Matthew Marino / Mbed 2 deprecated EW309_Controller

stuff

Dependencies:   mbed QEI

Files at this revision

API Documentation at this revision

Revision 0:e6c8377a69d0, committed 2019-04-04

Comitter:
LukeMar
Date:
Thu Apr 04 18:01:56 2019 +0000
Commit message:
4/4

Changed in this revision

QEI.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.lib	Thu Apr 04 18:01:56 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Apr 04 18:01:56 2019 +0000
@@ -0,0 +1,81 @@
+#include "mbed.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <QEI.h>
+
+
+DigitalOut led1(LED1);
+PwmOut pwm(p25);
+DigitalOut dir(p27);
+Serial pc(USBTX,USBRX);
+QEI turret(p17, p18, NC, 1600);
+Timer t;
+
+float pulses;
+float revs;
+float dc;
+float theta;
+float err = 0.0;
+float err_old = 0.0;
+float err_ancient = 0.0;
+float dc_old = 0.0;
+float dc_ancient = 0.0;
+float des_theta=0.0;
+
+//float t;
+//float t_2;
+int yes;
+
+Ticker Controller;
+void CtrCode() {
+    pulses = turret.getPulses();
+    revs = -pulses / 3200.0;
+    theta = revs*360.0;
+
+    err = des_theta-theta;
+
+    dc = 1.9703*dc_old - 0.9703*dc_ancient + .1471*err- 0.293*err_old + 0.146*err_ancient;    //1.9703*dc_old - 0.9703*dc_ancient + .1471*err - 0.293*err_old + 0.146*err_ancient;
+
+    err_ancient = err_old;
+    err_old = err;
+    dc_ancient = dc_old;
+    dc_old = dc;
+
+    if (dc>0)
+    {
+        dir = 1;
+    } else
+    {
+        dir = 0;
+    }
+    
+    pwm.write(abs(dc));
+
+}
+
+
+
+int main()
+{
+    float pwm_now;
+
+    pc.baud(9600); // set baud rate
+
+    dir=1;
+    pwm.period(1.0/(20*10^3));
+    pc.printf("start?");
+    pc.scanf("%d",&yes);
+    Controller.attach(&CtrCode,.0083);
+    des_theta = 90.0;
+
+    while(1) {
+        pc.printf("Error: %.3f, DC: %.3f\n", err, dc);
+        
+        
+        
+    }
+
+
+
+
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Apr 04 18:01:56 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file