USNA WRC EW306 / Mbed 2 deprecated Couple_Tanks_Experiment_students

Skeleton code for ES306 coupled Tanks experiment.

Dependencies:   mbed mbedWSEsbc

main.cpp@0:76487bb2de87, 2017-03-07 (annotated)

Committer:
jdawkins
Date:
Tue Mar 07 14:44:39 2017 +0000
Revision:
0:76487bb2de87
Initial Commit for ES306 Coupled Tank Control Experiment skeleton program

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 0:76487bb2de87 7
jdawkins 0:76487bb2de87 8
jdawkins 0:76487bb2de87 9 DigitalOut myled(LED1);
jdawkins 0:76487bb2de87 10
jdawkins 0:76487bb2de87 11 int main()
jdawkins 0:76487bb2de87 12 {
jdawkins 0:76487bb2de87 13 float log_timer = 0; //initialize variable for log timer
jdawkins 0:76487bb2de87 14 bool run_flag = false;
jdawkins 0:76487bb2de87 15 bool run_ctrl = false;
jdawkins 0:76487bb2de87 16
jdawkins 0:76487bb2de87 17 mbedWSEsbcInit(9600); //Initialize the mbed WSE Project SBC
jdawkins 0:76487bb2de87 18 wait(.2); //delay at beginning for voltage settle purposes
jdawkins 0:76487bb2de87 19 t.start(); // Set up timer
jdawkins 0:76487bb2de87 20
jdawkins 0:76487bb2de87 21 pc.printf("Quanser Twin Tank Control Data Aquisition Program\r\n");
jdawkins 0:76487bb2de87 22
jdawkins 0:76487bb2de87 23 t.reset(); // zero timer
jdawkins 0:76487bb2de87 24 float sampT = t.read();
jdawkins 0:76487bb2de87 25 float tstop = 180; //initialize stop time
jdawkins 0:76487bb2de87 26 float dc = 0; //initialize dc variable
jdawkins 0:76487bb2de87 27 float dt = 1/CTRL_FREQ; // set control loop sample time
jdawkins 0:76487bb2de87 28
jdawkins 0:76487bb2de87 29 while(1) {
jdawkins 0:76487bb2de87 30
jdawkins 0:76487bb2de87 31 if(pc.readable()) {
jdawkins 0:76487bb2de87 32 char c = pc.getc();
jdawkins 0:76487bb2de87 33 if(c == 'H' || c == 'h') {
jdawkins 0:76487bb2de87 34 pc.printf("Command List...\r\n");
jdawkins 0:76487bb2de87 35 pc.printf("c - run closed loop controller\r\n");
jdawkins 0:76487bb2de87 36 pc.printf("o - run open loop control\r\n");
jdawkins 0:76487bb2de87 37 pc.printf("h - display this prompt and exit\r\n");
jdawkins 0:76487bb2de87 38 pc.printf("Enter Command\r\n");
jdawkins 0:76487bb2de87 39
jdawkins 0:76487bb2de87 40 }
jdawkins 0:76487bb2de87 41 if(c == 'C' || c == 'c') {
jdawkins 0:76487bb2de87 42
jdawkins 0:76487bb2de87 43 pc.printf("Enter test duration in seconds...\r\n");
jdawkins 0:76487bb2de87 44 pc.scanf("%f",&tstop);
jdawkins 0:76487bb2de87 45 pc.printf("Test duration set to %.1f seconds.\r\n",tstop);
jdawkins 0:76487bb2de87 46
jdawkins 0:76487bb2de87 47 pc.printf("Running Closed Loop Control for %.1f seconds, press any key to stop test...\r\n",tstop);
jdawkins 0:76487bb2de87 48 run_flag = true;
jdawkins 0:76487bb2de87 49 run_ctrl = true;
jdawkins 0:76487bb2de87 50 }
jdawkins 0:76487bb2de87 51
jdawkins 0:76487bb2de87 52 if(c == 'O' || c == 'o') {
jdawkins 0:76487bb2de87 53
jdawkins 0:76487bb2de87 54 pc.printf("Enter desired duty cycle for test as a decimal between 0.00-1.00 \r\n",tstop);
jdawkins 0:76487bb2de87 55 pc.scanf("%f",&dc);
jdawkins 0:76487bb2de87 56 pc.printf("Duty Cycle is set to %.2f \r\n",dc);
jdawkins 0:76487bb2de87 57
jdawkins 0:76487bb2de87 58 pc.printf("Enter test duration in seconds...\r\n");
jdawkins 0:76487bb2de87 59 pc.scanf("%f",&tstop);
jdawkins 0:76487bb2de87 60 pc.printf("Test duration set to %.1f seconds.\r\n",tstop);
jdawkins 0:76487bb2de87 61
jdawkins 0:76487bb2de87 62 pc.printf("Running test for %.1f seconds, press any key to stop test...\r\n",tstop);
jdawkins 0:76487bb2de87 63 run_flag = true;
jdawkins 0:76487bb2de87 64 run_ctrl = false;
