Ruprecht Altenburger
/
mirror_actuator_V1
Mirror actuator for RT2 lab
Diff: main.cpp
- Revision:
- 8:49ac75c42da0
- Parent:
- 7:942fd77d5e19
- Child:
- 10:bfacffec199a
--- a/main.cpp Thu Apr 15 05:36:55 2021 +0000 +++ b/main.cpp Tue Apr 27 07:50:03 2021 +0000 @@ -16,11 +16,12 @@ #include "Mirror_Kinematic.h" #include "data_structs.h" #include "uart_comm_thread.h" +#include "FastPWM.h" static BufferedSerial serial_port(USBTX, USBRX); -InterruptIn button(USER_BUTTON); // User Button, short and long presses! +DigitalIn big_button(PC_3); // User Button, short and long presses! bool key_was_pressed = false; -float Ts=.0005f; // sampling time +float Ts=.0002f; // sampling time void pressed(void); void released(void); //DigitalOut led1(LED1); @@ -30,6 +31,11 @@ //------------- Define In/Out ----------------- AnalogOut i_des1(PA_5); AnalogOut i_des2(PA_4); +//AnalogIn i_act1(PA_3); +//AnalogIn i_act2(PC_0); +//FastPWM i_des1(PB_10); +//FastPWM i_des2(PA_15); + DigitalOut i_enable(PC_4); DigitalOut laser_on(PB_0); ///------------- Encoder ----------------------- @@ -44,14 +50,15 @@ DiffCounter diff1(0.0005f,Ts,4000); // discrete differentiate, based on encoder data DiffCounter diff2(0.0005f,Ts,4000); // discrete differentiate, based on encoder data //LinearCharacteristics i2pwm(-1.0,1.0,0.02,0.98,.02,.98); -LinearCharacteristics i2u(-1.0,1.0,0.0,1.0,0.0,1.0); +LinearCharacteristics i2u(-.80,.80,0.02,0.98,0.02,.98); +LinearCharacteristics u2i(0.0,1.0,-1.0,1.0); Unwrapper_2pi uw2pi1; Unwrapper_2pi uw2pi2; //------------------------------------------ // ----- User defined functions ----------- ControllerLoop loop(Ts); -uart_comm_thread uart_com(&serial_port,.1f); +uart_comm_thread uart_com(&serial_port,.05f); Ticker do_referencing; Timer glob_ti; path_1d p1; @@ -59,11 +66,14 @@ path_1d *current_path; float A = 2.7; float dc=0.0; +GPA myGPA(5, 2400, 40, 25.0, 25.0, Ts); Mirror_Kinematic mk; DATA_Xchange data; //GPA myGPA(1, 2500, 100, 30, 20, Ts); //GPA myGPA(5, 2500, 80, 0.3, 0.3, Ts); + + float exc=0.0; // excitation GPA // f1 f2 N A1 A2 Ts @@ -86,16 +96,20 @@ i_enable = 0; // disable current first counter1.reset(); // encoder reset counter2.reset(); // encoder reset + //i_des1.period_ticks(1280); + //i_des2.period_ticks(1280); i_enable = 0; - mk.set_offsets(0,0); + mk.set_offsets(1401,1510); glob_ti.start(); glob_ti.reset(); printf("Start Mirroractuator 1.0\r\n"); loop.init_controllers(); - uart_com.start_uart(); - loop.start_loop(); +// uart_com.start_uart(); +// loop.start_loop(); i_des1.write(i2u(0)); i_des2.write(i2u(0)); + ThisThread::sleep_for(200); + uart_com.send_text((char *)"Start Mirroractuator 1.0"); /* p1.initialize(300,10,A,0,0,0); p2.initialize(300,10,-A,0,0,A); laser_on = 0; @@ -122,7 +136,9 @@ laser_on = !laser_on; } i_enable = 0;*/ - while(1) - ThisThread::sleep_for(2000); + while(1){ + ThisThread::sleep_for(200); + printf("hello\r\n"); + } } // END OF main