Makoto Kobayashi
/
Kikaikougaku_Jikken_mecolab
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main.cpp
00001 //include header file 00002 #include "mbed.h" 00003 #include "QEI.h" 00004 #include "PID.h" 00005 #include "setting.h" 00006 00007 //define 00008 #define PULSE_PER_REVOLUTION 200 00009 #define PID_RATE 10 //wait **ms. If you change this value, response will be slightly different. 00010 #define GEAR_RATIO 2 00011 00012 #define KP_SCALE 10 00013 #define TI_SCALE 20 00014 00015 //IO pin setting 00016 DigitalOut led1(LED1); //mbed LED outputs 00017 DigitalOut led2(LED2); 00018 DigitalOut led3(LED3); 00019 DigitalOut led4(LED4); 00020 DigitalIn dip1(p5); //DIP switch inputs 00021 DigitalIn dip2(p6); 00022 DigitalIn dip3(p7); 00023 DigitalIn dip4(p8); 00024 DigitalIn startsw(p9); //push switch input 00025 DigitalOut buzzer(p18); //buzzer output 00026 AnalogIn volume(p20); //potentiometer input 00027 PwmOut pwm(p25); //pwm output to a motordriver 00028 00029 //other setting 00030 Serial pc(USBTX, USBRX); //set serial communication with PC 00031 QEI encoder(p30, p29, NC, PULSE_PER_REVOLUTION, QEI::X2_ENCODING); //QEI setting (See QEI.cpp) 00032 Timer timer; //mbed timer setting (See mbed description) 00033 00034 //structure of experimentation result 00035 typedef struct{ 00036 unsigned short t; 00037 short rpm; 00038 } result; 00039 00040 //prototype declaration 00041 int Init(); 00042 int DipLed(); 00043 int GetDipValue(); 00044 int SW(); 00045 int Buzzer(int buzvar); 00046 00047 //main function 00048 int main() { 00049 Buzzer(2); //ring buzzer after pushing a reset button 00050 LocalFileSystem local("local"); //set mbed root directory as "local" 00051 Init(); //initialize 00052 int flag = 0; //variable of operation mode 00053 result exp[(int)(15*1000/PID_RATE+1)] = {}; //variable for experimentation result 00054 00055 while(1){ //main loop 00056 Init(); //initialize 00057 for(int i = 0; i <= 15*1000/PID_RATE; i++){ //initialize result structure 00058 exp[i].t = 0; 00059 exp[i].rpm = 0; 00060 } 00061 SW(); //wait for startswitch push 00062 flag = GetDipValue(); //read DIP switch value 00063 DipLed(); //make mbed LED shine 00064 Buzzer(1); //ring buzzer mode 1 00065 00066 switch (flag){ 00067 /*********************mode 0**********************/ 00068 case 0: //mode 0: nothing 00069 break; 00070 /*********************mode 1**********************/ 00071 case 1:{ //mode 1: manually operated mode 00072 float vol = 0; //variable of potentiometer 00073 float rpm = 0; //variable of rpm 00074 float t = 0; //variable of time 00075 int i1 = 0; //variable of loop count 00076 encoder.reset(); 00077 timer.reset(); 00078 timer.start(); 00079 while(1){ 00080 vol = 1 - volume; //min position(max input(H))<-----potentiometer=====>(min input(L))max position 00081 pwm = vol; 00082 if(i1 >= 20){ //show duty ratio and rpm in PC every sec 00083 t = timer.read(); 00084 rpm = (float)encoder.getPulses() / 2 / PULSE_PER_REVOLUTION * 60 / t * GEAR_RATIO; //reduction ratio 1/2 00085 pc.printf("Duty Ratio = %.3f , %6d RPM\n", vol, (int)rpm); 00086 encoder.reset(); 00087 i1 = 0; 00088 timer.reset(); 00089 } 00090 wait_ms(50); 00091 i1++; 00092 } 00093 break; 00094 } 00095 /*********************mode 2**********************/ 00096 case 2:{ //mode 2: step input 00097 float dt = 0, tnow = 0, tpre = 0; 00098 exp[0].t = 0; 00099 exp[0].rpm = 0; 00100 encoder.reset(); 00101 timer.reset(); 00102 timer.start(); 00103 pwm = 1; //duty ratio 1 00104 for(int i = 0; i < 15*1000/PID_RATE; i++){ //variable assignment in every PID_RATE 00105 wait_ms(PID_RATE); 00106 tpre = tnow; 00107 tnow = timer.read(); 00108 exp[i+1].t = (unsigned short)(tnow * 1000); 00109 dt = tnow - tpre; 00110 exp[i+1].rpm = (short)((float)encoder.getPulses() / 2 / PULSE_PER_REVOLUTION * 60 / dt * GEAR_RATIO); 00111 encoder.reset(); 00112 } 00113 for(int i = 