Sven Kugathasan / Mbed OS SKAFMO_2

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Dependencies:   PID

main.cpp@3:7ee013b0976e, 2017-03-24 (annotated)

Committer:
svenkugi
Date:
Fri Mar 24 01:57:50 2017 +0000
Revision:
3:7ee013b0976e
Parent:
1:0eb5cc1bd38f
Child:
4:5eb8ac894d0f
Updated function ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
svenkugi 0:b6deec3905f4 1 /*_________________________________LIBRARIES__________________________________*/
svenkugi 0:b6deec3905f4 2
svenkugi 0:b6deec3905f4 3 #include "mbed.h"
svenkugi 0:b6deec3905f4 4 #include "rtos.h"
svenkugi 0:b6deec3905f4 5 #include "PID.h"
svenkugi 0:b6deec3905f4 6
svenkugi 0:b6deec3905f4 7 /*_________________________________PIN SETUP__________________________________*/
svenkugi 0:b6deec3905f4 8
svenkugi 0:b6deec3905f4 9 //PhotoInterrupter Input Pins
svenkugi 0:b6deec3905f4 10 #define I1pin D2
svenkugi 0:b6deec3905f4 11 #define I2pin D11
svenkugi 0:b6deec3905f4 12 #define I3pin D12
svenkugi 0:b6deec3905f4 13
svenkugi 0:b6deec3905f4 14 //Incremental Encoder Input Pins
svenkugi 0:b6deec3905f4 15 #define CHA D7
svenkugi 0:b6deec3905f4 16 #define CHB D8
svenkugi 0:b6deec3905f4 17
svenkugi 0:b6deec3905f4 18 //Motor Drive output pins //Mask in output byte
svenkugi 0:b6deec3905f4 19 #define L1Lpin D4 //0x01
svenkugi 0:b6deec3905f4 20 #define L1Hpin D5 //0x02
svenkugi 0:b6deec3905f4 21 #define L2Lpin D3 //0x04
svenkugi 0:b6deec3905f4 22 #define L2Hpin D6 //0x08
svenkugi 0:b6deec3905f4 23 #define L3Lpin D9 //0x10
svenkugi 0:b6deec3905f4 24 #define L3Hpin D10 //0x20
svenkugi 0:b6deec3905f4 25
svenkugi 0:b6deec3905f4 26 //Photointerrupter Inputs as Interrupts
svenkugi 0:b6deec3905f4 27 InterruptIn InterruptI1(D2);
svenkugi 0:b6deec3905f4 28 InterruptIn InterruptI2(D11);
svenkugi 0:b6deec3905f4 29 InterruptIn InterruptI3(D12);
svenkugi 0:b6deec3905f4 30
svenkugi 0:b6deec3905f4 31 //Incremental Encoder Inputs as Interrupts
svenkugi 0:b6deec3905f4 32 InterruptIn InterruptCHA(D7);
svenkugi 0:b6deec3905f4 33 DigitalIn InterruptCHB(D8);
svenkugi 0:b6deec3905f4 34
svenkugi 0:b6deec3905f4 35 //Motor Drive Outputs in PWM
svenkugi 0:b6deec3905f4 36 PwmOut L1L(L1Lpin);
svenkugi 0:b6deec3905f4 37 PwmOut L1H(L1Hpin);
svenkugi 0:b6deec3905f4 38 PwmOut L2L(L2Lpin);
svenkugi 0:b6deec3905f4 39 PwmOut L2H(L2Hpin);
svenkugi 0:b6deec3905f4 40 PwmOut L3L(L3Lpin);
svenkugi 0:b6deec3905f4 41 PwmOut L3H(L3Hpin);
svenkugi 0:b6deec3905f4 42
svenkugi 0:b6deec3905f4 43 //Status LED
svenkugi 0:b6deec3905f4 44 DigitalOut led1(LED1);
svenkugi 0:b6deec3905f4 45
svenkugi 0:b6deec3905f4 46 //Initialise the serial port
svenkugi 0:b6deec3905f4 47 Serial pc(SERIAL_TX, SERIAL_RX);
svenkugi 0:b6deec3905f4 48
svenkugi 0:b6deec3905f4 49 //Initialize Threads
svenkugi 0:b6deec3905f4 50 Thread thread;
svenkugi 0:b6deec3905f4 51
svenkugi 0:b6deec3905f4 52 //Timer
svenkugi 0:b6deec3905f4 53 Timer rps; // Measures Time for complete revolution
