Merged to branch
Dependencies: USBDevice mbed EquatorStrutController LightWeightSerialTransmit
Fork of EquatorStrutDigitalMonitor by
main.cpp@8:7f6e81140f27, 2014-08-11 (annotated)
- Committer:
- alpesh
- Date:
- Mon Aug 11 09:19:19 2014 +0000
- Revision:
- 8:7f6e81140f27
- Parent:
- 7:4cd7be306626
- Child:
- 9:ee84a9697de0
2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pyrostew | 0:398432a37ca5 | 1 | #include "mbed.h" |
pyrostew | 0:398432a37ca5 | 2 | #include "RawSerial.h" |
pyrostew | 0:398432a37ca5 | 3 | |
pyrostew | 0:398432a37ca5 | 4 | DigitalIn RGHSinState(P0_11); |
pyrostew | 0:398432a37ca5 | 5 | DigitalIn RGHCosState(P0_12); |
pyrostew | 0:398432a37ca5 | 6 | InterruptIn RGHSinInterrupt(P0_11); |
pyrostew | 0:398432a37ca5 | 7 | InterruptIn RGHCosInterrupt(P0_12); |
pyrostew | 0:398432a37ca5 | 8 | InterruptIn HallSensor(P0_2); |
pyrostew | 0:398432a37ca5 | 9 | DigitalOut ResetLine(P1_29); |
pyrostew | 0:398432a37ca5 | 10 | PwmOut PhaseA(P0_9); |
pyrostew | 0:398432a37ca5 | 11 | PwmOut PhaseB(P0_8); |
pyrostew | 0:398432a37ca5 | 12 | Timer RunningTime; |
pyrostew | 0:398432a37ca5 | 13 | |
pyrostew | 0:398432a37ca5 | 14 | bool Enabled = false; |
pyrostew | 0:398432a37ca5 | 15 | bool Homing = false; |
pyrostew | 0:398432a37ca5 | 16 | bool HallTriggered = false; |
pyrostew | 0:398432a37ca5 | 17 | |
pyrostew | 0:398432a37ca5 | 18 | RawSerial pc(P1_27, P1_26); |
pyrostew | 0:398432a37ca5 | 19 | |
pyrostew | 0:398432a37ca5 | 20 | char PinState = 0; |
pyrostew | 0:398432a37ca5 | 21 | |
pyrostew | 0:398432a37ca5 | 22 | int direction = 0; |
pyrostew | 0:398432a37ca5 | 23 | double position = 0.0; |
pyrostew | 0:398432a37ca5 | 24 | double currentPower = 0.0; |
pyrostew | 1:a33723b70582 | 25 | int interruptPeriod = 0; |
pyrostew | 1:a33723b70582 | 26 | int lastTime = 0; |
pyrostew | 0:398432a37ca5 | 27 | |
pyrostew | 0:398432a37ca5 | 28 | char counter = 0; |
pyrostew | 0:398432a37ca5 | 29 | |
pyrostew | 0:398432a37ca5 | 30 | void RGHSinHandler() |
pyrostew | 0:398432a37ca5 | 31 | { |
pyrostew | 0:398432a37ca5 | 32 | if (PinState == 2) |
pyrostew | 0:398432a37ca5 | 33 | { |
pyrostew | 0:398432a37ca5 | 34 | return; |
pyrostew | 0:398432a37ca5 | 35 | } |
pyrostew | 0:398432a37ca5 | 36 | else if (PinState == 1) |
pyrostew | 0:398432a37ca5 | 37 | { |
pyrostew | 0:398432a37ca5 | 38 | PinState = 0 |(RGHSinState << 1) | RGHCosState; |
pyrostew | 0:398432a37ca5 | 39 | |
pyrostew | 0:398432a37ca5 | 40 | if(PinState == 3) |
pyrostew | 0:398432a37ca5 | 41 | { |
pyrostew | 0:398432a37ca5 | 42 | direction = 1; |
pyrostew | 0:398432a37ca5 | 43 | position += 0.04 * direction; |
pyrostew | 1:a33723b70582 | 44 | interruptPeriod = RunningTime.read_us() - lastTime; |
pyrostew | 1:a33723b70582 | 45 | lastTime = RunningTime.read_us(); |
pyrostew | 0:398432a37ca5 | 46 | } |
pyrostew | 0:398432a37ca5 | 47 | } |
pyrostew | 0:398432a37ca5 | 48 | else |
pyrostew | 0:398432a37ca5 | 49 | { |
pyrostew | 0:398432a37ca5 | 50 | PinState = 0 |(RGHSinState << 1) | RGHCosState; |
pyrostew | 0:398432a37ca5 | 51 | } |
pyrostew | 0:398432a37ca5 | 52 | } |
pyrostew | 0:398432a37ca5 | 53 | |
pyrostew | 0:398432a37ca5 | 54 | void RGHCosHandler() |
pyrostew | 0:398432a37ca5 | 55 | { |
pyrostew | 0:398432a37ca5 | 56 | if (PinState == 1) |
pyrostew | 0:398432a37ca5 | 57 | { |
pyrostew | 0:398432a37ca5 | 58 | return; |
pyrostew | 0:398432a37ca5 | 59 | } |
pyrostew | 0:398432a37ca5 | 60 | else if (PinState == 2) |
pyrostew | 0:398432a37ca5 | 61 | { |
pyrostew | 0:398432a37ca5 | 62 | PinState = 0 |(RGHSinState << 1) | RGHCosState; |
pyrostew | 0:398432a37ca5 | 63 | |
