Diff: main.cpp

Revision:

0:e42d1cc6513e

Child:

1:a87d98b19444

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Aug 29 13:49:17 2016 +0000
@@ -0,0 +1,131 @@
+#include "mbed.h"
+#include "mbedWSEsbc.h"
+
+#define PI 3.14159
+#define LOG_FREQ 1.0
+#define CTRL_FREQ 10.0
+
+float tstop,pwm,log_timer,log_start,loop_time;
+float duty_cycle;
+bool run_flag;
+double dt;
+
+bool readAndParse(Serial *port);
+int main()
+{
+    run_flag = false;
+    log_timer = 0;  //initialize variable for log timer
+    log_start = 0;
+    loop_time = 0;
+    tstop = 120;
+    pwm = 0.7;
+    led1 = led2 = led3 = led4 = 0;
+    dt = (1/CTRL_FREQ);
+    mbedWSEsbcInit(115200);  //Initialize the mbed WSE Project SBC
+    wait(.2);   //delay at beginning for voltage settle purposes
+    t.start();  // Set up timer
+    pc.printf("Quanser Twin Tank Control Data Aquisition Program\r\n");
+
+    t.reset(); // zero timer
+
+    while(1) {
+        loop_time = t.read();
+        readAndParse(&pc);
+        //Emergency Stop check
+        /*if(pc.readable()) { //if any key is hit turn of motor and break while loop
+            mot_control(1, 0.0);
+            break;
+        }*/
+        // read analog to digital chip for presssure sensors
+        if(run_flag) {
+            float tank2 = read_max1270_volts(0, 1, 1);   //chan, range, bipol
+            float tank1 = read_max1270_volts(1, 1, 1);
+
+            //Logic to exit loop if tank gets too full
+            if(tank1 > 4.1 || tank2 > 4.1) {
+                pc.printf("%.2f, %.3f, %.3f, %.3f\r\n", t.read(),tank1,tank2,pwm);
+                run_flag = false;
+                break;
+            }
+
+
+            // Saturate PWM command to send no more than maximum value
+            if(pwm>1.0) {
+                pwm =1.0;
+            }
+            if(pwm<-1.0) {
+                pwm = -1.0;
+            }
+
+            //Set the new output.
+            mot_control(1, -pwm); // negative value required due to polarity of pump motor
+
+            float log_dt = t.read()- log_timer;
+            float time = t.read() -log_start;
+            if( log_dt >= (1.0/LOG_FREQ)) { //If log sample time has passed since last write
+                log_timer = t.read();
+                pc.printf("%.2f,%.3f,%.3f,%.3f\r\n",time,tank1,tank2,pwm); //write data to screen
+             //   xbee.printf("%.2f,%.3f,%.3f,%.3f\r\n",time,tank1,tank2,pwm); //write data to screen
+                
+            }
+
+            led1 = !led1;
+            led2 = !led2;
+            led3 = !led3;
+            led4 = !led4;
+         //   float loop_dur = (t.read()-loop_time);
+           // printf("Loop Time %f %f %f\r\n", t.read()-loop_time, dt, loop_dur);
+            wait(dt);   //Wait for sample time of loop frequency
+
+        } //if run flag
+        else { // Slow flash LED When system is not  running
+            led1 = !led1;
+            led2 = !led2;
+            led3 = !led3;
+            led4 = !led4;
+            mot_control(1, 0); // negative value required due to polarity of pump motor
+            wait(0.5);
+        }
+    }//while
+}//main
+
+bool readAndParse(Serial *port)
+{
+
+    char msg[64];
+    int i = 0;
+
+    if(port->readable()) {
+        char c = port->getc();
+        if(c=='$') {
+            msg[i] = c;
+            i++;
+            while(1) {
+                msg[i] = port->getc();
+                if(msg[i]=='\n' || msg[i]=='\r') {
+                    break;
+                }
+                i++;
+            }
+        }
+    }
+
+    if(!strncmp(msg, "$RUN", 4)) {
+        run_flag = true;
+        log_timer = 0;
+        log_start = t.read();
+        return true;
+    } else if(!strncmp(msg, "$STOP", 5)) {
+        mot_control(1, 0.0); // Turn off Pump once test is finished
+        run_flag = false;
+        return true;
+
+    } else if(!strncmp(msg, "$PWM", 4)) {
+        sscanf(msg,"$PWM,%f\n",&pwm);
+        return true;
+    } else {
+        return false;
+    }
+
+}
+