main.cpp

00001 #include "mbed.h"
00002 #include "Plotting.h"
00003 #include "Motor.h"
00004 #include "HallSensor.h"
00005 #include "SpeedController.h"
00006 
00007 //To plot with usb, set as below.
00008 Serial pc(USBTX,USBRX); // Tx, Rx Pin
00009 Plotting plot;
00010 
00011 //Set each gpio to see the output of the hall sensor as a led
00012 DigitalOut myled1(LED1);
00013 HallSensor hall (p29);
00014 Motor motor (p23, p24, p25, p26);
00015 PIDController speedController(0.1, 0.5, 0.0, 100.0, 0.0, -1.0, 100.0);//0.05514
00016 
00017 //Interrupt is generated every 1ms and count is increased by 1
00018 unsigned int uiFlag_1ms = 0;
00019 unsigned int uiFlag_50ms = 0;
00020 
00021 void counter_1ms ()
00022 {
00023     uiFlag_1ms++;
00024     uiFlag_50ms++;
00025 }
00026 
00027 float myabs(float a)
00028 {
00029     if(a<0.0) {
00030         a*=-1.0;
00031     }
00032     return a;
00033 }
00034 
00035 
00036 int main()
00037 {
00038     wait(1);
00039     
00040     //Set the 1ms thicker.
00041     Ticker ticker_1ms;
00042     ticker_1ms.attach (&counter_1ms, 0.001);
00043     
00044     // for calculating dt
00045     Timer time;
00046     time.start();
00047     
00048     float curr_speed = 0.0;
00049     float u_percent= 0.0;
00050     float setSpeed=0.0;
00051     
00052     
00053     while(1) {
00054         // Every 1 ms,
00055         if(uiFlag_1ms >= 1) {
00056             uiFlag_1ms = 0;
00057             
00058             //If A is 0, turn on the LED.
00059             myled1 = hall.getPinState();
00060             
00061             
00062             // Speed control
00063             setSpeed = 550.0;
00064             speedController.setTarget (setSpeed);
00065             curr_speed = hall.getSpeed_rps();
00066             u_percent = speedController.update (curr_speed, time.read());
00067             motor.setSpeed_percent(u_percent, FORWARD);
00068         }
00069         
00070         // Every 50 ms,
00071         if(uiFlag_50ms >= 50) {
00072             uiFlag_50ms = 0;
00073                         
00074             // clear plotting buffer
00075             plot.reset ();
00076             
00077             // put data to buffer
00078             plot.put (hall.getSpeed_rps(), 0);
00079             
00080             // send buffer
00081             plot.send (&pc);
00082         }
00083     }
00084 }