Christina Lanier
Code for the Transfer Function Modelling
Revision 0:8c805c2b0d35, committed 2015-03-26
- Comitter:
- LanierUSNA16
- Date:
- Thu Mar 26 13:43:39 2015 +0000
- Commit message:
- Modelling Code;
Changed in this revision
diff -r 000000000000 -r 8c805c2b0d35 QEI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Thu Mar 26 13:43:39 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r 8c805c2b0d35 main.cpp
--- /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]);
+
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 8c805c2b0d35 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Mar 26 13:43:39 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/487b796308b0 \ No newline at end of file