USNA WRC EW301 / Mbed 2 deprecated EW301_CTS_AY22

Code for EW301 CTS Lab with state machine and operating point

Dependencies:   mbed mbedWSEsbc

main.cpp@2:ee7140e825af, 2021-10-28 (annotated)

Committer:
jdawkins
Date:
Thu Oct 28 18:16:48 2021 +0000
Revision:
2:ee7140e825af
Parent:
1:d3fac5783cc3 
Removed extraneous files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jdawkins 0:76487bb2de87 1 #include "mbed.h"
jdawkins 0:76487bb2de87 2 #include "mbedWSEsbc.h"
jdawkins 0:76487bb2de87 3
jdawkins 0:76487bb2de87 4 #define PI 3.14159
jdawkins 0:76487bb2de87 5 #define LOG_FREQ 2.0
jdawkins 0:76487bb2de87 6 #define CTRL_FREQ 200.0
jdawkins 1:d3fac5783cc3 7 #define STOP 0
jdawkins 1:d3fac5783cc3 8 #define IDLE 1
jdawkins 1:d3fac5783cc3 9 #define RUN 2
jdawkins 0:76487bb2de87 10
jdawkins 0:76487bb2de87 11 DigitalOut myled(LED1);
jdawkins 0:76487bb2de87 12
jdawkins 0:76487bb2de87 13 int main()
jdawkins 0:76487bb2de87 14 {
jdawkins 0:76487bb2de87 15 float log_timer = 0; //initialize variable for log timer
jdawkins 0:76487bb2de87 16 bool run_flag = false;
jdawkins 0:76487bb2de87 17 bool run_ctrl = false;
jdawkins 0:76487bb2de87 18
jdawkins 0:76487bb2de87 19 mbedWSEsbcInit(9600); //Initialize the mbed WSE Project SBC
jdawkins 0:76487bb2de87 20 wait(.2); //delay at beginning for voltage settle purposes
jdawkins 0:76487bb2de87 21 t.start(); // Set up timer
jdawkins 0:76487bb2de87 22
jdawkins 0:76487bb2de87 23 pc.printf("Quanser Twin Tank Control Data Aquisition Program\r\n");
jdawkins 0:76487bb2de87 24
jdawkins 0:76487bb2de87 25 t.reset(); // zero timer
jdawkins 0:76487bb2de87 26 float sampT = t.read();
jdawkins 1:d3fac5783cc3 27 float tstop = 600; //initialize stop time
jdawkins 0:76487bb2de87 28 float dc = 0; //initialize dc variable
jdawkins 1:d3fac5783cc3 29 float q = 0;
jdawkins 1:d3fac5783cc3 30 float q0 = 20;
jdawkins 0:76487bb2de87 31 float dt = 1/CTRL_FREQ; // set control loop sample time
jdawkins 1:d3fac5783cc3 32 float h1 = 0;
jdawkins 1:d3fac5783cc3 33 float h2 = 0;
jdawkins 1:d3fac5783cc3 34 float freq = 1;
jdawkins 1:d3fac5783cc3 35 float T = 10;
jdawkins 1:d3fac5783cc3 36 float amp = 5;
jdawkins 1:d3fac5783cc3 37 bool freq_resp = false;
jdawkins 1:d3fac5783cc3 38
jdawkins 1:d3fac5783cc3 39 bool use_int = false;
jdawkins 1:d3fac5783cc3 40 int run_state = 0;
jdawkins 0:76487bb2de87 41
jdawkins 0:76487bb2de87 42 while(1) {
jdawkins 0:76487bb2de87 43
jdawkins 0:76487bb2de87 44 if(pc.readable()) {
jdawkins 0:76487bb2de87 45 char c = pc.getc();
jdawkins 1:d3fac5783cc3 46
jdawkins 0:76487bb2de87 47 if(c == 'H' || c == 'h') {
jdawkins 0:76487bb2de87 48 pc.printf("Command List...\r\n");
jdawkins 1:d3fac5783cc3 49 // pc.printf("a - set Amplitude\r\n");
jdawkins 1:d3fac5783cc3 50 pc.printf("f - Run Frequency Resonse\r\n");
jdawkins 1:d3fac5783cc3 51 pc.printf("t - Run Time Response\r\n");
jdawkins 1:d3fac5783cc3 52 pc.printf("i - Return to Operating Point\r\n");
jdawkins 1:d3fac5783cc3 53 // pc.printf("o - Set Operating Point flow\r\n");
jdawkins 1:d3fac5783cc3 54 pc.printf("r - Run Test\r\n");
jdawkins 1:d3fac5783cc3 55 pc.printf("s - Stop Test\r\n");
jdawkins 1:d3fac5783cc3 56 pc.printf("h - display this prompt and exit\r\n");
