File content as of revision 3:6ba52d1ae499:

#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);
DigitalOut ledr (LED_RED);

volatile double q1 = 0;
volatile double q2 = 0;
volatile double q1_prev = 0;
volatile double q2_prev = 0;
volatile double q1_v_ref = 0;
volatile double q2_v_ref = 0;

volatile bool go_flag_initialize = false;

void flag_initialize()
{
    go_flag_initialize = true;
}

void initialize()
{
    q1_v_ref = 0.2;     // 0.6 max
    q2_v_ref = 0.45;
}

const double TS = 0.02;
const double M1_Kp = 4.348, M1_Ki = 36.632, M1_Kd = 0.126;
const double M2_Kp = 4.348, M2_Ki = 36.632, M2_Kd = 0.126;
const double N = 25;

volatile double velocity_M1;
volatile double velocity_M2;
volatile double ctrlOutput_M1 = 0;
volatile double ctrlOutput_M2 = 0;

Ticker update_velocity_ticker;
void update_velocity()
{
    double q1 = wheel_M1.getPulses()/(1334.355/2);
    velocity_M1 = ((q1 - q1_prev) / TS)/5.0265;
    q1_prev = q1;
    double q2 = wheel_M2.getPulses()/(1334.355/2);
    velocity_M2 = ((q2 - q2_prev) / TS)/5.0265;
    q2_prev = q2;
    pc.printf("q1_v = %f \tq1_v_ref = %f \tpwm_M1 = %f \tctrlM1 = %f \tq2_v = %f \tq2_v_ref = %f \tpwm_M2 = %f \tctrlM2 = %f\n\r",velocity_M1,q1_v_ref,pwm_M1.read(),ctrlOutput_M1,velocity_M2,q2_v_ref,pwm_M2.read(),ctrlOutput_M2);
}

BiQuad pidf_M1;
BiQuad pidf_M2;
Ticker PIDcontrol_M1;
Ticker PIDcontrol_M2;

void M1_controller()
{
    ctrlOutput_M1 = pidf_M1.step(q1_v_ref-velocity_M1);
    
    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_v_ref-velocity_M2);
    
    if (ctrlOutput_M2 < 0)
    {
        dir_M2 = 1;
    }
    else
    {
        dir_M2 = 0;
    }
    pwm_M2 = abs(ctrlOutput_M2);
}

int main()
{
    ledr = 1;
    pc.baud(115200);
    pidf_M1.PIDF(M1_Kp,M1_Ki,M1_Kd,N,TS);
    pidf_M2.PIDF(M2_Kp,M2_Ki,M2_Kd,N,TS);
    update_velocity_ticker.attach(&update_velocity, 0.02f);
    PIDcontrol_M1.attach(&M1_controller, TS);
    PIDcontrol_M2.attach(&M2_controller, TS);
    flag_initialize();
    // initialize function
    if (go_flag_initialize == true) 
    {
        go_flag_initialize = false;
        initialize();
    }
    while(1){}
}