main.cpp

00001 /*DCMotor*/ 
00002 // transfer function 10400/s+21.28
00003 // motor direction v1(vR) < 0
00004 // motor direction v2(vL) > 0
00005 // speed limitatino 300 rpm
00006 
00007 #include "mbed.h"
00008 
00009 //The number will be compiled as type "double" in default
00010 //Add a "f" after the number can make it compiled as type "float"
00011 #define Ts 0.02f    //period of timer1 (s)
00012 #define Kp1 0.0048f   //0.0048f
00013 #define Kp2 0.0048f   //0.0048f
00014 #define Ki 0.002754f  //0.1023f 
00015 
00016 Serial bluetooth(D10,D2); //宣告藍牙腳位
00017 //Serial pc(D1, D0);
00018 PwmOut servo(A0);
00019 PwmOut pwm1(D7);
00020 PwmOut pwm1n(D11);
00021 PwmOut pwm2(D8);
00022 PwmOut pwm2n(A3);
00023 
00024 DigitalOut led1(A4);
00025 DigitalOut led2(A5);
00026 
00027 //Motor1 sensor
00028 InterruptIn HallA_1(A1);
00029 InterruptIn HallB_1(A2);
00030 //Motor2 sensor
00031 InterruptIn HallA_2(D13);
00032 InterruptIn HallB_2(D12);
00033 
00034 
00035 Ticker timer1;
00036 void timer1_interrupt(void);
00037 int  timer1_counter;
00038 
00039 void CN_interrupt(void);
00040 
00041 void init_TIMER(void);
00042 void init_PWM(void);
00043 void init_CN(void);
00044 void init_BLUETOOTH(void);
00045 
00046 int8_t stateA_1=0, stateB_1=0, stateA_2=0, stateB_2=0;
00047 int8_t state_1 = 0, state_1_old = 0, state_2 = 0, state_2_old = 0;
00048 
00049 int v1Count = 0;
00050 int v2Count = 0;
00051 
00052 float v1 = 0.0, v1_ref = 0.0;
00053 float v1_err = 0.0, v1_err_old = 0.0, PIout_1 = 0.0;
00054 float v1_old[10] = {}, v1_avg = 0.0;
00055 float v2 = 0.0, v2_ref = 0.0;
00056 float v2_err = 0.0, v2_err_old = 0.0, PIout_2 = 0.0;
00057 float v2_old[10] = {}, v2_avg = 0.0;
00058 
00059 int servo_angle = 70;
00060 float servo_duty = 0.079;//0.079 +(0.084/180)*angle, -90<angle<90
00061 int servo_work = 0;
00062 
00063 
00064 //char Receive_Data[8] = {};
00065 
00066 int main() {
00067     init_BLUETOOTH();
00068     init_TIMER();
00069     init_PWM();
00070     init_CN();
00071     
00072     v1_ref = 0.0;
00073     v2_ref = 0.0;  
00074     
00075     servo_duty = 0.079 + (0.084/180)*servo_angle; // 要修改
00076     servo.write(servo_duty);
00077     
00078     //bluetooth.baud(115200); //設定鮑率
00079     //pc.baud(57600);
00080     
00081     while(1) 
00082     {
00083        if(bluetooth.readable())
00084         {
00085             bluetooth.scanf("%f %f %d",&v1_ref,&v2_ref, &servo_work);
00086             v1_ref = v1_ref - 300.0f;
00087             v2_ref = v2_ref - 300.0f;
00088             
00089             if(servo_work == 0)
00090             servo_angle = 70;
00091             else
00092             servo_angle = 20;
00093         }
00094     }
00095 }
00096 
00097 void timer1_interrupt(void)
00098 {     
00099     //Motor 1
00100     v1 = (float)v1Count * 50.0f / 12.0f * 60.0f / 29.0f;   //unit: rpm
00101     v1_avg = v1_avg + ( v1 - v1_old[9])/10.0f;
00102     for(int i = 9; i > 0 ; i--)
00103     {
00104         v1_old[i] = v1_old[i-1];
00105     }
00106     v1_old[0] = v1;
00107     v1Count = 0;
00108     
00109     ///code for PI control///
00110     v1_err = v1_ref - v1;
00111     
00112     PIout_1 = PIout_1 + Kp1 * v1_err - Ki * v1_err_old;
00113     v1_err_old = v1_err;
00114       
00115     // saturation
00116     if(PIout_1 >= 0.5f)PIout_1 = 0.5f;
00117     else if(PIout_1 <= -0.5f)PIout_1 = -0.5f;
00118     pwm1.write(PIout_1 + 0.5f);
00119     TIM1->CCER |= 0x4;
00120     
00121     //Motor 2
00122     v2 = (float)v2Count * 50.0f / 12.0f * 60.0f / 29.0f;   //unit: rpm
00123     v2_avg = v2_avg + ( v2 - v2_old[9])/10.0f;
00124     for(int i = 9; i > 0; i--)
00125     {
