LabVIEW_PID - Simple PID example for LabVIEW

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Simple PID example for LabVIEW

main.cpp@0:e3b759ab4b5c, 2010-08-02 (annotated)

User	Revision	Line number	New contents of line
simon	0:e3b759ab4b5c	1	#include "mbed.h"
simon	0:e3b759ab4b5c	2	#include "QEI.h"
simon	0:e3b759ab4b5c	3
simon	0:e3b759ab4b5c	4	PwmOut MotorA(p21);
simon	0:e3b759ab4b5c	5	PwmOut MotorB(p22);
simon	0:e3b759ab4b5c	6	Serial pc(USBTX, USBRX);
simon	0:e3b759ab4b5c	7	QEI Encoder(p29 ,p30, NC, 48);
simon	0:e3b759ab4b5c	8
simon	0:e3b759ab4b5c	9
simon	0:e3b759ab4b5c	10	int main(){
simon	0:e3b759ab4b5c	11	float MotorOutput = 0;
simon	0:e3b759ab4b5c	12	float Percentage = 0;
simon	0:e3b759ab4b5c	13	float NoPulses;
simon	0:e3b759ab4b5c	14
simon	0:e3b759ab4b5c	15	Encoder.reset();
simon	0:e3b759ab4b5c	16
simon	0:e3b759ab4b5c	17	while(1) {
simon	0:e3b759ab4b5c	18	pc.scanf("%f", &MotorOutput);
simon	0:e3b759ab4b5c	19	NoPulses = Encoder.getPulses();
simon	0:e3b759ab4b5c	20	Percentage = (NoPulses / 48) * 100;
simon	0:e3b759ab4b5c	21	pc.printf("%f\n", Percentage);
simon	0:e3b759ab4b5c	22
simon	0:e3b759ab4b5c	23	if(MotorOutput > 50){
simon	0:e3b759ab4b5c	24	MotorA = (MotorOutput - 50) * 2 / 100;
simon	0:e3b759ab4b5c	25	MotorB = 0;
simon	0:e3b759ab4b5c	26	}else{
simon	0:e3b759ab4b5c	27	MotorA = 0;
simon	0:e3b759ab4b5c	28	MotorB = (50 - MotorOutput) * 2 / 100;
simon	0:e3b759ab4b5c	29	}
simon	0:e3b759ab4b5c	30	wait(0.005);
simon	0:e3b759ab4b5c	31	}
simon	0:e3b759ab4b5c	32	}