Revision 0:1825e249cba5, committed 2019-12-27

Comitter:

noamnahum

Date:

Fri Dec 27 17:29:23 2019 +0000

Commit message:

changes;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Map.lib	Fri Dec 27 17:29:23 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/Generic/code/Map/#dad975e2e150

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp	Fri Dec 27 17:29:23 2019 +0000
@@ -0,0 +1,46 @@
+/* mbed simple H-bridge motor controller
+ * Copyright (c) 2007-2010, sford, http://mbed.org
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "Motor.h"
+
+#include "mbed.h"
+
+Motor::Motor(PinName pwm, PinName fwd, PinName rev):
+        _pwm(pwm), _fwd(fwd), _rev(rev) {
+
+    // Set initial condition of PWM
+    _pwm.period(0.00001);
+    _pwm = 0;
+
+    // Initial condition of output enables
+    _fwd = 0;
+    _rev = 0;
+}
+
+void Motor::speed(float speed) {
+    _fwd = (speed > 0.0);
+    _rev = (speed < 0.0);
+    _pwm = abs(speed);
+}
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h	Fri Dec 27 17:29:23 2019 +0000
@@ -0,0 +1,56 @@
+/* mbed simple H-bridge motor controller
+ * Copyright (c) 2007-2010, sford, http://mbed.org
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_MOTOR_H
+#define MBED_MOTOR_H
+
+#include "mbed.h"
+
+/** Interface to control a standard DC motor 
+ *
+ * with an H-bridge using a PwmOut and 2 DigitalOuts
+ */
+class Motor {
+public:
+
+    /** Create a motor control interface    
+     *
+     * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
+     * @param fwd A DigitalOut, set high when the motor should go forward
+     * @param rev A DigitalOut, set high when the motor should go backwards
+     */
+    Motor(PinName pwm, PinName fwd, PinName rev);
+    
+    /** Set the speed of the motor
+     * 
+     * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
+     */
+    void speed(float speed);
+
+protected:
+    PwmOut _pwm;
+    DigitalOut _fwd;
+    DigitalOut _rev;
+
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 27 17:29:23 2019 +0000
@@ -0,0 +1,90 @@
+#include "PID.h"
+#include "Motor.h"
+#include <Map.hpp>
+#include "mbed.h"
+#define RATE 0.1
+ 
+AnalogIn analog_value1(PA_0);
+AnalogIn analog_value2(PA_1);
+AnalogIn analog_value3(PA_3);
+AnalogIn analog_value4(PA_4);
+Motor myMotor(PA_8, PA_5, PA_6);
+int counter = 0;
+int counter1 = 0;
+//static float setpoint, feedback, output;
+const float output_lower_limit = -255;          
+const float output_upper_limit = 255;
+const float kp = 1.5;
+const float ki = 1;
+const float kd = 0.001;
+const float Ts = 0.001;
+float pedal1, pedal2, matzeret1, matzeret2, sumpedal, summetzeret, subpedal, submetzeret;
+float mdagree = 0, pdagree = 0;
+float mypedal,sumPedal,mythorttle,sumthorttle = 0;
+float speed = 0;
+Map mapvaltovolt = Map(0, 1, 0, 3300);
+Map pedaltodagree = Map(865, 1220, 0, 255);
+Map mtodagree = Map(490, 3150, 0, 255);
+Map nspeed = Map(-255, 255, -1, 1);
+PID pid(&pdagree, &mdagree, &speed, output_lower_limit, output_upper_limit,kp, ki, kd, Ts);
+Ticker sensor_sample_timer;
+Ticker motor_cmd_timer;
+
+//DigitalOut led(LED1);
+Serial pc(USBTX,USBRX);
+void commandMotor(){
+    counter1++;
+    if (counter1 == 20){
+        pc.printf("Error %.4f\n\r", pid.getError());
+        counter1 = 0;
+        }
+    float Motorcommand = nspeed.Calculate(speed);
+    //pc.printf("Motor speed %.4f\n\r", Motorcommand);
+    if (Motorcommand > 1) {
+        myMotor.speed(1);
+    }
+    else {
+        myMotor.speed(Motorcommand);
+    } 
+}
+void readSensors(){
+    
+    pedal1 = analog_value1.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    pedal2 = analog_value2.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    matzeret1 = analog_value3.read();
+    pedal1 = mapvaltovolt.Calculate(pedal1);
+    pedal2 = mapvaltovolt.Calculate(pedal2);
+    matzeret1 = mapvaltovolt.Calculate(matzeret1);
+    /*matzeret2 = analog_value4.read();
+    matzeret2 = matzeret2 * ConvertToVolt; */
+    //pc.printf("pedal1 is: %.4f, matzeret1 is:%.4f\n\r", pedal1, matzeret1);
+    sumpedal = pedal1+pedal2;
+    //pc.printf("sumpedal is: %.4f\n\r", sumpedal);
+    subpedal = abs(3500-sumpedal);
+    //pc.printf("Subpedal is: %.4f\n\r", subpedal);
+    if (subpedal<175) {
+        mypedal = pedaltodagree.Calculate(pedal1);
+        sumPedal = sumPedal + mypedal;
+        //setpoint = throttleCmd;
+        //pc.printf("setpedal dagree %.4f\n\r", pdagree);
+        mythorttle = mtodagree.Calculate(matzeret1);
+        sumthorttle = sumthorttle + mythorttle;
+        //feedback = throttlePosition;
+        //pc.printf("processvalue dagree %.4f\n\r", mdagree);
+        counter++;
+        if (counter == 10) {
+            pdagree = sumPedal/10;
+            mdagree = sumthorttle/10;
+            counter = 0;
+            sumPedal = 0;
+            sumthorttle = 0;
+        }  
+        
+    }
+}
+int main() {
+    sensor_sample_timer.attach(readSensors, 0.0001);
+    pid.start();
+    motor_cmd_timer.attach(commandMotor, 0.0005);
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Dec 27 17:29:23 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mypid.lib	Fri Dec 27 17:29:23 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/noamnahum/code/mypidror1/#f5c84347bfca