pyrostew | 0:398432a37ca5 | 64 | if (PinState == 3) |
pyrostew | 0:398432a37ca5 | 65 | { |
pyrostew | 0:398432a37ca5 | 66 | direction = -1; |
pyrostew | 0:398432a37ca5 | 67 | position += 0.04 * direction; |
pyrostew | 1:a33723b70582 | 68 | interruptPeriod = RunningTime.read_us() - lastTime; |
pyrostew | 1:a33723b70582 | 69 | lastTime = RunningTime.read_us(); |
pyrostew | 0:398432a37ca5 | 70 | } |
pyrostew | 0:398432a37ca5 | 71 | } |
pyrostew | 0:398432a37ca5 | 72 | else |
pyrostew | 0:398432a37ca5 | 73 | { |
pyrostew | 0:398432a37ca5 | 74 | PinState = 0 |(RGHSinState << 1) | RGHCosState; |
pyrostew | 0:398432a37ca5 | 75 | } |
pyrostew | 0:398432a37ca5 | 76 | } |
pyrostew | 0:398432a37ca5 | 77 | |
pyrostew | 0:398432a37ca5 | 78 | void SetPower(double power) |
pyrostew | 0:398432a37ca5 | 79 | { |
pyrostew | 0:398432a37ca5 | 80 | currentPower = power; |
pyrostew | 0:398432a37ca5 | 81 | if(!Enabled) |
pyrostew | 0:398432a37ca5 | 82 | { |
pyrostew | 0:398432a37ca5 | 83 | return; |
pyrostew | 0:398432a37ca5 | 84 | } |
pyrostew | 0:398432a37ca5 | 85 | |
pyrostew | 0:398432a37ca5 | 86 | if (power > 1.0 || power < -1.0) |
pyrostew | 0:398432a37ca5 | 87 | { |
pyrostew | 0:398432a37ca5 | 88 | return; |
pyrostew | 0:398432a37ca5 | 89 | } |
pyrostew | 0:398432a37ca5 | 90 | |
pyrostew | 0:398432a37ca5 | 91 | PhaseA = (power + 1.0) / 2; |
pyrostew | 0:398432a37ca5 | 92 | PhaseB = 1.0 - ((power + 1.0) / 2); |
pyrostew | 0:398432a37ca5 | 93 | } |
pyrostew | 0:398432a37ca5 | 94 | |
pyrostew | 0:398432a37ca5 | 95 | void Enable() |
pyrostew | 0:398432a37ca5 | 96 | { |
pyrostew | 0:398432a37ca5 | 97 | SetPower(0.0); |
pyrostew | 0:398432a37ca5 | 98 | |
pyrostew | 0:398432a37ca5 | 99 | ResetLine = 1; |
pyrostew | 0:398432a37ca5 | 100 | |
pyrostew | 0:398432a37ca5 | 101 | Enabled = true; |
pyrostew | 0:398432a37ca5 | 102 | } |
pyrostew | 0:398432a37ca5 | 103 | |
pyrostew | 0:398432a37ca5 | 104 | void Disable() |
pyrostew | 0:398432a37ca5 | 105 | { |
pyrostew | 0:398432a37ca5 | 106 | ResetLine = 0; |
pyrostew | 0:398432a37ca5 | 107 | |
pyrostew | 0:398432a37ca5 | 108 | SetPower(0.0); |
pyrostew | 0:398432a37ca5 | 109 | |
pyrostew | 0:398432a37ca5 | 110 | Enabled = false; |
pyrostew | 0:398432a37ca5 | 111 | } |
pyrostew | 0:398432a37ca5 | 112 | |
pyrostew | 0:398432a37ca5 | 113 | void Home() |
pyrostew | 0:398432a37ca5 | 114 | { |
pyrostew | 0:398432a37ca5 | 115 | if (!Enabled) |
pyrostew | 0:398432a37ca5 | 116 | { |
pyrostew | 0:398432a37ca5 | 117 | Enable(); |
pyrostew | 0:398432a37ca5 | 118 | } |
pyrostew | 0:398432a37ca5 | 119 | |
pyrostew | 0:398432a37ca5 | 120 | Homing = true; |
pyrostew | 0:398432a37ca5 | 121 | HallTriggered = false; |
pyrostew | 0:398432a37ca5 | 122 | |
pyrostew | 0:398432a37ca5 | 123 | SetPower(-1.0); |
pyrostew | 0:398432a37ca5 | 124 | |
pyrostew | 0:398432a37ca5 | 125 | while (!HallTriggered) |
pyrostew | 0:398432a37ca5 | 126 | { |
pyrostew | 0:398432a37ca5 | 127 | wait(0.5); |
pyrostew | 0:398432a37ca5 | 128 | } |
pyrostew | 0:398432a37ca5 | 129 | |
pyrostew | 0:398432a37ca5 | 130 | SetPower(1.0); |
pyrostew | 0:398432a37ca5 | 131 | |
pyrostew | 0:398432a37ca5 | 132 | while (position < 20.0) |
pyrostew | 0:398432a37ca5 | 133 | { |
pyrostew | 0:398432a37ca5 | 134 | |
pyrostew | 0:398432a37ca5 | 135 | } |
pyrostew | 0:398432a37ca5 | 136 | |
pyrostew | 0:398432a37ca5 | 137 | Homing = true; |
pyrostew | 0:398432a37ca5 | 138 | HallTriggered = false; |
pyrostew | 0:398432a37ca5 | 139 | |
alpesh | 7:4cd7be306626 | 140 | SetPower(-0.7); |
pyrostew | 0:398432a37ca5 | 141 | |
pyrostew | 0:398432a37ca5 | 142 | while (!HallTriggered) |
pyrostew | 0:398432a37ca5 | 143 | { |
