Daniel Camuti
Runs a DC motor for 30 interations to evaluate transfer function of physical parameters
Revision 0:968adb203327, committed 2015-11-09
- Comitter:
- DCamuti
- Date:
- Mon Nov 09 01:41:59 2015 +0000
- Commit message:
- ES305 Lab 5
Changed in this revision
--- /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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Nov 09 01:41:59 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/34e6b704fe68 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbedWSEsbc.lib Mon Nov 09 01:41:59 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/jebradshaw/code/mbedWSEsbc/#9041603c430e