FSG
/
7_26_17_FSG
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Dependencies: BCEmotor Battery_Linear_Actuator Controller_ IMU_code_ LTC1298_7_14 MODSERIAL PosVelFilter System mbed
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7_21_17_FSG
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FSG
Revision 12:fa9f84f2967f, committed 2017-07-28
- Comitter:
- mdavis30
- Date:
- Fri Jul 28 18:58:07 2017 +0000
- Parent:
- 11:b5cc98f154a4
- Commit message:
Changed in this revision
--- a/Controller.lib Thu Jul 27 16:31:21 2017 +0000 +++ b/Controller.lib Fri Jul 28 18:58:07 2017 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/teams/FSG/code/Controller_/#55085534a378 +https://developer.mbed.org/teams/FSG/code/Controller_/#29cf76bb9956
--- a/PosVelFilter.lib Thu Jul 27 16:31:21 2017 +0000 +++ b/PosVelFilter.lib Fri Jul 28 18:58:07 2017 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/tnhnrl/code/PosVelFilter_7_14/#992e774dc62a +https://developer.mbed.org/teams/FSG/code/PosVelFilter/#8107bb13278b
--- a/System.lib Thu Jul 27 16:31:21 2017 +0000 +++ b/System.lib Fri Jul 28 18:58:07 2017 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/teams/FSG/code/System/#8764d841a892 +https://developer.mbed.org/teams/FSG/code/System/#60b1f9e72822
--- a/main.cpp Thu Jul 27 16:31:21 2017 +0000
+++ b/main.cpp Fri Jul 28 18:58:07 2017 +0000
@@ -62,6 +62,8 @@
int Pr_count = 0;
int BCE_count = 0;
+AnalogIn pressure_analog_in(A0);
+
void IMU_ticking()
{
//led1 = !led1; //flash the IMU LED
@@ -72,7 +74,7 @@
void PRESSURE_ticking()
{
- PC.printf("pressure: %f psi \n", (0.00122*(adc().ch1_filt)*9.9542)-0.0845); //read the analog pin
+ PC.printf("Pressure sensor (PSI)\nPRESS_PSI: %3.3f\n", 3.3*1.503*10 * pressure_analog_in.read()); //read the analog pin //read the analog pin
//this voltage has been checked and scaled properly (6/28/2017)
}
@@ -87,16 +89,6 @@
PC.baud(9600); //mbed to PC serial connection speed
hBridge().stop(); //Stop the buoyancy engine from moving
systemTime().start(); //start the timer, needed for PID loop
-
- /* **************** Linear Actuator MOTOR CONTROLLER **************** */
- Battery_Linear_Actuator BLA_object; //create the IMU object from the imported class
-
- PC.printf("%s\n", BLA_object.Keyboard_U().c_str()); //velocity = 0, motor disabled
-
- PC.printf("%s\n", BLA_object.Keyboard_Q().c_str()); //turn off motor
- wait(1);
- PC.printf("%s\n", BLA_object.Keyboard_E().c_str()); //turn on motor
- wait(1);
//setup and start the adc. This runs on a fixed interval and is interrupt driven
adc().initialize();
@@ -105,11 +97,6 @@
//Initialize the position velocity filter. This will consume a couple of seconds for
//the filter to converge
pvf().init();
-
- //NEW 7/21 Homing the motor
- PC.printf("### homing the device ###");
- BLA_object.Keyboard_H();
- wait(10); //for debugging
float P = 0.10;
@@ -179,68 +166,8 @@
if(Key=='!') //RESET THE MBED
{
PC.printf("MBED RESET KEY (!) PRESSED\n");
- PC.printf("Linear Actuator Motor disabled!\n");
- //disable the motor
- BLA_object.Keyboard_Q(); //DISABLE THE MOTOR
- wait(0.5); //500 milliseconds
mbed_reset(); //reset the mbed!
