File content as of revision 3:8a8dc30fb08e:

#include "mbed.h"
#include "encoder.h"

#define K_P (0.1)
#define K_I (0.1)
#define K_D (0.0005 /TSAMP)
#define TSAMP 0.001
#define I_LIMIT 1.
#include <iostream>

Encoder encoderA(PTD0,PTD2);

PwmOut pwm(PTA5);
DigitalOut dir(PTA4);


int32_t enc = 0,enca2 =0,enca1=0, encp=0, counts =0;
float speed = 0.1, out =0;
int pos =0,zero =0, fout;


void clamp(float * in, float min, float max)
{
*in > min ? *in < max? : *in = max: *in = min;
}



float pid(float setpoint, float measurement)
{
    float error;
    static float prev_error = 0;
    float           out_p = 0;
    static float    out_i = 0;
    float           out_d = 0;
    error  = setpoint-measurement;
    out_p  = error*K_P;
    out_i += error*K_I;
    out_d  = (error-prev_error)*K_D;
    clamp(&out_i,-I_LIMIT,I_LIMIT);
    prev_error = error;
    out  = out_i;
   
    return out;
}

float getv(float delta_t)
{
    float v;
    int n =0 ;
    while(n<3) {
        wait(delta_t);
        enc = encoderA.getPosition();
        enca2 = enca1;
        enca1 = enc;
        n++;
       
    }
   
    counts = (enca1 - enca2)/delta_t;
    v = (counts)*((2*3.14159265359)/1550);
    return v;
}



int main()
{       
        float velocity =1;
        while(velocity !=0){
        
        dir = 0;
        pwm.write(0.1);
        velocity =getv(0.2);
        }
        pwm = 0;
        dir =1;
        
        encoderA.setPosition(0);
        zero = encoderA.getPosition();
        cout<<"zero encoder: "<<zero<<endl;
        
        cout<<"positie in encoder bits: "<<endl;
        cin>>pos;
        cout<<"pos: "<<endl;
        
        enc = encoderA.getPosition();
        
        while((pos - enc)>10){
        wait(0.2);
        enc = encoderA.getPosition();
        out = pid(pos, enc);
        cout<<"out "<<out<<endl;
        cout<<"enc: "<<enc<<endl;
        pwm = out;
        
        
        }
       
        pwm =0;
       cout<<"final error: "<<error<<endl;
       while(1);
       
}