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Dependencies:   mbed

ForceRead.cpp@18:25281ee3a517, 2019-07-04 (annotated)

Committer:
Bhoney
Date:
Thu Jul 04 08:08:18 2019 +0000
Revision:
18:25281ee3a517
Parent:
17:9a060d2daca8
Child:
19:67584cb64b9c
fixed more

Who changed what in which revision?

UserRevisionLine numberNew contents of line
whutsup 4:bf4ad2079096 1 #include "mbed.h"
whutsup 4:bf4ad2079096 2
whutsup 4:bf4ad2079096 3 AnalogIn force_L1(PB_0); // Force Sensor
whutsup 4:bf4ad2079096 4 AnalogIn force_L2(PB_1);
whutsup 4:bf4ad2079096 5 AnalogIn force_L3(PC_0);
whutsup 4:bf4ad2079096 6 AnalogIn force_L4(PC_1);
whutsup 4:bf4ad2079096 7 AnalogIn force_R1(PC_2);
whutsup 4:bf4ad2079096 8 AnalogIn force_R2(PC_3);
whutsup 4:bf4ad2079096 9 AnalogIn force_R3(PC_4);
whutsup 4:bf4ad2079096 10 AnalogIn force_R4(PC_5);
whutsup 4:bf4ad2079096 11
whutsup 4:bf4ad2079096 12 extern Serial bt;
whutsup 4:bf4ad2079096 13 extern Serial pc;
whutsup 4:bf4ad2079096 14
whutsup 4:bf4ad2079096 15 char readCount=0;
whutsup 4:bf4ad2079096 16
whutsup 4:bf4ad2079096 17 float sum_L[4]={0,};
whutsup 4:bf4ad2079096 18 float sum_R[4]={0,};
whutsup 4:bf4ad2079096 19
whutsup 4:bf4ad2079096 20 float avg_L[4]={0,};
whutsup 4:bf4ad2079096 21 float avg_R[4]={0,};
whutsup 4:bf4ad2079096 22
whutsup 4:bf4ad2079096 23
whutsup 4:bf4ad2079096 24 /*----------------------- Callback Functions ------------------------*/
whutsup 4:bf4ad2079096 25
whutsup 4:bf4ad2079096 26 void CalForce()
whutsup 4:bf4ad2079096 27 {
whutsup 4:bf4ad2079096 28
whutsup 4:bf4ad2079096 29 float force_L[4];
whutsup 4:bf4ad2079096 30 float force_R[4];
whutsup 4:bf4ad2079096 31
whutsup 4:bf4ad2079096 32 force_L[0] = force_L1.read();
whutsup 4:bf4ad2079096 33 force_L[1] = force_L2.read();
whutsup 4:bf4ad2079096 34 force_L[2] = force_L3.read();
whutsup 4:bf4ad2079096 35 force_L[3] = force_L4.read();
whutsup 4:bf4ad2079096 36 force_R[0] = force_R1.read();
whutsup 4:bf4ad2079096 37 force_R[1] = force_R2.read();
whutsup 4:bf4ad2079096 38 force_R[2] = force_R3.read();
whutsup 4:bf4ad2079096 39 force_R[3] = force_R4.read();
whutsup 4:bf4ad2079096 40
whutsup 4:bf4ad2079096 41
whutsup 4:bf4ad2079096 42 if ( readCount < 6)
whutsup 4:bf4ad2079096 43 {
whutsup 4:bf4ad2079096 44 sum_L[0] = sum_L[0] + force_L[0];
whutsup 4:bf4ad2079096 45 sum_L[1] = sum_L[1] + force_L[1];
whutsup 4:bf4ad2079096 46 sum_L[2] = sum_L[2] + force_L[2];
whutsup 4:bf4ad2079096 47 sum_L[3] = sum_L[3] + force_L[3];
