Tobias Vögeli / Mbed 2 deprecated GRT_VC_PIDT1

pr7

Dependencies:   mbed

main.cpp@0:05dd1de8cc3f, 2019-05-03 (annotated)

Committer:
altb2
Date:
Fri May 03 09:37:27 2019 +0000
Revision:
0:05dd1de8cc3f
Child:
1:92f175969d90
Final Template Version for Lab #7

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:05dd1de8cc3f 1 #include "mbed.h"
altb2 0:05dd1de8cc3f 2 #include "EncoderCounter.h"
altb2 0:05dd1de8cc3f 3 #include "LinearCharacteristics.h"
altb2 0:05dd1de8cc3f 4 //------------------------------------------
altb2 0:05dd1de8cc3f 5 #define PI 3.1415927f
altb2 0:05dd1de8cc3f 6 //------------------------------------------
altb2 0:05dd1de8cc3f 7
altb2 0:05dd1de8cc3f 8 /* GRT: Control of voice-coil with PID-T1 - Controller
altb2 0:05dd1de8cc3f 9 */
altb2 0:05dd1de8cc3f 10 Serial pc(SERIAL_TX, SERIAL_RX); // serial connection via USB - programmer
altb2 0:05dd1de8cc3f 11 InterruptIn button(USER_BUTTON); // User Button, short presses: reduce speed, long presses: increase speed
altb2 0:05dd1de8cc3f 12 AnalogOut out(PA_5); // Analog OUT on PA_5 1.6 V -> 0A 3.2A -> 4A (see ESCON)
altb2 0:05dd1de8cc3f 13
altb2 0:05dd1de8cc3f 14 bool key_was_pressed = false;
altb2 0:05dd1de8cc3f 15 bool controller_active = false;
altb2 0:05dd1de8cc3f 16 void pressed(void); // user Button pressed
altb2 0:05dd1de8cc3f 17 void released(void); // user Button released
altb2 0:05dd1de8cc3f 18
altb2 0:05dd1de8cc3f 19 //------------------------------------------
altb2 0:05dd1de8cc3f 20 // ... here define variables like gains etc.
altb2 0:05dd1de8cc3f 21 //------------------------------------------
altb2 0:05dd1de8cc3f 22 LinearCharacteristics i2u(-4.0f,4.0f,0.0f,3.2f / 3.3f); // output is normalized output
altb2 0:05dd1de8cc3f 23 //------------------------------------------
altb2 0:05dd1de8cc3f 24 Ticker ControllerLoopTimer; // interrupt for control loop
altb2 0:05dd1de8cc3f 25 EncoderCounter counter1(PB_6, PB_7); // initialize counter on PB_6 and PB_7
altb2 0:05dd1de8cc3f 26 Timer t_but; // define timer for button
altb2 0:05dd1de8cc3f 27 // ----- User defined functions -----------
altb2 0:05dd1de8cc3f 28 void updateLoop(void); // loop for State machine (via interrupt)
altb2 0:05dd1de8cc3f 29 float Ts = 0.0005f; // sample time of main loop
altb2 0:05dd1de8cc3f 30 uint16_t k = 0;
altb2 0:05dd1de8cc3f 31 //******************************************************************************
altb2 0:05dd1de8cc3f 32 //---------- main loop -------------
altb2 0:05dd1de8cc3f 33 //******************************************************************************
altb2 0:05dd1de8cc3f 34 int main()
altb2 0:05dd1de8cc3f 35 {
altb2 0:05dd1de8cc3f 36 pc.baud(115200); // for serial comm.
altb2 0:05dd1de8cc3f 37 counter1.reset(); // encoder reset
altb2 0:05dd1de8cc3f 38 out.write(i2u(0.0));
altb2 0:05dd1de8cc3f 39 button.fall(&pressed); // attach key pressed function
altb2 0:05dd1de8cc3f 40 button.rise(&released); // attach key pressed function
altb2 0:05dd1de8cc3f 41 pc.printf("Start controller now...\r\n");
altb2 0:05dd1de8cc3f 42 ControllerLoopTimer.attach(&updateLoop, Ts); //Assume Fs = ...;
altb2 0:05dd1de8cc3f 43 while(1);
altb2 0:05dd1de8cc3f 44 } // END OF main
altb2 0:05dd1de8cc3f 45 //******************************************************************************
altb2 0:05dd1de8cc3f 46 //---------- main loop (called via interrupt) -------------
altb2 0:05dd1de8cc3f 47 //******************************************************************************
altb2 0:05dd1de8cc3f 48 void updateLoop(void){
altb2 0:05dd1de8cc3f 49 float x = (float)(counter1)/1000.0f; // get counts from Encoder
altb2 0:05dd1de8cc3f 50 float i_des = 0.0f; // default: set motor current to zero (will be overwritten)
altb2 0:05dd1de8cc3f 51 if(controller_active)
altb2 0:05dd1de8cc3f 52 {
altb2 0:05dd1de8cc3f 53 // here calculate controller's output
altb2 0:05dd1de8cc3f 54 }
altb2 0:05dd1de8cc3f 55 out.write(i2u(i_des));
altb2 0:05dd1de8cc3f 56 if(++k>1000)
altb2 0:05dd1de8cc3f 57 {
altb2 0:05dd1de8cc3f 58 pc.printf("x: %1.3f, i: %1.4f\r\n",x,i_des);
altb2 0:05dd1de8cc3f 59 k=0;
altb2 0:05dd1de8cc3f 60 }
altb2 0:05dd1de8cc3f 61 } // END OF updateLoop(void)
altb2 0:05dd1de8cc3f 62
altb2 0:05dd1de8cc3f 63 //******************************************************************************
altb2 0:05dd1de8cc3f 64
altb2 0:05dd1de8cc3f 65
altb2 0:05dd1de8cc3f 66 // start timer as soon as Button is pressed
altb2 0:05dd1de8cc3f 67 void pressed()
altb2 0:05dd1de8cc3f 68 {
altb2 0:05dd1de8cc3f 69 t_but.start();
altb2 0:05dd1de8cc3f 70 }
altb2 0:05dd1de8cc3f 71 // Falling edge of button: enable/disable controller
altb2 0:05dd1de8cc3f 72 void released()
altb2 0:05dd1de8cc3f 73 {
altb2 0:05dd1de8cc3f 74 // readout, stop and reset timer
altb2 0:05dd1de8cc3f 75 float ButtonTime = t_but.read();
altb2 0:05dd1de8cc3f 76 t_but.stop();
altb2 0:05dd1de8cc3f 77 t_but.reset();
altb2 0:05dd1de8cc3f 78 if(ButtonTime > 0.05f)
altb2 0:05dd1de8cc3f 79 {
altb2 0:05dd1de8cc3f 80 controller_active = !controller_active;
altb2 0:05dd1de8cc3f 81 if(controller_active)
altb2 0:05dd1de8cc3f 82 {
altb2 0:05dd1de8cc3f 83 pc.printf("Controller active\r\n");
altb2 0:05dd1de8cc3f 84 // reset controller here!!!
altb2 0:05dd1de8cc3f 85 }
altb2 0:05dd1de8cc3f 86 else
altb2 0:05dd1de8cc3f 87 pc.printf("Controller disabled\r\n");
altb2 0:05dd1de8cc3f 88 }
altb2 0:05dd1de8cc3f 89 }