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()
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