Diff: main.cpp

Revision:

0:8c805c2b0d35

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 26 13:43:39 2015 +0000
@@ -0,0 +1,55 @@
+#include "mbed.h"
+#include "QEI.h"
+
+PwmOut turret_speed(p21);
+DigitalOut turret_direction(p22);
+
+QEI myEncoder (p16,p15, NC, 1600); 
+Timer t;
+
+int main()
+{
+float input_dc =50.0; 
+int user_direction = 0;
+float duty_cycle ; 
+int pulses = 0; 
+float theta[500] ;  
+float time[500];
+float Kp = 0.2;  
+int counter = 1; 
+int k; 
+
+float theta_ref = 3.14/4.0; 
+
+while(1)
+    {
+    printf("Enter duty cycle, 0 to 100:\n"); 
+    scanf("%f", &input_dc); 
+    
+    duty_cycle = input_dc/100.0;  
+    
+    printf("\n %f duty cycle set. Enter 1 for CCW or 0 for CW spin direction:\n",duty_cycle); 
+    scanf("%d", &user_direction); 
+    
+    t.start();
+    turret_speed = duty_cycle; 
+    turret_direction = user_direction; 
+    
+    while (t.read()<5.05)
+    {
+        wait(0.01); 
+        pulses = myEncoder.getPulses(); 
+        theta[counter] = ((float)pulses/ (1600.0*2.0))*-2.0*3.14;
+        time[counter] = t.read(); 
+        printf("Time(%d)= %f       Angle(%d) = %f \n", counter+1,time[counter],counter+1, theta[counter]);
+        counter= counter + 1; 
+    }
+    t.stop();
+    for(k=0; k<counter; k++) 
+        {
+            printf("time(%d,1) = %.5f;\n",k+1,time[k]);
+            printf("theta(%d,1) = %.5f;\n",k+1,theta[k]);  
+                  
+        }    
+    }
+}
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