Thiago Marinho
/
Servo_camera_pan
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Revision 0:f533d77ff012, committed 2015-11-04
- Comitter:
- tmarinho
- Date:
- Wed Nov 04 00:04:38 2015 +0000
- Commit message:
- pid
Changed in this revision
diff -r 000000000000 -r f533d77ff012 Servo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Wed Nov 04 00:04:38 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
diff -r 000000000000 -r f533d77ff012 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Nov 04 00:04:38 2015 +0000
@@ -0,0 +1,61 @@
+// Hello World to sweep a servo through its full range
+
+#include "mbed.h"
+#include "Servo.h"
+#include "Pixy.h"
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+#define X_CENTER 160
+#define Y_CENTER 100
+#define RCS_MIN_POS 0
+#define RCS_MAX_POS 1
+#define RCS_CENTER_POS ((RCS_MAX_POS-RCS_MIN_POS)/2)
+
+Ticker loop;
+Pixy pixy(Pixy::SPI, D11, D12, D13);
+Servo myservo(p21);
+Serial pc(USBTX, USBRX);
+ float vel;
+ float panError;
+float previousError;
+float panIntegral;
+void PID (){
+ uint16_t blocks;
+ blocks = pixy.getBlocks();
+ if (blocks){
+ previousError = panError;
+ panError = (float)(pixy.blocks[0].x - X_CENTER);
+ if( (panError < 8) && (panError > -8) )
+ {
+ panError = 0;
+ }
+ panIntegral = panIntegral + panError;
+ vel = 0.485 + panError*0.0008 + (panError-previousError)*0.001 + panIntegral*0.000001;
+
+ if (vel>0.9){
+ vel = 0.9;
+ }
+ if (vel<0.1){
+ vel=0.1;
+ }
+ }
+ if(panIntegral > 10)
+ {
+ panIntegral = 10;
+ }else if(panIntegral <-10)
+
+ {
+ panIntegral = -10;
+ }
+
+
+ }
+
+int main() {
+ panIntegral=0;
+ loop.attach(&PID, 0.02);
+ pc.printf("Pan Error %f\n",vel);
+ while(1){
+ myservo = vel;
+ }
+
+}
\ No newline at end of file
diff -r 000000000000 -r f533d77ff012 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Nov 04 00:04:38 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9296ab0bfc11 \ No newline at end of file
diff -r 000000000000 -r f533d77ff012 pixy.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pixy.lib Wed Nov 04 00:04:38 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/LucasUIUC/code/pixy/#f8b6497870d3