svenkugi 0:b6deec3905f4 54 Timer partial_rps; // Measures Time for partial revolutions
svenkugi 0:b6deec3905f4 55 Timer tmp; // Profiler Timer
svenkugi 0:b6deec3905f4 56
svenkugi 0:b6deec3905f4 57 //PID Controller
svenkugi 0:b6deec3905f4 58 PID velocity_pid(0.5, 0.5, 0.1, 0.05); // (P, I, D, WAIT)
svenkugi 0:b6deec3905f4 59 PID dist_pid(2, 0.0, 0.005, 0.05); // (P, I, D, WAIT)
svenkugi 0:b6deec3905f4 60
svenkugi 0:b6deec3905f4 61 /*________________________Motor Drive States__________________________________*/
svenkugi 0:b6deec3905f4 62
svenkugi 0:b6deec3905f4 63 //Mapping from sequential drive states to motor phase outputs
svenkugi 0:b6deec3905f4 64 /*
svenkugi 0:b6deec3905f4 65 State L1 L2 L3
svenkugi 0:b6deec3905f4 66 0 H - L
svenkugi 0:b6deec3905f4 67 1 - H L
svenkugi 0:b6deec3905f4 68 2 L H -
svenkugi 0:b6deec3905f4 69 3 L - H
svenkugi 0:b6deec3905f4 70 4 - L H
svenkugi 0:b6deec3905f4 71 5 H L -
svenkugi 0:b6deec3905f4 72 6 - - -
svenkugi 0:b6deec3905f4 73 7 - - -
svenkugi 0:b6deec3905f4 74 */
svenkugi 0:b6deec3905f4 75
svenkugi 0:b6deec3905f4 76 //Drive state to output table
svenkugi 0:b6deec3905f4 77 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
svenkugi 0:b6deec3905f4 78
svenkugi 0:b6deec3905f4 79 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
svenkugi 0:b6deec3905f4 80 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
svenkugi 0:b6deec3905f4 81
svenkugi 0:b6deec3905f4 82 //Alternative if phase order of input or drive is reversed
svenkugi 0:b6deec3905f4 83 //const int8_t stateMap_Reverse[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07};
svenkugi 0:b6deec3905f4 84
svenkugi 0:b6deec3905f4 85 /*____________________Global Variable Initialization__________________________*/
svenkugi 0:b6deec3905f4 86
svenkugi 0:b6deec3905f4 87 //Phase lead to make motor spin: 2 for forwards, -2 for backwards
svenkugi 0:b6deec3905f4 88 const int8_t lead = -2;
svenkugi 0:b6deec3905f4 89 int8_t direction = 1; //Default Setting: Backwards rotation
svenkugi 0:b6deec3905f4 90
svenkugi 0:b6deec3905f4 91 //Rotor Offset
svenkugi 0:b6deec3905f4 92 uint8_t orState=0;
svenkugi 0:b6deec3905f4 93
svenkugi 0:b6deec3905f4 94 //Disk State
svenkugi 0:b6deec3905f4 95 uint8_t intState=0; //Current Optical Disk state
svenkugi 0:b6deec3905f4 96
svenkugi 0:b6deec3905f4 97 //State Variables
svenkugi 0:b6deec3905f4 98 const uint8_t num_states = 6; //Number of states in one rotation
svenkugi 0:b6deec3905f4 99 uint32_t count = 0; //Counts number of states traversed
svenkugi 0:b6deec3905f4 100 int8_t completed = 0; //Checks if rotation completed
svenkugi 0:b6deec3905f4 101 int8_t driveto = 0; //Holds value of new motor drive state
svenkugi 0:b6deec3905f4 102
svenkugi 0:b6deec3905f4 103 //Debug Variables
svenkugi 0:b6deec3905f4 104 bool flag = false;
svenkugi 0:b6deec3905f4 105 float test_time=0;
svenkugi 0:b6deec3905f4 106 uint8_t test = 0;