100; i >= 0; i--){ //stopping motor slowly 00114 pwm = (float)i / 100; 00115 wait_ms(20); 00116 } 00117 pwm = 0; 00118 wait(1); 00119 FILE * fp = fopen("/local/exp2.csv","w"); 00120 if(fp == NULL){ 00121 Buzzer(-1); 00122 break; 00123 } 00124 fprintf(fp,"Time , RPM\n"); 00125 for(int i = 0; i <= 15*1000/PID_RATE; i++){ //output results 00126 fprintf(fp,"%f , %d\n", (float)exp[i].t / 1000.0, exp[i].rpm); 00127 } 00128 fclose(fp); 00129 Buzzer(4); //ring finish buzzer 00130 break; 00131 } 00132 /*********************mode 3**********************/ 00133 case 3:{ //mode 3: PID control 00134 float kp = 0, ti = 0, td = 0, max_rpm = 0, target_rpm = 0, reduction = 0, dt = 0, tnow = 0, tpre = 0, rpmnow = 0; 00135 encoder.reset(); 00136 timer.reset(); 00137 00138 kp = KP / KP_SCALE; //substitute from setting.h 00139 ti = TI * TI_SCALE; 00140 td = TD; 00141 max_rpm = MAX_RPM; 00142 target_rpm = TARGET_RPM; 00143 00144 PID pid(kp, ti, td, PID_RATE); //PID setting (see PID.cpp) 00145 pid.setInputLimits(0.0, max_rpm); 00146 pid.setOutputLimits(0.0, 1.0); 00147 pid.setMode(AUTO_MODE); 00148 pid.setSetPoint(target_rpm); 00149 00150 exp[0].t = 0; 00151 exp[0].rpm = 0; 00152 timer.start(); //count start 00153 for(int i = 0; i < 15*1000/PID_RATE; i++){ //PID control loop(15 seconds) 00154 tpre = tnow; 00155 tnow = timer.read(); 00156 exp[i+1].t = (unsigned short)(tnow * 1000); 00157 dt = tnow - tpre; 00158 rpmnow = (float)encoder.getPulses() / 2 / PULSE_PER_REVOLUTION * 60 / dt * GEAR_RATIO; 00159 exp[i+1].rpm = (short)rpmnow; 00160 pid.setProcessValue(rpmnow); 00161 pwm = pid.compute(); 00162 encoder.reset(); 00163 wait_ms(PID_RATE); 00164 } 00165 reduction = pwm.read(); //stopping slowly loop 00166 for(int i = 0; i <= 100; i++){ 00167 pwm = pwm.read() - reduction / 100; 00168 wait_ms(20); 00169 } 00170 pwm = 0; 00171 FILE *fp = fopen("/local/exp3.csv","w"); 00172 if(fp == NULL){ 00173 Buzzer(-1); 00174 break; 00175 } 00176 fprintf(fp,", kp = %.6f ti = %.6f td = %.6f\n", (float)KP, (float)TI, (float)TD); 00177 fprintf(fp,"Time , RPM\n"); 00178 for(int i = 0; i <= 15*1000/PID_RATE; i++){ //output results 00179 fprintf(fp,"%f , %d\n", (float)exp[i].t / 1000.0, exp[i].rpm); 00180 } 00181 fclose(fp); 00182 Buzzer(5); //ring finish buzzer 00183 break; 00184 } 00185 /*********************default**********************/ 00186 default: 00187 break; 00188 } 00189 } 00190 } 00191 00192 int Init(){ //initialize function 00193 pwm = 0; 00194 led1 = 0; 00195 led2 = 0; 00196 led3 = 0; 00197 led4 = 0; 00198 buzzer = 0; 00199 pc.baud(9600); 00200 encoder.reset(); 00201 timer.reset(); 00202 pwm.period_us(25); 00203 DipLed(); 00204 return 0; 00205 } 00206 00207 int DipLed(){ //LED flash function 00208 if(dip1 == 1) led1 = 1; else led1 = 0; 00209 if(dip2 == 1) led2 = 1; else led2 = 0; 00210 if(dip3 == 1) led3 = 1; else led3 = 0; 00211 if(dip4 == 1) led4 = 1; else led4 = 0; 00212 return 0; 00213 } 00214 00215 int GetDipValue(){ //DIP switch function 00216 int Dip1 = dip1, Dip2 = dip2, Dip3 = dip3, Dip4 = dip4; 00217 if(Dip1 == 0){ 00218 if(Dip2 == 0){ 00219 if(Dip3 == 0){ 00220 if(Dip4 == 0) return 0; else return 1; 00221 }else{ 00222 if(Dip4 == 0) return 2; else return 3; 00223 } 00224 }else{ 00225 if(Dip3 == 0){ 00226 if(Dip4 == 0) return 4; else return 5; 00227 }else{ 00228 if(Dip4 == 0) return 6; else return 7; 00229 } 00230 } 00231 }else{ 00232 if(Dip2 == 0){ 00233 if(Dip3 == 0){ 00234 if(Dip4 == 0) return 8; else return 9; 00235 }else{ 00236 if(Dip4 == 0) return 10; else return 11; 00237 } 00238 }else{ 00239 if(Dip3 == 0){ 00240 if(Dip4 == 0) return 12; else return 13; 00241 }else{ 00242 if(Dip4 == 0) return 14; else return 15; 00243 } 00244 } 00245 } 00246 } 00247 00248 int SW(){ //startswitch function 00249 int i = 0, j = 0; 00250 while(i < 3){ 00251 if(startsw == 1) i++; 00252 else i = 0; 00253 DipLed(); 00254 wait_ms(5); 