Starting Interface for CTS Control

Dependencies:   mbed mbedWSEsbc

Files at this revision

API Documentation at this revision

Comitter:
jdawkins
Date:
Tue Feb 09 18:15:06 2021 +0000
Commit message:
CTS matlab code;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
mbedWSEsbc.lib Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 4dbf26d91614 main.cpp
--- /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
diff -r 000000000000 -r 4dbf26d91614 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Feb 09 18:15:06 2021 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9ad691361fac
\ No newline at end of file
diff -r 000000000000 -r 4dbf26d91614 mbedWSEsbc.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbedWSEsbc.lib	Tue Feb 09 18:15:06 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/jdawkins/code/mbedWSEsbc/#01db33a86f87