svenkugi 0:b6deec3905f4 107
svenkugi 0:b6deec3905f4 108 //Angular Velocity Variables
svenkugi 0:b6deec3905f4 109 float period = 0; //Time taken to complete one rotation
svenkugi 0:b6deec3905f4 110 float angular_vel = 0; //Revolution per second
svenkugi 0:b6deec3905f4 111 float test_vel = 0;
svenkugi 0:b6deec3905f4 112
svenkugi 0:b6deec3905f4 113 float PWM_freq = 0.001f; //500Hz (> Motor LP cut-off frequency = 10Hz)
svenkugi 0:b6deec3905f4 114 float dutyout = 1.0f; //Initialized at 50% duty cycle
svenkugi 0:b6deec3905f4 115 float dutyout_max = 1.0f; //Maximum Duty Cycle
svenkugi 0:b6deec3905f4 116
svenkugi 0:b6deec3905f4 117 //float velocity_set = 10.0;
svenkugi 0:b6deec3905f4 118 uint32_t revstates_count = 0; //Global Variable to pass into interrupt
svenkugi 0:b6deec3905f4 119 float rev_target = 0.0f;
svenkugi 0:b6deec3905f4 120 float vel_target = 10.0f;
svenkugi 0:b6deec3905f4 121
svenkugi 0:b6deec3905f4 122 uint8_t pulse_count = 0;
svenkugi 0:b6deec3905f4 123 float total_rev = 0.0f;
svenkugi 0:b6deec3905f4 124 float partial_rev = 0.0f;
svenkugi 0:b6deec3905f4 125 float drive_vel = 0.0f;
svenkugi 0:b6deec3905f4 126
svenkugi 0:b6deec3905f4 127 /*_____Basic Functions (Motor Drive, Synchronization, Reading Rotor State)____*/
svenkugi 0:b6deec3905f4 128
svenkugi 0:b6deec3905f4 129 //Set a given drive state
svenkugi 0:b6deec3905f4 130 void motorOut(int8_t driveState){
svenkugi 0:b6deec3905f4 131
svenkugi 0:b6deec3905f4 132 //Lookup the output byte from the drive state.
svenkugi 0:b6deec3905f4 133 int8_t driveOut = driveTable[driveState & 0x07];
svenkugi 0:b6deec3905f4 134
svenkugi 0:b6deec3905f4 135 //Turn off first (PWM)
svenkugi 0:b6deec3905f4 136 if (~driveOut & 0x01) L1L = 0;
svenkugi 0:b6deec3905f4 137 if (~driveOut & 0x02) L1H.write(dutyout); L1H.period(PWM_freq);
svenkugi 0:b6deec3905f4 138 if (~driveOut & 0x04) L2L = 0;
svenkugi 0:b6deec3905f4 139 if (~driveOut & 0x08) L2H.write(dutyout); L2H.period(PWM_freq);
svenkugi 0:b6deec3905f4 140 if (~driveOut & 0x10) L3L = 0;
svenkugi 0:b6deec3905f4 141 if (~driveOut & 0x20) L3H.write(dutyout); L3H.period(PWM_freq);
svenkugi 0:b6deec3905f4 142
svenkugi 0:b6deec3905f4 143 //Then turn on (PWM)
svenkugi 0:b6deec3905f4 144 if (driveOut & 0x01) L1L.write(dutyout); L1L.period(PWM_freq);
svenkugi 0:b6deec3905f4 145 if (driveOut & 0x02) L1H = 0;
svenkugi 0:b6deec3905f4 146 if (driveOut & 0x04) L2L.write(dutyout); L2L.period(PWM_freq);
svenkugi 0:b6deec3905f4 147 if (driveOut & 0x08) L2H = 0;
svenkugi 0:b6deec3905f4 148 if (driveOut & 0x10) L3L.write(dutyout); L3L.period(PWM_freq);
svenkugi 0:b6deec3905f4 149 if (driveOut & 0x20) L3H = 0;
svenkugi 3:7ee013b0976e 150
svenkugi 0:b6deec3905f4 151 }
svenkugi 0:b6deec3905f4 152
svenkugi 0:b6deec3905f4 153 //Convert photointerrupter inputs to a rotor state
svenkugi 0:b6deec3905f4 154 inline int8_t readRotorState(){
