Diff: main.cpp

Revision:

0:4dbf26d91614

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 09 18:15:06 2021 +0000
@@ -0,0 +1,118 @@
+#include "mbed.h"
+#include "mbedWSEsbc.h"
+
+#define PI 3.14159
+#define LOG_FREQ 5.0
+#define CTRL_FREQ 100.0
+
+
+DigitalOut myled(LED1);
+DigitalOut rx_LED(LED2);
+DigitalOut log_LED(LED3);
+DigitalOut run_LED(LED4);
+
+float pwm;
+bool run_flag;
+float dt;
+char buf[64];
+Ticker control_tick;
+Ticker log_tick;
+float tank1,tank2;
+
+int parseMessage(char * msg)
+{
+    if(!strncmp(msg, "$CMD", 4)) {
+        float arg1;
+
+        sscanf(msg,"$CMD,%f\n",&arg1);
+        pwm = arg1;
+        //  rx_LED = ! rx_LED;// toggle led to indicate position message receipt
+        run_flag = true;
+
+        return 1;
+    }   //end of $CMD
+
+    if(!strncmp(msg, "$STP", 4)) {
+        rx_LED = ! rx_LED;// toggle led to indicate position message receipt
+        run_flag = false;
+        pwm = 0;
+        return 1;
+    }   //end of $STP
+
+    return 0;
+}
+
+void controlLoop(){
+    
+    tank2 = read_max1270_volts(0, 1, 1);   //chan, range, bipol
+    tank1 = read_max1270_volts(1, 1, 1);
+    //Logic to exit loop if tank gets too full
+    if(tank1 > 4.1 || tank2 > 4.1) {
+        run_flag = false;
+    }    
+
+    if(run_flag) {
+        mot_control(1, -pwm); // negative value required due do polarity of pump motor
+
+    } else {
+        mot_control(1,0);
+    }    
+    myled = !myled;
+}
+
+void logLoop(){
+    
+    pc.printf("$SEN,%.3f,%.3f,%.3f\r\n", tank1,tank2,pwm); //write data to scren
+  
+    log_LED = !log_LED;
+}
+
+int main()
+{
+    pc.printf("Quanser Twin Tank Control Data Aquisition Program\r\n");
+
+    float log_timer = 0;  //initialize variable for log timer
+    run_flag = true;
+    myled = 1;
+    pwm = 0;
+    //  pc.attach(&rxCallback);
+    mbedWSEsbcInit(9600);  //Initialize the mbed WSE Project SBC
+    wait(.2);   //delay at beginning for voltage settle purposes
+    t.start();  // Set up timer
+    Timer tc;
+    tc.start();
+    tc.reset();
+    
+    control_tick.attach(&controlLoop, 0.1);
+    log_tick.attach(&logLoop,1.0);
+
+    t.reset(); // zero timer
+    dt = 1/(CTRL_FREQ);
+
+    while(1) {
+
+        if(pc.readable()) {
+            int i=0;
+            char c = pc.getc();
+            // pc.printf("%s",c);
+            if(c=='$') {
+                buf[i] = c;
+                i++;
+                while(1) {
+                    buf[i] = pc.getc();
+                    if(buf[i]=='\n') {
+                        break;
+                    }
+                    i++;
+                }
+            }
+
+            parseMessage(buf);
+
+        } // If PC Readable
+
+
+        //if run flag
+        wait(dt);   //Wait for sample time of loop frequency
+    }//while
+}//main