CLUE / Mbed 2 deprecated Mirror_Top_Indenter_10kHz

READY FOR ROS

Dependencies:   FastAnalogIn mbed

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main.cpp@1:8e7e9ef6b0bd, 2017-03-07 (annotated)

Committer:
keithbehrman
Date:
Tue Mar 07 18:43:43 2017 +0000
Revision:
1:8e7e9ef6b0bd
Parent:
0:d83ac315a24c
Child:
2:a215212e9a78
Child:
3:25f679fea061
Ready for ROS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
keithbehrman 0:d83ac315a24c 1 #include "mbed.h"
keithbehrman 0:d83ac315a24c 2 #include "FastAnalogIn.h"
keithbehrman 0:d83ac315a24c 3
keithbehrman 0:d83ac315a24c 4
keithbehrman 1:8e7e9ef6b0bd 5
keithbehrman 1:8e7e9ef6b0bd 6 Serial pc(USBTX, USBRX); // tx, rx
keithbehrman 1:8e7e9ef6b0bd 7
keithbehrman 1:8e7e9ef6b0bd 8 FastAnalogIn ain(p20); //Fast&Furious:Tokyo Drift Analog Input to PDmux
keithbehrman 1:8e7e9ef6b0bd 9 //AnalogIn ain(p20); //Analog Input to PDmux
keithbehrman 1:8e7e9ef6b0bd 10
keithbehrman 0:d83ac315a24c 11 DigitalOut LEDout(p8); //5V output to LED mux
keithbehrman 0:d83ac315a24c 12 DigitalOut LEDmux0(p9); //s0
keithbehrman 0:d83ac315a24c 13 DigitalOut LEDmux1(p10); //s1
keithbehrman 0:d83ac315a24c 14 DigitalOut LEDmux2(p11); //s2
keithbehrman 0:d83ac315a24c 15 DigitalOut LEDmux3(p12); //s3
keithbehrman 0:d83ac315a24c 16
keithbehrman 0:d83ac315a24c 17 DigitalOut PDmux0(p14); //s0
keithbehrman 0:d83ac315a24c 18 DigitalOut PDmux1(p15); //s1
keithbehrman 0:d83ac315a24c 19 DigitalOut PDmux2(p16); //s2
keithbehrman 0:d83ac315a24c 20 DigitalOut PDmux3(p17); //s3
keithbehrman 1:8e7e9ef6b0bd 21 AnalogOut aout(p18);
keithbehrman 0:d83ac315a24c 22
keithbehrman 0:d83ac315a24c 23
keithbehrman 1:8e7e9ef6b0bd 24 double voltageOut;
keithbehrman 1:8e7e9ef6b0bd 25 double readIn[5];
keithbehrman 1:8e7e9ef6b0bd 26
keithbehrman 0:d83ac315a24c 27
keithbehrman 0:d83ac315a24c 28 double alpha; //dummy variable for ADC
keithbehrman 0:d83ac315a24c 29
keithbehrman 0:d83ac315a24c 30
keithbehrman 1:8e7e9ef6b0bd 31
keithbehrman 0:d83ac315a24c 32 int main()
keithbehrman 0:d83ac315a24c 33 {
keithbehrman 1:8e7e9ef6b0bd 34 pc.baud(921600);
keithbehrman 1:8e7e9ef6b0bd 35 //pc.format();
keithbehrman 1:8e7e9ef6b0bd 36
keithbehrman 0:d83ac315a24c 37 // double ADCtime=.000000116; //1.6 us
keithbehrman 0:d83ac315a24c 38 double time=.000029; // ~15kHz
keithbehrman 0:d83ac315a24c 39 // double time=.0000029; //100 kHz
keithbehrman 1:8e7e9ef6b0bd 40 // double time=.0003;
keithbehrman 1:8e7e9ef6b0bd 41
keithbehrman 0:d83ac315a24c 42
keithbehrman 0:d83ac315a24c 43 //counters for various while loops
