Steven Meuleman / Mbed 2 deprecated PIDcopy

Made by Tom Lankhorst but now without errors

Dependencies:   Encoder HIDScope MODSERIAL mbed

Fork of positioncontrolpot by Jasper Gerth

main.cpp@0:6ffe287c9e4c, 2015-09-22 (annotated)

Committer:
Gerth
Date:
Tue Sep 22 11:52:38 2015 +0000
Revision:
0:6ffe287c9e4c
Child:
1:757aadb68807
with this simple program the outputshaft follows the potmeter;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gerth 0:6ffe287c9e4c 1 #include "mbed.h"
Gerth 0:6ffe287c9e4c 2 #include "HIDScope.h"
Gerth 0:6ffe287c9e4c 3 #include "encoder.h"
Gerth 0:6ffe287c9e4c 4
Gerth 0:6ffe287c9e4c 5 //hidscope met gewenst aantal kanalen
Gerth 0:6ffe287c9e4c 6 HIDScope scope(2);
Gerth 0:6ffe287c9e4c 7
Gerth 0:6ffe287c9e4c 8 //analoog in van potmeter 1
Gerth 0:6ffe287c9e4c 9 AnalogIn pot1(A0);
Gerth 0:6ffe287c9e4c 10
Gerth 0:6ffe287c9e4c 11 //signaal naar motor uit
Gerth 0:6ffe287c9e4c 12 DigitalOut motor1_direction(D7);// draairichting motor 1 (1 is CW )
Gerth 0:6ffe287c9e4c 13 PwmOut motor1_speed_control(D6);//aanstuursnelheid motor 1
Gerth 0:6ffe287c9e4c 14 //PwmOut motor2_speed_control(D5);
Gerth 0:6ffe287c9e4c 15 //DigitalOut motor2_direction(D4);
Gerth 0:6ffe287c9e4c 16
Gerth 0:6ffe287c9e4c 17 //encoders
Gerth 0:6ffe287c9e4c 18 Encoder motor1_encoder(D13,D12);
Gerth 0:6ffe287c9e4c 19 //Encoder motor2_encoder(D11,D10);
Gerth 0:6ffe287c9e4c 20
Gerth 0:6ffe287c9e4c 21 //tickers
Gerth 0:6ffe287c9e4c 22 Ticker scopedataticker;
Gerth 0:6ffe287c9e4c 23 Ticker adjust_positionticker;
Gerth 0:6ffe287c9e4c 24
Gerth 0:6ffe287c9e4c 25 //frequenties
Gerth 0:6ffe287c9e4c 26 const float motor_frequency_pwm = 1000; //1kHz PWM
Gerth 0:6ffe287c9e4c 27 const float scopedatafrequency=50;// frequentie waarmee informatie naar de scope gestuurd wordt
Gerth 0:6ffe287c9e4c 28 const float adjust_position_frequency=8; // frequentie waarmee de motorpositie aangepast wordt
Gerth 0:6ffe287c9e4c 29
Gerth 0:6ffe287c9e4c 30 //constanten
Gerth 0:6ffe287c9e4c 31 const float cpr=4200;
Gerth 0:6ffe287c9e4c 32
Gerth 0:6ffe287c9e4c 33
Gerth 0:6ffe287c9e4c 34 //go flags
Gerth 0:6ffe287c9e4c 35 bool scopedata_go=false;
Gerth 0:6ffe287c9e4c 36 bool adjust_position_go=false;
Gerth 0:6ffe287c9e4c 37
Gerth 0:6ffe287c9e4c 38 //activators
Gerth 0:6ffe287c9e4c 39 void scopedata_activate()
Gerth 0:6ffe287c9e4c 40 {
Gerth 0:6ffe287c9e4c 41 scopedata_go=true;
Gerth 0:6ffe287c9e4c 42 }
Gerth 0:6ffe287c9e4c 43 void adjust_position_activate()
Gerth 0:6ffe287c9e4c 44 {
Gerth 0:6ffe287c9e4c 45 adjust_position_go=true;
Gerth 0:6ffe287c9e4c 46 }
Gerth 0:6ffe287c9e4c 47
Gerth 0:6ffe287c9e4c 48 //scopefunctie
Gerth 0:6ffe287c9e4c 49 void scopedata()
Gerth 0:6ffe287c9e4c 50 {
Gerth 0:6ffe287c9e4c 51 scope.set(0,pot1.read());
Gerth 0:6ffe287c9e4c 52 scope.set(1,motor1_encoder.getPosition());
Gerth 0:6ffe287c9e4c 53 scope.send();
Gerth 0:6ffe287c9e4c 54 }
Gerth 0:6ffe287c9e4c 55
Gerth 0:6ffe287c9e4c 56 //adjust position
Gerth 0:6ffe287c9e4c 57 void adjust_position()
Gerth 0:6ffe287c9e4c 58 {
Gerth 0:6ffe287c9e4c 59 float wantedposition=cpr*(pot1.read());
Gerth 0:6ffe287c9e4c 60 int actualposition=(motor1_encoder.getPosition());
Gerth 0:6ffe287c9e4c 61 if (wantedposition<=actualposition) {
Gerth 0:6ffe287c9e4c 62 motor1_direction=0;
Gerth 0:6ffe287c9e4c 63 motor1_speed_control=0.5;
Gerth 0:6ffe287c9e4c 64 } else if (wantedposition>=actualposition) {
Gerth 0:6ffe287c9e4c 65 motor1_direction=1;
Gerth 0:6ffe287c9e4c 66 motor1_speed_control=0.5;
Gerth 0:6ffe287c9e4c 67 } else {
Gerth 0:6ffe287c9e4c 68 motor1_direction=1;
Gerth 0:6ffe287c9e4c 69 motor1_speed_control=0;
Gerth 0:6ffe287c9e4c 70 }
Gerth 0:6ffe287c9e4c 71 }
Gerth 0:6ffe287c9e4c 72
Gerth 0:6ffe287c9e4c 73 int main ()
Gerth 0:6ffe287c9e4c 74 {
Gerth 0:6ffe287c9e4c 75 motor1_speed_control.period(1/motor_frequency_pwm);
Gerth 0:6ffe287c9e4c 76
Gerth 0:6ffe287c9e4c 77 scopedataticker.attach(&scopedata_activate,1/scopedatafrequency);
Gerth 0:6ffe287c9e4c 78 adjust_positionticker.attach(&adjust_position_activate,1/adjust_position_frequency);
Gerth 0:6ffe287c9e4c 79
Gerth 0:6ffe287c9e4c 80 while(1) {
Gerth 0:6ffe287c9e4c 81 if (scopedata_go==true) {
Gerth 0:6ffe287c9e4c 82 scopedata();
Gerth 0:6ffe287c9e4c 83 scopedata_go=false;
Gerth 0:6ffe287c9e4c 84 }
Gerth 0:6ffe287c9e4c 85 if (adjust_position_go==true) {
Gerth 0:6ffe287c9e4c 86 adjust_position();
Gerth 0:6ffe287c9e4c 87 adjust_position_go=false;
Gerth 0:6ffe287c9e4c 88
Gerth 0:6ffe287c9e4c 89 }
Gerth 0:6ffe287c9e4c 90 }
Gerth 0:6ffe287c9e4c 91 }