void model1()
{
/* clear all pixels */
glClearColor (0.0, 0.0, 0.0, 0.0);//default background for white
glClear (GL_COLOR_BUFFER_BIT);
/* print coordinate */
grid();
coordinate();
function_1();
function_2();
function_3();
function_4();
/* buffer */
glFlush();
}
void main( void )
{
WDT_init();
UCS_init();
TimerA1_init();
TimerB0_init();
UART_init(UCA1,115200);
RotaryEncoder_init();
keyboard_init();
// GUI_init();
Motor_init();
{
RP.myOutput = 0;
RP.myInput = &E1_absPulseCnt;
RP.mySetpoint = 0;
RP.inAuto = 1;
PID_setOutputLimits(&RP, (signed long)-100, (signed long)100);//(加速度)
// PID_setOutputLimits(&RP, (signed long)-600, (signed long)600);
RP.SampleTime = 5;
PID_setControllerDirection(&RP, 1);
PID_setTunings(&RP, 184, 7000, 34); //400,0,0 //184,6000,35
if (TimeBase>RP.SampleTime)
RP.lastTime = TimeBase-RP.SampleTime;
else
RP.lastTime = 0;
}
_EINT();
// while(UCA1_GET_CHAR(&command));
_DINT();
E1_pulseCnt=2000;
E2_pulseCnt=0;
E1_pulseInLastMs=2000;
_EINT();
startTime = TimeBase;
// Motor_config(362);
// Clear_Screen();
// TFT_Menu_StartMenu();
while(function_3());
/*
while(1)
{
//主要任务
switch(function)
{
case 1:
break;
case 2:
break;
case 3:
break;
case 4:
break;
case 5:
break;
case 6:
if (E1_absPulseCnt==0)
{
function6Flag=1;
function6_E2_pulseCnt=E2_pulseCnt;
function6_speed=400;
}
if (function6Flag)
{
// if((!PID_compute(&RP))&&(abs(E2_pulseCnt-function6_E2_pulseCnt)<2000))
{
speed+=RP.myOutput;
speed-=E2_interval;
if (speed>0)
speedSign = 1;
else if (speed<0)
speedSign = -1;
else
speedSign = 0;
if (abs(speed)>900)
speed=speedSign*900;
if (speedSign>0)
Motor_config(speedSign*400+speed/3+5);
else
Motor_config(speedSign*400+speed/3+5);
// }
if ((abs(E1_absPulseCnt)<500)&&(abs(E1_absPulseCnt)>2))
{
RP.inAuto=1;
// PID_setMode(&RP,AUTOMATIC);
if(!PID_compute(&RP))
{
speed+=RP.myOutput;
speed-=E2_interval*3;
if (speed>0)
speedSign = 1;
else if (speed<0)
speedSign = -1;
else
speedSign = 0;
if (abs(speed)>900)
speed=speedSign*900;
if (speedSign>0)
{
Motor_config(speedSign*400+speed/3+5);
}
else
{
Motor_config(speedSign*400+speed/3+5);
}
}
if(abs(E2_pulseCnt-function6_E2_pulseCnt)>2000)
{
function6Flag=0;
Motor_config(0);
}
}
}
else
{
Motor_config(0);
if ((abs(E1_absPulseCnt)>1990)&&(function6Flag))
{
function6Flag=0;
}
}
break;
default:
break;
}
}*/
}