jdawkins 0:76487bb2de87 57 pc.printf("Enter Command\r\n");
jdawkins 0:76487bb2de87 58
jdawkins 0:76487bb2de87 59 }
jdawkins 1:d3fac5783cc3 60
jdawkins 1:d3fac5783cc3 61 /* if(c == 'A' || c == 'a') {
jdawkins 1:d3fac5783cc3 62
jdawkins 1:d3fac5783cc3 63 pc.printf("Enter the Amplitude of dQ in (cm^/s)...\r\n");
jdawkins 1:d3fac5783cc3 64 pc.scanf("%f",&amp);
jdawkins 1:d3fac5783cc3 65 pc.printf("Amplitude of delta flow set to %.1f (cm^3/s).\r\n",amp);
jdawkins 1:d3fac5783cc3 66
jdawkins 1:d3fac5783cc3 67 }*/
jdawkins 1:d3fac5783cc3 68
jdawkins 1:d3fac5783cc3 69 if(c == 'F' || c == 'f') {
jdawkins 1:d3fac5783cc3 70
jdawkins 1:d3fac5783cc3 71 pc.printf("Enter the Period of Oscillation in (s)...\r\n");
jdawkins 1:d3fac5783cc3 72 pc.scanf("%f",&T);
jdawkins 1:d3fac5783cc3 73 pc.printf("Period of oscillation set to %.1f seconds.\r\n",T);
jdawkins 1:d3fac5783cc3 74 pc.printf("Test Set to Frequency Response, Press R to begin...\r\n",tstop);
jdawkins 0:76487bb2de87 75
jdawkins 1:d3fac5783cc3 76 freq_resp = true;
jdawkins 0:76487bb2de87 77 }
jdawkins 1:d3fac5783cc3 78 /* if(c == 'O' || c == 'o') {
jdawkins 0:76487bb2de87 79
jdawkins 1:d3fac5783cc3 80 pc.printf("Enter the Operating Flow Rate Q0 in (cm^/s)...\r\n");
jdawkins 1:d3fac5783cc3 81 pc.scanf("%f",&q0);
jdawkins 0:76487bb2de87 82
jdawkins 1:d3fac5783cc3 83 }*/
jdawkins 1:d3fac5783cc3 84 if(c == 'T' || c == 't') {
jdawkins 0:76487bb2de87 85
jdawkins 1:d3fac5783cc3 86 pc.printf("Test Set to Time Response, Press R to begin...\r\n",tstop);
jdawkins 1:d3fac5783cc3 87 freq_resp = false;
jdawkins 1:d3fac5783cc3 88
jdawkins 0:76487bb2de87 89 }
jdawkins 1:d3fac5783cc3 90 if(c == 'I' || c =='i') {
jdawkins 1:d3fac5783cc3 91 run_state = IDLE;
jdawkins 1:d3fac5783cc3 92 t.reset();
jdawkins 1:d3fac5783cc3 93 log_timer = 0;
jdawkins 1:d3fac5783cc3 94 pc.printf("Running Returning to OP \r\n");
jdawkins 0:76487bb2de87 95
jdawkins 1:d3fac5783cc3 96 }
jdawkins 1:d3fac5783cc3 97 if(c == 'R' || c == 'r') {
jdawkins 0:76487bb2de87 98
jdawkins 1:d3fac5783cc3 99 if(freq_resp) {
jdawkins 1:d3fac5783cc3 100 pc.printf("Running Test Frequency Response for %.1f seconds...\r\n",tstop);
jdawkins 1:d3fac5783cc3 101 } else {
jdawkins 1:d3fac5783cc3 102 pc.printf("Running Test Step Response for %.1f seconds...\r\n",tstop);
jdawkins 1:d3fac5783cc3 103 }
jdawkins 1:d3fac5783cc3 104 run_state = RUN;
jdawkins 0:76487bb2de87 105 t.reset();
jdawkins 0:76487bb2de87 106 log_timer = 0;
jdawkins 0:76487bb2de87 107
jdawkins 1:d3fac5783cc3 108 }
jdawkins 1:d3fac5783cc3 109 if(c == 'S' || c == 's') {
jdawkins 1:d3fac5783cc3 110 pc.printf("Test Complete, Returning to OP\r\n");
jdawkins 1:d3fac5783cc3 111 run_state = STOP;
jdawkins 1:d3fac5783cc3 112 // t.reset();
jdawkins 1:d3fac5783cc3 113 }
jdawkins 1:d3fac5783cc3 114 } // if pc.readable
jdawkins 0:76487bb2de87 115
jdawkins 1:d3fac5783cc3 116 // read analog to digital chip for presssure sensors
jdawkins 1:d3fac5783cc3 117 float tank2 = read_max1270_volts(0, 1, 1); //chan, range, bipol
jdawkins 1:d3fac5783cc3 118 float tank1 = read_max1270_volts(1, 1, 1);
jdawkins 0:76487bb2de87 119
jdawkins 1:d3fac5783cc3 120 //Logic to exit loop if tank gets too full
