Revision 1:68c99ab0c404, committed 2018-11-14

Comitter:

Vincent9

Date:

Wed Nov 14 05:57:48 2018 +0000

Parent:

0:bc003175d694

Commit message:

s

Changed in this revision

diff -r bc003175d694 -r 68c99ab0c404 main.cpp
--- a/main.cpp	Tue Oct 02 16:17:06 2018 +0000
+++ b/main.cpp	Wed Nov 14 05:57:48 2018 +0000
@@ -16,13 +16,11 @@
 float DCAmp;            // duty cycle applied to motor
 float dc;               // duty cycle
 long enc1;              // encoder variable
-
+float lowDC;
 
 
 // Function definition Prototypes (declarations)
-void ctrCode(); // declare that a separate (other than main) function named "ctrCode" exists
-
-
+void twoStepCode(); // declare that a separate (other than main) function named "ctrCode" exists
 
 // Enter main function
 int main ()
@@ -33,73 +31,49 @@
     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);
-
+        pc.scanf("%f,%f",&TotalTime,&lowDC); //&DCAmp,&lowDC);
         // 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);
-
+        Controller.attach(&twoStepCode,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
+void twoStepCode() // 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;
-
+    ang = 2.0*PI*enc1/6400.0;
     // 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 if(Time<0.55) {
+        dc = lowDC;
     } else {
-        dc = DCAmp;
+        dc = 0.10;
     } 
-    
     // motor control
     mot_control(1,dc); // first input is the motor channel, second is duty cycle
-
 } // end ctrCode()
\ No newline at end of file