00255 } 00256 while(j < 3){ 00257 if(startsw == 0) j++; 00258 else j = 0; 00259 DipLed(); 00260 wait_ms(5); 00261 } 00262 return 0; 00263 } 00264 00265 int Buzzer(int buzvar){ //ringing buzzer function 00266 switch (buzvar){ 00267 case -3: //error * - - 00268 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00269 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3); 00270 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3); 00271 break; 00272 case -2: //error * - - - 00273 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00274 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3); 00275 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3); 00276 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3); 00277 break; 00278 case -1: //error * - - - - 00279 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00280 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3); 00281 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3); 00282 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3); 00283 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3); 00284 break; 00285 case 0: //no sound 00286 buzzer = 0; 00287 break; 00288 case 1: //* 00289 buzzer = 1; wait(0.1); buzzer = 0; 00290 break; 00291 case 2: //* * 00292 buzzer = 1; wait(0.1); buzzer = 0; wait(0.05); 00293 buzzer = 1; wait(0.1); buzzer = 0; 00294 break; 00295 case 3: //- 00296 buzzer = 1; wait(0.3); buzzer = 0; 00297 break; 00298 case 4: //- - 00299 buzzer = 1; wait(0.3); buzzer = 0; wait(0.3); 00300 buzzer = 1; wait(0.3); buzzer = 0; 00301 break; 00302 case 5: //--- 00303 buzzer = 1; wait(0.9); buzzer = 0; 00304 break; 00305 case 6: //* * * * * * * * * * 00306 for(int i = 0; i < 3; i++){ 00307 for(int j = 0; j < 3; j++){ 00308 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00309 } 00310 wait(0.2); 00311 } 00312 buzzer = 1; wait(0.1); buzzer = 0; 00313 break; 00314 case 7: // **-* ** -* ** *** **** 00315 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00316 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00317 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1); 00318 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00319 wait(0.2); 00320 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00321 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00322 wait(0.2); 00323 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1); 00324 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00325 wait(0.2); 00326 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00327 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00328 wait(0.2); 00329 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00330 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00331 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00332 wait(0.2); 00333 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00334 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00335 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00336 buzzer = 1; wait(0.1); buzzer = 0; 00337 break; 00338 case 8: // *-*** -*- --* 00339 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00340 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1); 00341 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00342 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00343 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00344 wait(0.2); 00345 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1); 00346 buzzer = 1; wait(0.1); buzzer = 0; wait(0.1); 00347 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1); 00348 wait(0.2); 00349 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1); 00350 buzzer = 1; wait(0.3); buzzer = 0; wait(0.1); 00351 buzzer = 1; wait(0.1); buzzer = 0; 00352 break; 00353 default: //no sound 00354 buzzer = 0; 00355 break; 00356 } 00357 return 0; 00358 }
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