Revision 7:e005cfaff8d1, committed 2014-01-30

Comitter:

sandwich

Date:

Thu Jan 30 02:04:23 2014 +0000

Parent:

6:a4d6f3e4bf28

Child:

8:0574a5db1fc4

Commit message:

removed rtos and added interrupt reading

Changed in this revision

--- a/PwmReader.cpp	Wed Jan 29 05:04:50 2014 +0000
+++ b/PwmReader.cpp	Thu Jan 30 02:04:23 2014 +0000
@@ -14,13 +14,17 @@
     lastRise = 0;
     period = 0;
     duty = 0.0;
+    di->mode(PullDown);
     di->rise(this,&PwmReader::pwmRise);  // attach the address of the flip function to the rising edge
     di->fall(this,&PwmReader::pwmFall);
+    
+    t.start();
 }
 
 PwmReader::~PwmReader()
 {
     delete di;
+    t.stop();
 }
 
 // public methods

--- a/PwmReader.h	Wed Jan 29 05:04:50 2014 +0000
+++ b/PwmReader.h	Thu Jan 30 02:04:23 2014 +0000
@@ -11,8 +11,8 @@
     float getDuty();         //0 to 1
     
     protected:
-    void pwmRise();    //0 to 1
-    void pwmFall();    //-1 to 1
+    void pwmRise();    
+    void pwmFall();    
     
     private:
     InterruptIn* di;

--- a/guardian.cpp	Wed Jan 29 05:04:50 2014 +0000
+++ b/guardian.cpp	Thu Jan 30 02:04:23 2014 +0000
@@ -44,11 +44,11 @@
 void Guardian::calibrate() //must be done within 15 sec of power on
 {
     set2D();
-    Thread::wait(500);
+    wait(500);
     set3D();
-    Thread::wait(500);
+    wait(500);
     set2D();
-    Thread::wait(2000);
+    wait(2000);
     //now look for the twitch
     return;
 }

--- a/guardian.h	Wed Jan 29 05:04:50 2014 +0000
+++ b/guardian.h	Thu Jan 30 02:04:23 2014 +0000
@@ -1,7 +1,6 @@
 #pragma once
 #include "mbed.h"
 #include "Servo.h"
-#include "rtos.h"
 
 class Guardian
 {

--- a/main.cpp	Wed Jan 29 05:04:50 2014 +0000
+++ b/main.cpp	Thu Jan 30 02:04:23 2014 +0000
@@ -1,9 +1,9 @@
 #include "mbed.h"
 #include "motor_controller.h"
 #include "guardian.h"
-#include "IMU.h"
+//#include "IMU.h"
 #include "Servo.h"
-#include "rtos.h"
+//#include "rtos.h"
 #include "PwmReader.h"
 
 #define THROTTLE_MAX 0.4
@@ -15,54 +15,34 @@
 
 bool quit=false;
 
+InterruptIn event(p16);
 PololuMController mcon(p22, p6, p5);
 Servo servo(p21);
 Guardian ap(p21, p23, p24, p25, p26, p26);
 Serial xbee(p13, p14);
 Serial pc(USBTX, USBRX);
+PwmReader ch3(p16, 0.054, 0.094);
+PwmReader ch6(p15, 0.054, 0.094);
+Timer t;
 
 float throttle, frequency, rudder;
-
-//IMU imu(0.1, 0.3, 0.005, 0.005);
-void motor_thread(void const *args) {
-    
-    Timer t;
+int main()
+{
+    //ap.calibrate();
+    //ap.set2D();
+    ap.setoff();
     t.start();
-    PwmReader thrDutyCycl(p7, THROTTLE_MIN, THROTTLE_MAX);
-    PwmReader freqDutyCycl(p8, FREQUENCY_MIN, FREQUENCY_MAX);   
-    PwmReader rudDutyCycl(p9, RUDDER_MIN, RUDDER_MAX);
-    
-    while (quit==false) {     
-        throttle = thrDutyCycl.getDuty();
-        frequency = freqDutyCycl.getDuty();
-        rudder = rudDutyCycl.getDuty();
+    while(1) {
+        
+        float vol_norm=ch3.getDuty();
+        float freq_norm=ch6.getDuty();
         
-        
-        mcon.drive_sinusoidal(t.read(), throttle, frequency); // (time,amplitude,frequency,freqoffset)
-        Thread::wait(5);
+        pc.printf("channel 3: %f, channel 6: %f\n", vol_norm, freq_norm);
+        //mcon.drive_rectangular(t.read(), vol_norm*freq_norm, 3*freq_norm);
+        mcon.drive_sinusoidal(t.read(), vol_norm*freq_norm, 3*freq_norm);
+        //pc.printf("time: %f\n\r", t.read());
+        //pc.printf("throttle: %f frequency: %f rudder: %f\n\r",throttle,frequency,rudder);
+        //wait_ms(10);
     }
     t.stop();
 }
-
-int main()
-{
-    Thread thread(motor_thread);
-    //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);
-         
-         //print throttle and frequency to the terminal
-          pc.printf("throttle: %f frequency: %f rudder: %f\n\r",throttle,frequency,rudder);
-               
-          Thread::wait(500);
-    }
-}

--- a/mbed-rtos.lib	Wed Jan 29 05:04:50 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbed_official/code/mbed-rtos/#f88660a9bed1

--- a/motor_controller.cpp	Wed Jan 29 05:04:50 2014 +0000
+++ b/motor_controller.cpp	Thu Jan 30 02:04:23 2014 +0000
@@ -1,5 +1,15 @@
 #include "motor_controller.h"
 
+float sigm(float input)
+{
+    if (input>0)
+        return 1;
+    else if (input<0)
+        return -1;
+    else
+        return 0;
+}
+
 PololuMController::PololuMController(PinName pwmport, PinName A, PinName B)
 {
     pwm=new PwmOut(pwmport);
@@ -49,9 +59,17 @@
 
 void PololuMController::drive_sinusoidal(float currentTime, float dutyCycle, float frequency)
 {
-    //convert frequency form 0.0 to 1.0
-    float f = (FREQ_MAX - FREQ_MIN) * f + FREQ_MIN; 
-    
-    setpolarspeed(dutyCycle*sin( 2.0* MATH_PI* f * currentTime));
+   
+    setpolarspeed(dutyCycle*sin( 2.0* MATH_PI* frequency * currentTime));
     return;
 }
+
+void PololuMController::drive_rectangular(float currentTime, float amplitude, float frequency)
+{    
+    //setpolarspeed(dutyCycle*sin( 2.0* MATH_PI* f * currentTime));
+    float sinRes = sin( 2.0* MATH_PI* frequency * currentTime);
+    
+    float dutycycle = amplitude * sigm( sinRes);
+    setpolarspeed(dutycycle);
+    return;
+}

--- a/motor_controller.h	Wed Jan 29 05:04:50 2014 +0000
+++ b/motor_controller.h	Thu Jan 30 02:04:23 2014 +0000
@@ -2,7 +2,9 @@
 #include "mbed.h"
 #define MATH_PI 3.14159265359
 #define FREQ_MIN 0.5  //Hz
-#define FREQ_MAX 8  //Hz
+#define FREQ_MAX 3  //Hz
+
+float sigm(float input);
 
 class PololuMController
 {
@@ -19,4 +21,5 @@
     void setpolarspeed(float speed);    //-1 to 1
     void reverse();                     //only works on non-polar speed
     void drive_sinusoidal(float currentTime, float dutyCycle, float frequency);
+    void drive_rectangular(float currentTime, float amplitude, float frequency);
 };
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