Vitec Group / Mbed 2 deprecated 1_AH10_Full_Test

As used for BB testing April / May 2016 (with the odd mod to the scope outputs)

Dependencies:   iC_MU mbed-rtos mbed

Fork of SweptSine by Vitec Group

main.cpp@3:4deb86f4ccfe, 2016-06-08 (annotated)

Committer:
acodd
Date:
Wed Jun 08 13:53:50 2016 +0000
Revision:
3:4deb86f4ccfe
Parent:
2:be3b6a72f823 
As used for much of head tuning process documented in "T3 head Tuning" document.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ms523 0:3a132f85c1a8 1 #include "mbed.h"
ms523 1:0f0423207b62 2 #include "iC_MU.h"
ms523 1:0f0423207b62 3 #include "rtos.h"
acodd 3:4deb86f4ccfe 4 #include "MyAxis.h"
ms523 1:0f0423207b62 5
ms523 1:0f0423207b62 6 // iC-MU Encoder Objects
acodd 3:4deb86f4ccfe 7 iC_MU tilt_Motor(p5,p6,p7,p8);
acodd 3:4deb86f4ccfe 8 iC_MU TiltPos(p5,p6,p7,p11);
acodd 3:4deb86f4ccfe 9 iC_MU pan_Motor(p5,p6,p7,p12);
acodd 3:4deb86f4ccfe 10 iC_MU PanPos(p5,p6,p7,p13);
ms523 1:0f0423207b62 11
acodd 3:4deb86f4ccfe 12 // Tilt Motor
acodd 3:4deb86f4ccfe 13 PwmOut Tilt_Motor_PWM(p23); // Purple wire
acodd 3:4deb86f4ccfe 14 DigitalOut Tilt_Motor_Direction(p24); // Yellow wire
ms523 1:0f0423207b62 15 // Pan Motor
ms523 1:0f0423207b62 16 PwmOut Pan_Motor_PWM(p21); // Purple wire
ms523 1:0f0423207b62 17 DigitalOut Pan_Motor_Direction(p22); // Yellow wire
ms523 1:0f0423207b62 18
ms523 1:0f0423207b62 19 // Serial objects
ms523 0:3a132f85c1a8 20 Serial pc (USBTX,USBRX);
ms523 1:0f0423207b62 21
acodd 3:4deb86f4ccfe 22 int ServiceKeyboard();
acodd 3:4deb86f4ccfe 23
acodd 3:4deb86f4ccfe 24 // Global Variables for sinusoidrun
acodd 3:4deb86f4ccfe 25 float run_time = 10.0;
ms523 1:0f0423207b62 26 float start_Hz = 1.0, stop_Hz = 2.0;
acodd 3:4deb86f4ccfe 27 extern float amplitude;
acodd 3:4deb86f4ccfe 28 bool sinusoid = 0;
acodd 3:4deb86f4ccfe 29 extern float a;
acodd 3:4deb86f4ccfe 30 extern float Hz;
acodd 3:4deb86f4ccfe 31
acodd 3:4deb86f4ccfe 32 // Global variables for auto gearbox calculator
acodd 3:4deb86f4ccfe 33 bool ratiocalc = 0;
acodd 3:4deb86f4ccfe 34
ms523 1:0f0423207b62 35
ms523 1:0f0423207b62 36 // External variables
ms523 1:0f0423207b62 37 extern int LasticMuPosition;
ms523 1:0f0423207b62 38
ms523 1:0f0423207b62 39 // Functions
acodd 3:4deb86f4ccfe 40 void PanAxisInitialise();
acodd 3:4deb86f4ccfe 41 void TiltAxisInitialise();
acodd 3:4deb86f4ccfe 42 void AxisControlLoop(MyAxis& Axis);
acodd 3:4deb86f4ccfe 43
acodd 3:4deb86f4ccfe 44
acodd 3:4deb86f4ccfe 45 void RunLoop(void const *args)
acodd 3:4deb86f4ccfe 46 {
acodd 3:4deb86f4ccfe 47 AxisControlLoop(Pan);
acodd 3:4deb86f4ccfe 48 AxisControlLoop(Tilt);
acodd 3:4deb86f4ccfe 49 }
ms523 0:3a132f85c1a8 50
ms523 0:3a132f85c1a8 51 int main()
ms523 0:3a132f85c1a8 52 {
ms523 1:0f0423207b62 53 // Initalise Pan Velocity loop RtosTimer thread
acodd 3:4deb86f4ccfe 54 //Startme();
ms523 1:0f0423207b62 55 pc.baud(921600);
acodd 3:4deb86f4ccfe 56 pc.printf("\n\r AH-10 Full Test V2 \n\r");
acodd 3:4deb86f4ccfe 57 pc.printf("\n\r Press q for menu \n\r");
acodd 3:4deb86f4ccfe 58 PanAxisInitialise();
acodd 3:4deb86f4ccfe 59 TiltAxisInitialise();
acodd 3:4deb86f4ccfe 60 RtosTimer RunLoop_timer(RunLoop, osTimerPeriodic);
