Revision 20:04432d03b46c, committed 2014-08-15

Comitter:

alpesh

Date:

Fri Aug 15 09:11:50 2014 +0000

Parent:

19:a6369257c00f

Child:

22:9f7dae024a81

Commit message:

Linearisation of the pwm

Changed in this revision

--- a/USBDevice.lib	Thu Aug 14 14:46:31 2014 +0000
+++ b/USBDevice.lib	Fri Aug 15 09:11:50 2014 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/USBDevice/#0c6524151939
+http://mbed.org/users/mbed_official/code/USBDevice/#c09a0c9bf425

--- a/main.cpp	Thu Aug 14 14:46:31 2014 +0000
+++ b/main.cpp	Fri Aug 15 09:11:50 2014 +0000
@@ -346,6 +346,7 @@
 
 double pwm;
 double TargetPwm;
+double newTargetPwm;
 double TargetVelocity;
 
 double PosiState;
@@ -353,7 +354,9 @@
 
 int PreviousTime = 0;
 
-double vMax = 20;
+double vMax = 300;
+double vStep = 50;
+double pStep = 0.5;
 
 void Controller ()
 {
@@ -392,54 +395,30 @@
         
         TargetPwm = (PosKpGain * PosError + PosKdGain * PosDifError + PosIntError);
         
-   
-   //     TargetVelocity = (PosKpGain * PosError + PosKdGain * PosDifError + PosIntError);
+        if (TargetPwm < pStep)
         
-    ///////////////////////////////////////////////////////////////////////////////////////////////
-    //Velocity PID
-    ///////////////////////////////////////////////////////////////////////////////////////////////     
-     /*  
-       double integral_pwmmax = 1.0/VelKiGain;
-       double integral_pwmmin = -1.0/VelKiGain;
-       
-        VelError = TargetVelocity - GetSpeed();
-        
-        VelProError = VelError * VelKpGain;
-        
-        VelDifError = (VelError - VelPreviousError[errorcounter]) / timeStep; 
-        
-        //Calculate the integral state with appropriate limiting
+            {
+                newTargetPwm = (TargetPwm * 300) / 100;  
+            }
         
-        VeliState += VelError;
+        if (TargetPwm > pStep)
+            {
+                newTargetPwm = pStep + (TargetPwm - pStep) * 100 / 500;   
+            }
         
-        if (VeliState > integral_pwmmax)
-        {
-            VeliState = integral_pwmmax;
-        }
-        else if (VeliState < integral_pwmmin)
-        {
-            VeliState = integral_pwmmin;
-        }
-    
-        VelIntError = VelKiGain * VeliState;
-        
-        TargetPwm = (VelKpGain * VelError + VelKdGain * VelDifError + VelIntError);
-        */
-    
-    
-        if (TargetPwm > 1.0) 
+        if (newTargetPwm > 1.0) 
         {
             pwm = 1.0;
         }
     
-        else if (TargetPwm < -1.0)
+        else if (newTargetPwm < -1.0)
         {
             pwm = -1.0;
         }
     
         else
         {
-            pwm = TargetPwm;
+            pwm = newTargetPwm;
         }
     
         SetPower(pwm);