Revision 29:9aa4d63a9bd1, committed 2017-10-16

Comitter:

tvlogman

Date:

Mon Oct 16 08:45:03 2017 +0000

Parent:

28:8cd898ff43a2

Child:

30:65f0c9ecf810

Commit message:

Working copy of locomotion_pid_action except this one uses a refGen library to get the reference.

Changed in this revision

--- a/main.cpp	Fri Oct 13 16:24:50 2017 +0000
+++ b/main.cpp	Mon Oct 16 08:45:03 2017 +0000
@@ -3,6 +3,7 @@
 #include "HIDScope.h"
 #include "QEI.h"
 #include "FastPWM.h"
+#include "refGen.h"
 
 // Defining relevant constant parameters
 const float gearRatio = 131;
@@ -34,7 +35,6 @@
 InterruptIn sw3(SW3);
 InterruptIn button1(D2);
 InterruptIn button2(D3);
-AnalogIn pot1(A0);
 AnalogIn pot2(A1);
 
 // PWM settings
@@ -77,18 +77,9 @@
 const float Ts = 0.1;
 
 // Function getReferencePosition returns reference angle based on potmeter 1
-float getReferencePosition(){
-    float r;
-    if(r_direction == false){
-        // Clockwise rotation yields positive reference
-        r = maxAngle*pot1.read();
-        }
-    if(r_direction == true){
-        // Counterclockwise rotation yields negative reference
-        r = -1*maxAngle*pot1.read();
-        }
-    return r;
-    }
+refGen ref(A0);
+
+//ref.getReferencePosition(maxAngle);
 
 // Initializing position and integral errors to zero
 float e_pos = 0;
@@ -103,7 +94,7 @@
     double motor1Position = 2*3.14*(counts/(gearRatio*64.0f));
 
     // Computing position error
-    e_pos = getReferencePosition() - motor1Position;
+    e_pos = ref.getReferencePosition(maxAngle, r_direction) - motor1Position;
     
     // Limiting the integral error to prevent integrator saturation
     if(fabs(e_int) <= 5){
@@ -129,11 +120,10 @@
                     motor1_pwm.write(0.0);
                     // Set motor direction
                     if (motorValue >=0){
-                        pc.printf("Fa! \r\n");
-                        motor1_direction = 0; //This doesn't seem to set motor 1 direction to 0
-                        pc.printf("M1D = %d \r\n", motor1_direction.read());
-                        pc.printf("Foo! \r\n");
+                        // corresponds to CW rotation of motor axle
+                        motor1_direction = 0;
                         } else if(motorValue < 0){
+                        // corresponds to CCW rotation of motor axle
                         motor1_direction = 1;
                         pc.printf("Bah!");
                         }
@@ -145,12 +135,11 @@
                     pc.printf("Got into ACTIVE \r\n");
                     // Set motor direction
                     if (motorValue >=0){
-                        pc.printf("Fa!");
+                        // corresponds to CW rotation of motor axle
                         motor1_direction.write(0);
-                        pc.printf("Foo!");
                         } else if(motorValue < 0){
+                        // corresponds to CCW rotation of motor axle
                         motor1_direction.write(1);
-                        pc.printf("Bah!");
                         }
                         
                     // Set motor speed
@@ -158,7 +147,7 @@
                         motor1_pwm = 1;
                         }
                     else {
-                        motor1_pwm.write(fabs(motorValue));
+                        motor1_pwm.write(fabs(motorValue) + 0.4);
                         }
                     ledR = 1;
                     ledG = 1;
@@ -170,7 +159,7 @@
 void measureAndControl(){
     getError(e_pos, e_int, e_der);
     float motorValue = motorController(e_pos, e_int, e_der);
-    float r = getReferencePosition();
+    float r = ref.getReferencePosition(maxAngle, r_direction);
     sendDataToPc(r, e_pos, e_int, e_der, motorValue);
     pc.printf("Motorvalue is %.2f \r\n", motorValue);
     pc.printf("Error is %.2f \r\n", e_pos);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/refGen.lib	Mon Oct 16 08:45:03 2017 +0000
@@ -0,0 +1,1 @@
+refGen#5c67195a412d