CLUE / Mbed 2 deprecated Mirror_Top_Indenter_ROS_Sync10Khz

Synchronous detection code with ROS communication for optic sensor

Dependencies:   FastAnalogIn mbed ros_lib_indigo

Fork of Mirror_Top_Indenter_ROS by CLUE

main.cpp@0:d83ac315a24c, 2017-02-17 (annotated)

Committer:
keithbehrman
Date:
Fri Feb 17 20:37:32 2017 +0000
Revision:
0:d83ac315a24c
Child:
1:8e7e9ef6b0bd
15Khz code with multiplexing

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 0:d83ac315a24c 5 FastAnalogIn ain(p20); //Analog Input to PDmux
keithbehrman 0:d83ac315a24c 6 DigitalOut LEDout(p8); //5V output to LED mux
keithbehrman 0:d83ac315a24c 7 DigitalOut LEDmux0(p9); //s0
keithbehrman 0:d83ac315a24c 8 DigitalOut LEDmux1(p10); //s1
keithbehrman 0:d83ac315a24c 9 DigitalOut LEDmux2(p11); //s2
keithbehrman 0:d83ac315a24c 10 DigitalOut LEDmux3(p12); //s3
keithbehrman 0:d83ac315a24c 11
keithbehrman 0:d83ac315a24c 12 DigitalOut PDmux0(p14); //s0
keithbehrman 0:d83ac315a24c 13 DigitalOut PDmux1(p15); //s1
keithbehrman 0:d83ac315a24c 14 DigitalOut PDmux2(p16); //s2
keithbehrman 0:d83ac315a24c 15 DigitalOut PDmux3(p17); //s3
keithbehrman 0:d83ac315a24c 16
keithbehrman 0:d83ac315a24c 17
keithbehrman 0:d83ac315a24c 18
keithbehrman 0:d83ac315a24c 19 double alpha; //dummy variable for ADC
keithbehrman 0:d83ac315a24c 20
keithbehrman 0:d83ac315a24c 21
keithbehrman 0:d83ac315a24c 22 int main()
keithbehrman 0:d83ac315a24c 23 {
keithbehrman 0:d83ac315a24c 24 // double ADCtime=.000000116; //1.6 us
keithbehrman 0:d83ac315a24c 25 double time=.000029; // ~15kHz
keithbehrman 0:d83ac315a24c 26 // double time=.0000029; //100 kHz
keithbehrman 0:d83ac315a24c 27 // double time=.003;
keithbehrman 0:d83ac315a24c 28
keithbehrman 0:d83ac315a24c 29 //counters for various while loops
keithbehrman 0:d83ac315a24c 30 int mPD=0;
keithbehrman 0:d83ac315a24c 31 int nPD=0;
keithbehrman 0:d83ac315a24c 32 int mLED=0;
keithbehrman 0:d83ac315a24c 33 int nLED=0;
keithbehrman 0:d83ac315a24c 34 int pd=0;
keithbehrman 0:d83ac315a24c 35 int i=0;
keithbehrman 0:d83ac315a24c 36
keithbehrman 0:d83ac315a24c 37 //boolean bits for multiplexing
keithbehrman 0:d83ac315a24c 38 LEDmux0=0;
keithbehrman 0:d83ac315a24c 39 LEDmux1=0;
keithbehrman 0:d83ac315a24c 40 LEDmux2=0;
keithbehrman 0:d83ac315a24c 41 LEDmux3=0; //MSB is always 0
keithbehrman 0:d83ac315a24c 42 PDmux0=0;
keithbehrman 0:d83ac315a24c 43 PDmux1=0;
keithbehrman 0:d83ac315a24c 44 PDmux2=0;
keithbehrman 0:d83ac315a24c 45 PDmux3=0; //MSB is always 0
keithbehrman 0:d83ac315a24c 46
keithbehrman 0:d83ac315a24c 47