jdawkins 1:d3fac5783cc3 121 if(tank1 > 4.1 || tank2 > 4.1) {
jdawkins 1:d3fac5783cc3 122 run_state = STOP;
jdawkins 1:d3fac5783cc3 123 t.reset();
jdawkins 1:d3fac5783cc3 124 // break;
jdawkins 1:d3fac5783cc3 125 }
jdawkins 0:76487bb2de87 126
jdawkins 1:d3fac5783cc3 127 //Convert Voltage to Height
jdawkins 1:d3fac5783cc3 128 h1 = 6.4*tank1;
jdawkins 1:d3fac5783cc3 129 h2 = 6.4*tank2;
jdawkins 1:d3fac5783cc3 130
jdawkins 0:76487bb2de87 131
jdawkins 0:76487bb2de87 132
jdawkins 1:d3fac5783cc3 133 switch(run_state) {
jdawkins 1:d3fac5783cc3 134 case STOP: {
jdawkins 1:d3fac5783cc3 135 mot_control(1, 0.0);
jdawkins 1:d3fac5783cc3 136 break;
jdawkins 1:d3fac5783cc3 137 }
jdawkins 1:d3fac5783cc3 138 case IDLE: {
jdawkins 1:d3fac5783cc3 139
jdawkins 1:d3fac5783cc3 140 q = q0;
jdawkins 1:d3fac5783cc3 141 dc = 0.0076*q + 0.55;
jdawkins 1:d3fac5783cc3 142 if( (t.read()- log_timer) >= (1.0/LOG_FREQ)) { //If log sample time has passed since last write
jdawkins 1:d3fac5783cc3 143 pc.printf("%.2f, %.3f, %.3f, %.3f\r", t.read(),h1,h2,q); //write data to scren
jdawkins 1:d3fac5783cc3 144 log_timer = t.read();
jdawkins 1:d3fac5783cc3 145 }
jdawkins 1:d3fac5783cc3 146 mot_control(1, -dc);
jdawkins 1:d3fac5783cc3 147 break;
jdawkins 0:76487bb2de87 148
jdawkins 1:d3fac5783cc3 149 }
jdawkins 1:d3fac5783cc3 150 case RUN: {
jdawkins 1:d3fac5783cc3 151
jdawkins 1:d3fac5783cc3 152 if(t.read() > tstop) {
jdawkins 1:d3fac5783cc3 153 run_state= IDLE;
jdawkins 1:d3fac5783cc3 154 }
jdawkins 1:d3fac5783cc3 155 if(freq_resp) {
jdawkins 0:76487bb2de87 156
jdawkins 1:d3fac5783cc3 157 q = q0 + amp*sin((2*3.14159/T)*t.read());
jdawkins 1:d3fac5783cc3 158 dc = 0.0076*q + 0.55;
jdawkins 1:d3fac5783cc3 159 } else {
jdawkins 1:d3fac5783cc3 160 q = q0 + amp;
jdawkins 1:d3fac5783cc3 161 dc = 0.0076*q + 0.55;
jdawkins 1:d3fac5783cc3 162 }
jdawkins 1:d3fac5783cc3 163 // Saturate dc command to send no more than maximum value
jdawkins 1:d3fac5783cc3 164 if(dc>1.0) {
jdawkins 1:d3fac5783cc3 165 dc =1.0;
jdawkins 1:d3fac5783cc3 166 }
jdawkins 1:d3fac5783cc3 167 if(dc<-1.0) {
jdawkins 1:d3fac5783cc3 168 dc = -1.0;
jdawkins 1:d3fac5783cc3 169 }
jdawkins 0:76487bb2de87 170
jdawkins 1:d3fac5783cc3 171 if( (t.read()- log_timer) >= (1.0/LOG_FREQ)) { //If log sample time has passed since last write
jdawkins 1:d3fac5783cc3 172 pc.printf("%.2f, %.3f, %.3f, %.3f\r\n", t.read(),h1,h2,q); //write data to scren
jdawkins 1:d3fac5783cc3 173 log_timer = t.read();
jdawkins 1:d3fac5783cc3 174 }
jdawkins 0:76487bb2de87 175
jdawkins 1:d3fac5783cc3 176 mot_control(1, -dc); // negative value required due to polarity of pump motor
jdawkins 1:d3fac5783cc3 177 break;
jdawkins 0:76487bb2de87 178
jdawkins 1:d3fac5783cc3 179 }
jdawkins 1:d3fac5783cc3 180 default: {
jdawkins 1:d3fac5783cc3 181 mot_control(1, 0.0);
jdawkins 1:d3fac5783cc3 182 break;
jdawkins 1:d3fac5783cc3 183 }
jdawkins 1:d3fac5783cc3 184
jdawkins 1:d3fac5783cc3 185 }
jdawkins 1:d3fac5783cc3 186
jdawkins 1:d3fac5783cc3 187 led3=!led3; //Flash Led to Indicate program is running
jdawkins 1:d3fac5783cc3 188 wait(dt); //Wait for sample time of loop frequency
jdawkins 1:d3fac5783cc3 189
jdawkins 0:76487bb2de87 190 }//while
jdawkins 0:76487bb2de87 191 }//main