20171016_PID_controller_working
Dependencies: MODSERIAL QEI biquadFilter mbed
Fork of 20171013_PI_controller_working_tryingtoaddPID by
main.cpp
- Committer:
- Arnoud113
- Date:
- 2017-10-11
- Revision:
- 1:b66e14435f70
- Parent:
- 0:85ca550760e9
- Child:
- 2:02b385b96543
File content as of revision 1:b66e14435f70:
#include "mbed.h" #include "QEI.h" #include "MODSERIAL.h" #include "math.h" DigitalOut gpo(D0); DigitalOut ledb(LED_BLUE); DigitalOut ledr(LED_RED); DigitalOut ledg(LED_GREEN); DigitalOut motor1DC(D7); DigitalOut motor1PWM(D6); DigitalOut motor2DC(D4); DigitalOut motor2PWM(D5); AnalogIn potMeter1(A0); AnalogIn potMeter2(A1); DigitalIn button1(D11); DigitalIn button2(D12); QEI Encoder1(D12,D13,NC,4200); MODSERIAL pc(USBTX,USBRX); Ticker controller; const double pi = 3.1415926535897; const float M1_KP = 10, M1_KI = 0.0; const double M1_TS = 0.0001; const float RAD_PER_PULSE = (2*pi)/4200; const float CONTROLLER_TS = 0.0001; //TIME INTERVAL/ hZ double m1_err_int = 0; // the working P controller beneath here //float P(double error, const float Kp){ // return Kp * error; // } // New PI controller double PI(double e, const double Kp, const double Ki, double Ts, double &e_int){ e_int += Ts*e; return Kp*e+Ki*e_int; } /* Working P controller part void motor1_Controller(){ double reference = 10*potMeter1.read(); double position = RAD_PER_PULSE*Encoder1.getPulses(); double motor1 = P(reference-position, M1_KP); motor1PWM = motor1; if(motor1 > 0.1){ motor1DC = 1; ledr = 1; ledg = 1; //Blau ledb = 0; } else if (motor1<-0.1) { motor1DC = 0; ledb = 1; ledr = 1; ledg = 0; //Groen } else{ motor1PWM = 0; ledb = 1; //Rood ledr = 0; ledg = 1; } } */ // New PI part void m1_Controller(){ double reference = 10*potMeter1.read(); double position = RAD_PER_PULSE*Encoder1.getPulses(); float motor1 = PI(reference - position, M1_KP, M1_KI, M1_TS, m1_err_int); motor1PWM = motor1; if(motor1 > 0.5){ motor1DC = 1; ledr = 1; ledg = 1; //Blau ledb = 0; } else if (motor1<-0.5) { motor1DC = 0; ledb = 1; ledr = 1; ledg = 0; //Groen } else{ motor1PWM = 0; ledb = 1; //Rood ledr = 0; ledg = 1; } } int main(){ pc.baud(115200); //controller.attach(&m1_Controller, CONTROLLER_TS); --> P one controller.attach(&m1_Controller, M1_TS); while(1){ double reference = 10*potMeter1.read(); double position = RAD_PER_PULSE*Encoder1.getPulses(); // double motor1 = P(reference-position, M1_KP); --> old one float motor1 = PI(reference - position, M1_KP, M1_KI, M1_TS, m1_err_int); pc.printf("\r value motor1: %f. reference Pot: %f. Position: %f \n", motor1, reference, position); } }