USNA WRC EW306 / Mbed 2 deprecated cts_matlab_interface

Starting Interface for CTS Control

Dependencies:   mbed mbedWSEsbc

main.cpp@0:4dbf26d91614, 2021-02-09 (annotated)

Committer:
jdawkins
Date:
Tue Feb 09 18:15:06 2021 +0000
Revision:
0:4dbf26d91614
CTS matlab code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jdawkins 0:4dbf26d91614 1 #include "mbed.h"
jdawkins 0:4dbf26d91614 2 #include "mbedWSEsbc.h"
jdawkins 0:4dbf26d91614 3
jdawkins 0:4dbf26d91614 4 #define PI 3.14159
jdawkins 0:4dbf26d91614 5 #define LOG_FREQ 5.0
jdawkins 0:4dbf26d91614 6 #define CTRL_FREQ 100.0
jdawkins 0:4dbf26d91614 7
jdawkins 0:4dbf26d91614 8
jdawkins 0:4dbf26d91614 9 DigitalOut myled(LED1);
jdawkins 0:4dbf26d91614 10 DigitalOut rx_LED(LED2);
jdawkins 0:4dbf26d91614 11 DigitalOut log_LED(LED3);
jdawkins 0:4dbf26d91614 12 DigitalOut run_LED(LED4);
jdawkins 0:4dbf26d91614 13
jdawkins 0:4dbf26d91614 14 float pwm;
jdawkins 0:4dbf26d91614 15 bool run_flag;
jdawkins 0:4dbf26d91614 16 float dt;
jdawkins 0:4dbf26d91614 17 char buf[64];
jdawkins 0:4dbf26d91614 18 Ticker control_tick;
jdawkins 0:4dbf26d91614 19 Ticker log_tick;
jdawkins 0:4dbf26d91614 20 float tank1,tank2;
jdawkins 0:4dbf26d91614 21
jdawkins 0:4dbf26d91614 22 int parseMessage(char * msg)
jdawkins 0:4dbf26d91614 23 {
jdawkins 0:4dbf26d91614 24 if(!strncmp(msg, "$CMD", 4)) {
jdawkins 0:4dbf26d91614 25 float arg1;
jdawkins 0:4dbf26d91614 26
jdawkins 0:4dbf26d91614 27 sscanf(msg,"$CMD,%f\n",&arg1);
jdawkins 0:4dbf26d91614 28 pwm = arg1;
jdawkins 0:4dbf26d91614 29 // rx_LED = ! rx_LED;// toggle led to indicate position message receipt
jdawkins 0:4dbf26d91614 30 run_flag = true;
jdawkins 0:4dbf26d91614 31
jdawkins 0:4dbf26d91614 32 return 1;
jdawkins 0:4dbf26d91614 33 } //end of $CMD
jdawkins 0:4dbf26d91614 34
jdawkins 0:4dbf26d91614 35 if(!strncmp(msg, "$STP", 4)) {
jdawkins 0:4dbf26d91614 36 rx_LED = ! rx_LED;// toggle led to indicate position message receipt
jdawkins 0:4dbf26d91614 37 run_flag = false;
jdawkins 0:4dbf26d91614 38 pwm = 0;
jdawkins 0:4dbf26d91614 39 return 1;
jdawkins 0:4dbf26d91614 40 } //end of $STP
jdawkins 0:4dbf26d91614 41
jdawkins 0:4dbf26d91614 42 return 0;
jdawkins 0:4dbf26d91614 43 }
jdawkins 0:4dbf26d91614 44
jdawkins 0:4dbf26d91614 45 void controlLoop(){
jdawkins 0:4dbf26d91614 46
jdawkins 0:4dbf26d91614 47 tank2 = read_max1270_volts(0, 1, 1); //chan, range, bipol
jdawkins 0:4dbf26d91614 48 tank1 = read_max1270_volts(1, 1, 1);
jdawkins 0:4dbf26d91614 49 //Logic to exit loop if tank gets too full
jdawkins 0:4dbf26d91614 50 if(tank1 > 4.1 || tank2 > 4.1) {
jdawkins 0:4dbf26d91614 51 run_flag = false;
jdawkins 0:4dbf26d91614 52 }
jdawkins 0:4dbf26d91614 53
jdawkins 0:4dbf26d91614 54 if(run_flag) {
