USNA WRC EW301 / Mbed 2 deprecated ES301_CTS_DAQ

Code required for data acquisition of couple tanks system with WSE sbc

Dependencies:   mbed mbedWSEsbc

main.cpp@0:e42d1cc6513e, 2016-08-29 (annotated)

Committer:
jdawkins
Date:
Mon Aug 29 13:49:17 2016 +0000
Revision:
0:e42d1cc6513e
Child:
1:a87d98b19444
Initial commit of updated quanser coupled tank system data acquisition program

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jdawkins 0:e42d1cc6513e 1 #include "mbed.h"
jdawkins 0:e42d1cc6513e 2 #include "mbedWSEsbc.h"
jdawkins 0:e42d1cc6513e 3
jdawkins 0:e42d1cc6513e 4 #define PI 3.14159
jdawkins 0:e42d1cc6513e 5 #define LOG_FREQ 1.0
jdawkins 0:e42d1cc6513e 6 #define CTRL_FREQ 10.0
jdawkins 0:e42d1cc6513e 7
jdawkins 0:e42d1cc6513e 8 float tstop,pwm,log_timer,log_start,loop_time;
jdawkins 0:e42d1cc6513e 9 float duty_cycle;
jdawkins 0:e42d1cc6513e 10 bool run_flag;
jdawkins 0:e42d1cc6513e 11 double dt;
jdawkins 0:e42d1cc6513e 12
jdawkins 0:e42d1cc6513e 13 bool readAndParse(Serial *port);
jdawkins 0:e42d1cc6513e 14 int main()
jdawkins 0:e42d1cc6513e 15 {
jdawkins 0:e42d1cc6513e 16 run_flag = false;
jdawkins 0:e42d1cc6513e 17 log_timer = 0; //initialize variable for log timer
jdawkins 0:e42d1cc6513e 18 log_start = 0;
jdawkins 0:e42d1cc6513e 19 loop_time = 0;
jdawkins 0:e42d1cc6513e 20 tstop = 120;
jdawkins 0:e42d1cc6513e 21 pwm = 0.7;
jdawkins 0:e42d1cc6513e 22 led1 = led2 = led3 = led4 = 0;
jdawkins 0:e42d1cc6513e 23 dt = (1/CTRL_FREQ);
jdawkins 0:e42d1cc6513e 24 mbedWSEsbcInit(115200); //Initialize the mbed WSE Project SBC
jdawkins 0:e42d1cc6513e 25 wait(.2); //delay at beginning for voltage settle purposes
jdawkins 0:e42d1cc6513e 26 t.start(); // Set up timer
jdawkins 0:e42d1cc6513e 27 pc.printf("Quanser Twin Tank Control Data Aquisition Program\r\n");
jdawkins 0:e42d1cc6513e 28
jdawkins 0:e42d1cc6513e 29 t.reset(); // zero timer
jdawkins 0:e42d1cc6513e 30
jdawkins 0:e42d1cc6513e 31 while(1) {
jdawkins 0:e42d1cc6513e 32 loop_time = t.read();
jdawkins 0:e42d1cc6513e 33 readAndParse(&pc);
jdawkins 0:e42d1cc6513e 34 //Emergency Stop check
jdawkins 0:e42d1cc6513e 35 /*if(pc.readable()) { //if any key is hit turn of motor and break while loop
jdawkins 0:e42d1cc6513e 36 mot_control(1, 0.0);
jdawkins 0:e42d1cc6513e 37 break;
jdawkins 0:e42d1cc6513e 38 }*/
jdawkins 0:e42d1cc6513e 39 // read analog to digital chip for presssure sensors
jdawkins 0:e42d1cc6513e 40 if(run_flag) {
jdawkins 0:e42d1cc6513e 41 float tank2 = read_max1270_volts(0, 1, 1); //chan, range, bipol
jdawkins 0:e42d1cc6513e 42 float tank1 = read_max1270_volts(1, 1, 1);
jdawkins 0:e42d1cc6513e 43
jdawkins 0:e42d1cc6513e 44 //Logic to exit loop if tank gets too full
jdawkins 0:e42d1cc6513e 45 if(tank1 > 4.1 || tank2 > 4.1) {
jdawkins 0:e42d1cc6513e 46 pc.printf("%.2f, %.3f, %.3f, %.3f\r\n", t.read(),tank1,tank2,pwm);
jdawkins 0:e42d1cc6513e 47 run_flag = false;
jdawkins 0:e42d1cc6513e 48 break;
jdawkins 0:e42d1cc6513e 49 }
jdawkins 0:e42d1cc6513e 50
jdawkins 0:e42d1cc6513e 51
jdawkins 0:e42d1cc6513e 52 // Saturate PWM command to send no more than maximum value
jdawkins 0:e42d1cc6513e 53 if(pwm>1.0) {
jdawkins 0:e42d1cc6513e 54 pwm =1.0;
jdawkins 0:e42d1cc6513e 55 }
jdawkins 0:e42d1cc6513e 56 if(pwm<-1.0) {
jdawkins 0:e42d1cc6513e 57 pwm = -1.0;
jdawkins 0:e42d1cc6513e 58 }
jdawkins 0:e42d1cc6513e 59
jdawkins 0:e42d1cc6513e 60 //Set the new output.