keithbehrman 1:8e7e9ef6b0bd 44 // int mPD=0;
keithbehrman 1:8e7e9ef6b0bd 45 // int nPD=0;
keithbehrman 1:8e7e9ef6b0bd 46 // int mLED=0;
keithbehrman 1:8e7e9ef6b0bd 47 // int nLED=0;
keithbehrman 1:8e7e9ef6b0bd 48 //int pd=0;
keithbehrman 1:8e7e9ef6b0bd 49 //int i=0;
keithbehrman 0:d83ac315a24c 50
keithbehrman 0:d83ac315a24c 51 //boolean bits for multiplexing
keithbehrman 0:d83ac315a24c 52 LEDmux0=0;
keithbehrman 0:d83ac315a24c 53 LEDmux1=0;
keithbehrman 0:d83ac315a24c 54 LEDmux2=0;
keithbehrman 0:d83ac315a24c 55 LEDmux3=0; //MSB is always 0
keithbehrman 0:d83ac315a24c 56 PDmux0=0;
keithbehrman 0:d83ac315a24c 57 PDmux1=0;
keithbehrman 0:d83ac315a24c 58 PDmux2=0;
keithbehrman 0:d83ac315a24c 59 PDmux3=0; //MSB is always 0
keithbehrman 0:d83ac315a24c 60
keithbehrman 0:d83ac315a24c 61
keithbehrman 0:d83ac315a24c 62 //while loop that runs continously through code to constantly give measuremtn while MCU is on
keithbehrman 0:d83ac315a24c 63 while(1) {
keithbehrman 0:d83ac315a24c 64
keithbehrman 0:d83ac315a24c 65
keithbehrman 1:8e7e9ef6b0bd 66 //loop to mux through photodiodes
keithbehrman 1:8e7e9ef6b0bd 67
keithbehrman 1:8e7e9ef6b0bd 68 for(int pd=0; pd<6; pd++) {
keithbehrman 0:d83ac315a24c 69 //loop will take 5 measurements for the selected LED/PD combo
keithbehrman 1:8e7e9ef6b0bd 70 for(int i=0; i<5; i++) {
keithbehrman 0:d83ac315a24c 71 LEDout = 1;
keithbehrman 1:8e7e9ef6b0bd 72 readIn[i]=ain.read();
keithbehrman 0:d83ac315a24c 73 wait(time);
keithbehrman 0:d83ac315a24c 74
keithbehrman 1:8e7e9ef6b0bd 75 //LEDout = 0;
keithbehrman 1:8e7e9ef6b0bd 76 //alpha=ain.read();
keithbehrman 1:8e7e9ef6b0bd 77 //wait(time);
keithbehrman 0:d83ac315a24c 78 }
keithbehrman 1:8e7e9ef6b0bd 79
keithbehrman 1:8e7e9ef6b0bd 80 voltageOut=(readIn[2]+readIn[3]+readIn[4])/3;
keithbehrman 1:8e7e9ef6b0bd 81 aout=voltageOut;
keithbehrman 0:d83ac315a24c 82
keithbehrman 1:8e7e9ef6b0bd 83 //send the diode readings to Matlab
keithbehrman 1:8e7e9ef6b0bd 84 if(pd==0) {
keithbehrman 1:8e7e9ef6b0bd 85 pc.printf("1,%f \n", voltageOut);
keithbehrman 1:8e7e9ef6b0bd 86 } else if(pd==1) {
keithbehrman 1:8e7e9ef6b0bd 87 pc.printf("2,%f \n", voltageOut+10);
keithbehrman 1:8e7e9ef6b0bd 88 } else if(pd==2) {
keithbehrman 1:8e7e9ef6b0bd 89 pc.printf("3,%f \n", voltageOut+20);
keithbehrman 1:8e7e9ef6b0bd 90 } else if(pd==3) {
keithbehrman 1:8e7e9ef6b0bd 91 pc.printf("4,%f \n", voltageOut+30);
keithbehrman 1:8e7e9ef6b0bd 92 } else if(pd==4) {
keithbehrman 1:8e7e9ef6b0bd 93 pc.printf("5,%f \n", voltageOut+40);