- }
- /* else if(Key == '[')
- {
- BLA_object.velocity_only(-100); //send speed -100 command to linear actuator (retract)
- }
- else if(Key == ']')
- {
- BLA_object.velocity_only(100); //send speed +100 command to linear actuator (extend)
- }
- else if(Key == 'u')
- {
- BLA_object.Keyboard_U(); //stop linear actuator
- } */
- else if(Key =='H') //homing sequence
- {
- PC.printf("### homing the device ###");
- BLA_object.Keyboard_H();
- wait(10); //for debugging
-
- const char *char_actual_position = BLA_object.get_pos().c_str();
- //actual_position_string = BLA_object.get_pos().c_str();
-
- sscanf(char_actual_position, "%lf", &double_actual_position);
- // 7/10/17
-
- PC.printf("LA actual position: %lf \n", double_actual_position);
-
- //TROY NOTES on Linear Actuator commands:
- //"pos" returns integer value "66813 for example"
- //"hosp-100" is the setting of the motor, it retracts at 100 rpm
- //"gohoseq" to home it, it will not give you feedback
- //print the position after you do this to see where the LA is
- }
- else if(Key=='p' or Key == 'P')
- {
-
- // 7/10/17
- //actual_position_string = BLA_object.get_pos();
- //actual_position_string = BLA_object.get_pos().c_str();
- //const char *char_actual_position = string_actual_position.c_str();
-
- const char *char_actual_position = BLA_object.get_pos().c_str();
- //actual_position_string = BLA_object.get_pos().c_str();
-
- sscanf(char_actual_position, "%lf", &double_actual_position);
- // 7/10/17
-
- PC.printf("### L.A. position is\nLA_AP: %lf ###\n", double_actual_position); //flip this back and forth
-
- if (double_actual_position > 180000)
- PC.printf(" <<<< REACHED MAXIMUM L.A. POSITION! >>>>\n");
- else if (double_actual_position < 0)
- PC.printf(" <<<< REACHED MINIMUM L.A. POSITION! >>>>\n");
-
- wait(1); //for debugging
- // "-999999" means it is not working
- }
+ }
else if (Key == '3' or Key == '#')
{
PC.printf("Ticker Sensor Step Size\n");
@@ -501,133 +428,13 @@
PC.printf("ERROR: LA already in manual mode\n");
}
}
- else if (Key == '0' or Key == ')')
- {
- PC.printf(") recieved\n");
- if (la_step == 0.5)
- {
- la_step = 1.0;
- }
- else if (la_step == 1.0)
- {
- la_step = 5.0;
- }
- else if (la_step == 5.0)
- {
- la_step = 10.0;
- }
- else if (la_step == 10.0)
- {
- la_step = 15.0;
- }
- else if (la_step == 15.0)
- {
- la_step = 0.5;
- }
- PC.printf("LA Step Size Now %f\n", la_step);
- }
- else if (Key=='-' or Key == '_')
- {
- if (LA_auto == true)
- {
- la_setPoint_temp -= la_step; //IMU_yaw_angle -= 1.0;
- PC.printf("- recieved\n");
- PC.printf("LA auto step size: %f\n", la_step);
- PC.printf("LA angle changed to\nLA_ANG: %f\n", la_setPoint_temp);
- }
- else
- {
- PC.printf("ERROR: LA in manual mode!\n");
- }
- }
-
- else if (Key =='=' or Key == '+')
- {
- if (LA_auto == true)
- {
- la_setPoint_temp += la_step; //IMU_yaw_angle += 1.0;
- PC.printf("+ recieved\n");
- PC.printf("LA auto step size: %f\n", la_step);
- PC.printf("LA angle changed to\nLA_ANG: %f\n", la_setPoint_temp);
- }
- else
- {
- PC.printf("ERROR: LA in manual mode!\n");
- }
- }
-
- else if (Key == 'A' or Key == 'a')
- {
- if (LA_auto == true)
- {
- PC.printf("A recieved\n");
- la_setPoint=la_setPoint_temp;
- PC.printf("LA angle now set to\nLA_A_SND: %f\n", la_setPoint);
- }
- else
- {
- PC.printf("ERROR: LA in manual mode!\n");
- }
- }
-
-
- else if(Key == 'n' or Key == 'N')
- {
- if (LA_auto == false)
- {
- PC.printf("N key pressed. \n");
- PC.printf("%s\n", BLA_object.Keyboard_DASH_KEY().c_str());
- }
else
{
PC.printf("ERROR: In LA in Auto Mode, this is a manual command\n");
}
}
-
- else if(Key == 'm' or Key == 'M')
- {
- if (LA_auto == false)
- {
- PC.printf("M key pressed. \n");
- PC.printf("%s\n", BLA_object.Keyboard_EQUAL_KEY().c_str());
- }
-
- else
- {
- PC.printf("ERROR: In LA in Auto Mode, this is a manual command\n");
- }
- }
-
- else if(Key == 'j' or Key == 'J')
- {
- if (LA_auto == false)
- {
- PC.printf("J key pressed. \n");
- PC.printf("%s\n", BLA_object.Keyboard_A().c_str());
- }
-
- else
- {
- PC.printf("ERROR: In LA in Auto Mode, this is a manual command\n");
- }
- }
-
- else if(Key == 'k' or Key == 'K')
- {
- if (LA_auto == false)
- {
- PC.printf("K key pressed. \n");
- PC.printf("%s\n", BLA_object.Keyboard_D().c_str());
- }
-
- else
- {
- PC.printf("ERROR: In LA in Auto Mode, this is a manual command\n");
- }
- }
-
else
{
PC.printf("\n%c received!\n", Key);
@@ -640,8 +447,6 @@
}
//end of PC readBLE
- //MC readable
- MC_readable_string = BLA_object.MC_readable_redux();
//PC.printf("CHECK_MC_readable:\n%s\n", MC_readable_string);
/* if (LA_auto == false)
@@ -660,7 +465,7 @@
{
//PC.printf("LA_auto true\n");
//PC.printf("%s\n", BLA_object.PID_velocity_control(la_setPoint, IMU_pitch_angle, la_P_gain, la_I_gain, la_D_gain).c_str()); //get output string
- BLA_object.PID_velocity_control(la_setPoint, IMU_pitch_angle, la_P_gain, la_I_gain, la_D_gain).c_str();
+
//wait_us(100); //for PC readable (0.1 ms)
}
else if (LA_auto == false)
@@ -729,4 +534,4 @@
}
}
-}
\ No newline at end of file
+