jdawkins 0:e42d1cc6513e 61 mot_control(1, -pwm); // negative value required due to polarity of pump motor
jdawkins 0:e42d1cc6513e 62
jdawkins 0:e42d1cc6513e 63 float log_dt = t.read()- log_timer;
jdawkins 0:e42d1cc6513e 64 float time = t.read() -log_start;
jdawkins 0:e42d1cc6513e 65 if( log_dt >= (1.0/LOG_FREQ)) { //If log sample time has passed since last write
jdawkins 0:e42d1cc6513e 66 log_timer = t.read();
jdawkins 0:e42d1cc6513e 67 pc.printf("%.2f,%.3f,%.3f,%.3f\r\n",time,tank1,tank2,pwm); //write data to screen
jdawkins 0:e42d1cc6513e 68 // xbee.printf("%.2f,%.3f,%.3f,%.3f\r\n",time,tank1,tank2,pwm); //write data to screen
jdawkins 0:e42d1cc6513e 69
jdawkins 0:e42d1cc6513e 70 }
jdawkins 0:e42d1cc6513e 71
jdawkins 0:e42d1cc6513e 72 led1 = !led1;
jdawkins 0:e42d1cc6513e 73 led2 = !led2;
jdawkins 0:e42d1cc6513e 74 led3 = !led3;
jdawkins 0:e42d1cc6513e 75 led4 = !led4;
jdawkins 0:e42d1cc6513e 76 // float loop_dur = (t.read()-loop_time);
jdawkins 0:e42d1cc6513e 77 // printf("Loop Time %f %f %f\r\n", t.read()-loop_time, dt, loop_dur);
jdawkins 0:e42d1cc6513e 78 wait(dt); //Wait for sample time of loop frequency
jdawkins 0:e42d1cc6513e 79
jdawkins 0:e42d1cc6513e 80 } //if run flag
jdawkins 0:e42d1cc6513e 81 else { // Slow flash LED When system is not running
jdawkins 0:e42d1cc6513e 82 led1 = !led1;
jdawkins 0:e42d1cc6513e 83 led2 = !led2;
jdawkins 0:e42d1cc6513e 84 led3 = !led3;
jdawkins 0:e42d1cc6513e 85 led4 = !led4;
jdawkins 0:e42d1cc6513e 86 mot_control(1, 0); // negative value required due to polarity of pump motor
jdawkins 0:e42d1cc6513e 87 wait(0.5);
jdawkins 0:e42d1cc6513e 88 }
jdawkins 0:e42d1cc6513e 89 }//while
jdawkins 0:e42d1cc6513e 90 }//main
jdawkins 0:e42d1cc6513e 91
jdawkins 0:e42d1cc6513e 92 bool readAndParse(Serial *port)
jdawkins 0:e42d1cc6513e 93 {
jdawkins 0:e42d1cc6513e 94
jdawkins 0:e42d1cc6513e 95 char msg[64];
jdawkins 0:e42d1cc6513e 96 int i = 0;
jdawkins 0:e42d1cc6513e 97
jdawkins 0:e42d1cc6513e 98 if(port->readable()) {
jdawkins 0:e42d1cc6513e 99 char c = port->getc();
jdawkins 0:e42d1cc6513e 100 if(c=='$') {
jdawkins 0:e42d1cc6513e 101 msg[i] = c;
jdawkins 0:e42d1cc6513e 102 i++;
jdawkins 0:e42d1cc6513e 103 while(1) {
jdawkins 0:e42d1cc6513e 104 msg[i] = port->getc();
jdawkins 0:e42d1cc6513e 105 if(msg[i]=='\n' || msg[i]=='\r') {
jdawkins 0:e42d1cc6513e 106 break;
jdawkins 0:e42d1cc6513e 107 }
jdawkins 0:e42d1cc6513e 108 i++;
jdawkins 0:e42d1cc6513e 109 }
jdawkins 0:e42d1cc6513e 110 }
jdawkins 0:e42d1cc6513e 111 }
jdawkins 0:e42d1cc6513e 112
jdawkins 0:e42d1cc6513e 113 if(!strncmp(msg, "$RUN", 4)) {
jdawkins 0:e42d1cc6513e 114 run_flag = true;
jdawkins 0:e42d1cc6513e 115 log_timer = 0;
jdawkins 0:e42d1cc6513e 116 log_start = t.read();
jdawkins 0:e42d1cc6513e 117 return true;
jdawkins 0:e42d1cc6513e 118 } else if(!strncmp(msg, "$STOP", 5)) {
jdawkins 0:e42d1cc6513e 119 mot_control(1, 0.0); // Turn off Pump once test is finished
jdawkins 0:e42d1cc6513e 120 run_flag = false;
jdawkins 0:e42d1cc6513e 121 return true;
jdawkins 0:e42d1cc6513e 122
jdawkins 0:e42d1cc6513e 123 } else if(!strncmp(msg, "$PWM", 4)) {
jdawkins 0:e42d1cc6513e 124 sscanf(msg,"$PWM,%f\n",&pwm);
jdawkins 0:e42d1cc6513e 125 return true;
jdawkins 0:e42d1cc6513e 126 } else {
jdawkins 0:e42d1cc6513e 127 return false;
jdawkins 0:e42d1cc6513e 128 }
jdawkins 0:e42d1cc6513e 129
jdawkins 0:e42d1cc6513e 130 }
jdawkins 0:e42d1cc6513e 131