pyrostew | 0:398432a37ca5 | 144 | wait(0.5); |
pyrostew | 0:398432a37ca5 | 145 | } |
pyrostew | 0:398432a37ca5 | 146 | } |
pyrostew | 0:398432a37ca5 | 147 | |
pyrostew | 1:a33723b70582 | 148 | double GetSpeed() |
pyrostew | 1:a33723b70582 | 149 | { |
alpesh | 5:4468f8ff5ec6 | 150 | if ((RunningTime - lastTime) > 10000 || interruptPeriod == 0) |
pyrostew | 1:a33723b70582 | 151 | { |
pyrostew | 1:a33723b70582 | 152 | return 0.0; |
pyrostew | 1:a33723b70582 | 153 | } |
pyrostew | 1:a33723b70582 | 154 | return (direction * 0.04)/((double)interruptPeriod / 1000000.0); |
pyrostew | 1:a33723b70582 | 155 | } |
pyrostew | 1:a33723b70582 | 156 | |
alpesh | 6:bfe745b152fa | 157 | double Error = 0; |
alpesh | 6:bfe745b152fa | 158 | |
pyrostew | 0:398432a37ca5 | 159 | void SerialTransmit() |
pyrostew | 0:398432a37ca5 | 160 | { |
pyrostew | 0:398432a37ca5 | 161 | double tempPos = position; |
pyrostew | 0:398432a37ca5 | 162 | double tempTime = RunningTime.read(); |
pyrostew | 0:398432a37ca5 | 163 | double tempPow = currentPower; |
pyrostew | 1:a33723b70582 | 164 | double tempSpeed = GetSpeed(); |
alpesh | 6:bfe745b152fa | 165 | double tempError = Error; |
pyrostew | 0:398432a37ca5 | 166 | int outChar = 0; |
pyrostew | 0:398432a37ca5 | 167 | |
pyrostew | 0:398432a37ca5 | 168 | if (tempPos < 0.0) |
pyrostew | 0:398432a37ca5 | 169 | { |
pyrostew | 0:398432a37ca5 | 170 | pc.putc('-'); |
pyrostew | 0:398432a37ca5 | 171 | tempPos *= -1; |
pyrostew | 0:398432a37ca5 | 172 | } |
pyrostew | 0:398432a37ca5 | 173 | if (tempPos >= 100.0) |
pyrostew | 0:398432a37ca5 | 174 | { |
pyrostew | 0:398432a37ca5 | 175 | outChar = tempPos / 100; |
pyrostew | 0:398432a37ca5 | 176 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 177 | tempPos -= outChar * 100.0; |
pyrostew | 0:398432a37ca5 | 178 | } |
pyrostew | 0:398432a37ca5 | 179 | if (tempPos >= 10.0) |
pyrostew | 0:398432a37ca5 | 180 | { |
pyrostew | 0:398432a37ca5 | 181 | outChar = tempPos / 10; |
pyrostew | 0:398432a37ca5 | 182 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 183 | tempPos -= outChar * 10.0; |
pyrostew | 0:398432a37ca5 | 184 | } |
pyrostew | 0:398432a37ca5 | 185 | else if(outChar > 0) |
pyrostew | 0:398432a37ca5 | 186 | { |
pyrostew | 0:398432a37ca5 | 187 | pc.putc('0'); |
pyrostew | 0:398432a37ca5 | 188 | } |
pyrostew | 0:398432a37ca5 | 189 | if (tempPos >= 1.0) |
pyrostew | 0:398432a37ca5 | 190 | { |
pyrostew | 0:398432a37ca5 | 191 | outChar = tempPos; |
pyrostew | 0:398432a37ca5 | 192 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 193 | tempPos -= outChar; |
pyrostew | 0:398432a37ca5 | 194 | } |
pyrostew | 0:398432a37ca5 | 195 | else |
pyrostew | 0:398432a37ca5 | 196 | { |
pyrostew | 0:398432a37ca5 | 197 | pc.putc('0'); |
pyrostew | 0:398432a37ca5 | 198 | } |
pyrostew | 0:398432a37ca5 | 199 | if (tempPos >= 0.1) |
pyrostew | 0:398432a37ca5 | 200 | { |
pyrostew | 0:398432a37ca5 | 201 | pc.putc('.'); |
pyrostew | 0:398432a37ca5 | 202 | outChar = tempPos * 10; |
pyrostew | 0:398432a37ca5 | 203 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 204 | tempPos -= (double)outChar / 10.0; |
pyrostew | 0:398432a37ca5 | 205 | } |
pyrostew | 0:398432a37ca5 | 206 | else |
pyrostew | 0:398432a37ca5 | 207 | { |
pyrostew | 0:398432a37ca5 | 208 | pc.putc('.'); |
pyrostew | 0:398432a37ca5 | 209 | pc.putc('0'); |
pyrostew | 0:398432a37ca5 | 210 | } |
pyrostew | 0:398432a37ca5 | 211 | if (tempPos >= 0.01) |
pyrostew | 0:398432a37ca5 | 212 | { |
pyrostew | 0:398432a37ca5 | 213 | outChar = tempPos * 100; |
pyrostew | 0:398432a37ca5 | 214 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 215 | } |
