Marieke M
Counts and Derivative of counts working in Putty, first changes for HIDScope made.
Dependencies: MODSERIAL QEI mbed HIDScope
Revision 2:915abd97ac16, committed 2016-10-11
- Comitter:
- Marieke
- Date:
- Tue Oct 11 11:38:43 2016 +0000
- Parent:
- 1:812a1637b6cb
- Commit message:
- HIDScope all working!
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HIDScope.lib Tue Oct 11 11:38:43 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/tomlankhorst/code/HIDScope/#188304906687
--- a/main.cpp Tue Oct 11 11:28:07 2016 +0000
+++ b/main.cpp Tue Oct 11 11:38:43 2016 +0000
@@ -2,6 +2,7 @@
#include <math.h>
#include "MODSERIAL.h"
#include "QEI.h"
+#include "HIDScope.h"
DigitalIn encoder1A (D13); //Channel A van Encoder 1
DigitalIn encoder1B (D12); //Channel B van Encoder 1
@@ -14,18 +15,19 @@
Serial pc(USBTX,USBRX);
-Ticker MeasureTicker, sampleT, TimeTracker;
+Ticker MeasureTicker;// sampleT, TimeTracker;
+HIDScope scope(2);
int counts;
-float DerivativeCounts;
+double DerivativeCounts;
int countsPrev = 0;
float referenceVelocity = 0;
-volatile bool MeasureTicker_go=false, TimeTracker_go=false, sampleT_go=false;
+volatile bool MeasureTicker_go=false;// TimeTracker_go=false, sampleT_go=false;
void MeasureTicker_act(){MeasureTicker_go=true;}; // Activates go-flags
-void TimeTracker_act(){TimeTracker_go=true;};
-void sampleT_act(){sampleT_go=true;};
+//void TimeTracker_act(){TimeTracker_go=true;};
+//void sampleT_act(){sampleT_go=true;};
float GetReferenceVelocity()
{
@@ -75,13 +77,6 @@
float referenceVelocity = GetReferenceVelocity();
float motorValue = FeedForwardControl(referenceVelocity);
SetMotor1(motorValue);
- //int countsPrev = 0;
- /* QEI Encoder(D12, D13, NC, 32); // turns on encoder
- counts = Encoder.getPulses(); // gives position
- DerivativeCounts = ((float) counts-countsPrev)/0.01;
- countsPrev = counts;
- pc.printf("Counts: %i rad/s \r\n", counts);
- pc.printf("Derivative Counts: %d rad/s \r\n", DerivativeCounts);*/
}
void TimeTrackerF(){
@@ -114,12 +109,12 @@
led2=0;
float Potmeter = potMeterIn.read();
MeasureTicker.attach(&MeasureTicker_act, 0.01f);
- TimeTracker.attach(&TimeTracker_act, 0.1f);
+ //TimeTracker.attach(&TimeTracker_act, 0.1f);
pc.baud(115200);
QEI Encoder(D12, D13, NC, 32); // turns on encoder
//sampleT.attach(&sampleT_act, 0.1f);
- pc.printf("Reference velocity: %f rad/s \r\n", referenceVelocity);
- pc.printf("Potmeter: %f rad/s \r\n", Potmeter);
+ //pc.printf("Reference velocity: %f rad/s \r\n", referenceVelocity);
+ //pc.printf("Potmeter: %f rad/s \r\n", Potmeter);
while(1)
{
@@ -128,19 +123,19 @@
MeasureAndControl();
// Encoder part
counts = Encoder.getPulses(); // gives position
- DerivativeCounts = ((float) counts-countsPrev)/0.01;
+ DerivativeCounts = ((double) counts-countsPrev)/0.01;
countsPrev = counts;
scope.set(0,counts);
scope.set(1,DerivativeCounts);
scope.send();countsPrev = counts;
- pc.printf("Counts: %i rad/s \r\n", counts);
- pc.printf("Derivative Counts: %f rad/s \r\n", DerivativeCounts);
+ //pc.printf("Counts: %i rad/s \r\n", counts);
+ //pc.printf("Derivative Counts: %f rad/s \r\n", DerivativeCounts);
}
- if (TimeTracker_go){
+ /*if (TimeTracker_go){
TimeTracker_go=false;
TimeTrackerF();
}
- /*if (sampleT_go){
+ if (sampleT_go){
sampleT_go=false;
sample();
}*/
--- a/mbed.bld Tue Oct 11 11:28:07 2016 +0000 +++ b/mbed.bld Tue Oct 11 11:38:43 2016 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/25aea2a3f4e3 \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/aae6fcc7d9bb \ No newline at end of file