Wik de Haas / Mbed 2 deprecated Aansturing_Groep_4

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Dependencies:   Encoder HIDScope mbed

Fork of Aansturing_knoppen by Wik de Haas

controller.h@0:55f9447aa02b, 2016-10-26 (annotated)

Committer:
wikdehaas
Date:
Wed Oct 26 10:33:14 2016 +0000
Revision:
0:55f9447aa02b
Aansturing;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wikdehaas 0:55f9447aa02b 1 void controller_1()
wikdehaas 0:55f9447aa02b 2 {
wikdehaas 0:55f9447aa02b 3 double theta_1 = acos((sqrt(pow(x,2)+pow(yc,2))/(2*L2))+asin(yc/(sqrt(pow(x,2)+pow(yc,2))));
wikdehaas 0:55f9447aa02b 4 double theta_2 = acos((x/L2)-cos(theta_1));
wikdehaas 0:55f9447aa02b 5
wikdehaas 0:55f9447aa02b 6 double reference_1 = theta_1; //reference
wikdehaas 0:55f9447aa02b 7 double plaats_1 = 0.0014959*encoder_1.getPosition(); //positie encodercounts naar hoek
wikdehaas 0:55f9447aa02b 8 double error_1 = reference_1 - plaats_1 ;
wikdehaas 0:55f9447aa02b 9 double pwm_1 = PID(error_1, m1_Kp, m1_Ki, m1_Kd, m1_Ts, m1_N, m1_v1, m1_v2 );
wikdehaas 0:55f9447aa02b 10 if (pwm_1<0){motor_1 = 1;}
wikdehaas 0:55f9447aa02b 11 else {motor_1 = 0;}
wikdehaas 0:55f9447aa02b 12 pwm_motor_1 = fabs(pwm_1);
wikdehaas 0:55f9447aa02b 13
wikdehaas 0:55f9447aa02b 14 double reference_2 = theta_2; //reference
wikdehaas 0:55f9447aa02b 15 double plaats_2 = 0.0014959*encoder_2.getPosition(); //positie encodercounts naar hoek
wikdehaas 0:55f9447aa02b 16 double error_2 = reference_2 - plaats_2 ;
wikdehaas 0:55f9447aa02b 17 double pwm_2 = PID(error_2, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_N, m2_v1, m2_v2 );
wikdehaas 0:55f9447aa02b 18 if (pwm_2<0){motor_2 = 0;}
wikdehaas 0:55f9447aa02b 19 else {motor_2 = 1;}
wikdehaas 0:55f9447aa02b 20 pwm_motor_2 = fabs(pwm_2);
wikdehaas 0:55f9447aa02b 21 }