00126         v2_old[i] = v2_old[i-1];
00127     }
00128     v2_old[0] = v2;
00129     v2Count = 0;
00130     
00131     ///code for PI control///
00132     v2_err = v2_ref - v2;
00133     
00134     PIout_2 = PIout_2 + Kp2 * v2_err - Ki * v2_err_old;
00135     v2_err_old = v2_err;
00136      
00137     //saturation
00138     if(PIout_2 >= 0.5f)PIout_2 = 0.5f;
00139     else if(PIout_2 <= -0.5f)PIout_2 = -0.5f;
00140     pwm2.write(PIout_2 + 0.5f);
00141     TIM1->CCER |= 0x40;
00142     
00143     timer1_counter ++;
00144     if (timer1_counter == 50)
00145     {
00146        timer1_counter = 0;
00147        if(bluetooth.writeable())
00148        {
00149            bluetooth.printf("V1: %4.2f  V2: %4.2f\n",v1_avg,v2_avg);
00150        }
00151     }
00152     
00153     servo_duty = 0.079 + (0.084/180)*servo_angle; // 要修改
00154     servo.write(servo_duty);
00155   
00156     
00157 }
00158 
00159 void CN_interrupt(void)
00160 {
00161     //Motor 1
00162     stateA_1 = HallA_1.read();
00163     stateB_1 = HallB_1.read();
00164     
00165     ///code for state determination///
00166     if (stateA_1 == 0)
00167     {
00168         if (stateB_1 == 0)
00169             state_1 = 0;
00170         else
00171             state_1 = 1;
00172     }
00173     else
00174     {
00175         if (stateB_1 == 1)
00176             state_1 = 2;
00177         else
00178             state_1 = 3;
00179     }
00180     
00181     //Forward: v1Count +1
00182     //Inverse: v1Count -1
00183     if ( (state_1 == (state_1_old + 1)) || (state_1 == 0 && state_1_old == 3) )
00184         v1Count++;
00185     else if ( (state_1 == (state_1_old - 1)) || (state_1 == 3 && state_1_old == 0))
00186         v1Count--;
00187             
00188     state_1_old = state_1;
00189     
00190     //Motor 2
00191     stateA_2 = HallA_2.read();
00192     stateB_2 = HallB_2.read();
00193     
00194     ///code for state determination///
00195     if (stateA_2 == 0)
00196     {
00197         if (stateB_2 == 0)
00198             state_2 = 0;
00199         else
00200             state_2 = 1;
00201     }
00202     else
00203     {
00204         if (stateB_2 == 1)
00205             state_2 = 2;
00206         else
00207             state_2 = 3;
00208     }
00209     
00210     //Forward: v2Count +1
00211     //Inverse: v2Count -1
00212     if ( (state_2 == (state_2_old + 1)) || (state_2 == 0 && state_2_old == 3) )
00213         v2Count++;
00214     else if ( (state_2 == (state_2_old - 1)) || (state_2 == 3 && state_2_old == 0) )
00215         v2Count--;
00216         
00217     state_2_old = state_2;
00218     
00219     
00220 }
00221 
00222 void init_TIMER(void)
00223 {
00224     timer1.attach_us(&timer1_interrupt, 20000);//10ms interrupt period (100 Hz)
00225     timer1_counter = 0;
00226 }         
00227    
00228 void init_PWM(void)
00229 {
00230     pwm1.period_us(50);
00231     pwm1.write(0.5);
00232     TIM1->CCER |= 0x4;
00233     
00234     pwm2.period_us(50);
00235     pwm2.write(0.5);
00236     TIM1->CCER |= 0x40;
00237 }
00238 
00239 void init_CN(void)
00240 {
00241     HallA_1.rise(&CN_interrupt);
00242     HallA_1.fall(&CN_interrupt);
00243     HallB_1.rise(&CN_interrupt);
00244     HallB_1.fall(&CN_interrupt);
00245     
00246     HallA_2.rise(&CN_interrupt);
00247     HallA_2.fall(&CN_interrupt);
00248     HallB_2.rise(&CN_interrupt);
00249     HallB_2.fall(&CN_interrupt);
00250     
00251     stateA_1 = HallA_1.read();
00252     stateB_1 = HallB_1.read();
00253     stateA_2 = HallA_2.read();
00254     stateB_2 = HallB_2.read();
00255 }
00256 void init_BLUETOOTH(void)
00257 {
00258     bluetooth.baud(115200);
00259 }