Simple PID example for LabVIEW

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Comitter:
simon
Date:
Tue Aug 03 15:32:30 2010 +0000
Parent:
0:e3b759ab4b5c
Commit message:

Changed in this revision

Motor.cpp Show annotated file Show diff for this revision Revisions of this file
Motor.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
diff -r e3b759ab4b5c -r ddfe18427154 Motor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp	Tue Aug 03 15:32:30 2010 +0000
@@ -0,0 +1,46 @@
+/* mbed simple H-bridge motor controller
+ * Copyright (c) 2007-2010, sford
+ *
+ * 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(0.001);
+    _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);
+}
+
+
+
diff -r e3b759ab4b5c -r ddfe18427154 Motor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h	Tue Aug 03 15:32:30 2010 +0000
@@ -0,0 +1,55 @@
+/* mbed simple H-bridge motor controller
+ * Copyright (c) 2007-2010, sford
+ *
+ * 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
diff -r e3b759ab4b5c -r ddfe18427154 main.cpp
--- a/main.cpp	Mon Aug 02 18:53:02 2010 +0000
+++ b/main.cpp	Tue Aug 03 15:32:30 2010 +0000
@@ -1,32 +1,23 @@
 #include "mbed.h"
 #include "QEI.h"
+#include "Motor.h"
 
-PwmOut MotorA(p21);
-PwmOut MotorB(p22);
 Serial pc(USBTX, USBRX);
 QEI Encoder(p29 ,p30, NC, 48);
-
-
-int main(){
-float MotorOutput = 0;
-float Percentage = 0;
-float NoPulses;
+Motor Wheel(p23, p21, p22);
 
-Encoder.reset();
+int main() {
+    float MotorOutput = 0;
+    Encoder.reset();
+    while (1) {
+        pc.scanf("%f", &MotorOutput);
+        float NoPulses = Encoder.getPulses();
 
-    while(1) {
-        pc.scanf("%f", &MotorOutput);     
-        NoPulses = Encoder.getPulses();
-        Percentage = (NoPulses / 48) * 100;
+        float Percentage = (NoPulses / 48) * 100;
         pc.printf("%f\n", Percentage);
 
-        if(MotorOutput > 50){
-            MotorA = (MotorOutput - 50) * 2 / 100;
-            MotorB = 0;
-        }else{
-            MotorA = 0;
-            MotorB =  (50 - MotorOutput) * 2 / 100;
-        }
+        Wheel.speed((MotorOutput - 50) * 2 / 100);
+
         wait(0.005);
     }
 }