Revision 5:090ef6275773, committed 2014-01-28

Comitter:

sandwich

Date:

Tue Jan 28 23:59:21 2014 +0000

Parent:

4:f081a97ca000

Child:

6:a4d6f3e4bf28

Commit message:

added interrupts

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PwmReader.cpp	Tue Jan 28 23:59:21 2014 +0000
@@ -0,0 +1,44 @@
+#include "PwmReader.h"
+
+//Constructors
+PwmReader::PwmReader(PinName pwmInPort)
+{
+    di = new InterruptIn(pwmInPort);
+    
+    lastRise = 0;
+    period = 0;
+    duty = 0.0;
+    di->rise(this,&PwmReader::pwmRise);  // attach the address of the flip function to the rising edge
+    di->fall(this,&PwmReader::pwmFall);
+}
+
+PwmReader::~PwmReader()
+{
+    delete di;
+}
+
+// public methods
+float PwmReader::getDuty()
+{
+    return duty;
+}
+
+// private methods
+void PwmReader::pwmRise()
+{
+    int rise = t.read_us();
+    if( (lastRise > 0) && (rise > lastRise) ) {
+        period = rise - lastRise;
+    }
+    lastRise = rise;
+
+}
+
+void PwmReader::pwmFall()
+{
+    int fallTime = t.read_us();
+    if(period > 0 ) {
+        int delta = fallTime - lastRise;
+        duty = float(delta)/float(period);
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PwmReader.h	Tue Jan 28 23:59:21 2014 +0000
@@ -0,0 +1,23 @@
+#pragma once
+#include "mbed.h"
+
+class PwmReader
+{
+    public:
+    PwmReader();
+    PwmReader(PinName pwmInPort);
+    ~PwmReader();
+    
+    float getDuty();         //0 to 1
+    
+    protected:
+    void pwmRise();    //0 to 1
+    void pwmFall();    //-1 to 1
+    
+    InterruptIn* di;
+    int lastRise;
+    int period;
+    float duty;
+    Timer t; 
+    
+};
\ No newline at end of file

--- a/guardian.cpp	Fri Jan 24 22:04:41 2014 +0000
+++ b/guardian.cpp	Tue Jan 28 23:59:21 2014 +0000
@@ -9,7 +9,7 @@
     aux=new Servo(auxpin);
     */
     gain=new Servo(gainpin);
-    mod->write(0.5);
+    mod->write(0.5); //set autopilot to off
     ail->write(0.5);
     elv->write(0.5);
     /*rud->write(0.5);
@@ -23,13 +23,13 @@
     delete ail, mod, elv, rud, aux, gain;
 }
 
-void Guardian::set3D()
+void Guardian::set3D() //set autopilot to 3D
 {
     mod->write(1.00);
     return;
 }
 
-void Guardian::set2D()
+void Guardian::set2D() //set autopilot 2D
 {
     mod->write(0.00);
     return;
@@ -44,11 +44,11 @@
 void Guardian::calibrate() //must be done within 15 sec of power on
 {
     set2D();
-    wait(500);
+    Thread::wait(500);
     set3D();
-    wait(500);
+    Thread::wait(500);
     set2D();
-    wait(2000);
+    Thread::wait(2000);
     //now look for the twitch
     return;
 }

--- a/guardian.h	Fri Jan 24 22:04:41 2014 +0000
+++ b/guardian.h	Tue Jan 28 23:59:21 2014 +0000
@@ -1,6 +1,7 @@
 #pragma once
 #include "mbed.h"
 #include "Servo.h"
+#include "rtos.h"
 
 class Guardian
 {

--- a/main.cpp	Fri Jan 24 22:04:41 2014 +0000
+++ b/main.cpp	Tue Jan 28 23:59:21 2014 +0000
@@ -4,7 +4,7 @@
 #include "IMU.h"
 #include "Servo.h"
 #include "rtos.h"
-
+#include "PwmReader.h"
 bool quit=false;
 
 PololuMController mcon(p22, p6, p5);
@@ -13,13 +13,22 @@
 Serial xbee(p13, p14);
 Serial pc(USBTX, USBRX);
 
+
 //IMU imu(0.1, 0.3, 0.005, 0.005);
 void motor_thread(void const *args) {
-
+    
     Timer t;
     t.start();
-    while (quit==false) {
-        mcon.drive_sinusoidal(t.read(), 1, 2*3.14, 0);
+    PwmReader thrDutyCycl(p7);
+    
+    PwmReader freqDutyCycl(p8);   
+    
+    while (quit==false) {     
+        float td = thrDutyCycl.getDuty();
+        float fd = freqDutyCycl.getDuty();
+        pc.printf("throttle: %f frequency: %f\n",td,fd);
+        mcon.drive_sinusoidal(t.read(), 1, 2*3.141 ,0); // (time,amplitude,frequency,freqoffset)
+        Thread::wait(10);
     }
     t.stop();
 }
@@ -27,15 +36,20 @@
 int main()
 {
     Thread thread(motor_thread);
-    ap.calibrate();
-    ap.set2D();
-    while(1) {
-        char buf[128];
-        if (xbee.readable())
-        {
-            xbee.gets(buf, 128);
-            pc.puts(buf);
-        }
-        memset(buf, 0, 128);
+    //ap.calibrate();
+    //ap.set2D();
+    ap.setoff();
+        while(1) {
+        //char buf[128];
+//        if (xbee.readable())
+//        {
+//            xbee.gets(buf, 128);
+//            //xbee.scanf("%d");
+//            pc.puts(buf);
+//        }
+//        memset(buf, 0, 128);
+               
+        
+        Thread::wait(10);
     }
 }

--- a/motor_controller.cpp	Fri Jan 24 22:04:41 2014 +0000
+++ b/motor_controller.cpp	Tue Jan 28 23:59:21 2014 +0000
@@ -51,4 +51,4 @@
 {
     setpolarspeed(a*sin(w*cur_time+phi));
     return;
-}
\ No newline at end of file
+}