Revision 4:5370aae8ee3b, committed 2015-05-07

Comitter:

miczyg

Date:

Thu May 07 09:47:58 2015 +0000

Parent:

3:9572ea41a1b4

Child:

5:71d7e9c17980

Commit message:

asd

Changed in this revision

--- a/Motor.cpp	Thu May 07 09:45:03 2015 +0000
+++ b/Motor.cpp	Thu May 07 09:47:58 2015 +0000
@@ -1,31 +1,32 @@
 /* mbed simple H-bridge motor controller
- * Copyright (c) 2007-2010, sford, http://mbed.org
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
+* Copyright (c) 2007-2010, sford, http://mbed.org
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
 
 #include "Motor.h"
-
 #include "mbed.h"
 
-Motor::Motor(PinName pwm, PinName fwd, PinName rev):
-    _pwm(pwm), _fwd(fwd), _rev(rev)
+#define AUTO 1
+
+Motor::Motor(PinName pwm, PinName fwd, PinName rev) :
+_pwm(pwm), _fwd(fwd), _rev(rev), speedControl(K, Ti, Td, itv), encoder(CH_A, CH_B, NC, pPerRev)
 {
 
     // Set initial condition of PWM
@@ -35,20 +36,31 @@
     // Initial condition of output enables
     _fwd = 0;
     _rev = 0;
+
+    //PID config
+    speedControl.setInputLimits(0, 1);
+    speedControl.setOutputLimits(0, 1);
+    speedControl.setMode(AUTO); 
+
 }
 
-void Motor::speed(float speed)
-{
-    /*if(speed>0) {
-        _fwd = 1;
-        _rev = 0;
+void Motor::speed(float speed) {
+
+    if (speed != set_speed){
+        speedControl.setSetPoint(speed);
+        set_speed = speed;
     }
-    if(speed<0) {
-        _fwd = 0;
-        _rev = 1;
-    }*/
-    _fwd = 0;
-    _rev = 1;
+
+    pulses = encoder.getPulses();
+    curr_speed = (pulses-prev_pulses) / max_pulse_rate;
+    prev_pulses = pulses;
+
+    speedControl.setProcessValue(curr_speed);
+    speed = speedControl.compute();
+
+
+    _fwd = (speed > 0.0);
+    _rev = (speed < 0.0);
     _pwm = abs(speed);
 }
 

--- a/Motor.h	Thu May 07 09:45:03 2015 +0000
+++ b/Motor.h	Thu May 07 09:47:58 2015 +0000
@@ -1,60 +1,77 @@
 /* mbed simple H-bridge motor controller
- * Copyright (c) 2007-2010, sford, http://mbed.org
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
+* Copyright (c) 2007-2010, sford, http://mbed.org
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
 
 #ifndef MBED_MOTOR_H
 #define MBED_MOTOR_H
 
 #include "mbed.h"
 #include "PID.h"
+#include "QEI.h"
 
-/** Interface to control a standard DC motor 
- *
- * with an H-bridge using a PwmOut and 2 DigitalOuts
- */
+/*nastawy regulatora PID*/
+const float K = 1;
+const float Ti = 0;
+const float Td = 0;
+const float itv = 0.001;
+
+/*QEI pins*/
+#define CH_A PTA2
+#define CH_B PTA3
+const int pPerRev = 10;
+const int max_pulse_rate; //do policzenia!!!!!!!!!!!!!!!!!!!
+
+/** Interface to control a standard DC motor
+*
+* with an H-bridge using a PwmOut and 2 DigitalOuts
+*/
 class Motor {
 public:
 
-    /** Create a motor control interface    
-     *
-     * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
-     * @param fwd A DigitalOut, set high when the motor should go forward
-     * @param rev A DigitalOut, set high when the motor should go backwards
-     */
+    /** Create a motor control interface
+    *
+    * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
+    * @param fwd A DigitalOut, set high when the motor should go forward
+    * @param rev A DigitalOut, set high when the motor should go backwards
+    */
     Motor(PinName pwm, PinName fwd, PinName rev);
-    
+
     /** Set the speed of the motor
-     * 
-     * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
-     */
+    *
+    * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
+    */
     void speed(float speed);
 
 protected:
     PwmOut _pwm;
     DigitalOut _fwd;
     DigitalOut _rev;
+private:
+    PID speedControl;
+    QEI encoder;
 
-private:
-    //PID speedControl;
-
+    float set_speed;
+    int pulses;
+    float curr_speed;
+    float prev_pulses;
 };
 
 #endif