Vincent Angelino / Mbed 2 deprecated ES305_Lab1

Good

Dependencies:   mbed mbedWSEsbc

main.cpp@1:68c99ab0c404, 2018-11-14 (annotated)

Committer:
Vincent9
Date:
Wed Nov 14 05:57:48 2018 +0000
Revision:
1:68c99ab0c404
Parent:
0:bc003175d694 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
Vincent9 0:bc003175d694 1 #include "mbed.h"
Vincent9 0:bc003175d694 2 #include "mbedWSEsbc.h"
Vincent9 0:bc003175d694 3 #define PI (3.14159)
Vincent9 0:bc003175d694 4
Vincent9 0:bc003175d694 5 // Declare objects (if necessary)
Vincent9 0:bc003175d694 6 Ticker Controller; // declare Ticker object named "Controller"
Vincent9 0:bc003175d694 7 DigitalOut myled(LED1); // LED, flash lights for debugging
Vincent9 0:bc003175d694 8
Vincent9 0:bc003175d694 9
Vincent9 0:bc003175d694 10 // variables for data handling and storage
Vincent9 0:bc003175d694 11 float TotalTime; // Total run time
Vincent9 0:bc003175d694 12 float Time; // Current elapsed time
Vincent9 0:bc003175d694 13 float Ts = 0.0083; // Control update period (seconds) (120 Hz equivalent)
Vincent9 0:bc003175d694 14 float Tstrm = 0.01; // Data streaming period (seconds) (100 Hz equivalent)
Vincent9 0:bc003175d694 15 float ang,angp,speed; // variables for approximating speed from encoder measurements
Vincent9 0:bc003175d694 16 float DCAmp; // duty cycle applied to motor
Vincent9 0:bc003175d694 17 float dc; // duty cycle
Vincent9 0:bc003175d694 18 long enc1; // encoder variable
Vincent9 1:68c99ab0c404 19 float lowDC;
Vincent9 0:bc003175d694 20
Vincent9 0:bc003175d694 21
Vincent9 0:bc003175d694 22 // Function definition Prototypes (declarations)
Vincent9 1:68c99ab0c404 23 void twoStepCode(); // declare that a separate (other than main) function named "ctrCode" exists
Vincent9 0:bc003175d694 24
Vincent9 0:bc003175d694 25 // Enter main function
Vincent9 0:bc003175d694 26 int main ()
Vincent9 0:bc003175d694 27 {
Vincent9 0:bc003175d694 28 // Initializes mbed to access functionality of encoder, A/D, driver, etc. chipsets
Vincent9 0:bc003175d694 29 // Input is baud rate for PC communication
Vincent9 0:bc003175d694 30 mbedWSEsbcInit(115200); // also initializes timer object t
Vincent9 0:bc003175d694 31 mot_en1.period(0.020); // sets PWM period to 0.02 seconds for best DC motor operation
Vincent9 0:bc003175d694 32
Vincent9 0:bc003175d694 33 while(1) {
Vincent9 0:bc003175d694 34 // Scan serial port for user input to begin experiment
Vincent9 1:68c99ab0c404 35 pc.scanf("%f,%f",&TotalTime,&lowDC); //&DCAmp,&lowDC);
Vincent9 0:bc003175d694 36 // perform necessary functions to time the experiment
Vincent9 0:bc003175d694 37 Time = 0.0; // reset time variable
Vincent9 0:bc003175d694 38 t.reset(); // reset timer object
Vincent9 0:bc003175d694 39 // Attach the ctrCode function to ticker object specified with period Ts
Vincent9 1:68c99ab0c404 40 Controller.attach(&twoStepCode,Ts);
Vincent9 0:bc003175d694 41 t.start(); // start measuring elapsed time
Vincent9 0:bc003175d694 42 // perform operations while the elapsed time is less than the desired total time
Vincent9 0:bc003175d694 43 while(Time <= TotalTime) {
Vincent9 0:bc003175d694 44 // send data over serial port
Vincent9 0:bc003175d694 45 pc.printf("%f,%f,%f\n",Time,speed,dc);
Vincent9 0:bc003175d694 46 wait(Tstrm); // print data at approximately 50 Hz
Vincent9 0:bc003175d694 47 } // end while(Time<=Ttime)
Vincent9 0:bc003175d694 48 Controller.detach(); // detach ticker to turn off controller
Vincent9 0:bc003175d694 49 // Turn motor off at end of experiment
Vincent9 0:bc003175d694 50 mot_control(1,0.0);
Vincent9 0:bc003175d694 51 }// end while(1)
Vincent9 0:bc003175d694 52 }// end main
Vincent9 0:bc003175d694 53 // Additional function definitions
Vincent9 1:68c99ab0c404 54 void twoStepCode() // function to attach to ticker
Vincent9 0:bc003175d694 55 {
Vincent9 0:bc003175d694 56 myled = !myled; // toggle LED 2 to indicate control update
Vincent9 0:bc003175d694 57 // read current elapsed time
Vincent9 0:bc003175d694 58 Time = t.read();
Vincent9 0:bc003175d694 59 // Read encoder
Vincent9 0:bc003175d694 60 enc1 = LS7366_read_counter(1); // input is the encoder channel
Vincent9 0:bc003175d694 61 // Convert from counts to radians
Vincent9 1:68c99ab0c404 62 ang = 2.0*PI*enc1/6400.0;
Vincent9 0:bc003175d694 63 // Estimate speed
Vincent9 0:bc003175d694 64 speed = (ang-angp)/Ts;
Vincent9 0:bc003175d694 65 // Age variables
Vincent9 0:bc003175d694 66 angp = ang;
Vincent9 0:bc003175d694 67 // compute duty cycle for motor (will be changed later!)
Vincent9 0:bc003175d694 68 //dc = DCAmp*sin(2.0*PI/5.0*Time); // user-specified duty cycle
Vincent9 0:bc003175d694 69 // Lab3 DC
Vincent9 0:bc003175d694 70 if(Time<0.1) {
Vincent9 0:bc003175d694 71 dc = 0.0;
Vincent9 1:68c99ab0c404 72 } else if(Time<0.55) {
Vincent9 1:68c99ab0c404 73 dc = lowDC;
Vincent9 0:bc003175d694 74 } else {
Vincent9 1:68c99ab0c404 75 dc = 0.10;
Vincent9 0:bc003175d694 76 }
Vincent9 0:bc003175d694 77 // motor control
Vincent9 0:bc003175d694 78 mot_control(1,dc); // first input is the motor channel, second is duty cycle
Vincent9 0:bc003175d694 79 } // end ctrCode()