pyrostew | 0:398432a37ca5 | 216 | |
alpesh | 2:d1805e7d46fb | 217 | pc.putc('\t'); |
pyrostew | 0:398432a37ca5 | 218 | |
pyrostew | 0:398432a37ca5 | 219 | outChar = 0; |
pyrostew | 0:398432a37ca5 | 220 | |
pyrostew | 0:398432a37ca5 | 221 | if (tempTime >= 100.0) |
pyrostew | 0:398432a37ca5 | 222 | { |
pyrostew | 0:398432a37ca5 | 223 | outChar = tempTime / 100; |
pyrostew | 0:398432a37ca5 | 224 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 225 | tempTime -= outChar * 100.0; |
pyrostew | 0:398432a37ca5 | 226 | } |
pyrostew | 0:398432a37ca5 | 227 | if (tempTime >= 10.0) |
pyrostew | 0:398432a37ca5 | 228 | { |
pyrostew | 0:398432a37ca5 | 229 | outChar = tempTime / 10; |
pyrostew | 0:398432a37ca5 | 230 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 231 | tempTime -= outChar * 10.0; |
pyrostew | 0:398432a37ca5 | 232 | } |
pyrostew | 0:398432a37ca5 | 233 | else if(outChar > 0) |
pyrostew | 0:398432a37ca5 | 234 | { |
pyrostew | 0:398432a37ca5 | 235 | pc.putc('0'); |
pyrostew | 0:398432a37ca5 | 236 | } |
pyrostew | 0:398432a37ca5 | 237 | if (tempTime >= 1.0) |
pyrostew | 0:398432a37ca5 | 238 | { |
pyrostew | 0:398432a37ca5 | 239 | outChar = tempTime; |
pyrostew | 0:398432a37ca5 | 240 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 241 | tempTime -= outChar; |
pyrostew | 0:398432a37ca5 | 242 | } |
pyrostew | 0:398432a37ca5 | 243 | else |
pyrostew | 0:398432a37ca5 | 244 | { |
pyrostew | 0:398432a37ca5 | 245 | pc.putc('0'); |
pyrostew | 0:398432a37ca5 | 246 | } |
pyrostew | 0:398432a37ca5 | 247 | if (tempTime >= 0.1) |
pyrostew | 0:398432a37ca5 | 248 | { |
pyrostew | 0:398432a37ca5 | 249 | pc.putc('.'); |
pyrostew | 0:398432a37ca5 | 250 | outChar = tempTime * 10; |
pyrostew | 0:398432a37ca5 | 251 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 252 | tempTime -= (double)outChar / 10.0; |
pyrostew | 0:398432a37ca5 | 253 | } |
pyrostew | 0:398432a37ca5 | 254 | else |
pyrostew | 0:398432a37ca5 | 255 | { |
pyrostew | 0:398432a37ca5 | 256 | pc.putc('.'); |
pyrostew | 0:398432a37ca5 | 257 | pc.putc('0'); |
pyrostew | 0:398432a37ca5 | 258 | } |
pyrostew | 0:398432a37ca5 | 259 | if (tempTime >= 0.01) |
pyrostew | 0:398432a37ca5 | 260 | { |
pyrostew | 0:398432a37ca5 | 261 | outChar = tempTime * 100; |
pyrostew | 0:398432a37ca5 | 262 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 263 | tempTime -= (double)outChar / 100.0; |
pyrostew | 0:398432a37ca5 | 264 | } |
pyrostew | 0:398432a37ca5 | 265 | else |
pyrostew | 0:398432a37ca5 | 266 | { |
pyrostew | 0:398432a37ca5 | 267 | pc.putc('0'); |
pyrostew | 0:398432a37ca5 | 268 | } |
pyrostew | 0:398432a37ca5 | 269 | if (tempTime >= 0.001) |
pyrostew | 0:398432a37ca5 | 270 | { |
pyrostew | 0:398432a37ca5 | 271 | outChar= tempTime * 1000; |
pyrostew | 0:398432a37ca5 | 272 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 273 | } |
pyrostew | 0:398432a37ca5 | 274 | |
alpesh | 2:d1805e7d46fb | 275 | pc.putc('\t'); |
pyrostew | 0:398432a37ca5 | 276 | outChar = 0; |
pyrostew | 0:398432a37ca5 | 277 | |
pyrostew | 0:398432a37ca5 | 278 | if (tempPow < 0.0) |
pyrostew | 0:398432a37ca5 | 279 | { |
pyrostew | 0:398432a37ca5 | 280 | pc.putc('-'); |
pyrostew | 0:398432a37ca5 | 281 | tempPow *= -1; |
pyrostew | 0:398432a37ca5 | 282 | } |
pyrostew | 0:398432a37ca5 | 283 | if (tempPow >= 1.0) |
pyrostew | 0:398432a37ca5 | 284 | { |
pyrostew | 0:398432a37ca5 | 285 | outChar = tempPow; |
pyrostew | 0:398432a37ca5 | 286 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 287 | tempPow -= outChar; |
pyrostew | 0:398432a37ca5 | 288 | } |
pyrostew | 0:398432a37ca5 | 289 | else |