svenkugi 0:b6deec3905f4 155 return stateMap[InterruptI1.read() + 2*InterruptI2.read() + 4*InterruptI3.read()];
svenkugi 0:b6deec3905f4 156 }
svenkugi 0:b6deec3905f4 157
svenkugi 0:b6deec3905f4 158 //Basic synchronisation routine
svenkugi 0:b6deec3905f4 159 int8_t motorHome() {
svenkugi 0:b6deec3905f4 160 dutyout = 1.0f;
svenkugi 0:b6deec3905f4 161
svenkugi 3:7ee013b0976e 162 //Put the motor in drive state X (e.g. 5) tp avoid initial jittevbo
svenkugi 0:b6deec3905f4 163 motorOut(5);
svenkugi 0:b6deec3905f4 164 wait(1.0);
svenkugi 0:b6deec3905f4 165
svenkugi 0:b6deec3905f4 166 //Put the motor in drive state 0 and wait for it to stabilise
svenkugi 0:b6deec3905f4 167 motorOut(0);
svenkugi 0:b6deec3905f4 168 wait(1.0);
svenkugi 0:b6deec3905f4 169
svenkugi 0:b6deec3905f4 170 //Get the rotor state
svenkugi 0:b6deec3905f4 171 return readRotorState();
svenkugi 0:b6deec3905f4 172 }
svenkugi 0:b6deec3905f4 173
svenkugi 0:b6deec3905f4 174 /*________________Advanced Functions (Speed and Position Control)_____________*/
svenkugi 0:b6deec3905f4 175
svenkugi 0:b6deec3905f4 176 // Function has no PID
svenkugi 0:b6deec3905f4 177 void rotation_control(int8_t num_revs, int8_t sign){
svenkugi 0:b6deec3905f4 178
svenkugi 0:b6deec3905f4 179 revstates_count = num_revs*num_states;
svenkugi 0:b6deec3905f4 180
svenkugi 0:b6deec3905f4 181 intState = readRotorState();
svenkugi 0:b6deec3905f4 182 driveto = (intState-orState+(sign*lead)+6)%6;
svenkugi 0:b6deec3905f4 183 motorOut(driveto);
svenkugi 0:b6deec3905f4 184
svenkugi 0:b6deec3905f4 185 while(!completed){
svenkugi 0:b6deec3905f4 186
svenkugi 0:b6deec3905f4 187 //pc.printf("Angular velocity: %f \n", angular_vel);
svenkugi 0:b6deec3905f4 188 pc.printf("Partial Angular: %f \n", test_vel);
svenkugi 0:b6deec3905f4 189 //pc.printf("Count: %d \r\n", (count/6));
svenkugi 0:b6deec3905f4 190
svenkugi 0:b6deec3905f4 191 }
svenkugi 0:b6deec3905f4 192 }
svenkugi 0:b6deec3905f4 193
svenkugi 0:b6deec3905f4 194 // Funciton involves PID
svenkugi 3:7ee013b0976e 195 void position_control(float num_revs, float vel_target){
svenkugi 0:b6deec3905f4 196
svenkugi 3:7ee013b0976e 197 if(num_revs < 0){
svenkugi 3:7ee013b0976e 198 direction = -1;
svenkugi 3:7ee013b0976e 199 }
svenkugi 3:7ee013b0976e 200
svenkugi 3:7ee013b0976e 201 rev_target = abs(num_revs);
svenkugi 0:b6deec3905f4 202
svenkugi 0:b6deec3905f4 203 velocity_pid.setInputLimits(0.0, 50.0);
svenkugi 0:b6deec3905f4 204 velocity_pid.setOutputLimits(0.0, 1.0);
svenkugi 0:b6deec3905f4 205 velocity_pid.setMode(1);
svenkugi 0:b6deec3905f4 206 velocity_pid.setSetPoint(vel_target);
svenkugi 0:b6deec3905f4 207
svenkugi 0:b6deec3905f4 208 dist_pid.setInputLimits(0.0, 1000.0);
svenkugi 0:b6deec3905f4 209 dist_pid.setOutputLimits(0.2, 1.0);
svenkugi 0:b6deec3905f4 210 dist_pid.setMode(1);
svenkugi 0:b6deec3905f4 211 dist_pid.setSetPoint(rev_target);
svenkugi 0:b6deec3905f4 212
svenkugi 0:b6deec3905f4 213 intState = readRotorState();
