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Diff: main.cpp
- Revision:
- 0:bc003175d694
- Child:
- 1:68c99ab0c404
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Tue Oct 02 16:17:06 2018 +0000 @@ -0,0 +1,105 @@ +#include "mbed.h" +#include "mbedWSEsbc.h" +#define PI (3.14159) + +// Declare objects (if necessary) +Ticker Controller; // declare Ticker object named "Controller" +DigitalOut myled(LED1); // LED, flash lights for debugging + + +// variables for data handling and storage +float TotalTime; // Total run time +float Time; // Current elapsed time +float Ts = 0.0083; // Control update period (seconds) (120 Hz equivalent) +float Tstrm = 0.01; // Data streaming period (seconds) (100 Hz equivalent) +float ang,angp,speed; // variables for approximating speed from encoder measurements +float DCAmp; // duty cycle applied to motor +float dc; // duty cycle +long enc1; // encoder variable + + + +// Function definition Prototypes (declarations) +void ctrCode(); // declare that a separate (other than main) function named "ctrCode" exists + + + +// Enter main function +int main () +{ + // Initializes mbed to access functionality of encoder, A/D, driver, etc. chipsets + // Input is baud rate for PC communication + mbedWSEsbcInit(115200); // also initializes timer object t + mot_en1.period(0.020); // sets PWM period to 0.02 seconds for best DC motor operation + + while(1) { + + // Scan serial port for user input to begin experiment + pc.scanf("%f,%f",&TotalTime,&DCAmp); + + // perform necessary functions to time the experiment + Time = 0.0; // reset time variable + t.reset(); // reset timer object + + // Attach the ctrCode function to ticker object specified with period Ts + Controller.attach(&ctrCode,Ts); + + t.start(); // start measuring elapsed time + + // perform operations while the elapsed time is less than the desired total time + while(Time <= TotalTime) { + + // send data over serial port + pc.printf("%f,%f,%f\n",Time,speed,dc); + + + wait(Tstrm); // print data at approximately 50 Hz + + + + + } // end while(Time<=Ttime) + + Controller.detach(); // detach ticker to turn off controller + // Turn motor off at end of experiment + mot_control(1,0.0); + + }// end while(1) +}// end main + + + +// Additional function definitions +void ctrCode() // function to attach to ticker +{ + + myled = !myled; // toggle LED 2 to indicate control update + + // read current elapsed time + Time = t.read(); + + // Read encoder + enc1 = LS7366_read_counter(1); // input is the encoder channel + + // Convert from counts to radians + ang = 2.0*PI*enc1/6500.0; + + // Estimate speed + speed = (ang-angp)/Ts; + + // Age variables + angp = ang; + + // compute duty cycle for motor (will be changed later!) + //dc = DCAmp*sin(2.0*PI/5.0*Time); // user-specified duty cycle + // Lab3 DC + if(Time<0.1) { + dc = 0.0; + } else { + dc = DCAmp; + } + + // motor control + mot_control(1,dc); // first input is the motor channel, second is duty cycle + +} // end ctrCode() \ No newline at end of file