Diff: main.cpp

Revision:

13:1bf960928a93

Parent:

11:d43f8b421d6d

--- a/main.cpp	Wed Apr 28 12:51:02 2021 +0000
+++ b/main.cpp	Sat May 01 20:08:24 2021 +0000
@@ -1,76 +1,13 @@
 #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);
+DigitalOut led(LED1);
+// The controller Thread
+float Ts = 0.2;
+LinearCharacteristics gyro(0,1,-400,400);
 
-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 -------------
 //******************************************************************************
@@ -82,42 +19,12 @@
         /* parity */ BufferedSerial::None,
         /* stop bit */ 1
     );
+    printf("gyro ( 0.2) = %f\r\n",gyro(0.2));
     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(1401,1510);          // 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 1.0");
-   /* 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);
+        { 
+        ThisThread::sleep_for(1000);
         }
 }   // END OF main