svenkugi 0:b6deec3905f4 214 driveto = (intState-orState+(sign*lead)+6)%6;
svenkugi 0:b6deec3905f4 215 motorOut(driveto);
svenkugi 0:b6deec3905f4 216
svenkugi 0:b6deec3905f4 217 while(!completed){
svenkugi 0:b6deec3905f4 218
svenkugi 0:b6deec3905f4 219 //pc.printf("dutyout: %f \r\n", dutyout);
svenkugi 0:b6deec3905f4 220 pc.printf("Angular velocity: %f \r\n", angular_vel);
svenkugi 0:b6deec3905f4 221 pc.printf("Count: %d \r\n", count);
svenkugi 0:b6deec3905f4 222 //pc.printf("Total_rev: %f \r\n", total_rev);
svenkugi 0:b6deec3905f4 223 //pc.printf("\n");
svenkugi 0:b6deec3905f4 224 wait(0.05);
svenkugi 0:b6deec3905f4 225 }
svenkugi 0:b6deec3905f4 226
svenkugi 0:b6deec3905f4 227 }
svenkugi 0:b6deec3905f4 228
svenkugi 0:b6deec3905f4 229 void changestate_isr(){
svenkugi 0:b6deec3905f4 230
svenkugi 0:b6deec3905f4 231 // Profiling: Test time duration of ISR
svenkugi 0:b6deec3905f4 232 /*if(test == 0){
svenkugi 0:b6deec3905f4 233 tmp.start();
svenkugi 0:b6deec3905f4 234 test = 1;
svenkugi 0:b6deec3905f4 235 }
svenkugi 0:b6deec3905f4 236
svenkugi 0:b6deec3905f4 237 else{
svenkugi 0:b6deec3905f4 238 tmp.stop();
svenkugi 0:b6deec3905f4 239 test_time = tmp.read();
svenkugi 0:b6deec3905f4 240 tmp.reset();
svenkugi 0:b6deec3905f4 241 test = 0;
svenkugi 0:b6deec3905f4 242 }*/
svenkugi 0:b6deec3905f4 243
svenkugi 0:b6deec3905f4 244 // Measure time for 360 Rotation
svenkugi 0:b6deec3905f4 245 if(driveto == 0x04){ //Next time drivestate=4, 360 degrees revolution
svenkugi 0:b6deec3905f4 246 if(flag){
svenkugi 0:b6deec3905f4 247 rps.stop();
svenkugi 0:b6deec3905f4 248 angular_vel = 1/(rps.read());
svenkugi 0:b6deec3905f4 249 rps.reset();
svenkugi 0:b6deec3905f4 250 flag = 0;
svenkugi 0:b6deec3905f4 251 }
svenkugi 0:b6deec3905f4 252 }
svenkugi 0:b6deec3905f4 253
svenkugi 0:b6deec3905f4 254 if(driveto == 0x04){ //First time drivestate=4, Timer started at 0 degrees
svenkugi 0:b6deec3905f4 255 pulse_count = 0;
svenkugi 0:b6deec3905f4 256 rps.start();
svenkugi 0:b6deec3905f4 257 flag = 1;
svenkugi 0:b6deec3905f4 258 }
svenkugi 0:b6deec3905f4 259
svenkugi 0:b6deec3905f4 260 // Measure number of revolutions
svenkugi 0:b6deec3905f4 261 count++;
svenkugi 0:b6deec3905f4 262
svenkugi 0:b6deec3905f4 263 //Turn-off when target reached
svenkugi 0:b6deec3905f4 264 if(total_rev >= rev_target){
svenkugi 0:b6deec3905f4 265 completed = 1;
svenkugi 0:b6deec3905f4 266 dutyout = 0;
svenkugi 0:b6deec3905f4 267 motorOut(0);
svenkugi 0:b6deec3905f4 268 led1 = 0;
svenkugi 0:b6deec3905f4 269 __disable_irq();
svenkugi 0:b6deec3905f4 270 }
svenkugi 0:b6deec3905f4 271 else{
svenkugi 0:b6deec3905f4 272 intState = readRotorState();
svenkugi 0:b6deec3905f4 273 driveto = (intState-orState+direction*lead+6)%6;
svenkugi 0:b6deec3905f4 274 motorOut(driveto);
svenkugi 0:b6deec3905f4 275 }
svenkugi 0:b6deec3905f4 276
svenkugi 0:b6deec3905f4 277 }
svenkugi 0:b6deec3905f4 278
