File content as of revision 1:5ac17a29fa08:

#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 enca = 0,enca1 =0,enca2 =0,counts=0, encb;
float speed = 0,v=0,v_ref=0;
int n=0,a =1 ,b =0;
float out;

//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;
}



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;
    clamp(&out, -1,1);
    out = fabs(out);
    return out;
}

float getv()
{
    while(n<3) {
        wait(0.2);
        enca = encoderA.getPosition();
        enca2 = enca1;
        enca1 = enca;
        n++;
        cout<<n<<endl;
    }

    n =0 ;
    counts = (enca1 - enca2)/0.4;
    cout<<"counts: "<<counts<<endl;
    v = (counts)*((2*3.14159265359)/1550);
    return v;
}
int main()
{
    dir = 1;
    cout<<"typ v_ref: "<<endl;
    cin>>v_ref;
    cout<<"v_ref: "<<v_ref<<endl;
    while(1) {
        v = getv();
        cout<<"v: "<<v<<endl;
        out = pid(v_ref,v);
        cout<<"out: "<<out<<endl;
        pwm = out;
    }
}


/*
int main()
{
    speed = 0.09;
    pwm = speed;
    while(1){
        wait(0.2);
        enca = encoderA.getPosition();
        cout<<enca<<endl;
        }
}
*/