Demo of combination HIDScope and encoder
Dependencies: Encoder HIDScope mbed
main.cpp@1:1db5c1c28a93, 2016-06-23 (annotated)
- Committer:
- vsluiter
- Date:
- Thu Jun 23 11:33:22 2016 +0000
- Revision:
- 1:1db5c1c28a93
- Parent:
- 0:0b39982f89a9
New version with analog input
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:0b39982f89a9 | 1 | #include "mbed.h" |
vsluiter | 0:0b39982f89a9 | 2 | #include "HIDScope.h" |
vsluiter | 0:0b39982f89a9 | 3 | #include "encoder.h" |
vsluiter | 0:0b39982f89a9 | 4 | |
vsluiter | 0:0b39982f89a9 | 5 | Encoder motor1(D13,D12); |
vsluiter | 0:0b39982f89a9 | 6 | PwmOut led(D9); |
vsluiter | 1:1db5c1c28a93 | 7 | HIDScope scope(3); |
vsluiter | 1:1db5c1c28a93 | 8 | |
vsluiter | 1:1db5c1c28a93 | 9 | |
vsluiter | 0:0b39982f89a9 | 10 | |
vsluiter | 0:0b39982f89a9 | 11 | int main() |
vsluiter | 0:0b39982f89a9 | 12 | { |
vsluiter | 1:1db5c1c28a93 | 13 | const float degrees_per_count = 90/200.0; //quick approach |
vsluiter | 1:1db5c1c28a93 | 14 | const float ain_degrees_range = 90; //degrees over which the potmeter can control. |
vsluiter | 1:1db5c1c28a93 | 15 | const float kp_1_range = -1; |
vsluiter | 1:1db5c1c28a93 | 16 | AnalogIn setpoint_1(A0); |
vsluiter | 1:1db5c1c28a93 | 17 | AnalogIn p_value(A1); |
vsluiter | 1:1db5c1c28a93 | 18 | DigitalOut direction_1(D4); |
vsluiter | 1:1db5c1c28a93 | 19 | PwmOut pwm_1(D5); |
vsluiter | 1:1db5c1c28a93 | 20 | float degrees_setpoint; |
vsluiter | 1:1db5c1c28a93 | 21 | float error; |
vsluiter | 1:1db5c1c28a93 | 22 | float output; |
vsluiter | 1:1db5c1c28a93 | 23 | pwm_1.period(1.0/10000); //10kHz |
vsluiter | 1:1db5c1c28a93 | 24 | |
vsluiter | 0:0b39982f89a9 | 25 | while (true) { |
vsluiter | 1:1db5c1c28a93 | 26 | degrees_setpoint = setpoint_1 * ain_degrees_range; |
vsluiter | 1:1db5c1c28a93 | 27 | error = degrees_setpoint-(motor1.getPosition()*degrees_per_count); //error = setpoint - current |
vsluiter | 1:1db5c1c28a93 | 28 | output = error*p_value*kp_1_range; |
vsluiter | 1:1db5c1c28a93 | 29 | if(output > 0) |
vsluiter | 1:1db5c1c28a93 | 30 | { |
vsluiter | 1:1db5c1c28a93 | 31 | direction_1.write(true); |
vsluiter | 1:1db5c1c28a93 | 32 | } |
vsluiter | 1:1db5c1c28a93 | 33 | else |
vsluiter | 1:1db5c1c28a93 | 34 | { |
vsluiter | 1:1db5c1c28a93 | 35 | direction_1.write(false); |
vsluiter | 1:1db5c1c28a93 | 36 | } |
vsluiter | 1:1db5c1c28a93 | 37 | pwm_1.write(fabs(output)); |
vsluiter | 0:0b39982f89a9 | 38 | scope.set(0,motor1.getPosition()); |
vsluiter | 1:1db5c1c28a93 | 39 | scope.set(1,error); |
vsluiter | 1:1db5c1c28a93 | 40 | scope.set(2,fabs(output)); |
vsluiter | 0:0b39982f89a9 | 41 | led.write(motor1.getPosition()/100.0); |
vsluiter | 0:0b39982f89a9 | 42 | scope.send(); |
vsluiter | 1:1db5c1c28a93 | 43 | wait(0.01); |
vsluiter | 0:0b39982f89a9 | 44 | } |
vsluiter | 0:0b39982f89a9 | 45 | } |