File content as of revision 2:0a976fb06ff8:

#include "stdio.h"
#include "math.h"
#include "mbed.h"
#include "QEI.h"
#include "MODSERIAL.h"

MODSERIAL pc(USBTX, USBRX);
QEI wheel_M1 (D13, D12, NC, 32);
QEI wheel_M2 (D10, D11, NC, 32);
PwmOut pwm_M1 (D6);
PwmOut pwm_M2 (D5);
DigitalOut dir_M1 (D7);
DigitalOut dir_M2 (D4);
DigitalOut ledr (LED_RED);

Ticker PIDcontrol;

volatile double q1 = 0;
volatile double q2 = 0;
volatile double q1_ini = 0;
volatile double q2_ini = 0;
volatile double q1_prev = 0;
volatile double q2_prev = 0;
volatile double pwm_M1_ref = 0;
volatile double pwm_M2_ref = 0;
volatile double Pulses_M1;
volatile double Pulses_M2;
volatile bool go_flag_initialize_M1 = false;

void flag_initialize_M1()
{
    go_flag_initialize_M1 = true;
}

void initialize_M1()
{
    while (q1_ini < 20*2*3.1415/360) 
        {
            Pulses_M1 = wheel_M1.getPulses();    //1334.355 counts/rad
            q1_ini = Pulses_M1 / (1334.355/2);     // rad
            pwm_M1_ref = 0.1;
            //pc.printf("q1_ini = %f\n\r",q1_ini);
        }
        Pulses_M1 = wheel_M1.getPulses();    //1334.355 counts/rad
        q1_ini = Pulses_M1 / (1334.355/2);     // rad
        //pc.printf("q1_ini = %f\t\tpwm_M1_ref = %f\t\tgo_flag = %B\n\r",q1_ini,pwm_M1_ref,go_flag_initialize_M1);
        pwm_M1_ref = 0;
        //pc.printf("q1_ini = %f\t\tpwm_M1_ref = %f\t\tgo_flag = %B\n\r",q1_ini,pwm_M1_ref,go_flag_initialize_M1);

        //while (q2_ini > -45*2*3.1415/360) {
        //    Pulses_M2 = wheel_M2.getPulses();
        //    q2_ini = Pulses_M2 / (1334.355/3);
        //    pwm_M2_ref = 0.1;
        //}
        //pwm_M2_ref = 0;
}

const double M1_TS = 0.2;
const double M1_Kp = 4.348, M1_Ki = 36.632, M1_Kd = 0.126;
double M1_err_int = 0, M1_prev_err = 0;
const double M1_F_A1 = 1.0, M1_F_A2 = 2.0, M1_F_B0 = 1.0, M1_F_B1 = 3.0, M1_F_B2 = 4.0;
double M1_f_v1 = 0, M1_f_v2 = 0;

//Biquad filter
double biquad_e_der_M1(double u, double &v1, double &v2, const double a1,const double a2,const double b0,const double b1,const double b2)
{
    double v = u - a1*v1 - a2*v2;
    double y = b0*v + b1*v1 + b2*v2;
    v2 = v1;
    v1=v;
    return y;
}

//PID filter
double PID_M1(double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev, double &f_v1, double &f_v2, const double f_a1, const double f_a2, const double f_b0, const double f_b1, const double f_b2)
{
    // Derivative
    double e_der = (e - e_prev)/Ts;
    e_der = biquad_e_der_M1(e_der,f_v1,f_v2,f_a1,f_a2,f_b0,f_b1,f_b2);
    e_prev = e;
    // Integral
    e_int = e_int + Ts*e;
    // PID
    return Kp*e + Ki*e_int + Kd*e_der;
}

void M1_controller()
{
    double reference = pwm_M1_ref;
    q1 = wheel_M1.getPulses() / (1334.355/2);       // 1334.355/3 counts/rad
    double velocity = ((q1 - q1_prev) / M1_TS)/8.3776;      // geschaald 0-1
    q1_prev = q1;
    double pwm_M1_PID = PID_M1(reference - velocity, M1_Kp, M1_Ki, M1_Kd, M1_TS, M1_err_int, M1_prev_err, M1_f_v1, M1_f_v2, M1_F_A1, M1_F_A2, M1_F_B0, M1_F_B1, M1_F_B2);
    if (pwm_M1_PID < 0)
    {
        dir_M1 = 0;
    }
    else
    {
        dir_M1 = 1;
    }
    pwm_M1 = abs(pwm_M1_PID);
    pc.printf("q1 = %f,\t\tpwm_M1 = %f, \t\tpwm_M1_ref = %f\t\tpwm_M1_PID = %f  \t\te = %f\t\tvelocity = %f\n\r",q1,pwm_M1.read(),pwm_M1_ref,pwm_M1_PID,(reference-velocity),velocity);
}

int main()
{
    ledr = 1;
    pc.baud(115200);
    PIDcontrol.attach(&M1_controller, M1_TS);
    flag_initialize_M1();
    dir_M1 = 0; //ccw
    dir_M2 = 1; //cw
    // initialize function
    if (go_flag_initialize_M1 == true) 
    {
        go_flag_initialize_M1 = false;
        initialize_M1();
    }
}