svenkugi 0:b6deec3905f4 279 void pid_isr(){
svenkugi 0:b6deec3905f4 280
svenkugi 0:b6deec3905f4 281 led1 = !led1;
svenkugi 0:b6deec3905f4 282 //tmp.start();
svenkugi 0:b6deec3905f4 283
svenkugi 0:b6deec3905f4 284 //117 Pulses per revolution
svenkugi 0:b6deec3905f4 285 pulse_count++;
svenkugi 0:b6deec3905f4 286
svenkugi 0:b6deec3905f4 287 //Measure Time to do 3 degrees of rotation
svenkugi 0:b6deec3905f4 288 if(test == 0){
svenkugi 0:b6deec3905f4 289 partial_rps.start();
svenkugi 0:b6deec3905f4 290 test = 1;
svenkugi 0:b6deec3905f4 291 }
svenkugi 0:b6deec3905f4 292 else{
svenkugi 0:b6deec3905f4 293 partial_rps.stop();
svenkugi 0:b6deec3905f4 294 test_vel = 1/((117.0f * partial_rps.read()));
svenkugi 0:b6deec3905f4 295 partial_rps.reset();
svenkugi 0:b6deec3905f4 296 test = 0;
svenkugi 0:b6deec3905f4 297 }
svenkugi 0:b6deec3905f4 298
svenkugi 0:b6deec3905f4 299 //Partial Revolution Count
svenkugi 0:b6deec3905f4 300 partial_rev = pulse_count/117.0f;
svenkugi 0:b6deec3905f4 301
svenkugi 0:b6deec3905f4 302 //Total Revolution Count
svenkugi 0:b6deec3905f4 303 total_rev = (count/6.0f) + partial_rev;
svenkugi 0:b6deec3905f4 304
svenkugi 0:b6deec3905f4 305 //Calculate new PID Control Point
svenkugi 0:b6deec3905f4 306 if((total_rev/rev_target) > 0.7f){
svenkugi 0:b6deec3905f4 307 dist_pid.setProcessValue(total_rev);
svenkugi 0:b6deec3905f4 308 dutyout = dist_pid.compute();
svenkugi 0:b6deec3905f4 309 }
svenkugi 0:b6deec3905f4 310 else{
svenkugi 0:b6deec3905f4 311 velocity_pid.setProcessValue(test_vel);
svenkugi 0:b6deec3905f4 312 dutyout = velocity_pid.compute();
svenkugi 0:b6deec3905f4 313 }
svenkugi 0:b6deec3905f4 314
svenkugi 0:b6deec3905f4 315 //dist_pid.setProcessValue(total_rev);
svenkugi 0:b6deec3905f4 316 //dutyout = dist_pid.compute();
svenkugi 0:b6deec3905f4 317
svenkugi 0:b6deec3905f4 318 //tmp.stop();
svenkugi 0:b6deec3905f4 319 //test_time = tmp.read();
svenkugi 0:b6deec3905f4 320 //tmp.reset();
svenkugi 0:b6deec3905f4 321 }
svenkugi 0:b6deec3905f4 322
svenkugi 0:b6deec3905f4 323 /*_______________________Testing and Tuning Function__________________________*/
svenkugi 0:b6deec3905f4 324
svenkugi 0:b6deec3905f4 325 /*Measures Angular Velocity using PhotoInterrupters by checking time taken to go
svenkugi 0:b6deec3905f4 326 from State 4 to State 4 in this case. Avoid sensor phasing as it measures one
svenkugi 0:b6deec3905f4 327 complete cycle */
svenkugi 0:b6deec3905f4 328
svenkugi 0:b6deec3905f4 329 void meas_velocity(){
svenkugi 0:b6deec3905f4 330
svenkugi 0:b6deec3905f4 331 intState = readRotorState();
svenkugi 0:b6deec3905f4 332 driveto = (intState-orState+direction*lead+6)%6;
svenkugi 0:b6deec3905f4 333 motorOut(driveto);
svenkugi 0:b6deec3905f4 334
svenkugi 0:b6deec3905f4 335 while (1) {
svenkugi 0:b6deec3905f4 336
svenkugi 0:b6deec3905f4 337 pc.printf("Rotations per second: %f \n\r", angular_vel);
svenkugi 0:b6deec3905f4 338
