Revision 0:c102c15cb7ad, committed 2016-05-02

Comitter:

TheDoctor822

Date:

Mon May 02 19:06:13 2016 +0000

Commit message:

Logic Control

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.lib	Mon May 02 19:06:13 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/main.cpp	Mon May 02 19:06:13 2016 +0000
@@ -0,0 +1,71 @@
+#include "mbed.h"
+#include "Motor.h"
+
+Serial pc(USBTX,USBRX);
+
+AnalogIn sensor(p19); //PINNUMBER);
+Motor motor(p26, p30, p29);  //change pins
+
+int trigger;  // trigger variable for while loop
+int loop;
+float stop;
+float usrHeight;
+float sensorVolts;
+float height;
+float dc;
+float realSpeed;
+float heightErr;
+float coeff1;
+float coeff2;
+float coeff3;
+float coeff4;
+
+int main()
+{
+    loop = 1;
+    trigger = 1;
+    realSpeed = 0.0;
+    //find good pwm value for going up (.45)
+    //going down(-.45)
+    //stopping(0)
+    pc.baud(115200);
+    motor.speed(0);
+
+while(1) {
+    
+    trigger = 1;
+    pc.scanf("%d,%f", &trigger, &usrHeight);
+
+    wait(2.0);
+    
+    
+    coeff1 = 355.519794247593;
+    coeff2 = -502.781241203052;
+    coeff3 = 251.402617938315;
+    coeff4 = -23.6439180749985;
+
+        while( trigger==1) {
+            
+            //motor.speed(motorPWM);
+            sensorVolts = sensor.read();
+            height = coeff1*(sensorVolts * sensorVolts * sensorVolts) + coeff2*(sensorVolts * sensorVolts) + coeff3*(sensorVolts) + coeff4;
+            pc.printf("%f\n",height);
+            heightErr = usrHeight - height;
+            //pc.printf("Input Height: %f\n", usrHeight);
+            //pc.printf("Height: %f\n", height);
+            //pc.printf("Error: %f\n", heightErr);
+            if (heightErr > 0.5){
+               realSpeed = 0.6;
+               motor.speed(realSpeed);
+               }
+            if (heightErr < -0.5){
+                realSpeed = -0.6;
+               motor.speed(realSpeed);
+                }
+            //pc.printf("%d, %f, %f\n",loop, height, realSpeed);
+            pc.printf("%f\n", realSpeed);
+            wait(0.1);   
+        }
+    } //need to send over loop, measured height, duty cycle value
+    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon May 02 19:06:13 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/082adc85693f
\ No newline at end of file