Diff: main.cpp

Revision:

0:76487bb2de87

Child:

1:d1a8fb968a8e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 07 14:44:39 2017 +0000
@@ -0,0 +1,138 @@
+#include "mbed.h"
+#include "mbedWSEsbc.h"
+
+#define PI 3.14159
+#define LOG_FREQ 2.0
+#define CTRL_FREQ 200.0
+
+
+DigitalOut myled(LED1);
+
+int main()
+{
+    float log_timer = 0;  //initialize variable for log timer
+    bool run_flag = false;
+    bool run_ctrl = false;
+
+    mbedWSEsbcInit(9600);  //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
+    float sampT = t.read();
+    float tstop = 180;   //initialize stop time
+    float dc = 0;      //initialize dc variable
+    float dt = 1/CTRL_FREQ; // set control loop sample time
+
+    while(1) {
+
+        if(pc.readable()) {
+            char c = pc.getc();
+            if(c == 'H' || c == 'h') {
+                pc.printf("Command List...\r\n");
+                pc.printf("c - run closed loop controller\r\n");
+                pc.printf("o - run open loop control\r\n");
+                pc.printf("h - display this prompt and exit\r\n");            
+                pc.printf("Enter Command\r\n");
+
+            }
+            if(c == 'C' || c == 'c') {
+                
+                pc.printf("Enter test duration in seconds...\r\n");
+                pc.scanf("%f",&tstop);
+                pc.printf("Test duration set to %.1f seconds.\r\n",tstop);
+                
+                pc.printf("Running Closed Loop Control for %.1f seconds, press any key to stop test...\r\n",tstop);
+                run_flag = true;
+                run_ctrl = true;
+            }
+
+            if(c == 'O' || c == 'o') {
+
+                pc.printf("Enter desired duty cycle for test as a decimal between 0.00-1.00 \r\n",tstop);
+                pc.scanf("%f",&dc);
+                pc.printf("Duty Cycle is set to %.2f \r\n",dc);
+
+                pc.printf("Enter test duration in seconds...\r\n");
+                pc.scanf("%f",&tstop);
+                pc.printf("Test duration set to %.1f seconds.\r\n",tstop);
+
+                pc.printf("Running test for %.1f seconds, press any key to stop test...\r\n",tstop);
+                run_flag = true;
+                run_ctrl = false;
+            }
+
+ 
+
+            if(run_flag) {
+
+                //Prime the pump for a few seconds
+                mot_control(1,-1.0);
+                wait(1);
+                t.reset();
+                log_timer = 0;
+                while(t.read() < tstop) {
+
+                    //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
+                    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,dc);
+                        break;
+                    }
+
+                    //Convert Voltage to Height
+
+
+                    if(run_ctrl) { //If controller is active
+                        
+
+                        // Control Law Goes Here
+                                                
+                        
+                        //Convert flow rate to duty cycle;
+
+                    }else{ // if open loop test
+                        
+                    }
+                    
+                    
+                    // Saturate dc command to send no more than maximum value
+                    if(dc>1.0) {
+                        dc =1.0;
+                    }
+                    if(dc<-1.0) {
+                        dc = -1.0;
+                    }
+
+                    //Set the new output.
+
+                    mot_control(1, -dc); // negative value required due to polarity of pump motor
+
+
+                    if( (t.read()- log_timer) >= (1.0/LOG_FREQ)) { //If log sample time has passed since last write
+                        pc.printf("%.2f, %.3f, %.3f, %.3f\r\n", t.read(),tank1,tank2,dc); //write data to scren
+                        log_timer = t.read();
+                    }
+
+                    led3=!led3;  //Flash Led to Indicate program is running
+                    wait(dt);   //Wait for sample time of loop frequency
+                }  // while t < tstop
+                mot_control(1, 0.0); // Turn off Pump once test is finished
+                run_flag = false;
+                run_ctrl = false;
+                pc.printf("\r\nEnter Command\r\n");
+            } //if run flag
+        } // if pc.readable
+    }//while
+}//main