Noam Nahum
for dror
Dependencies: mbed mypidror1 Motor Map
Revision 0:660e73691ec3, committed 2019-12-31
- Comitter:
- noamnahum
- Date:
- Tue Dec 31 20:25:08 2019 +0000
- Commit message:
- fordror;
Changed in this revision
diff -r 000000000000 -r 660e73691ec3 Map.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Map.lib Tue Dec 31 20:25:08 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/Generic/code/Map/#dad975e2e150
diff -r 000000000000 -r 660e73691ec3 Motor.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Tue Dec 31 20:25:08 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/Motor/#f265e441bcd9
diff -r 000000000000 -r 660e73691ec3 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Dec 31 20:25:08 2019 +0000
@@ -0,0 +1,114 @@
+#include "PID.h"
+#include "Motor.h"
+#include <Map.hpp>
+#include "mbed.h"
+ //define pins//
+AnalogIn analog_value1(PA_0);
+AnalogIn analog_value2(PA_1);
+DigitalOut myled(LED1);
+CAN can1(PA_11, PA_12);
+Motor myMotor(PA_8, PA_5, PA_6);
+//define variable//
+int counter = 0;
+int counter1 = 0;
+int errorcounter = 0;
+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 thorttle1, thorttle2, sumThorttle, subThorttle;
+float mdagree, pdagree = 0;
+float mythorttle,sumthorttle = 0;
+float speed = 0;
+PID pid(&pdagree, &mdagree, &speed, output_lower_limit, output_upper_limit,kp, ki, kd, Ts);
+
+///////////////////
+//////////////////
+//define Mapping//
+//////////////////
+////////////////////
+Map mapvaltovolt = Map(0, 1, 0, 3300);
+Map mtodagree = Map(490, 3150, 0, 255);
+Map nspeed = Map(-255, 255, -1, 1);
+Map pedaltodagree = Map(865, 1220, 0, 255);
+//////Tickers/////
+Ticker sensor_sample_timer;
+Ticker motor_cmd_timer;
+Ticker get_data_timer;
+Serial pc(USBTX,USBRX);
+/////////////////////
+////////////////////
+////////////////////
+//define functions///
+////////////////////
+/////////////////////
+/////////////////////
+void commandMotor(){
+ counter1++;
+ if (counter1 == 20){ //getting error everycount = 20
+ //pc.printf("Error %.4f\n\r", pid.getError());
+ counter1 = 0;
+ }
+ float Motorcommand = nspeed.Calculate(speed);
+ myMotor.speed(Motorcommand);
+ //pc.printf("Motor speed %.4f\n\r", Motorcommand);
+}
+void sendError() { //sending Error over Canbus
+ myMotor.speed(0);
+ wait(10);
+ myled = 1;
+ }
+void getData() { // get Data overcanbus
+ CANMessage msg;
+ if(can1.read(msg)) {
+ //printf("got it\n\r");
+ //printf("Message received: %d,,\n\r", msg.data[0]);
+ pdagree = msg.data[0];
+ //pid.sample();
+ commandMotor();
+ }
+ }
+
+
+
+void readSensors() { //reading Pedal and Brake sensors
+
+ thorttle1 = analog_value1.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+ thorttle2 = analog_value2.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+ thorttle1 = mapvaltovolt.Calculate(thorttle1);
+ thorttle2 = mapvaltovolt.Calculate(thorttle2);
+ //pc.printf("pedal1 is: %.4f, matzeret1 is:%.4f\n\r", thorttle1, thorttle2);
+ sumThorttle = thorttle1+thorttle2;
+ //pc.printf("sumpedal is: %.4f\n\r", sumThorttle);
+ subThorttle = abs(3500-sumThorttle);
+ //pc.printf("Subpedal is: %.4f\n\r", subThorttle);
+ if (subThorttle<200) { //checking error
+ mythorttle = mtodagree.Calculate(thorttle1);
+ sumthorttle = sumthorttle + mythorttle;
+ //setpoint = throttleCmd;
+ //pc.printf("setpedal dagree %.4f\n\r", pdagree);
+ counter++;
+ if (counter == 10) {
+ mdagree = sumthorttle/10;
+ getData();
+ counter = 0;
+ sumthorttle = 0;
+ errorcounter = 0;
+ }
+ else {
+ errorcounter++;
+ if (errorcounter > 1000) {
+ sendError();
+ }
+
+ }
+
+ }
+}
+int main() {
+ sensor_sample_timer.attach(readSensors, 0.0001);
+ pid.start();
+ motor_cmd_timer.attach(commandMotor, 0.0005);
+}
diff -r 000000000000 -r 660e73691ec3 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Dec 31 20:25:08 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
diff -r 000000000000 -r 660e73691ec3 mypid.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mypid.lib Tue Dec 31 20:25:08 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/noamnahum/code/mypidror1/#f5c84347bfca