Diff: main.cpp

Revision:

6:9ebeffe446e4

Parent:

5:768e10f6d372

Child:

7:942fd77d5e19

--- a/main.cpp	Thu Feb 25 20:28:45 2021 +0000
+++ b/main.cpp	Thu Apr 01 13:38:54 2021 +0000
@@ -13,62 +13,62 @@
 #include "path_1d.h"
 #include "GPA.h"
 #include "ControllerLoop.h"
-
-
+#include "Mirror_Kinematic.h"
+#include "data_structs.h"
+#include "uart_comm_thread.h"
  
-Serial pc(USBTX, USBRX,115200);
+static BufferedSerial serial_port(USBTX, USBRX);
 InterruptIn button(USER_BUTTON);        // User Button, short and long presses!
 bool key_was_pressed = false;
-float Ts=.001;                         // sampling time
+float Ts=.0002f;                         // sampling time
 void pressed(void);
 void released(void); 
-float vel;
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
 //------------- DEFINE FILTERS ----------------
 // missing
-//-----------------------------------
-Timer glob_ti;
+//------------- Define In/Out -----------------
+//AnalogOut i_des1(PA_5);
+AnalogOut i_des2(PA_4);
+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(0.0008,Ts);              // discrete differentiate, based on encoder1 data
-DiffCounter diff2(0.0008,Ts);              // discrete differentiate, based on encoder2 data
-LinearCharacteristics i2pwm(-1.0,1.0,0.01,0.99,.01,.99);
-//
-PwmOut i_des1(PB_10);
-PwmOut i_des2(PA_15);
-DigitalOut i_enable(PC_4);
-float data[2000][4];
-Unwrapper_2pi uw2pi;
+// ------------------------------------
+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);
+
+Unwrapper_2pi uw2pi1;
+Unwrapper_2pi uw2pi2;
 //------------------------------------------
 // ----- User defined functions -----------
 ControllerLoop loop(Ts);
+uart_comm_thread uart_com(&serial_port,.5f);
+Ticker do_referencing;
+Timer glob_ti;
 path_1d p1;
 path_1d p2;
 path_1d *current_path;
 float A = 2.7;
 float dc=0.0;
+Mirror_Kinematic mc;
+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
 
 // *****************************************************************************
-void rise_edge(void)
-    {
-     //glob_ti.reset();
-     }
-// *****************************************************************************
-void fall_edge(void)
-   {
-        uint32_t time_us = glob_ti.read_us();
-        dc = (float)time_us/200.0f;
-    }
-//InterruptIn i_des2(PA_6);
+
 
 
 //******************************************************************************
@@ -76,22 +76,39 @@
 //******************************************************************************
 int main()
 {
-    i_des1.period_us(200);
-    i_des2.period_us(200);      // PWM Frequency of i_desired
+    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
-    ThisThread::sleep_for(100);
-    i_enable = 1;
-    
+    i_enable = 0;
+    mc.set_offsets(2956,2343);
     glob_ti.start();
     glob_ti.reset();
-    printf("Start Mirror\r\n");
-    p1.initialize(300,10,A,0,0,0);
+    printf("Start Mirroractuator 1.0\r\n");
+    loop.init_controllers();
+    uart_com.start_uart();
+    loop.start_loop();
+    //i_des1.write(i2u(0));
+    i_des2.write(i2u(0));
+    led1 = 1;
+    led2 = 1;
+   /* p1.initialize(300,10,A,0,0,0);
     p2.initialize(300,10,-A,0,0,A);
-    for(int wk =0;wk<10;wk++)
+    laser_on = 0;
+
+
+    //for(int wk =0;wk<5;wk++)
+    while(0)
         {
-        current_path = &p1;
+        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)
             wait(.1);
@@ -100,11 +117,14 @@
         while(!current_path->finished)
             wait(.1);
         ThisThread::sleep_for(100);
+        
+      //  printf("c1,c2: %d %d \r\n",c1,c2);
+
+          wait(.25);
+          laser_on = !laser_on;
         }
-    i_enable = 0;
+    i_enable = 0;*/
     while(1)
-        wait(1);
-
-
+        ThisThread::sleep_for(2000);
     
 }   // END OF main