Diff: main.cpp

Revision:

7:5cd0b64dea2a

Parent:

6:111a7f1b978f

--- a/main.cpp	Fri Mar 01 10:07:05 2019 +0000
+++ b/main.cpp	Tue Mar 12 19:01:55 2019 +0000
@@ -1,31 +1,25 @@
 #include "mbed.h"
 #include "reScale.h"
 
-#define KP 0.8f
-#define KI 1.0f
-#define KD 0.01f
-#define offset 0.02f
+Ticker flipper;
+
+DigitalOut  controlLED(D13); 
+DigitalOut  Splug_1(D2);
+DigitalOut  Splug_2(D3);
+DigitalOut  Splug_3(D4);
+DigitalOut  Splug_4(D5);
+
+//Timer t1;
+Timer t2;
+
+Serial device(USBTX, USBRX); // tx, rx
+
+bool flag;
+float time_rpm = 0;
+int dwell = 2500;
 
 
-AnalogIn SETPOINT(A0);
-AnalogIn TPS1(A2);
-AnalogIn TPS2(A3);
-Ticker flipper;
-DigitalOut  controlLED(LED2); 
-DigitalOut  IN1A(D10);
-DigitalOut  IN2A(D8);
-PwmOut TBI(D9);
 
-//Timer t1;
-
-//Serial device(PB_6, PB_7); // tx, rx
-Serial device(USBTX, USBRX); // tx, rx
-
-reScale _scale(0.0f,1.0f,0.09f,0.83f); 
-
-float pwm=0, erro=0, proporcional=0, integrador=0;
-float TPS1_VAL, SETPOINT_VAL=0, SETPOINT_scaled=0;
-bool flag=0; 
 
 void flip() 
 {
@@ -33,85 +27,182 @@
     controlLED=!controlLED;
 }
 
-void open()
-{
-    IN1A=1;
-    IN2A=0;
+void flushSerialBuffer(void) //rotina para limpar o buffer da serial
+{ 
+    char char1 = 0;
+    while (device.readable()) 
+    { 
+        char1 = device.getc();
+    } return; 
 }
 
-void close()
+void set_parameters()
 {
-    IN1A=0;
-    IN2A=1;
-}
+    int uni, dez, cen, mil;
+    char c[5];
+    int i = 0;
+    
+    c[i] = device.getc();
+    i++;
+       
+    if(c[0] == 'T' || 'R')
+    {
+        while(i<5)
+        {
+            c[i] = device.getc();
+            i++;
+        }
+        
+        device.printf("%c %c %c %c %c \n\r",c[0], c[1], c[2], c[3], c[4]);
+    }
+    
+    else
+    {
+        device.printf("Invalid\n\r");
+        flushSerialBuffer();
+    }
+        
+    if(c[0] == 'T') 
+    {      
     
+        mil = atoi(&c[1]);
+        //mil = mil * 1000;
+        dwell = mil;
+        device.printf("%i \n\r",mil);
+        
+        cen = atoi(&c[2]);
+        //cen = cen * 100;
+        device.printf("%i \n\r",cen);
+        
+        dez = atoi(&c[3]);
+        //dez = dez * 10;
+        device.printf("%i \n\r",dez);
+        
+        uni  = atoi(&c[4]);
+        device.printf("%i \n\r",uni);
+                
+        //dwell = mil + cen + dez + uni;
+        device.printf("Dwell %i uS\n\r",dwell);
+        flushSerialBuffer();
+    } 
+    
+    if(c[0] == 'R') 
+    {     
+        mil = atoi(&c[1]);
+        //mil = mil * 1000;
+        time_rpm = mil;
+        //device.printf("%i \n\r",mil);
+        
+        cen = atoi(&c[2]);
+        //cen = cen * 100;
+        //device.printf("%i \n\r",cen);
+        
+        dez = atoi(&c[3]);
+        //dez = dez * 10;
+        //device.printf("%i \n\r",dez);
+         
+        uni  = atoi(&c[4]);
+        //device.printf("%i \n\r",uni);
+          
+        //time_rpm = mil + cen + dez + uni;
+               
+        time_rpm = 1/time_rpm;       
+        
+        device.printf("%f S\n\r",time_rpm);
+        
+        flipper.attach(&flip, time_rpm);
+        flushSerialBuffer();
+    } 
+}    
+
 int main() 
 {   
-    flipper.attach(&flip, 0.2);
-    TBI.period(0.01f);
+    bool valid_pulse;
+    int Splug_counter = 1;
     