pyrostew | 0:398432a37ca5 | 290 | { |
pyrostew | 0:398432a37ca5 | 291 | pc.putc('0'); |
pyrostew | 0:398432a37ca5 | 292 | } |
pyrostew | 0:398432a37ca5 | 293 | if (tempPow >= 0.1) |
pyrostew | 0:398432a37ca5 | 294 | { |
pyrostew | 0:398432a37ca5 | 295 | pc.putc('.'); |
pyrostew | 0:398432a37ca5 | 296 | outChar = tempPow * 10; |
pyrostew | 0:398432a37ca5 | 297 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 298 | tempPow -= (double)outChar / 10.0; |
pyrostew | 0:398432a37ca5 | 299 | } |
pyrostew | 0:398432a37ca5 | 300 | else |
pyrostew | 0:398432a37ca5 | 301 | { |
pyrostew | 0:398432a37ca5 | 302 | pc.putc('.'); |
pyrostew | 0:398432a37ca5 | 303 | pc.putc('0'); |
pyrostew | 0:398432a37ca5 | 304 | } |
pyrostew | 0:398432a37ca5 | 305 | if (tempPow >= 0.01) |
pyrostew | 0:398432a37ca5 | 306 | { |
pyrostew | 0:398432a37ca5 | 307 | outChar = tempPow * 100; |
pyrostew | 0:398432a37ca5 | 308 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 309 | tempPow -= (double)outChar / 100.0; |
pyrostew | 0:398432a37ca5 | 310 | } |
pyrostew | 0:398432a37ca5 | 311 | else |
pyrostew | 0:398432a37ca5 | 312 | { |
pyrostew | 0:398432a37ca5 | 313 | pc.putc('0'); |
pyrostew | 0:398432a37ca5 | 314 | } |
pyrostew | 0:398432a37ca5 | 315 | if (tempPow >= 0.001) |
pyrostew | 0:398432a37ca5 | 316 | { |
pyrostew | 0:398432a37ca5 | 317 | outChar= tempPow * 1000; |
pyrostew | 0:398432a37ca5 | 318 | pc.putc(outChar + 48); |
pyrostew | 0:398432a37ca5 | 319 | } |
pyrostew | 0:398432a37ca5 | 320 | |
alpesh | 2:d1805e7d46fb | 321 | pc.putc('\t'); |
pyrostew | 1:a33723b70582 | 322 | outChar = 0; |
pyrostew | 1:a33723b70582 | 323 | |
pyrostew | 1:a33723b70582 | 324 | if (tempSpeed < 0.0) |
pyrostew | 1:a33723b70582 | 325 | { |
pyrostew | 1:a33723b70582 | 326 | pc.putc('-'); |
pyrostew | 1:a33723b70582 | 327 | tempSpeed *= -1; |
pyrostew | 1:a33723b70582 | 328 | } |
pyrostew | 1:a33723b70582 | 329 | if (tempSpeed >= 100.0) |
pyrostew | 1:a33723b70582 | 330 | { |
pyrostew | 1:a33723b70582 | 331 | outChar = tempSpeed / 100; |
pyrostew | 1:a33723b70582 | 332 | pc.putc(outChar + 48); |
pyrostew | 1:a33723b70582 | 333 | tempSpeed -= outChar * 100.0; |
pyrostew | 1:a33723b70582 | 334 | } |
pyrostew | 1:a33723b70582 | 335 | if (tempSpeed >= 10.0) |
pyrostew | 1:a33723b70582 | 336 | { |
pyrostew | 1:a33723b70582 | 337 | outChar = tempSpeed / 10; |
pyrostew | 1:a33723b70582 | 338 | pc.putc(outChar + 48); |
pyrostew | 1:a33723b70582 | 339 | tempSpeed -= outChar * 10.0; |
pyrostew | 1:a33723b70582 | 340 | } |
pyrostew | 1:a33723b70582 | 341 | else if(outChar > 0) |
pyrostew | 1:a33723b70582 | 342 | { |
pyrostew | 1:a33723b70582 | 343 | pc.putc('0'); |
pyrostew | 1:a33723b70582 | 344 | } |
pyrostew | 1:a33723b70582 | 345 | if (tempSpeed >= 1.0) |
pyrostew | 1:a33723b70582 | 346 | { |
pyrostew | 1:a33723b70582 | 347 | outChar = tempSpeed; |
pyrostew | 1:a33723b70582 | 348 | pc.putc(outChar + 48); |
pyrostew | 1:a33723b70582 | 349 | tempSpeed -= outChar; |
pyrostew | 1:a33723b70582 | 350 | } |
pyrostew | 1:a33723b70582 | 351 | else |
pyrostew | 1:a33723b70582 | 352 | { |
pyrostew | 1:a33723b70582 | 353 | pc.putc('0'); |
pyrostew | 1:a33723b70582 | 354 | } |
pyrostew | 1:a33723b70582 | 355 | if (tempSpeed >= 0.1) |
pyrostew | 1:a33723b70582 | 356 | { |
pyrostew | 1:a33723b70582 | 357 | pc.putc('.'); |
pyrostew | 1:a33723b70582 | 358 | outChar = tempSpeed * 10; |
pyrostew | 1:a33723b70582 | 359 | pc.putc(outChar + 48); |
pyrostew | 1:a33723b70582 | 360 | tempSpeed -= (double)outChar / 10.0; |
pyrostew | 1:a33723b70582 | 361 | } |
pyrostew | 1:a33723b70582 | 362 | else |
pyrostew | 1:a33723b70582 | 363 | { |
