Daniel Camuti / Mbed 2 deprecated ES309_Project3

Code written for the encoder

Dependencies:   Motor QEI mbed

Encoder.cpp@0:57a56e69e3cc, 2016-03-22 (annotated)

Committer:
DCamuti
Date:
Tue Mar 22 15:30:43 2016 +0000
Revision:
0:57a56e69e3cc
N/A

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DCamuti 0:57a56e69e3cc 1 #include "mbed.h"
DCamuti 0:57a56e69e3cc 2 #include "Motor.h"
DCamuti 0:57a56e69e3cc 3 #include "QEI.h"
DCamuti 0:57a56e69e3cc 4
DCamuti 0:57a56e69e3cc 5 // Definitions
DCamuti 0:57a56e69e3cc 6 #define PI (3.1415926)
DCamuti 0:57a56e69e3cc 7 #define LOG_FREQ (100) // (Hz) - data logging frequency
DCamuti 0:57a56e69e3cc 8 #define NUM_DATA_PTS (500) // (#) - number of data points at above LOG_FREQ;
DCamuti 0:57a56e69e3cc 9
DCamuti 0:57a56e69e3cc 10 // Classes and objects
DCamuti 0:57a56e69e3cc 11 QEI enc(p17,p16,NC,1600); // Need to know PPR count of selected encoder
DCamuti 0:57a56e69e3cc 12 Serial pc(USBTX, USBRX);
DCamuti 0:57a56e69e3cc 13 Motor m(p22,p21,p23); // pin 18 will not be used
DCamuti 0:57a56e69e3cc 14 Timer t;
DCamuti 0:57a56e69e3cc 15 Ticker ticker_timer;
DCamuti 0:57a56e69e3cc 16 DigitalOut mbed_LED(LED1);
DCamuti 0:57a56e69e3cc 17
DCamuti 0:57a56e69e3cc 18 // Create local file system under the name "mBed_drive"
DCamuti 0:57a56e69e3cc 19 LocalFileSystem mBed_drive("local");
DCamuti 0:57a56e69e3cc 20
DCamuti 0:57a56e69e3cc 21 // Global declarations
DCamuti 0:57a56e69e3cc 22 int num_data_pts_rec, i;
DCamuti 0:57a56e69e3cc 23 char c;
DCamuti 0:57a56e69e3cc 24 float theta;
DCamuti 0:57a56e69e3cc 25 float lv_time[NUM_DATA_PTS];
DCamuti 0:57a56e69e3cc 26 float lv_theta[NUM_DATA_PTS];
DCamuti 0:57a56e69e3cc 27
DCamuti 0:57a56e69e3cc 28
DCamuti 0:57a56e69e3cc 29 // timer_function
DCamuti 0:57a56e69e3cc 30 void timer_function()
DCamuti 0:57a56e69e3cc 31 {
DCamuti 0:57a56e69e3cc 32
DCamuti 0:57a56e69e3cc 33 //generate random data
DCamuti 0:57a56e69e3cc 34 //float min = 0.1 / 3.3; //Define 0.1 V as ~03% from 3.3 V
DCamuti 0:57a56e69e3cc 35 //float max = 3.2 / 3.3; //Define 3.2 V as ~97% from 3.3 V
DCamuti 0:57a56e69e3cc 36
DCamuti 0:57a56e69e3cc 37 //measure signal
DCamuti 0:57a56e69e3cc 38 //signal = min + ((float)rand()/RAND_MAX)*(max - min)*3.3; // Generate random voltage output from 0.1 to 3.2
DCamuti 0:57a56e69e3cc 39 //printf("Voltage= %1.2f \n", signal); // Debug
DCamuti 0:57a56e69e3cc 40
DCamuti 0:57a56e69e3cc 41 // Measure theta
DCamuti 0:57a56e69e3cc 42 theta = (long)enc.getPulses()/(1600.0*2.0)*2.0*PI; // The QEI uses 2X interpolation by default.
DCamuti 0:57a56e69e3cc 43 if(num_data_pts_rec<NUM_DATA_PTS) {
DCamuti 0:57a56e69e3cc 44 lv_time[num_data_pts_rec] = t.read();
DCamuti 0:57a56e69e3cc 45 lv_theta[num_data_pts_rec] = theta;
DCamuti 0:57a56e69e3cc 46 num_data_pts_rec++;
DCamuti 0:57a56e69e3cc 47 }
DCamuti 0:57a56e69e3cc 48 }
DCamuti 0:57a56e69e3cc 49
DCamuti 0:57a56e69e3cc 50 // main function
DCamuti 0:57a56e69e3cc 51 int main()
DCamuti 0:57a56e69e3cc 52 {
DCamuti 0:57a56e69e3cc 53 // Serial port initializations
DCamuti 0:57a56e69e3cc 54 pc.baud(9600);
DCamuti 0:57a56e69e3cc 55
DCamuti 0:57a56e69e3cc 56 // Initialize encoder
DCamuti 0:57a56e69e3cc 57 enc.reset();
DCamuti 0:57a56e69e3cc 58
DCamuti 0:57a56e69e3cc 59 // Number of data points recorded