keithbehrman 0:d83ac315a24c 48 //while loop that runs continously through code to constantly give measuremtn while MCU is on
keithbehrman 0:d83ac315a24c 49 while(1) {
keithbehrman 0:d83ac315a24c 50
keithbehrman 0:d83ac315a24c 51
keithbehrman 0:d83ac315a24c 52 //loop to mux through the 8 photodiodes
keithbehrman 0:d83ac315a24c 53 while(pd<8) {
keithbehrman 0:d83ac315a24c 54 //loop will take 5 measurements for the selected LED/PD combo
keithbehrman 0:d83ac315a24c 55 while(i<5) {
keithbehrman 0:d83ac315a24c 56 LEDout = 1;
keithbehrman 0:d83ac315a24c 57 alpha=ain.read();
keithbehrman 0:d83ac315a24c 58 wait(time);
keithbehrman 0:d83ac315a24c 59
keithbehrman 0:d83ac315a24c 60 LEDout = 0;
keithbehrman 0:d83ac315a24c 61 alpha=ain.read();
keithbehrman 0:d83ac315a24c 62 wait(time);
keithbehrman 0:d83ac315a24c 63 i++;
keithbehrman 0:d83ac315a24c 64 }
keithbehrman 0:d83ac315a24c 65 i=0;
keithbehrman 0:d83ac315a24c 66
keithbehrman 0:d83ac315a24c 67 PDmux0=!PDmux0; //flip LSB
keithbehrman 0:d83ac315a24c 68
keithbehrman 0:d83ac315a24c 69 //flips 2nd bit every other cycle
keithbehrman 0:d83ac315a24c 70 if (mPD==1) {
keithbehrman 0:d83ac315a24c 71 PDmux1=!PDmux1;
keithbehrman 0:d83ac315a24c 72 mPD=0;
keithbehrman 0:d83ac315a24c 73 } else {
keithbehrman 0:d83ac315a24c 74 mPD++;
keithbehrman 0:d83ac315a24c 75 }
keithbehrman 0:d83ac315a24c 76
keithbehrman 0:d83ac315a24c 77 //flips 3rd bit after every 4th cycle
keithbehrman 0:d83ac315a24c 78 if (nPD==3) {
keithbehrman 0:d83ac315a24c 79 PDmux2=!PDmux2;
keithbehrman 0:d83ac315a24c 80 nPD=0;
keithbehrman 0:d83ac315a24c 81 } else {
keithbehrman 0:d83ac315a24c 82 nPD++;
keithbehrman 0:d83ac315a24c 83 }
keithbehrman 0:d83ac315a24c 84 pd++;
keithbehrman 0:d83ac315a24c 85 }
keithbehrman 0:d83ac315a24c 86 pd=0;
keithbehrman 0:d83ac315a24c 87
keithbehrman 0:d83ac315a24c 88 //same multiplexing code above, but for LEDs
keithbehrman 0:d83ac315a24c 89 LEDmux0=!LEDmux0;
keithbehrman 0:d83ac315a24c 90
keithbehrman 0:d83ac315a24c 91 if (mLED==1) {
keithbehrman 0:d83ac315a24c 92 LEDmux1=!LEDmux1;
keithbehrman 0:d83ac315a24c 93 mLED=0;
keithbehrman 0:d83ac315a24c 94 } else {
keithbehrman 0:d83ac315a24c 95 mLED++;
keithbehrman 0:d83ac315a24c 96 }
keithbehrman 0:d83ac315a24c 97
keithbehrman 0:d83ac315a24c 98 if (nLED==3) {
keithbehrman 0:d83ac315a24c 99 LEDmux2=!LEDmux2;
keithbehrman 0:d83ac315a24c 100 nLED=0;
keithbehrman 0:d83ac315a24c 101 } else {
keithbehrman 0:d83ac315a24c 102 nLED++;
keithbehrman 0:d83ac315a24c 103 }
keithbehrman 0:d83ac315a24c 104
keithbehrman 0:d83ac315a24c 105 }
keithbehrman 0:d83ac315a24c 106 }