Heading control with pid and magnetometer

Dependencies:   HMC5883L mbed motoresDC

Files at this revision

API Documentation at this revision

Comitter:
tabris2015
Date:
Fri Jun 03 03:57:23 2016 +0000
Commit message:
First commit

Changed in this revision

HMC5883L.lib 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
mbed.bld Show annotated file Show diff for this revision Revisions of this file
motoresDC.lib Show annotated file Show diff for this revision Revisions of this file
pines.h Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r c4c11b0ac1b9 HMC5883L.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC5883L.lib	Fri Jun 03 03:57:23 2016 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/tabris2015/code/HMC5883L/#502f2b8b17ea
diff -r 000000000000 -r c4c11b0ac1b9 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jun 03 03:57:23 2016 +0000
@@ -0,0 +1,82 @@
+#define MAPLE_MINI
+#include "mbed.h"
+#include "pines.h"
+#include <motoresDC.h>
+#include <HMC5883L.h>
+
+HMC5883L brujula;
+InterruptIn boton(PB_8);
+//motores       D27   D31    D30    D26   D29    D28     
+MotoresDC carro(PWM_L, CTRL1_L, CTRL2_L, PWM_R, CTRL1_R, CTRL2_R);
+
+Timer t;
+unsigned long prev_time;
+unsigned long interval = 33;
+double maxOut = 0.5;
+double minOut = -0.5;
+volatile double setpoint = 0.0;
+double iTerm = 0;
+double lastInput;
+double kp = 1.1;
+double ki = 0.01;
+double kd = 0.0;
+
+PwmOut led(PB_1);
+
+void toggle()
+{
+    if(setpoint == 0.0)
+    {
+        setpoint = 0.5;    
+    }
+    else
+    {
+        setpoint = 0.0;
+    }
+    
+}
+// functions 
+void init_p()
+{
+    led = 1;
+    carro.detener();
+    boton.fall(toggle);
+    brujula.init();
+    wait_ms(1000);
+    led = 0;
+    wait_ms(500);
+    led = 1;
+    t.start();
+    wait_ms(2000);
+    
+    led = 0;
+}
+
+int main() {
+    init_p();
+    while(1) {
+        unsigned long now = t.read_ms();
+        if((now - prev_time) > interval)
+        {
+            prev_time = now;
+            
+            double input = brujula.getHeading()/ 180.0 -1.0;
+            // PID
+            double error = setpoint - input;
+            if(abs(error) < 0.1) led = 1;
+            else led = 0;
+            
+            iTerm += ki * error;
+            if(iTerm > maxOut) iTerm = maxOut;
+            else if(iTerm < minOut) iTerm = minOut;
+            
+            double dInput = input - lastInput;
+            
+            double output = kp* error + iTerm + kd * dInput;
+            if(output > maxOut) output = maxOut;
+            else if(output < minOut) output = minOut;
+            carro.pivotar(output);   
+            lastInput = input;
+        }
+    }
+}
diff -r 000000000000 -r c4c11b0ac1b9 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Jun 03 03:57:23 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34
\ No newline at end of file
diff -r 000000000000 -r c4c11b0ac1b9 motoresDC.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motoresDC.lib	Fri Jun 03 03:57:23 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/tabris2015/code/motoresDC/#b1e9ffb92a0a
diff -r 000000000000 -r c4c11b0ac1b9 pines.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pines.h	Fri Jun 03 03:57:23 2016 +0000
@@ -0,0 +1,28 @@
+#ifdef MAPLE_MINI
+// pines para los motores
+    
+// Pines para el driver de motores
+#define PWM_L   PA_8        // d27
+#define CTRL1_L PB_12       // d31
+#define CTRL2_L PB_13       // d30
+#define PWM_R   PA_9        // d26
+#define CTRL1_R PB_14       // d29
+#define CTRL2_R PB_15       // d28
+
+// pines para el rf
+
+#define nrf_CE      PA_3
+#define nrf_CSN     PA_4
+#define spi_SCK     PA_5
+#define spi_MOSI    PA_7
+#define spi_MISO    PA_6
+
+// pines para el puerto serial
+#define TX3_PIN     PB_10
+#define RX3_PIN     PB_11
+
+
+// pines para bus I2C
+#define SDA_PIN     PB_7
+#define SCL_PIN     PB_6
+#endif
\ No newline at end of file