Daniel Camuti
Code written for the encoder
Revision 0:57a56e69e3cc, committed 2016-03-22
- Comitter:
- DCamuti
- Date:
- Tue Mar 22 15:30:43 2016 +0000
- Commit message:
- N/A
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.cpp Tue Mar 22 15:30:43 2016 +0000
@@ -0,0 +1,122 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "QEI.h"
+
+// Definitions
+#define PI (3.1415926)
+#define LOG_FREQ (100) // (Hz) - data logging frequency
+#define NUM_DATA_PTS (500) // (#) - number of data points at above LOG_FREQ;
+
+// Classes and objects
+QEI enc(p17,p16,NC,1600); // Need to know PPR count of selected encoder
+Serial pc(USBTX, USBRX);
+Motor m(p22,p21,p23); // pin 18 will not be used
+Timer t;
+Ticker ticker_timer;
+DigitalOut mbed_LED(LED1);
+
+// Create local file system under the name "mBed_drive"
+LocalFileSystem mBed_drive("local");
+
+// Global declarations
+int num_data_pts_rec, i;
+char c;
+float theta;
+float lv_time[NUM_DATA_PTS];
+float lv_theta[NUM_DATA_PTS];
+
+
+// timer_function
+void timer_function()
+{
+
+//generate random data
+//float min = 0.1 / 3.3; //Define 0.1 V as ~03% from 3.3 V
+//float max = 3.2 / 3.3; //Define 3.2 V as ~97% from 3.3 V
+
+//measure signal
+//signal = min + ((float)rand()/RAND_MAX)*(max - min)*3.3; // Generate random voltage output from 0.1 to 3.2
+//printf("Voltage= %1.2f \n", signal); // Debug
+
+// Measure theta
+ theta = (long)enc.getPulses()/(1600.0*2.0)*2.0*PI; // The QEI uses 2X interpolation by default.
+ if(num_data_pts_rec<NUM_DATA_PTS) {
+ lv_time[num_data_pts_rec] = t.read();
+ lv_theta[num_data_pts_rec] = theta;
+ num_data_pts_rec++;
+ }
+}
+
+// main function
+int main()
+{
+ // Serial port initializations
+ pc.baud(9600);
+
+ // Initialize encoder
+ enc.reset();
+
+ // Number of data points recorded
+ num_data_pts_rec = 0;
+
+ // Clear Terra Term screen
+ for(i=1; i<80; i++)
+ pc.printf("\n\r");
+
+ // Prompt user to start recording data.
+ pc.printf("Running datalog.cpp.\r\n");
+ pc.printf("____________________________________________________________r\n");
+ pc.printf("\r\nPress any key to start.\r\n");
+
+ // Wait until user presses a key
+ while(!pc.readable());
+ c = pc.getc();
+ c = '\0';
+
+ // Start timer and tickers
+ t.start();
+ ticker_timer.attach(&timer_function,1.0/LOG_FREQ);
+
+ // Measurement while loop
+ while(num_data_pts_rec < NUM_DATA_PTS) {
+ // Print data to screen
+ pc.printf("%.2f %.2f; \n\r",t.read(),theta);
+ }
+
+ // Turn off ticker functions
+ ticker_timer.detach();
+
+ // File initialization
+ pc.printf("Opening mBed_output.m ... ");
+ FILE *fp = fopen("/local/mBedOut.m", "w");
+ pc.printf("done.\n");
+
+ // Print measured data to local file.
+ pc.printf("Printing measured data to local file ... ");
+ fprintf(fp,"lv.time = [ \n");
+ for(i=0; i<num_data_pts_rec; i++) {
+ //fprintf(fp,"lv.time(%d,1) = [ %.5f;\n",i+1,lv_time[i]);
+ fprintf(fp, "%.5f; \n",lv_time[i]);
+ }
+ fprintf(fp,"]; \n");
+ fprintf(fp,"lv.theta = [ \n");
+ for(i=0; i<num_data_pts_rec; i++) {
+ fprintf(fp,"%.5f;\n",lv_theta[i]);
+ }
+ fprintf(fp,"]; \n");
+ fprintf(fp,"plot(lv.time,lv.theta); \n");
+ fprintf(fp,"xlabel('time (s)'); \n");
+ fprintf(fp,"ylabel('radians'); \n");
+
+ //fprintf(fp,"lv.units = '(volts)';");
+ pc.printf("done.\n\r");
+
+ // Close file
+ fclose(fp);
+
+ // Finished
+ pc.printf("____________________________________________________________\r\n\r\n");
+ pc.printf("\n\rProgram exited normally. End of line.\n\r");
+
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Tue Mar 22 15:30:43 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Tue Mar 22 15:30:43 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Mar 22 15:30:43 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/87f2f5183dfb \ No newline at end of file