity_current_event.value.p;
    }
}

void MachineDirectionController::cylic_control() {
    check_queues();
    if( velocity_set < 0.1)
    {
        velocity_set=velocity_set_alt;
        }
        else if(velocity_set > 1.0){
            velocity_set=1.0;
        }
    
    Vorsteuerung=88.316*velocity_set+175.17;
    //l_e = velocity_set-velocity_current;
//l_esum = l_esum + l_e;

  //  PI_Regler =l_Kp*l_e+l_Ki * l_esum;

   // l_output=Vorsteuerung+PI_Regler;


   // l_PWM = 1500+l_output;
    l_PWM=1500+Vorsteuerung;
    if(l_PWM<1500) {
        l_PWM = 1500;
        l_esum = l_esum-2*l_e;
    } else if(l_PWM>2000) {
        l_PWM = 2000;
        l_esum = l_esum-2*l_e;
    }
    velocity_set_alt=velocity_set;
    
    //pwmOut->pulsewidth_us(1700);
    pwmOut->pulsewidth_us(l_PWM);
}