jdawkins 0:76487bb2de87 65 }
jdawkins 0:76487bb2de87 66
jdawkins 0:76487bb2de87 67
jdawkins 0:76487bb2de87 68
jdawkins 0:76487bb2de87 69 if(run_flag) {
jdawkins 0:76487bb2de87 70
jdawkins 0:76487bb2de87 71 //Prime the pump for a few seconds
jdawkins 0:76487bb2de87 72 mot_control(1,-1.0);
jdawkins 0:76487bb2de87 73 wait(1);
jdawkins 0:76487bb2de87 74 t.reset();
jdawkins 0:76487bb2de87 75 log_timer = 0;
jdawkins 0:76487bb2de87 76 while(t.read() < tstop) {
jdawkins 0:76487bb2de87 77
jdawkins 0:76487bb2de87 78 //Emergency Stop check
jdawkins 0:76487bb2de87 79 if(pc.readable()) { //if any key is hit turn of motor and break while loop
jdawkins 0:76487bb2de87 80 mot_control(1, 0.0);
jdawkins 0:76487bb2de87 81 break;
jdawkins 0:76487bb2de87 82 }
jdawkins 0:76487bb2de87 83
jdawkins 0:76487bb2de87 84 // read analog to digital chip for presssure sensors
jdawkins 0:76487bb2de87 85 float tank2 = read_max1270_volts(0, 1, 1); //chan, range, bipol
jdawkins 0:76487bb2de87 86 float tank1 = read_max1270_volts(1, 1, 1);
jdawkins 0:76487bb2de87 87
jdawkins 0:76487bb2de87 88 //Logic to exit loop if tank gets too full
jdawkins 0:76487bb2de87 89 if(tank1 > 4.1 || tank2 > 4.1) {
jdawkins 0:76487bb2de87 90 pc.printf("%.2f, %.3f, %.3f, %.3f\r\n", t.read(),tank1,tank2,dc);
jdawkins 0:76487bb2de87 91 break;
jdawkins 0:76487bb2de87 92 }
jdawkins 0:76487bb2de87 93
jdawkins 0:76487bb2de87 94 //Convert Voltage to Height
jdawkins 0:76487bb2de87 95
jdawkins 0:76487bb2de87 96
jdawkins 0:76487bb2de87 97 if(run_ctrl) { //If controller is active
jdawkins 0:76487bb2de87 98
jdawkins 0:76487bb2de87 99
jdawkins 0:76487bb2de87 100 // Control Law Goes Here
jdawkins 0:76487bb2de87 101
jdawkins 0:76487bb2de87 102
jdawkins 0:76487bb2de87 103 //Convert flow rate to duty cycle;
jdawkins 0:76487bb2de87 104
jdawkins 0:76487bb2de87 105 }else{ // if open loop test
jdawkins 0:76487bb2de87 106
jdawkins 0:76487bb2de87 107 }
jdawkins 0:76487bb2de87 108
jdawkins 0:76487bb2de87 109
jdawkins 0:76487bb2de87 110 // Saturate dc command to send no more than maximum value
jdawkins 0:76487bb2de87 111 if(dc>1.0) {
jdawkins 0:76487bb2de87 112 dc =1.0;
jdawkins 0:76487bb2de87 113 }
jdawkins 0:76487bb2de87 114 if(dc<-1.0) {
jdawkins 0:76487bb2de87 115 dc = -1.0;
jdawkins 0:76487bb2de87 116 }
jdawkins 0:76487bb2de87 117
jdawkins 0:76487bb2de87 118 //Set the new output.
jdawkins 0:76487bb2de87 119
jdawkins 0:76487bb2de87 120 mot_control(1, -dc); // negative value required due to polarity of pump motor
jdawkins 0:76487bb2de87 121
jdawkins 0:76487bb2de87 122
jdawkins 0:76487bb2de87 123 if( (t.read()- log_timer) >= (1.0/LOG_FREQ)) { //If log sample time has passed since last write
jdawkins 0:76487bb2de87 124 pc.printf("%.2f, %.3f, %.3f, %.3f\r\n", t.read(),tank1,tank2,dc); //write data to scren
jdawkins 0:76487bb2de87 125 log_timer = t.read();
jdawkins 0:76487bb2de87 126 }
jdawkins 0:76487bb2de87 127
jdawkins 0:76487bb2de87 128 led3=!led3; //Flash Led to Indicate program is running
jdawkins 0:76487bb2de87 129 wait(dt); //Wait for sample time of loop frequency
jdawkins 0:76487bb2de87 130 } // while t < tstop
jdawkins 0:76487bb2de87 131 mot_control(1, 0.0); // Turn off Pump once test is finished
jdawkins 0:76487bb2de87 132 run_flag = false;
jdawkins 0:76487bb2de87 133 run_ctrl = false;
jdawkins 0:76487bb2de87 134 pc.printf("\r\nEnter Command\r\n");
jdawkins 0:76487bb2de87 135 } //if run flag
jdawkins 0:76487bb2de87 136 } // if pc.readable
jdawkins 0:76487bb2de87 137 }//while
jdawkins 0:76487bb2de87 138 }//main