Diff: main.cpp

Revision:

0:980f29af9da6

Child:

1:da8fb81386ab

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Nov 14 05:55:46 2018 +0000
@@ -0,0 +1,70 @@
+#include "mbed.h"
+#include "mbedWSEsbc.h"
+#define PI (3.14159)
+
+float trt;        // Total run time
+float cet;             // Current elapsed time
+float updateperiod = 0.0083;      // Control update period (seconds) (120 Hz equivalent)
+float dsp = 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
+float parameter;
+float speed;
+float DCAmp;
+float measurement;
+float rad;
+float rad_old;
+
+Ticker Controller;
+
+void ctrCode ();
+void StepCode();
+
+int main() {
+    mbedWSEsbcInit(115200);
+    mot_en1.period(.020);
+    
+    while(1) {
+        pc.scanf("%f,%f",&trt,&DCAmp);
+        cet = 0;
+        t.reset();
+        Controller.attach(&StepCode,updateperiod);
+        t.start();
+        while (cet <= trt){
+            pc.printf("%f,%f,%f\n",cet,speed,dc);
+            wait(dsp);
+            
+            }
+            Controller.detach();
+            mot_control(1,0.0);
+            }
+        }
+    void ctrCode() {
+        cet=t.read();
+        measurement= LS7366_read_counter(1);
+        rad = (2.0*PI)/6500*measurement;
+        speed = (rad - rad_old)/updateperiod;
+        rad_old = rad;
+        
+        dc = SineAmp*sin(2.0*PI*cet/5.0);
+        mot_control(1,dc);
+        }
+        
+        void StepCode() {
+            cet=t.read();
+            measurement = LS7366_read_counter(1);
+            rad = (2.0*PI)/6500*measurement;
+            speed = (rad - rad_old)/updateperiod;
+            rad_old = rad;
+            
+            if(cet<0.1){
+                dc = 0.0;
+                } else{
+                    dc = SineAmp;
+                    }
+                    mot_control(1,dc);
+            }
+                
+        
\ No newline at end of file