Diff: main.cpp

Revision:

0:968adb203327

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Nov 09 01:41:59 2015 +0000
@@ -0,0 +1,75 @@
+#include "mbed.h"
+#include "mbedWSEsbc.h"
+#define PI (3.14159)
+
+// Declaring variables
+int go; // variable passed from MATLAB to start data collection
+float st = 1.0; // desired sampling time
+float sp = 0.01; // sampling period
+float dt; // loop time
+long O; // oscillations measured
+float OR;// oscillations in radians
+float low;
+float high;
+float ang_pos_prev = 0.0;
+float omega;
+float dc;
+float Time; // reset time variable
+
+int main()
+{
+    mbedWSEsbcInit(115200); // initialize ES305 breakout board
+    mot_en1.period(0.020);
+    
+    // User initializes data collection w/o MATLAB
+    pc.printf("Press 1 to start data collection"); // prompts user
+    // pc.scanf("%.0f",&go); // records user input
+
+    // MATLAB initialized data collection
+    pc.scanf("%d,%f,%f",&go,&low,&high);
+
+    while(go == 1) {
+
+        Time = 0.0;
+        t.reset(); // reset timer object
+
+        while(Time <= st) {
+            t.start(); // starting timer for sample
+
+            // data collection and processing
+            O = LS7366_read_counter(1); // reads from encoder
+            OR = O*(2*PI/6500.0); // counts to radians
+            omega = (OR-ang_pos_prev)/sp;
+            ang_pos_prev = OR;
+            
+            if(Time < 0.1){
+                dc = 0.0;
+            }
+            else if(Time >= 0.1 && Time < 0.55){
+                dc = low;
+            }
+            else{
+                dc=high;
+            }
+            
+            mot_control(1,dc); // gives the motor a duty cycle
+            
+            pc.printf("%f,%f,%f\n",Time,omega,dc); // sending values to MATLAB
+
+            
+            Time = Time + sp; // updates time
+
+            // wait to achieve sampling rate
+            dt = sp - t.read();
+            wait(dt);
+
+            t.reset(); // resets timer for sampling loop
+        } // ends sampling loop
+        mot_control(1,0.0);
+        // repeat data collection if need exists
+        // pc.printf("Run data collection again? Press 1. If not, press 0.\n\r");
+        pc.scanf("%d,%f,%f",&go,&low,&high);
+
+    } // ends data collection trigger loop
+
+} // ends main