Simon Ford
/
LabVIEW_PID
Simple PID example for LabVIEW
Revision 1:ddfe18427154, committed 2010-08-03
- Comitter:
- simon
- Date:
- Tue Aug 03 15:32:30 2010 +0000
- Parent:
- 0:e3b759ab4b5c
- Commit message:
Changed in this revision
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); } }