whutsup 4:bf4ad2079096 48
whutsup 4:bf4ad2079096 49 sum_R[0] = sum_R[0] + force_R[0];
whutsup 4:bf4ad2079096 50 sum_R[1] = sum_R[1] + force_R[1];
whutsup 4:bf4ad2079096 51 sum_R[2] = sum_R[2] + force_R[2];
whutsup 4:bf4ad2079096 52 sum_R[3] = sum_R[3] + force_R[3];
whutsup 4:bf4ad2079096 53
whutsup 4:bf4ad2079096 54 readCount++;
whutsup 4:bf4ad2079096 55
whutsup 4:bf4ad2079096 56 }
whutsup 4:bf4ad2079096 57
whutsup 4:bf4ad2079096 58 else if (readCount == 6 | readCount>6)
whutsup 4:bf4ad2079096 59 {
whutsup 4:bf4ad2079096 60
whutsup 4:bf4ad2079096 61 avg_L[0] = sum_L[0]/6;
whutsup 4:bf4ad2079096 62 avg_L[1] = sum_L[1]/6;
whutsup 4:bf4ad2079096 63 avg_L[2] = sum_L[2]/6;
whutsup 4:bf4ad2079096 64 avg_L[3] = sum_L[3]/6;
whutsup 4:bf4ad2079096 65
whutsup 4:bf4ad2079096 66 avg_R[0] = sum_R[0]/6;
whutsup 4:bf4ad2079096 67 avg_R[1] = sum_R[1]/6;
whutsup 4:bf4ad2079096 68 avg_R[2] = sum_R[2]/6;
whutsup 4:bf4ad2079096 69 avg_R[3] = sum_R[3]/6;
whutsup 4:bf4ad2079096 70
Bhoney 6:549177f76f8e 71 // bt.printf("%1.3f,%1.3f,%1.3f,%1.3f,%1.3f,%1.3f,%1.3f,%1.3f\n", avg_L[0],avg_L[1],avg_L[2],avg_L[3],avg_R[0],avg_R[1],avg_R[2],avg_R[3]);
Bhoney 6:549177f76f8e 72 bt.putc('<');
Bhoney 6:549177f76f8e 73 bt.putc('F');
Bhoney 6:549177f76f8e 74 bt.putc('O');
Bhoney 6:549177f76f8e 75 bt.putc('T');
Bhoney 6:549177f76f8e 76 bt.putc((unsigned char)((int)avg_L[0]*127));
Bhoney 6:549177f76f8e 77 bt.putc((unsigned char)((int)avg_L[1]*127));
Bhoney 6:549177f76f8e 78 bt.putc((unsigned char)((int)avg_L[2]*127));
Bhoney 6:549177f76f8e 79 bt.putc((unsigned char)((int)avg_L[3]*127));
Bhoney 6:549177f76f8e 80 bt.putc((unsigned char)((int)avg_R[0]*127));
Bhoney 6:549177f76f8e 81 bt.putc((unsigned char)((int)avg_R[1]*127));
Bhoney 6:549177f76f8e 82 bt.putc((unsigned char)((int)avg_R[2]*127));
Bhoney 6:549177f76f8e 83 bt.putc((unsigned char)((int)avg_R[3]*127));
Bhoney 6:549177f76f8e 84 bt.putc('>');
whutsup 8:a435e7aa7a02 85 bt.putc('\r');
whutsup 8:a435e7aa7a02 86 bt.putc('\n');
whutsup 4:bf4ad2079096 87
whutsup 4:bf4ad2079096 88 readCount=0;
whutsup 4:bf4ad2079096 89
whutsup 4:bf4ad2079096 90 for(int i =0; i<4 ; i++)
whutsup 4:bf4ad2079096 91 {
whutsup 4:bf4ad2079096 92 sum_L[i] = 0;
whutsup 4:bf4ad2079096 93 sum_R[i] = 0;
whutsup 4:bf4ad2079096 94 avg_L[i] = 0;
whutsup 4:bf4ad2079096 95 avg_R[i] = 0;
whutsup 4:bf4ad2079096 96 }
whutsup 4:bf4ad2079096 97
whutsup 4:bf4ad2079096 98
whutsup 4:bf4ad2079096 99 }
whutsup 4:bf4ad2079096 100
whutsup 4:bf4ad2079096 101
