Ollie Peng / Mbed 2 deprecated EE192_PID

first draft

Dependencies:   PID mbed

main.cpp@0:87a63b2d26ef, 2016-03-15 (annotated)

Committer:
openg
Date:
Tue Mar 15 21:18:47 2016 +0000
Revision:
0:87a63b2d26ef
first draft;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
openg 0:87a63b2d26ef 1 #include "mbed.h"
openg 0:87a63b2d26ef 2
openg 0:87a63b2d26ef 3 Serial pc(USBTX, USBRX); // tx, rx
openg 0:87a63b2d26ef 4 PwmOut Clock(PTD4);
openg 0:87a63b2d26ef 5 PwmOut Output(////);
openg 0:87a63b2d26ef 6 AnalogIn Sensor(////);
openg 0:87a63b2d26ef 7
openg 0:87a63b2d26ef 8 float adjustmentFactor = 1.0; //change so that sensor data is calibrated
openg 0:87a63b2d26ef 9 float ref = 3.0;
openg 0:87a63b2d26ef 10 float error = 0.0;
openg 0:87a63b2d26ef 11 float totalError = 0.0;
openg 0:87a63b2d26ef 12 int period = 1000;
openg 0:87a63b2d26ef 13 int PW = period/2;
openg 0:87a63b2d26ef 14
openg 0:87a63b2d26ef 15 int outPeriod = period; //assume period always is the same
openg 0:87a63b2d26ef 16 int outPW;
openg 0:87a63b2d26ef 17
openg 0:87a63b2d26ef 18 float Ki = 0; //adjust
openg 0:87a63b2d26ef 19 float Kp = 30; //adjust
openg 0:87a63b2d26ef 20
openg 0:87a63b2d26ef 21 Ticker Controller;
openg 0:87a63b2d26ef 22
openg 0:87a63b2d26ef 23 void Control(){
openg 0:87a63b2d26ef 24 error = ref - Sensor.read()*adjustmentFactor;
openg 0:87a63b2d26ef 25 totalError += error;
openg 0:87a63b2d26ef 26 outPW = Kp*error + Ki*(totalError);
openg 0:87a63b2d26ef 27 Output.period_us(outPeriod);
openg 0:87a63b2d26ef 28 Output.pulsewidth_us(outPW);
openg 0:87a63b2d26ef 29 }
openg 0:87a63b2d26ef 30
openg 0:87a63b2d26ef 31 int main() {
openg 0:87a63b2d26ef 32 Clock.period_us(period);
openg 0:87a63b2d26ef 33 Clock.pulsewidth_us(PW);
openg 0:87a63b2d26ef 34 Controller.attach_us(Control,period*128); //assumed that we should wait 128 clock cycles before activating controller
openg 0:87a63b2d26ef 35 //because line camera requires 128 cycles. should verify
openg 0:87a63b2d26ef 36
openg 0:87a63b2d26ef 37 }