Final Report - Claymore - Grand Valley State University

eturn diff;
}
//......................................................................................
int controller(int Cd, int Cf)
{
int Ce; // Error variable
int Cw; // Corrected count
}
Ce = Cd - Cf;
Cw = (Kp * Ce) + (Ki * integrate(Ce) / 1000) + (Kd * derivitive(Ce));
if(US_DEF == 1) {
if((rpos[THEM_OFF] < THRESHOLD) && (rpos[US_DEF] < THRESHOLD)) Cw = 0;
else Cw *= -1;
}
return Cw;
//......................................................................................
void AD_setup()
{
ADCSRA = 0x80;// turn on ADC
DDRA = (unsigned char)0; // set port A to input
}
//......................................................................................
void AD_read(void) { // interrupt driven encoder update
int count;
for (count = 0; count < 4; count++) {
ADMUX = (0x40 + count); // REFS1=0,REFS0=1,ADLAR=0,MUX4=0 |
MUX3=0,MUX2=0,MUX1=0,MUX0=1
ADCSRA = 0xC0;
while ((ADCSRA & _BV(ADSC)) != 0);
ADCSRA = 0xC0;
while ((ADCSRA & _BV(ADSC)) != 0);
rpos[count + 1] = ADCW >> 2;
}
}
if(pos_last != rpos[US_DEF])
{
moving = 1;
}
else
{
moving = 0;
}
//......................................................................................
int deadband(int c_wanted)
{// Call this routine when updating
int c_pos;
int c_neg;
int c_adjusted;
if(moving == 1) // If moving -> kinetic
{
c_pos = c_kinetic_pos;
c_neg = c_kinetic_neg;
}
else // Not moving -> static
{
c_pos = c_static_pos;
c_neg = c_static_neg;
}
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