-    IN1A=0;
-    IN2A=0;
+    time_rpm = 0.02;
+    flipper.attach(&flip, time_rpm);
     
-    while(1) 
+    device.printf("Start\n\r");
+    
+    while(1)    
     {   
         
     //t1.reset();
-    //t1.start(); 
-        
-        TPS1_VAL = TPS1.read();
-        SETPOINT_VAL = SETPOINT.read();
+    //t1.start();     
+            
+        if(device.readable())
+        {
+            set_parameters();   
+        }
         
-        SETPOINT_scaled = _scale.from(SETPOINT_VAL);
         
-        if(SETPOINT_scaled < 0.185f)
+        if(Splug_counter > 4)
         {
-            close();
-            erro =  TPS1_VAL - SETPOINT_scaled;        
-            proporcional = erro * KP;
+            Splug_counter = 1;
         }
         
-        else
+        if(t2.read_us() > dwell)
+        {   
+            t2.stop();
+            Splug_1 = 0;
+            Splug_2 = 0;
+            Splug_3 = 0;
+            Splug_4 = 0;
+        }
+        if((Splug_counter == 1) && (valid_pulse == 1))
         {
-            open();
-            erro = SETPOINT_scaled - TPS1_VAL;        
-            proporcional = erro * KP;
+            valid_pulse = 0; 
+            Splug_1 = 1;
+            Splug_2 = 0;
+            Splug_3 = 0;
+            Splug_4 = 0;
+            t2.reset();
+            t2.start();
         }
-                
-        if(erro>1 || erro<-1)
+         
+        if((Splug_counter == 2) && (valid_pulse == 1))
         {
-            //do nothing
+            valid_pulse = 0; 
+            Splug_1 = 0;
+            Splug_2 = 0;
+            Splug_3 = 1;
+            Splug_4 = 0;
+            t2.reset();
+            t2.start();
         }
         
-        else
+        if((Splug_counter == 3) && (valid_pulse == 1))
         {
-            integrador =  integrador + ((erro * KI)*0.01f);
+            valid_pulse = 0; 
+            Splug_1 = 0;
+            Splug_2 = 0;
+            Splug_3 = 0;
+            Splug_4 = 1;
+            t2.reset();
+            t2.start();
         }
         
-        if(integrador >=1)
-        integrador = 1;
-        
-        if(integrador <=-1)
-        integrador = -1;
-        
-                
-        pwm = proporcional + integrador;
-        TBI = pwm + offset;
+        if((Splug_counter == 4) && (valid_pulse == 1))
+        {
+            valid_pulse = 0; 
+            Splug_1 = 0;
+            Splug_2 = 1;
+            Splug_3 = 0;
+            Splug_4 = 0;
+            t2.reset();
+            t2.start();
+        }
         
         
         if(flag==1)
         {
-            device.printf("\n\rPedal: %.4f",SETPOINT_scaled);
-            device.printf("\n\rTPS: %.4f",TPS1_VAL);
-            device.printf("\n\rErro: %.4f",erro);
-            device.printf("\n\rPWM: %.4f",pwm);
-            //device.printf("integrador: %f\n",integrador);
-            //device.printf("proporcional: %f\n",proporcional);
+            Splug_counter++;
             flag=0;
+            valid_pulse = 1;
         }
         
         //t1.stop();
         //printf("O ciclo levou: %i uS \n\r", t1.read_us());
-        wait(0.01);
     }
 }
\ No newline at end of file