Revision 11:e563823d3c94, committed 2017-03-01

Comitter:

abraham1

Date:

Wed Mar 01 03:10:29 2017 +0000

Parent:

10:ae139f40acc0

Child:

12:6e13c34c4295

Commit message:

giving this to sangbae;

Changed in this revision

--- a/main.cpp	Thu Feb 16 23:27:49 2017 +0000
+++ b/main.cpp	Wed Mar 01 03:10:29 2017 +0000
@@ -19,6 +19,9 @@
 const int CPR = 900*4;  // Encoder counts per revolution.  Change to match your encoder. x4 for quadrature!
 const double VREF = 3; //Microcontroller reference voltage
 const float currentSensorOutputRatio = 0.185; // Volts/Amp. Divide Voltage by cSenseOutput to get current
+const float PSupply_Voltage = 12.0;
+const float Output_Voltage = 6.0;
+const float pwm_pulley = Output_Voltage/PSupply_Voltage;
 
 void EncoderInitialise(void) {
     // configure GPIO PA0 & PA1 as inputs for Encoder
@@ -91,39 +94,32 @@
     float currentSensorOffset = 0; int i; 
     for(i=1;i<301;i++){ currentSensorOffset += currentSense.read(); }
     currentSensorOffset = currentSensorOffset*VREF/300;
-    
     EncoderInitialise();
     fflush(pc);
     
-    /*** wait here for matlab information like voltage before starting? ***/
-    
+        
     while(1) {
     
-//        currentSensorOffset = 0; i = 0;
-//        for(i=1;i<201;i++){ currentSensorOffset += currentSense.read(); } //TODO: watch out this could take some time, but this should make things better!
-//        currentSensorOffset = currentSensorOffset*VREF/300;
 
         while(1) {
             
             green = true;
-            if(pc.readable())
-            {
+            if(pc.readable()) {
                 char charIn = pc.getc();
                 if(charIn == 'g'){ 
-                    fflush(pc); // TODO: this was recently changed check to see it causes no bugs
+                    fflush(pc);
                     absoluteStart = clock();
-                    end = clock(); /* TODO: fix clock things */
+                    end = clock();
                     ZeroEncoder();
                     velocity = 0;
                     startcount = 0;
                     endcount = 0;
                     currentSensed = 0;
+                    pwm.write(pwm_pulley);
                     break; 
-                } else if(isdigit(charIn)) {
-                    double abrahamsCommand = (double)(charIn - '0');
-                    pwm.write(abrahamsCommand/10.0);
                 }
             }
+        
             wait(0.05);
             
         }  
@@ -147,17 +143,14 @@
             {
                 char charIn = pc.getc();
                 if(charIn == 'r'){
-                    fflush(pc); /* TODO: purge much better than this! */
-                    pwm.write(0.0); /* eliminates the need to write r and 0 commands in matlab which mbed couldn't read fast enough */
+                    fflush(pc);
+                    pwm.write(0.0);
                     break;
-                } else if(isdigit(charIn)) {
-                    double abrahamsCommand = (double)(charIn - '0');
-                    pwm.write(abrahamsCommand/10.0);
                 }
             }        
             if(publishCounter == samplesPerPublish) {
-                printf("%+9.5f,%+8.4f,%+9.5f,%+8.2f\n", currentSensed/currentSensorOutputRatio, pwm.read(), velocity, ((double)(end-absoluteStart)/CLOCKS_PER_SEC));
-                publishCounter = 1;  // good for 1000 seconds. and room to grow one power of 10 on all other inputs.
+                printf("%+9.5f,%+8.4f,%+9.4f,%+8.2f\n", currentSensed/currentSensorOutputRatio, pwm.read(), velocity, ((double)(end-absoluteStart)/CLOCKS_PER_SEC));
+                publishCounter = 1;  // good for 1000 seconds. and room to grow one power of 10 on all other inputs.  //just changed velocity to 4 precision to give it extra room for no load? bug maybe?
             }
             publishCounter++;