Diff: main.cpp

Revision:

0:d2e117716219

Child:

1:25a2b47ca291

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun May 02 19:32:30 2021 +0000
@@ -0,0 +1,123 @@
+#include "mbed.h"
+#include "math.h" 
+//------------------------------------------
+#define PI 3.1415927f
+//------------------------------------------
+#include "EncoderCounter.h"
+#include "EncoderCounterIndex.h"
+#include "DiffCounter.h"
+#include "IIR_filter.h"
+#include "LinearCharacteristics.h"
+#include "PID_Cntrl.h"
+#include "Unwrapper_2pi.h"
+#include "path_1d.h"
+#include "GPA.h"
+#include "ControllerLoop.h"
+#include "Mirror_Kinematic.h"
+#include "data_structs.h"
+#include "uart_comm_thread.h"
+#include "FastPWM.h"
+ 
+static BufferedSerial serial_port(USBTX, USBRX);
+DigitalIn big_button(PC_3);         // Enable button an backside
+bool key_was_pressed = false;       //
+float Ts=.0002f;                    // sampling time
+void pressed(void);
+void released(void); 
+//------------- DEFINE FILTERS ----------------
+// missing
+//------------- 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 -----------------------
+EncoderCounter counter1(PA_6, PC_7);    // initialize counter on PA_6 and PC_7
+InterruptIn indexpulse1(PA_8);
+EncoderCounterIndex index1(counter1,indexpulse1);   
+// ------------------------------------
+EncoderCounter counter2(PB_6, PB_7);    // initialize counter on PB_6 and PB_7
+InterruptIn indexpulse2(PB_4);
+EncoderCounterIndex index2(counter2,indexpulse2);    // initialize counter on PA_6 and PC_7
+// ------------------------------------
+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(-.80,.80,0.0f,1.0f);
+LinearCharacteristics u2i(0.0,1.0,-1.0,1.0);
+
+Unwrapper_2pi uw2pi1;
+Unwrapper_2pi uw2pi2;
+//------------------------------------------
+// ----- User defined functions -----------
+ControllerLoop loop(Ts);                        // this is forthe main controller loop
+uart_comm_thread uart_com(&serial_port,.05f);   // this is the communication thread
+Timer glob_ti;                                  // the global timer
+path_1d p1;             // pathplanner (under constr.)
+path_1d p2;             // pathplanner (under constr.)
+path_1d *current_path;
+// --------- GPA -----------------------------
+//init values: f0,   f1, nbPts, A0, A1, Ts
+GPA      myGPA(5 , 2400,    40, 25, 25, Ts);
+float exc=0.0;              // excitation GPA
+//------------------------------------------------------------------------------
+// --------- Mirror kinematik, define values, trafos etc there
+Mirror_Kinematic mk;
+//------------------------------------------------------------------------------
+// --------- data: overall data structure for x-change
+DATA_Xchange data;
+
+//******************************************************************************
+//---------- main loop -------------
+//******************************************************************************
+int main()
+{
+    serial_port.set_baud(115200);
+    serial_port.set_format(
+        /* bits */ 8,
+        /* parity */ BufferedSerial::None,
+        /* stop bit */ 1
+    );
+    serial_port.set_blocking(false); // force to send whenever possible and data is there
+    i_enable = 0;       // disable current first
+    counter1.reset();   // encoder reset
+    counter2.reset();   // encoder reset
+    mk.set_offsets(0,0);          // individal set values for global position
+    glob_ti.start();
+    glob_ti.reset();
+    loop.init_controllers();
+    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 1.1");
+   /* p1.initialize(300,10,A,0,0,0);
+    p2.initialize(300,10,-A,0,0,A);*/
+    laser_on = 0;
+    //for(int wk =0;wk<5;wk++)
+    while(0)
+        {
+        short c1 = counter1;            // get counts from Encoder
+        short c2 = counter2;            // get counts from Encoder
+        current_path = &p1;
+        current_path->start(glob_ti.read());
+        while(!current_path->finished)
+            ThisThread::sleep_for(100);
+        current_path = &p2;
+        current_path->start(glob_ti.read());
+        while(!current_path->finished)
+            ThisThread::sleep_for(100);
+        ThisThread::sleep_for(100);
+        laser_on = !laser_on;
+        }   // end of while(..)
+        i_enable = 0;
+    while(1)
+        {
+        ThisThread::sleep_for(200);
+        }
+}   // END OF main