pyrostew | 1:a33723b70582 | 364 | pc.putc('.'); |
pyrostew | 1:a33723b70582 | 365 | pc.putc('0'); |
pyrostew | 1:a33723b70582 | 366 | } |
pyrostew | 1:a33723b70582 | 367 | if (tempSpeed >= 0.01) |
pyrostew | 1:a33723b70582 | 368 | { |
pyrostew | 1:a33723b70582 | 369 | outChar = tempSpeed * 100; |
pyrostew | 1:a33723b70582 | 370 | pc.putc(outChar + 48); |
pyrostew | 1:a33723b70582 | 371 | } |
pyrostew | 1:a33723b70582 | 372 | |
alpesh | 6:bfe745b152fa | 373 | pc.putc('\t'); |
alpesh | 6:bfe745b152fa | 374 | outChar = 0; |
alpesh | 6:bfe745b152fa | 375 | |
alpesh | 6:bfe745b152fa | 376 | if (tempError < 0.0) |
alpesh | 6:bfe745b152fa | 377 | { |
alpesh | 6:bfe745b152fa | 378 | pc.putc('-'); |
alpesh | 6:bfe745b152fa | 379 | tempError *= -1; |
alpesh | 6:bfe745b152fa | 380 | } |
alpesh | 6:bfe745b152fa | 381 | if (tempError >= 100.0) |
alpesh | 6:bfe745b152fa | 382 | { |
alpesh | 6:bfe745b152fa | 383 | outChar = tempError / 100; |
alpesh | 6:bfe745b152fa | 384 | pc.putc(outChar + 48); |
alpesh | 6:bfe745b152fa | 385 | tempError -= outChar * 100.0; |
alpesh | 6:bfe745b152fa | 386 | } |
alpesh | 6:bfe745b152fa | 387 | if (tempError >= 10.0) |
alpesh | 6:bfe745b152fa | 388 | { |
alpesh | 6:bfe745b152fa | 389 | outChar = tempError / 10; |
alpesh | 6:bfe745b152fa | 390 | pc.putc(outChar + 48); |
alpesh | 6:bfe745b152fa | 391 | tempError -= outChar * 10.0; |
alpesh | 6:bfe745b152fa | 392 | } |
alpesh | 6:bfe745b152fa | 393 | else if(outChar > 0) |
alpesh | 6:bfe745b152fa | 394 | { |
alpesh | 6:bfe745b152fa | 395 | pc.putc('0'); |
alpesh | 6:bfe745b152fa | 396 | } |
alpesh | 6:bfe745b152fa | 397 | if (tempError >= 1.0) |
alpesh | 6:bfe745b152fa | 398 | { |
alpesh | 6:bfe745b152fa | 399 | outChar = tempError; |
alpesh | 6:bfe745b152fa | 400 | pc.putc(outChar + 48); |
alpesh | 6:bfe745b152fa | 401 | tempError -= outChar; |
alpesh | 6:bfe745b152fa | 402 | } |
alpesh | 6:bfe745b152fa | 403 | else |
alpesh | 6:bfe745b152fa | 404 | { |
alpesh | 6:bfe745b152fa | 405 | pc.putc('0'); |
alpesh | 6:bfe745b152fa | 406 | } |
alpesh | 6:bfe745b152fa | 407 | if (tempError >= 0.1) |
alpesh | 6:bfe745b152fa | 408 | { |
alpesh | 6:bfe745b152fa | 409 | pc.putc('.'); |
alpesh | 6:bfe745b152fa | 410 | outChar = tempError * 10; |
alpesh | 6:bfe745b152fa | 411 | pc.putc(outChar + 48); |
alpesh | 6:bfe745b152fa | 412 | tempError -= (double)outChar / 10.0; |
alpesh | 6:bfe745b152fa | 413 | } |
alpesh | 6:bfe745b152fa | 414 | else |
alpesh | 6:bfe745b152fa | 415 | { |
alpesh | 6:bfe745b152fa | 416 | pc.putc('.'); |
alpesh | 6:bfe745b152fa | 417 | pc.putc('0'); |
alpesh | 6:bfe745b152fa | 418 | } |
alpesh | 6:bfe745b152fa | 419 | if (tempError >= 0.01) |
alpesh | 6:bfe745b152fa | 420 | { |
alpesh | 6:bfe745b152fa | 421 | outChar = tempError * 100; |
alpesh | 6:bfe745b152fa | 422 | pc.putc(outChar + 48); |
alpesh | 6:bfe745b152fa | 423 | } |
alpesh | 6:bfe745b152fa | 424 | |
pyrostew | 0:398432a37ca5 | 425 | pc.putc(10); |
pyrostew | 0:398432a37ca5 | 426 | pc.putc(13); |
pyrostew | 0:398432a37ca5 | 427 | } |
pyrostew | 0:398432a37ca5 | 428 | |
pyrostew | 0:398432a37ca5 | 429 | void HallEffectFall() |
pyrostew | 0:398432a37ca5 | 430 | { |
pyrostew | 0:398432a37ca5 | 431 | RGHSinInterrupt.disable_irq(); |
pyrostew | 0:398432a37ca5 | 432 | RGHCosInterrupt.disable_irq(); |
pyrostew | 0:398432a37ca5 | 433 | |
pyrostew | 0:398432a37ca5 | 434 | if (direction < 0) |
pyrostew | 0:398432a37ca5 | 435 | { |
pyrostew | 0:398432a37ca5 | 436 | SetPower(0.0); |
pyrostew | 0:398432a37ca5 | 437 | |
pyrostew | 0:398432a37ca5 | 438 | if (Homing) |
pyrostew | 0:398432a37ca5 | 439 | { |
