USNA WRC EW306
Starting Interface for CTS Control
Dependencies: mbed mbedWSEsbc
Revision 0:4dbf26d91614, committed 2021-02-09
- Comitter:
- jdawkins
- Date:
- Tue Feb 09 18:15:06 2021 +0000
- Commit message:
- CTS matlab code;
Changed in this revision
--- /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
--- /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
--- /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