ES305H Lanier Turchan
final part code
Revision 0:ca9646805f61, committed 2015-04-28
- Comitter:
- LanierUSNA16
- Date:
- Tue Apr 28 13:17:51 2015 +0000
- Commit message:
- Code for final part;
Changed in this revision
diff -r 000000000000 -r ca9646805f61 Computer_Vision_Firing.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Computer_Vision_Firing.cpp Tue Apr 28 13:17:51 2015 +0000
@@ -0,0 +1,98 @@
+#include "mbed.h"
+#include "QEI.h"
+
+PwmOut turret_speed(p21);
+DigitalOut turret_direction(p22);
+DigitalOut spinner[2] = {p5,LED1};
+DigitalOut plunger[2]={p6,LED2};
+
+Serial pc(USBTX, USBRX);
+
+QEI myEncoder (p16,p15, NC, 1600);
+Timer t;
+
+int main()
+{
+//Turret Moving Variables
+float duty_cycle[500] = {0};
+float error[500] = {0};
+int pulses = 0;
+float time[500]={0};
+float theta[500]={0};
+float ang_v[500]={0};
+//Moving Iteration Variable
+int k = 1;
+//Start Variable
+char start_key;
+//Firing Variables
+spinner[0] = 0;
+spinner[1] = 0;
+plunger[0] = 0;
+plunger[1] = 0;
+int clip = 17; // number of shots in the clip
+//Firing Iteration Variables
+int spinner_tracker = 1;
+int plunger_tracker = 1;
+int a = 1;
+
+turret_speed = 0;
+turret_direction = 1;
+
+while(clip>0)
+{
+ //Section to receive desired angle calculated from MATLAB
+ float theta_des = 1000.0;
+ pc.scanf("%f",&theta_des); //set theta des from MATLAB calculation sent to Mbed over Serial comms
+
+ pc.printf("Received %f\n",theta_des);
+
+ error[0]= theta_des - theta[0];
+ pc.printf("Error calculated %f\n", error[0]);
+ }
+ /*wait(2);
+
+ t.start();
+ for(k=1; k<500; k++)
+ //while(fabs(error[k-1])>=0.02)
+ {
+ wait(0.01);
+ pulses = myEncoder.getPulses();
+ theta[k] = ((float)pulses/ (1600.0*2.0))*(-2.0*3.14);
+ time[k] = t.read();
+ ang_v[k]=(theta[k]-theta[k-1])/(time[k]-time[k-1]);
+ error[k] = theta_des - theta[k];
+ duty_cycle[k]=0.9685*duty_cycle[k-1] +0.2552*error[k]-0.2527*error[k-1];
+ if(duty_cycle[k]<0)
+ {
+ turret_direction = 0;
+ }
+ else
+ {
+ turret_direction = 1;
+ }
+ turret_speed = fabs(duty_cycle[k])+0.07;
+ k = k+1;
+ }
+ turret_speed = 0;
+ t.stop();
+ //Firing gun, shoot 5 shots
+ for(a=1; a<6; a++)
+ {
+ spinner[0] = 1; //turn spinner motor on
+ spinner[1] =1;//turn spinner LED on, as a check
+
+ plunger[0] = 1; //turn plunger motor on, start firing
+ plunger[1] = 1; //turn plunger LED on, as a check
+
+ float time = 5*0.25;
+ wait(time); //run the plunger motor while firing off these 5 shots
+
+ plunger[0] = 0; //turn off plunger motor, stop firing
+ plunger[1] =0; //turn off plunger LED
+
+ clip = clip -5;
+ }
+ //Stop Firing Gun
+
+ }*/
+}
diff -r 000000000000 -r ca9646805f61 QEI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Tue Apr 28 13:17:51 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r ca9646805f61 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Apr 28 13:17:51 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9ad691361fac \ No newline at end of file