pyrostew | 0:398432a37ca5 | 440 | HallTriggered = true; |
pyrostew | 0:398432a37ca5 | 441 | Homing = false; |
pyrostew | 0:398432a37ca5 | 442 | position = 0.0; |
pyrostew | 0:398432a37ca5 | 443 | } |
pyrostew | 0:398432a37ca5 | 444 | } |
pyrostew | 0:398432a37ca5 | 445 | RGHSinInterrupt.enable_irq(); |
pyrostew | 0:398432a37ca5 | 446 | RGHCosInterrupt.enable_irq(); |
pyrostew | 0:398432a37ca5 | 447 | } |
pyrostew | 0:398432a37ca5 | 448 | |
alpesh | 7:4cd7be306626 | 449 | double SetPoint = 50.0; //Millimeter per second |
alpesh | 6:bfe745b152fa | 450 | |
alpesh | 2:d1805e7d46fb | 451 | double KpTerm; |
alpesh | 3:e693c65b04de | 452 | double ErrorInt; |
alpesh | 2:d1805e7d46fb | 453 | double ErrorDer; |
alpesh | 2:d1805e7d46fb | 454 | |
alpesh | 7:4cd7be306626 | 455 | double KpGain = 0.0; |
alpesh | 2:d1805e7d46fb | 456 | double KiGain = 0.0; |
alpesh | 2:d1805e7d46fb | 457 | double KdGain = 0.0; |
alpesh | 2:d1805e7d46fb | 458 | |
alpesh | 3:e693c65b04de | 459 | int errorcounter; |
alpesh | 2:d1805e7d46fb | 460 | double PreviousError [10]; |
alpesh | 2:d1805e7d46fb | 461 | |
alpesh | 3:e693c65b04de | 462 | double PwmChange=0; |
alpesh | 3:e693c65b04de | 463 | |
alpesh | 3:e693c65b04de | 464 | double pwm; |
alpesh | 3:e693c65b04de | 465 | double NewPwm; |
alpesh | 3:e693c65b04de | 466 | |
alpesh | 3:e693c65b04de | 467 | int previousTime = 0; |
alpesh | 3:e693c65b04de | 468 | |
alpesh | 4:2ec05810bc47 | 469 | void Controller () |
alpesh | 4:2ec05810bc47 | 470 | { |
alpesh | 7:4cd7be306626 | 471 | if (position <= SetPoint || 1) |
alpesh | 4:2ec05810bc47 | 472 | { |
alpesh | 4:2ec05810bc47 | 473 | int timeStep = RunningTime.read_us() - previousTime; |
alpesh | 4:2ec05810bc47 | 474 | previousTime = RunningTime.read_us(); |
alpesh | 4:2ec05810bc47 | 475 | |
alpesh | 7:4cd7be306626 | 476 | Error = SetPoint - position; |
alpesh | 4:2ec05810bc47 | 477 | |
alpesh | 4:2ec05810bc47 | 478 | KpTerm = Error * KpGain; |
alpesh | 4:2ec05810bc47 | 479 | |
alpesh | 6:bfe745b152fa | 480 | ErrorDer = (Error - PreviousError[errorcounter]) / timeStep; |
alpesh | 4:2ec05810bc47 | 481 | |
alpesh | 4:2ec05810bc47 | 482 | ErrorInt = ErrorInt + Error * timeStep; |
alpesh | 4:2ec05810bc47 | 483 | |
alpesh | 7:4cd7be306626 | 484 | NewPwm = (KpTerm + KiGain * ErrorInt + KdGain * ErrorDer); |
alpesh | 4:2ec05810bc47 | 485 | |
alpesh | 4:2ec05810bc47 | 486 | if (NewPwm > 1.0) |
alpesh | 4:2ec05810bc47 | 487 | { |
alpesh | 4:2ec05810bc47 | 488 | pwm = 1.0; |
alpesh | 4:2ec05810bc47 | 489 | } |
alpesh | 4:2ec05810bc47 | 490 | |
alpesh | 5:4468f8ff5ec6 | 491 | else if (NewPwm < -1.0) |
alpesh | 4:2ec05810bc47 | 492 | { |
alpesh | 5:4468f8ff5ec6 | 493 | pwm = -1.0; |
alpesh | 4:2ec05810bc47 | 494 | } |
alpesh | 4:2ec05810bc47 | 495 | |
alpesh | 4:2ec05810bc47 | 496 | else |
alpesh | 4:2ec05810bc47 | 497 | { |
alpesh | 4:2ec05810bc47 | 498 | pwm = NewPwm; |
alpesh | 4:2ec05810bc47 | 499 | } |
alpesh | 4:2ec05810bc47 | 500 | |
alpesh | 4:2ec05810bc47 | 501 | SetPower(pwm); |
alpesh | 4:2ec05810bc47 | 502 | |
alpesh | 4:2ec05810bc47 | 503 | errorcounter ++; |
alpesh | 4:2ec05810bc47 | 504 | |
alpesh | 6:bfe745b152fa | 505 | if (errorcounter > 9) |
alpesh | 4:2ec05810bc47 | 506 | { |
alpesh | 6:bfe745b152fa | 507 | errorcounter = 0; |
alpesh | 4:2ec05810bc47 | 508 | } |
alpesh | 4:2ec05810bc47 | 509 | |
alpesh | 4:2ec05810bc47 | 510 | PreviousError[errorcounter] = Error; |
alpesh | 4:2ec05810bc47 | 511 | } |
alpesh | 4:2ec05810bc47 | 512 | } |
alpesh | 4:2ec05810bc47 | 513 | |
pyrostew | 0:398432a37ca5 | 514 | int main() |
alpesh | 2:d1805e7d46fb | 515 | |
pyrostew | 0:398432a37ca5 | 516 | { |