keithbehrman 0:d83ac315a24c 94 } else {
keithbehrman 1:8e7e9ef6b0bd 95 pc.printf("6,%f \n", voltageOut+50);
keithbehrman 0:d83ac315a24c 96 }
keithbehrman 0:d83ac315a24c 97
keithbehrman 1:8e7e9ef6b0bd 98
keithbehrman 1:8e7e9ef6b0bd 99
keithbehrman 1:8e7e9ef6b0bd 100 //PD multiplexing
keithbehrman 1:8e7e9ef6b0bd 101 if((PDmux0==0) && (PDmux1==0) && (PDmux2==0)) {
keithbehrman 1:8e7e9ef6b0bd 102 PDmux0=1;
keithbehrman 1:8e7e9ef6b0bd 103 } else if((PDmux0==1) && (PDmux1==0) && (PDmux2==0)) {
keithbehrman 1:8e7e9ef6b0bd 104 PDmux0=0;
keithbehrman 1:8e7e9ef6b0bd 105 PDmux1=1;
keithbehrman 1:8e7e9ef6b0bd 106 } else if((PDmux0==0) && (PDmux1==1) && (PDmux2==0)) {
keithbehrman 1:8e7e9ef6b0bd 107 PDmux0=1;
keithbehrman 1:8e7e9ef6b0bd 108 } else if((PDmux0==1) && (PDmux1==1) && (PDmux2==0)) {
keithbehrman 1:8e7e9ef6b0bd 109 PDmux0=0;
keithbehrman 1:8e7e9ef6b0bd 110 PDmux1=0;
keithbehrman 1:8e7e9ef6b0bd 111 PDmux2=1;
keithbehrman 1:8e7e9ef6b0bd 112 } else if((PDmux0==0) && (PDmux1==0) && (PDmux2==1)) {
keithbehrman 1:8e7e9ef6b0bd 113 PDmux0=1;
keithbehrman 0:d83ac315a24c 114 } else {
keithbehrman 1:8e7e9ef6b0bd 115 PDmux0=0;
keithbehrman 1:8e7e9ef6b0bd 116 PDmux2=0;
keithbehrman 0:d83ac315a24c 117 }
keithbehrman 0:d83ac315a24c 118
keithbehrman 0:d83ac315a24c 119 }
keithbehrman 1:8e7e9ef6b0bd 120 if((LEDmux0==0) && (LEDmux1==0) && (LEDmux2==0)) {
keithbehrman 1:8e7e9ef6b0bd 121 LEDmux0=1;
keithbehrman 1:8e7e9ef6b0bd 122 } else if((LEDmux0==1) && (LEDmux1==0) && (LEDmux2==0)) {
keithbehrman 1:8e7e9ef6b0bd 123 LEDmux0=0;
keithbehrman 1:8e7e9ef6b0bd 124 LEDmux1=1;
keithbehrman 1:8e7e9ef6b0bd 125 } else if((LEDmux0==0) && (LEDmux1==1) && (LEDmux2==0)) {
keithbehrman 1:8e7e9ef6b0bd 126 LEDmux0=1;
keithbehrman 1:8e7e9ef6b0bd 127 } else if((LEDmux0==1) && (LEDmux1==1) && (LEDmux2==0)) {
keithbehrman 1:8e7e9ef6b0bd 128 LEDmux0=0;
keithbehrman 1:8e7e9ef6b0bd 129 LEDmux1=0;
keithbehrman 1:8e7e9ef6b0bd 130 LEDmux2=1;
keithbehrman 1:8e7e9ef6b0bd 131 } else if((LEDmux0==0) && (LEDmux1==0) && (LEDmux2==1)) {
keithbehrman 1:8e7e9ef6b0bd 132 LEDmux0=1;
keithbehrman 1:8e7e9ef6b0bd 133 } else {
keithbehrman 1:8e7e9ef6b0bd 134 LEDmux0=0;
keithbehrman 1:8e7e9ef6b0bd 135 LEDmux2=0;
keithbehrman 1:8e7e9ef6b0bd 136 }
keithbehrman 1:8e7e9ef6b0bd 137
keithbehrman 0:d83ac315a24c 138
keithbehrman 1:8e7e9ef6b0bd 139
keithbehrman 0:d83ac315a24c 140
keithbehrman 0:d83ac315a24c 141 }
keithbehrman 0:d83ac315a24c 142 }
keithbehrman 1:8e7e9ef6b0bd 143
keithbehrman 1:8e7e9ef6b0bd 144