Diff: Battery_Linear_Actuator.cpp

Revision:

2:627fd46c2b99

Parent:

1:ca2454ef80d9

Child:

3:9181d42863cd

--- a/Battery_Linear_Actuator.cpp	Fri Jun 30 18:32:40 2017 +0000
+++ b/Battery_Linear_Actuator.cpp	Mon Jul 17 14:23:34 2017 +0000
@@ -51,24 +51,22 @@
 string Battery_Linear_Actuator::MC_readable_redux()
 {
     string bla_string = "";
-    
-    //MC.printf("pos\r");
-    wait(0.1);        //THIS SHOULD WORK!
+    wait(0.1);        //THIS WORKS (based on testing)!
     
-    if(MC.readable())   //if you can read the motor controller do this...
-    {
-        //bla_string += "\nMC readable\n";
-        
+    if(MC.readable())   //if you can read the LA motor controller do this...
+    {        
         while(MC.readable())
-        {
-            //strcat(bla_array, MC.getc()); //this is a pass-through of the MC (getc) to the PC (putc)
-            
+        {            
             bla_string += MC.getc();
             wait_ms(1); //1000, 10, 20, 100 (needed at least 1 ms, verified through testing)
         }
+        
+        return bla_string;   //return the character array as a string
     }
-    
-    return bla_string;   //return the character array as a string
+    else
+    {
+        return "";   //return the empty string because you didn't read anything
+    }
 }
 
 string Battery_Linear_Actuator::Keyboard_O()
@@ -125,7 +123,7 @@
         MC.printf("V%d\r", velocity);    
     
         char velocity_string[80];
-        sprintf(velocity_string, "\nVELOCITY COMMAND: V%d.\n", velocity);
+        sprintf(velocity_string, "\nVELOCITY COMMAND: V%d\n", velocity);
     
         return velocity_string;
     }
@@ -139,12 +137,15 @@
     //this uses the position record saved in the object
     if (actual_position >= 0 && actual_position <= 175000)
     {
+        //send velocity command and get the return value
         MC.printf("en\r");
         MC.printf("V%d\r", velocity);    
+        MC.printf("GV\r", velocity);
+        string velocity_return_string = Battery_Linear_Actuator::MC_readable_redux();
     
-        char velocity_string[80];
-        sprintf(velocity_string, "\nVELOCITY COMMAND: V%d.\n", velocity);
-    
+        char velocity_string[80];       
+        sprintf(velocity_string, "\nVELOCITY COMMAND: V%d\nRETURN VELOCITY gv%s\n", velocity, velocity_return_string.c_str());
+        
         return velocity_string;
     }
     
@@ -199,7 +200,7 @@
     if (linear_actuator_step_size <= 9800) //arbitrary stop at 10000
         linear_actuator_step_size += 200;
     char bla_string[80];
-    sprintf(bla_string, "\n(MBED) Linear Actuator step size INCREASED\nLA_SZ: %d", linear_actuator_step_size);
+    sprintf(bla_string, "\n(MBED) Linear Actuator step size INCREASED\nLAM_SZ: %d", linear_actuator_step_size);
     
     return bla_string;
 }
@@ -209,7 +210,7 @@
     if (linear_actuator_step_size >= 200)
         linear_actuator_step_size -= 200;
     char bla_string[80];
-    sprintf(bla_string, "\n(MBED) Linear Actuator step size DECREASED\nLA_SZ: %d", linear_actuator_step_size);
+    sprintf(bla_string, "\n(MBED) Linear Actuator step size DECREASED\nLAM_SZ: %d", linear_actuator_step_size);
     
     return bla_string;
 }
@@ -271,7 +272,8 @@
     MC.printf("m\r");
     
     char position[80];
-    sprintf(position, "\nA received! (MBED) motor_absolute_position\nMBED_m_a_p: %d\n", motor_absolute_position);
+    //sprintf(position, "\nA received! (MBED) motor_absolute_position\nMBED_m_a_p: %d\n", motor_absolute_position);
+    sprintf(position, "\nA received! (MBED) motor_absolute_position\nLAM_POS: %d\n", motor_absolute_position);
     return position;
 }
 
@@ -290,7 +292,8 @@
     MC.printf("m\r");
     
     char position[80];
-    sprintf(position, "\nA received! (MBED) motor_absolute_position\nMBED_m_a_p: %d\n", motor_absolute_position);
+    //sprintf(position, "\nA received! (MBED) motor_absolute_position\nMBED_m_a_p: %d\n", motor_absolute_position);
+    sprintf(position, "\nA received! (MBED) motor_absolute_position\nLAM_POS: %d\n", motor_absolute_position);
     return position;
 }
 
@@ -327,6 +330,17 @@
 //char ioc_char;          //linear actuator i/o configuration
 //int ioc_array[28];      //http://stackoverflow.com/questions/439573/how-to-convert-a-single-char-into-an-int
 
+string Battery_Linear_Actuator::get_vel()
+{
+    string vel_string = "";
+    
+    MC.printf("gv\r");
+    wait(0.1);        //THIS SHOULD WORK!
+    
+    vel_string = Battery_Linear_Actuator::MC_readable_redux();
+    return vel_string;
+}
+
 string Battery_Linear_Actuator::get_pos()
 {
     string pos_string = "";
@@ -415,10 +429,11 @@
     //TROY: This seems to work well.  6/19/17
     
     int integer_output = int(la_output); //output converted to integer for the controller, only uses integer inputs in rev/min
-    Battery_Linear_Actuator::velocity_only(integer_output);
+    string velocity_only_string = Battery_Linear_Actuator::velocity_only(integer_output);
     
     //DEBUG
-    sprintf(char_buffer, "DEBUG: la_error %3.3f, la_error_sum %3.3f, la_derivative_error %3.3f\n> DEBUG: la_output: %3.3f IMU PITCH ANGLE: %3.3f SETPOINT: %3.3f\n > integer_output: %d", la_error, la_error_sum, la_derivative_error, la_output, IMU_pitch_angle, la_setPoint, integer_output); 
+    //sprintf(char_buffer, "DEBUG: la_error %3.3f, la_error_sum %3.3f, la_derivative_error %3.3f\n> DEBUG: la_output: %3.3f IMU PITCH ANGLE: %3.3f SETPOINT: %3.3f\n > integer_output: %d", la_error, la_error_sum, la_derivative_error, la_output, IMU_pitch_angle, la_setPoint, integer_output); 
+    sprintf(char_buffer, "DEBUG: la_error %3.3f, la_error_sum %3.3f, la_derivative_error %3.3f\n> DEBUG: la_output: %3.3f IMU PITCH ANGLE: %3.3f SETPOINT: %3.3f\n > integer_output: %d\n%s\n", la_error, la_error_sum, la_derivative_error, la_output, IMU_pitch_angle, la_setPoint, integer_output, velocity_only_string); 
     return char_buffer;
 }
 //putting the functionality into the class
\ No newline at end of file