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actuator/IMC_motorDrive.cpp
- Committer:
- yootee
- Date:
- 2022-06-10
- Revision:
- 8:1ca5a2052b0c
- Parent:
- 2:e7b09385d197
- Child:
- 10:b64f586efb2d
File content as of revision 8:1ca5a2052b0c:
#include<IMC_motorDrive.hpp> IMC_motor::IMC_motor(Port encoder,int resolution,double wheel_ensyu,Port motor_,double K_,double Tau_,double dt_,bool CW_flag):K(K_),Tau(Tau_),dt(dt_),motor(motor_),cw_flag(CW_flag){ motor_enc.specinit(encoder.pin[0],encoder.pin[1],wheel_ensyu,resolution,4); IMCreset(); } void IMC_motor::IMCdrive(double target){ drive((int)imc_out(target)); } void IMC_motor::IMCreset(){ out_pwm = 0; process_model_val = 0; } void IMC_motor::drive(int pwm){ float output_pwm = constrain(pwm,-200,200)/255; if(cw_flag){ pwm = -pwm; } if(!pwm) { DigitalOut Moter1(motor.pin[0],0); DigitalOut Moter2(motor.pin[1],0); } else if(pwm < 0) { PwmOut Moter1(motor.pin[0]); Moter1.period_us(256); Moter1.write(-output_pwm); DigitalOut Moter2(motor.pin[1],0); } else { DigitalOut Moter1(motor.pin[0],0); PwmOut Moter2(motor.pin[1]); Moter2.period_us(256); Moter2.write(output_pwm); } } double IMC_motor::imc_out(double target) { out_pwm = imc_controler(target-(motor_enc.getSpeed()-process_model(process_model_val,out_pwm))); if(target==0){ out_pwm = 0.0; } return out_pwm; } double IMC_motor::imc_controler(double y){ return y/K; } double IMC_motor::process_model(double x,double mv) { process_model_val = x + (-x+K*mv)/(Tau*dt); return process_model_val; }