pyrostew | 0:398432a37ca5 | 517 | RGHSinInterrupt.rise(&RGHSinHandler); |
pyrostew | 0:398432a37ca5 | 518 | RGHCosInterrupt.rise(&RGHCosHandler); |
pyrostew | 0:398432a37ca5 | 519 | HallSensor.fall(&HallEffectFall); |
pyrostew | 0:398432a37ca5 | 520 | HallSensor.mode(PullUp); |
pyrostew | 0:398432a37ca5 | 521 | |
pyrostew | 0:398432a37ca5 | 522 | RunningTime.start(); |
pyrostew | 0:398432a37ca5 | 523 | |
pyrostew | 0:398432a37ca5 | 524 | pc.baud(115200); |
pyrostew | 0:398432a37ca5 | 525 | |
alpesh | 4:2ec05810bc47 | 526 | Home(); |
alpesh | 4:2ec05810bc47 | 527 | //Enable(); |
pyrostew | 0:398432a37ca5 | 528 | |
alpesh | 3:e693c65b04de | 529 | errorcounter = 0; |
alpesh | 3:e693c65b04de | 530 | PreviousError[errorcounter]=0; |
alpesh | 2:d1805e7d46fb | 531 | |
alpesh | 3:e693c65b04de | 532 | previousTime = RunningTime.read_us(); |
alpesh | 3:e693c65b04de | 533 | |
alpesh | 6:bfe745b152fa | 534 | while(Enabled) |
alpesh | 2:d1805e7d46fb | 535 | { |
alpesh | 8:7f6e81140f27 | 536 | double pow = 0.5; |
alpesh | 7:4cd7be306626 | 537 | for (int i = 0; i < 10; i++) |
alpesh | 3:e693c65b04de | 538 | { |
alpesh | 7:4cd7be306626 | 539 | //KpGain += 0.1; |
alpesh | 7:4cd7be306626 | 540 | float iterationStart = RunningTime.read(); |
alpesh | 7:4cd7be306626 | 541 | |
alpesh | 7:4cd7be306626 | 542 | pow += 0.05; |
alpesh | 7:4cd7be306626 | 543 | |
alpesh | 7:4cd7be306626 | 544 | //while(RunningTime.read()-iterationStart < 10.0) |
alpesh | 7:4cd7be306626 | 545 | //{ |
alpesh | 7:4cd7be306626 | 546 | // SerialTransmit(); |
alpesh | 7:4cd7be306626 | 547 | |
alpesh | 7:4cd7be306626 | 548 | // Controller(); |
alpesh | 7:4cd7be306626 | 549 | //} |
alpesh | 5:4468f8ff5ec6 | 550 | |
alpesh | 7:4cd7be306626 | 551 | while(RunningTime.read() - iterationStart < 30.0 && position < 210.0) |
alpesh | 7:4cd7be306626 | 552 | { |
alpesh | 7:4cd7be306626 | 553 | SerialTransmit(); |
alpesh | 7:4cd7be306626 | 554 | SetPower(pow); |
alpesh | 7:4cd7be306626 | 555 | } |
alpesh | 7:4cd7be306626 | 556 | |
alpesh | 7:4cd7be306626 | 557 | iterationStart = RunningTime.read(); |
alpesh | 7:4cd7be306626 | 558 | |
alpesh | 7:4cd7be306626 | 559 | while(RunningTime.read() - iterationStart < 30.0 && position > 10.0) |
alpesh | 7:4cd7be306626 | 560 | { |
alpesh | 7:4cd7be306626 | 561 | SerialTransmit(); |
alpesh | 7:4cd7be306626 | 562 | SetPower(-pow); |
alpesh | 7:4cd7be306626 | 563 | } |
alpesh | 7:4cd7be306626 | 564 | |
alpesh | 7:4cd7be306626 | 565 | Home(); |
alpesh | 4:2ec05810bc47 | 566 | } |
alpesh | 2:d1805e7d46fb | 567 | |
alpesh | 6:bfe745b152fa | 568 | Disable(); |
pyrostew | 0:398432a37ca5 | 569 | } |
alpesh | 7:4cd7be306626 | 570 | } |
alpesh | 7:4cd7be306626 | 571 | |
alpesh | 7:4cd7be306626 | 572 | /* Change this throttle value range to 1.0 and 0.0 for car speed |
alpesh | 7:4cd7be306626 | 573 | m_throttlechange = (m_kpGain * m_error + m_kdGain * m_ErrorDer + m_ErrorInt); |
alpesh | 7:4cd7be306626 | 574 | |
alpesh | 7:4cd7be306626 | 575 | double throttle = m_throttle + m_throttlechange; |
alpesh | 7:4cd7be306626 | 576 | |
alpesh | 7:4cd7be306626 | 577 | if (new_throttle > 1.0) { |
alpesh | 7:4cd7be306626 | 578 | m_throttle = 1.0; |
alpesh | 7:4cd7be306626 | 579 | } else if (new_throttle < 0.0) { |
alpesh | 7:4cd7be306626 | 580 | m_throttle = 0.0; |
alpesh | 7:4cd7be306626 | 581 | } else { |
alpesh | 7:4cd7be306626 | 582 | m_throttle = new_throttle; |
alpesh | 7:4cd7be306626 | 583 | }*/ |
alpesh | 7:4cd7be306626 | 584 | |
alpesh | 7:4cd7be306626 | 585 | |
alpesh | 7:4cd7be306626 | 586 | |
alpesh | 7:4cd7be306626 | 587 | |
alpesh | 7:4cd7be306626 | 588 |