Diff: main.cpp

Revision:

0:e89ba43e3f05

Child:

1:5ac17a29fa08

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 29 11:33:37 2014 +0000
@@ -0,0 +1,83 @@
+#include "mbed.h"
+#include "encoder.h"
+
+#include <iostream>
+
+Encoder encoderA(PTD0,PTD2);
+
+PwmOut pwm(PTA5);
+DigitalOut dir(PTA4);
+
+
+int32_t enca = 0,enca1 =0,enca2 =0,counts=0, encb;
+float speed = 0,v=0;
+int n=0,a =1 ,b =0;
+
+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;
+    scope.set(1,out_p);
+    scope.set(2,out_i);
+    scope.set(3,out_d);
+    return out_p + out_i + out_d;
+}
+/*
+int main()
+{
+    speed = 0.09;
+    pwm = speed;
+    while(1){
+        wait(0.2);
+        enca = encoderA.getPosition();
+        cout<<enca<<endl;
+        }
+}
+*/
+
+int main()
+{
+    speed = 0.3;
+    pwm = speed;
+   
+    while(1){
+    wait(0.5);
+    enca = encoderA.getPosition();
+   
+    enca2 = enca1;
+    enca1 = enca;
+    
+    counts = (enca1 - enca2)/0.5;
+    v = (counts)*((2*3.14159265359)/1550);
+    
+    cout<<"v: "<<v<<endl;
+    
+
+    
+    }
+   
+    
+    
+    
+
+}
+//clamps value 'in' to min or max when exceeding those values
+//if you'd like to understand the statement below take a google for
+//'ternary operators'.
+void clamp(float * in, float min, float max)
+{
+    *in > min ? *in < max? : *in = max: *in = min;
+}
+
+
+
+