jdawkins 0:4dbf26d91614 55 mot_control(1, -pwm); // negative value required due do polarity of pump motor
jdawkins 0:4dbf26d91614 56
jdawkins 0:4dbf26d91614 57 } else {
jdawkins 0:4dbf26d91614 58 mot_control(1,0);
jdawkins 0:4dbf26d91614 59 }
jdawkins 0:4dbf26d91614 60 myled = !myled;
jdawkins 0:4dbf26d91614 61 }
jdawkins 0:4dbf26d91614 62
jdawkins 0:4dbf26d91614 63 void logLoop(){
jdawkins 0:4dbf26d91614 64
jdawkins 0:4dbf26d91614 65 pc.printf("$SEN,%.3f,%.3f,%.3f\r\n", tank1,tank2,pwm); //write data to scren
jdawkins 0:4dbf26d91614 66
jdawkins 0:4dbf26d91614 67 log_LED = !log_LED;
jdawkins 0:4dbf26d91614 68 }
jdawkins 0:4dbf26d91614 69
jdawkins 0:4dbf26d91614 70 int main()
jdawkins 0:4dbf26d91614 71 {
jdawkins 0:4dbf26d91614 72 pc.printf("Quanser Twin Tank Control Data Aquisition Program\r\n");
jdawkins 0:4dbf26d91614 73
jdawkins 0:4dbf26d91614 74 float log_timer = 0; //initialize variable for log timer
jdawkins 0:4dbf26d91614 75 run_flag = true;
jdawkins 0:4dbf26d91614 76 myled = 1;
jdawkins 0:4dbf26d91614 77 pwm = 0;
jdawkins 0:4dbf26d91614 78 // pc.attach(&rxCallback);
jdawkins 0:4dbf26d91614 79 mbedWSEsbcInit(9600); //Initialize the mbed WSE Project SBC
jdawkins 0:4dbf26d91614 80 wait(.2); //delay at beginning for voltage settle purposes
jdawkins 0:4dbf26d91614 81 t.start(); // Set up timer
jdawkins 0:4dbf26d91614 82 Timer tc;
jdawkins 0:4dbf26d91614 83 tc.start();
jdawkins 0:4dbf26d91614 84 tc.reset();
jdawkins 0:4dbf26d91614 85
jdawkins 0:4dbf26d91614 86 control_tick.attach(&controlLoop, 0.1);
jdawkins 0:4dbf26d91614 87 log_tick.attach(&logLoop,1.0);
jdawkins 0:4dbf26d91614 88
jdawkins 0:4dbf26d91614 89 t.reset(); // zero timer
jdawkins 0:4dbf26d91614 90 dt = 1/(CTRL_FREQ);
jdawkins 0:4dbf26d91614 91
jdawkins 0:4dbf26d91614 92 while(1) {
jdawkins 0:4dbf26d91614 93
jdawkins 0:4dbf26d91614 94 if(pc.readable()) {
jdawkins 0:4dbf26d91614 95 int i=0;
jdawkins 0:4dbf26d91614 96 char c = pc.getc();
jdawkins 0:4dbf26d91614 97 // pc.printf("%s",c);
jdawkins 0:4dbf26d91614 98 if(c=='$') {
jdawkins 0:4dbf26d91614 99 buf[i] = c;
jdawkins 0:4dbf26d91614 100 i++;
jdawkins 0:4dbf26d91614 101 while(1) {
jdawkins 0:4dbf26d91614 102 buf[i] = pc.getc();
jdawkins 0:4dbf26d91614 103 if(buf[i]=='\n') {
jdawkins 0:4dbf26d91614 104 break;
jdawkins 0:4dbf26d91614 105 }
jdawkins 0:4dbf26d91614 106 i++;
jdawkins 0:4dbf26d91614 107 }
jdawkins 0:4dbf26d91614 108 }
jdawkins 0:4dbf26d91614 109
jdawkins 0:4dbf26d91614 110 parseMessage(buf);
jdawkins 0:4dbf26d91614 111
jdawkins 0:4dbf26d91614 112 } // If PC Readable
jdawkins 0:4dbf26d91614 113
jdawkins 0:4dbf26d91614 114
jdawkins 0:4dbf26d91614 115 //if run flag
jdawkins 0:4dbf26d91614 116 wait(dt); //Wait for sample time of loop frequency
jdawkins 0:4dbf26d91614 117 }//while
jdawkins 0:4dbf26d91614 118 }//main