Diff: main.cpp

Revision:

1:6d5c35b995fb

Parent:

0:b2973a157cb6

Child:

2:b46f1a4c42fb

--- a/main.cpp	Tue Apr 15 02:02:38 2014 +0000
+++ b/main.cpp	Tue Apr 15 02:10:03 2014 +0000
@@ -17,8 +17,6 @@
 SPI         spi(P0_21, NC, P1_20);
 DigitalOut  cs(P1_23);
 
-//Ticker      flip;
-
 Timer       timer;
 
 PID         controller(kc, ti, td, PIDRATE);
@@ -52,40 +50,12 @@
 
 union MCP4922 dac = {0xF7F};
 
-   
-//void tick()
-//{
-//    static int tcnt, efpls;
-//    int epls;
-//    float etmppls;
-//    tcnt++;
-//    if(SW == 0)
-//    {
-//        wheel.reset();
-//    }
-//    if(tcnt == 40)
-//    {
-//        tcnt = 0;
-//        epls = wheel.getPulses();
-//        etmppls = (float)(epls - efpls);
-//        efpls = epls;
-//        vcom.printf("\033[%d;%dH", 0, 0);
-//        vcom.printf("count  :%9d\n", epls);
-//        vcom.printf("rev/sec:%3.6f\n", (etmppls / 3600));
-//        vcom.printf("DAC.bit:%09d\n", dac.bit.D);
-//    }
-////    cs = 0;
-////    spi.write(dac.command);
-////    cs = 1;
-//}
-
 int main() 
 {
     uint8_t i = 0;
     int epls[2] = {0, 0};
     float rps = 0;
 
-//    flip.attach(tick, (PIDRATE / 2));
     SW.mode(PullUp);
     mdrv = CW;
     cs = 1;
@@ -179,38 +149,41 @@
     vcom.printf("\033[%d;%dH", 0, 0);
 
     //Output bias
-    vcom.printf("Input the bias for the controller output\n");
-    vcom.printf("within 15 figures.\n");
-    vcom.scanf("%s", str);
-    tmp[0] = strtof(str, &erstr);
-    controller.setBias(tmp[0]);
-    vcom.printf("Output bias : %15f\n", tmp[0]);
+//    vcom.printf("Input the bias for the controller output\n");
+//    vcom.printf("within 15 figures.\n");
+//    vcom.scanf("%s", str);
+//    tmp[0] = strtof(str, &erstr);
+//    controller.setBias(tmp[0]);
+//    vcom.printf("Output bias : %15f\n", tmp[0]);
+    controller.setBias(200);
 
     //Input limits
-    vcom.printf("Input the minimum inputlimit\n");
-    vcom.printf("within 15 figures.\n");
-    vcom.scanf("%s", str);
-    tmp[0] = strtof(str, &erstr);
-    vcom.printf("Minimum input limit : %15f\n", tmp[0]);
+//    vcom.printf("Input the minimum inputlimit\n");
+//    vcom.printf("within 15 figures.\n");
+//    vcom.scanf("%s", str);
+//    tmp[0] = strtof(str, &erstr);
+//    vcom.printf("Minimum input limit : %15f\n", tmp[0]);
     vcom.printf("Input the maximum inputlimit\n");
     vcom.printf("within 15 figures.\n");
     vcom.scanf("%s", str);
     tmp[1] = strtof(str, &erstr);
     vcom.printf("Maximum input limit : %15f\n", tmp[1]);
-    controller.setInputLimits(tmp[0], tmp[1]);
+//    controller.setInputLimits(tmp[0], tmp[1]);
+    controller.setInputLimits(0,tmp[1]);
 
     //Output limits
-    vcom.printf("Input the minimum outputlimit\n");
-    vcom.printf("within 15 figures.\n");
-    vcom.scanf("%s", str);
-    tmp[0] = strtof(str, &erstr);
-    vcom.printf("Minimum output limit : %15f\n", tmp[0]);
-    vcom.printf("Input the maximum outputlimit\n");
-    vcom.printf("within 15 figures.\n");
-    vcom.scanf("%s", str);
-    tmp[1] = strtof(str, &erstr);
-    vcom.printf("Maximum output limit : %15f\n", tmp[1]);
-    controller.setOutputLimits(tmp[0], tmp[1]);
+//    vcom.printf("Input the minimum outputlimit\n");
+//    vcom.printf("within 15 figures.\n");
+//    vcom.scanf("%s", str);
+//    tmp[0] = strtof(str, &erstr);
+//    vcom.printf("Minimum output limit : %15f\n", tmp[0]);
+//    vcom.printf("Input the maximum outputlimit\n");
+//    vcom.printf("within 15 figures.\n");
+//    vcom.scanf("%s", str);
+//    tmp[1] = strtof(str, &erstr);
+//    vcom.printf("Maximum output limit : %15f\n", tmp[1]);
+//    controller.setOutputLimits(tmp[0], tmp[1]);
+    controller.setOutputLimits(0, 4095);
     
     //Setpoint
     vcom.printf("Input the setpoint\n");