DCamuti 0:57a56e69e3cc 60 num_data_pts_rec = 0;
DCamuti 0:57a56e69e3cc 61
DCamuti 0:57a56e69e3cc 62 // Clear Terra Term screen
DCamuti 0:57a56e69e3cc 63 for(i=1; i<80; i++)
DCamuti 0:57a56e69e3cc 64 pc.printf("\n\r");
DCamuti 0:57a56e69e3cc 65
DCamuti 0:57a56e69e3cc 66 // Prompt user to start recording data.
DCamuti 0:57a56e69e3cc 67 pc.printf("Running datalog.cpp.\r\n");
DCamuti 0:57a56e69e3cc 68 pc.printf("____________________________________________________________r\n");
DCamuti 0:57a56e69e3cc 69 pc.printf("\r\nPress any key to start.\r\n");
DCamuti 0:57a56e69e3cc 70
DCamuti 0:57a56e69e3cc 71 // Wait until user presses a key
DCamuti 0:57a56e69e3cc 72 while(!pc.readable());
DCamuti 0:57a56e69e3cc 73 c = pc.getc();
DCamuti 0:57a56e69e3cc 74 c = '\0';
DCamuti 0:57a56e69e3cc 75
DCamuti 0:57a56e69e3cc 76 // Start timer and tickers
DCamuti 0:57a56e69e3cc 77 t.start();
DCamuti 0:57a56e69e3cc 78 ticker_timer.attach(&timer_function,1.0/LOG_FREQ);
DCamuti 0:57a56e69e3cc 79
DCamuti 0:57a56e69e3cc 80 // Measurement while loop
DCamuti 0:57a56e69e3cc 81 while(num_data_pts_rec < NUM_DATA_PTS) {
DCamuti 0:57a56e69e3cc 82 // Print data to screen
DCamuti 0:57a56e69e3cc 83 pc.printf("%.2f %.2f; \n\r",t.read(),theta);
DCamuti 0:57a56e69e3cc 84 }
DCamuti 0:57a56e69e3cc 85
DCamuti 0:57a56e69e3cc 86 // Turn off ticker functions
DCamuti 0:57a56e69e3cc 87 ticker_timer.detach();
DCamuti 0:57a56e69e3cc 88
DCamuti 0:57a56e69e3cc 89 // File initialization
DCamuti 0:57a56e69e3cc 90 pc.printf("Opening mBed_output.m ... ");
DCamuti 0:57a56e69e3cc 91 FILE *fp = fopen("/local/mBedOut.m", "w");
DCamuti 0:57a56e69e3cc 92 pc.printf("done.\n");
DCamuti 0:57a56e69e3cc 93
DCamuti 0:57a56e69e3cc 94 // Print measured data to local file.
DCamuti 0:57a56e69e3cc 95 pc.printf("Printing measured data to local file ... ");
DCamuti 0:57a56e69e3cc 96 fprintf(fp,"lv.time = [ \n");
DCamuti 0:57a56e69e3cc 97 for(i=0; i<num_data_pts_rec; i++) {
DCamuti 0:57a56e69e3cc 98 //fprintf(fp,"lv.time(%d,1) = [ %.5f;\n",i+1,lv_time[i]);
DCamuti 0:57a56e69e3cc 99 fprintf(fp, "%.5f; \n",lv_time[i]);
DCamuti 0:57a56e69e3cc 100 }
DCamuti 0:57a56e69e3cc 101 fprintf(fp,"]; \n");
DCamuti 0:57a56e69e3cc 102 fprintf(fp,"lv.theta = [ \n");
DCamuti 0:57a56e69e3cc 103 for(i=0; i<num_data_pts_rec; i++) {
DCamuti 0:57a56e69e3cc 104 fprintf(fp,"%.5f;\n",lv_theta[i]);
DCamuti 0:57a56e69e3cc 105 }
DCamuti 0:57a56e69e3cc 106 fprintf(fp,"]; \n");
DCamuti 0:57a56e69e3cc 107 fprintf(fp,"plot(lv.time,lv.theta); \n");
DCamuti 0:57a56e69e3cc 108 fprintf(fp,"xlabel('time (s)'); \n");
DCamuti 0:57a56e69e3cc 109 fprintf(fp,"ylabel('radians'); \n");
DCamuti 0:57a56e69e3cc 110
DCamuti 0:57a56e69e3cc 111 //fprintf(fp,"lv.units = '(volts)';");
DCamuti 0:57a56e69e3cc 112 pc.printf("done.\n\r");
DCamuti 0:57a56e69e3cc 113
DCamuti 0:57a56e69e3cc 114 // Close file
DCamuti 0:57a56e69e3cc 115 fclose(fp);
DCamuti 0:57a56e69e3cc 116
DCamuti 0:57a56e69e3cc 117 // Finished
DCamuti 0:57a56e69e3cc 118 pc.printf("____________________________________________________________\r\n\r\n");
DCamuti 0:57a56e69e3cc 119 pc.printf("\n\rProgram exited normally. End of line.\n\r");
DCamuti 0:57a56e69e3cc 120
DCamuti 0:57a56e69e3cc 121 }
DCamuti 0:57a56e69e3cc 122