svenkugi 0:b6deec3905f4 339 }
svenkugi 0:b6deec3905f4 340 }
svenkugi 0:b6deec3905f4 341
svenkugi 0:b6deec3905f4 342 void PID_tuning(){
svenkugi 0:b6deec3905f4 343
svenkugi 0:b6deec3905f4 344 dutyout = 0.5;
svenkugi 0:b6deec3905f4 345
svenkugi 0:b6deec3905f4 346 intState = readRotorState();
svenkugi 0:b6deec3905f4 347 driveto = (intState-orState+lead+6)%6;
svenkugi 0:b6deec3905f4 348 motorOut(driveto);
svenkugi 0:b6deec3905f4 349
svenkugi 0:b6deec3905f4 350 while (1) {
svenkugi 0:b6deec3905f4 351
svenkugi 0:b6deec3905f4 352 // Testing Step Response by increasing D.C. from 0.5 to 0.7
svenkugi 0:b6deec3905f4 353 // Gradient is equal to Kc
svenkugi 0:b6deec3905f4 354
svenkugi 0:b6deec3905f4 355 if(count > 3000){
svenkugi 0:b6deec3905f4 356 dutyout = 0.7;
svenkugi 0:b6deec3905f4 357 }
svenkugi 0:b6deec3905f4 358
svenkugi 0:b6deec3905f4 359 pc.printf("Duty Cycle: %f ", dutyout);
svenkugi 0:b6deec3905f4 360 pc.printf("Rotations per second: %f ", angular_vel);
svenkugi 0:b6deec3905f4 361 pc.printf("Count: %d \n\r", count);
svenkugi 0:b6deec3905f4 362
svenkugi 0:b6deec3905f4 363 }
svenkugi 0:b6deec3905f4 364 }
svenkugi 0:b6deec3905f4 365
svenkugi 0:b6deec3905f4 366 /*__________________________Main Function_____________________________________*/
svenkugi 0:b6deec3905f4 367 int main(){
svenkugi 0:b6deec3905f4 368
svenkugi 0:b6deec3905f4 369 //Start of Program
svenkugi 0:b6deec3905f4 370 pc.printf("STARTING SKAFMO BRUSHLESS MOTOR PROJECT! \n\r");
svenkugi 0:b6deec3905f4 371 led1 = 1;
svenkugi 0:b6deec3905f4 372
svenkugi 0:b6deec3905f4 373 //Run the motor synchronisation: orState is subtracted from future rotor state inputs
svenkugi 0:b6deec3905f4 374 orState = motorHome();
svenkugi 0:b6deec3905f4 375 //pc.printf("Synchronization Complete: Rotor and Motor aligned with Offset: %x\n\r",orState);
svenkugi 0:b6deec3905f4 376
svenkugi 0:b6deec3905f4 377 //Interrupts (Optical Disk State Change): Drives to next state, Measures whole revolution count, Measures angular velocity over a whole revolution
svenkugi 0:b6deec3905f4 378 InterruptI1.rise(&changestate_isr);
svenkugi 0:b6deec3905f4 379 InterruptI1.fall(&changestate_isr);
svenkugi 0:b6deec3905f4 380 InterruptI2.rise(&changestate_isr);
svenkugi 0:b6deec3905f4 381 InterruptI2.fall(&changestate_isr);
svenkugi 0:b6deec3905f4 382 InterruptI3.rise(&changestate_isr);
svenkugi 0:b6deec3905f4 383 InterruptI3.fall(&changestate_isr);
svenkugi 0:b6deec3905f4 384
svenkugi 0:b6deec3905f4 385 //Interrupts (Incremental Encoder CHA Phase)
svenkugi 0:b6deec3905f4 386 InterruptCHA.rise(&pid_isr);
svenkugi 0:b6deec3905f4 387
svenkugi 3:7ee013b0976e 388 // Melody in a Thread
svenkugi 3:7ee013b0976e 389 // PID in Thread
svenkugi 0:b6deec3905f4 390
svenkugi 3:7ee013b0976e 391 position_control(-350.34, 2.0); // Second parameter is 1 or -1 (Backwards or Forwards Rotation)
svenkugi 3:7ee013b0976e 392
svenkugi 3:7ee013b0976e 393 }