acodd 3:4deb86f4ccfe 61 RunLoop_timer.start(1); // Run at 1kHz
ms523 1:0f0423207b62 62
ms523 1:0f0423207b62 63
ms523 1:0f0423207b62 64 while(1) {
acodd 3:4deb86f4ccfe 65
acodd 3:4deb86f4ccfe 66 if(pc.readable()) {
acodd 3:4deb86f4ccfe 67 ServiceKeyboard();
acodd 3:4deb86f4ccfe 68 }
acodd 3:4deb86f4ccfe 69
acodd 3:4deb86f4ccfe 70 if (sinusoid) {
acodd 3:4deb86f4ccfe 71 sinusoid = false;
acodd 3:4deb86f4ccfe 72
acodd 3:4deb86f4ccfe 73 // Prompt the user to enter the test parameters
acodd 3:4deb86f4ccfe 74 pc.printf("\n\r Enter Start frequency (Hz): ");
acodd 3:4deb86f4ccfe 75 pc.scanf("%f", &start_Hz);
acodd 3:4deb86f4ccfe 76 pc.printf("%f",start_Hz);
acodd 3:4deb86f4ccfe 77
acodd 3:4deb86f4ccfe 78 pc.printf("\n\r Enter Stop frequency (Hz): ");
acodd 3:4deb86f4ccfe 79 pc.scanf("%f", &stop_Hz);
acodd 3:4deb86f4ccfe 80 pc.printf("%f",stop_Hz);
acodd 3:4deb86f4ccfe 81
acodd 3:4deb86f4ccfe 82 pc.printf("\n\r Enter Amplitude (encoder counts): ");
acodd 3:4deb86f4ccfe 83 pc.scanf("%f", &amplitude);
acodd 3:4deb86f4ccfe 84 pc.printf("%f",amplitude);
acodd 3:4deb86f4ccfe 85
acodd 3:4deb86f4ccfe 86 pc.printf("\n\r Enter Time (s): ");
acodd 3:4deb86f4ccfe 87 pc.scanf("%f", &run_time);
acodd 3:4deb86f4ccfe 88 pc.printf("%f",run_time);
acodd 3:4deb86f4ccfe 89
acodd 3:4deb86f4ccfe 90 pc.printf("\n\n\r Press any key to start test...");
acodd 3:4deb86f4ccfe 91 pc.getc();
acodd 3:4deb86f4ccfe 92
acodd 3:4deb86f4ccfe 93 a = (stop_Hz - start_Hz) / (run_time * 1000); // This is the incrementor
acodd 3:4deb86f4ccfe 94 pc.printf("\n\n\n\r ********************************************* \n\n\n\r *************************************************");
acodd 3:4deb86f4ccfe 95 // pc.printf("\n\n\r Time (ms),input,output,frequency (Hz)");
acodd 3:4deb86f4ccfe 96 pc.printf("\n\n\r Time (ms),Motor,System,frequency (Hz x 100),Demand");
acodd 3:4deb86f4ccfe 97
acodd 3:4deb86f4ccfe 98 Pan.start_SysPos = Pan.System_position;
acodd 3:4deb86f4ccfe 99 Pan.start_MotPos = Pan.Motor_position;
acodd 3:4deb86f4ccfe 100
acodd 3:4deb86f4ccfe 101 Tilt.start_SysPos = Tilt.System_position;
acodd 3:4deb86f4ccfe 102 Tilt.start_MotPos = Tilt.Motor_position;
acodd 3:4deb86f4ccfe 103
acodd 3:4deb86f4ccfe 104 // Set the test running#
acodd 3:4deb86f4ccfe 105 if (Pan.jog > 0){
acodd 3:4deb86f4ccfe 106 Pan.sinusoidrun = 1;
acodd 3:4deb86f4ccfe 107 }
acodd 3:4deb86f4ccfe 108 if (Tilt.jog > 0) {
acodd 3:4deb86f4ccfe 109 Tilt.sinusoidrun = 1;
acodd 3:4deb86f4ccfe 110 }
acodd 3:4deb86f4ccfe 111 }
acodd 3:4deb86f4ccfe 112
acodd 3:4deb86f4ccfe 113 if (ratiocalc) {
acodd 3:4deb86f4ccfe 114 ratiocalc = false;
acodd 3:4deb86f4ccfe 115
acodd 3:4deb86f4ccfe 116 Pan.start_SysPos = Pan.System_position;
acodd 3:4deb86f4ccfe 117 Pan.start_MotPos = Pan.Motor_position;
acodd 3:4deb86f4ccfe 118
acodd 3:4deb86f4ccfe 119 Pan.calcmyratio = true;
acodd 3:4deb86f4ccfe 120
acodd 3:4deb86f4ccfe 121 Tilt.start_SysPos = Tilt.System_position;
acodd 3:4deb86f4ccfe 122 Tilt.start_MotPos = Tilt.Motor_position;
acodd 3:4deb86f4ccfe 123
acodd 3:4deb86f4ccfe 124 Tilt.calcmyratio = true;
acodd 3:4deb86f4ccfe 125 }
ms523 0:3a132f85c1a8 126 }
ms523 0:3a132f85c1a8 127
ms523 0:3a132f85c1a8 128 }