whutsup 4:bf4ad2079096 102 }
whutsup 4:bf4ad2079096 103
whutsup 4:bf4ad2079096 104 void ReadForce()
whutsup 4:bf4ad2079096 105 {
Bhoney 17:9a060d2daca8 106 // float force_L[4]; // not used
Bhoney 17:9a060d2daca8 107 // force_L[0] = force_L1.read(); // not used
Bhoney 17:9a060d2daca8 108 // force_L[1] = force_L2.read(); // not used
Bhoney 17:9a060d2daca8 109 // force_L[2] = force_L3.read(); // not used
Bhoney 17:9a060d2daca8 110 // force_L[3] = force_L4.read(); // not used
Bhoney 17:9a060d2daca8 111
whutsup 4:bf4ad2079096 112
Bhoney 17:9a060d2daca8 113
Bhoney 17:9a060d2daca8 114 // bt.printf("%1.3f,%1.3f,%1.3f,%1.3f\n",force_R[0],force_R[1],force_R[2],force_R[3]); //debug purpose
Bhoney 17:9a060d2daca8 115 // ======================================== BH 190704 reomoved
Bhoney 17:9a060d2daca8 116 // float force_R[4];
Bhoney 17:9a060d2daca8 117 // force_R[0] = force_R1.read();
Bhoney 17:9a060d2daca8 118 // force_R[1] = force_R2.read();
Bhoney 17:9a060d2daca8 119 // force_R[2] = force_R3.read();
Bhoney 17:9a060d2daca8 120 // force_R[3] = force_R4.read();
Bhoney 17:9a060d2daca8 121
Bhoney 17:9a060d2daca8 122 // bt.putc('<');
Bhoney 17:9a060d2daca8 123 // bt.putc('F');
Bhoney 17:9a060d2daca8 124 // bt.putc('O');
Bhoney 17:9a060d2daca8 125 // bt.putc('T');
Bhoney 17:9a060d2daca8 126 //
Bhoney 17:9a060d2daca8 127 // bt.putc((char)((unsigned int)(force_R[0]*127)));
Bhoney 17:9a060d2daca8 128 // bt.putc((char)((unsigned int)(force_R[1]*127)));
Bhoney 17:9a060d2daca8 129 // bt.putc((char)((unsigned int)(force_R[2]*127)));
Bhoney 17:9a060d2daca8 130 // bt.putc((char)((unsigned int)(force_R[3]*127)));
Bhoney 17:9a060d2daca8 131 // bt.putc('>');
Bhoney 17:9a060d2daca8 132 // bt.putc('\r');
Bhoney 17:9a060d2daca8 133 // bt.putc('\n');
Bhoney 17:9a060d2daca8 134 // ======================================== BH 190704 added
Bhoney 17:9a060d2daca8 135 int force_R[4];
Bhoney 18:25281ee3a517 136 // force_R[i]*=100; //forcr_R range = 0~1 -> changed 0~99
Bhoney 18:25281ee3a517 137 force_R[0] = force_R1.read()*99;
Bhoney 18:25281ee3a517 138 force_R[1] = force_R2.read()*99;
Bhoney 18:25281ee3a517 139 force_R[2] = force_R3.read()*99;
Bhoney 18:25281ee3a517 140 force_R[3] = force_R4.read()*99;
Bhoney 18:25281ee3a517 141
Bhoney 18:25281ee3a517 142 bt.printf("<FOT%2d%2d%2d%2d>\n", force_R[0],
Bhoney 17:9a060d2daca8 143 force_R[1],
Bhoney 17:9a060d2daca8 144 force_R[2],
Bhoney 17:9a060d2daca8 145 force_R[3]);
whutsup 4:bf4ad2079096 146
whutsup 4:bf4ad2079096 147 }