File content as of revision 6:4d254faf2428:

#include "stdio.h"
#include "math.h"
#include "mbed.h"
#include "QEI.h"
#include "MODSERIAL.h"
#include "BiQuad.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);
InterruptIn knop(SW3);

volatile double q1 = 0;
volatile double q2 = 0;

volatile bool go_flag_initialize = false;

void flag_initialize()
{
    go_flag_initialize = true;
}

volatile double q1_ref;
volatile double q2_ref;
void initialize()
{
    q1_ref = 0.125; //2*3.1415 /(2*3.1415);
    q2_ref = 0*3.1415 /(2*3.1415);
}

const double TS = 0.02;
const double M1_Kp = 1, M1_Ki = 0.00, M1_Kd = 0;
const double M2_Kp = 0.3, M2_Ki = 0.00, M2_Kd = 0;
const double N = 0;

volatile double ctrlOutput_M1 = 0;
volatile double ctrlOutput_M2 = 0;

Ticker update_encoder_ticker;
volatile bool go_flag_update_encoder = false;
void flag_update_encoder()
{
    go_flag_update_encoder = true;
}

void update_encoder()
{
    q1 = wheel_M1.getPulses()/(1334.355/2);
    q2 = wheel_M2.getPulses()/(1334.355/2);
    pc.printf("q1 = %f \tq1_ref = %f \tPID1 = %f \tq2 = %f \tq2_ref = %f \tPID2 = %f\n\r",q1, q1_ref, ctrlOutput_M1,q2,q2_ref,ctrlOutput_M2);
}

BiQuad pidf_M1;
BiQuad pidf_M2;
Ticker PIDcontrol_M1;
Ticker PIDcontrol_M2;
volatile bool go_flag_M1_controller = false;
volatile bool go_flag_M2_controller = false;

void flag_M1_controller()
{
    go_flag_M1_controller = true;
}

void flag_M2_controller()
{
    go_flag_M2_controller = true;
}

void M1_controller()
{
    ctrlOutput_M1 = pidf_M1.step(q1_ref-q1);

    if (ctrlOutput_M1 < 0) {
        dir_M1 = 1;
    } else {
        dir_M1 = 0;
    }
    pwm_M1 = abs(ctrlOutput_M1);
}

void M2_controller()
{
    ctrlOutput_M2 = pidf_M2.step(q2_ref-q2);

    if (ctrlOutput_M2 < 0) {
        dir_M2 = 1;
    } else {
        dir_M2 = 0;
    }
    pwm_M2 = abs(ctrlOutput_M2);
}

int main()
{
    pc.baud(115200);
    wheel_M1.reset();
    wheel_M2.reset();
    pidf_M1.PIDF(M1_Kp,M1_Ki,M1_Kd,N,TS);
    pidf_M2.PIDF(M2_Kp,M2_Ki,M2_Kd,N,TS);
    // flag functions/tickers
    update_encoder_ticker.attach(&flag_update_encoder, 0.02f);
    PIDcontrol_M1.attach(&flag_M1_controller, TS);
    PIDcontrol_M2.attach(&flag_M2_controller, TS);
    
    // initialize function
    knop.fall(&flag_initialize);
    if (go_flag_initialize == true) {
        go_flag_initialize = false;
        initialize();
    }
    
    while(1) {
        // update encoder
        if (go_flag_update_encoder == true) {
            go_flag_update_encoder = false;
            update_encoder();
        }
        // controller M1
        if (go_flag_M1_controller == true) {
            go_flag_M1_controller = false;
            M1_controller();
        }        
        // controller M2
        if (go_flag_M2_controller == true) {
            go_flag_M2_controller = false;
            M2_controller();
        }
    }
}