Jared Baxter
/
Impedance_Fast_Circuitry_print_V_I
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Fork of
Impedance_Fast_Circuitry
by 
Jared Baxter
Diff: main.cpp
- Revision:
- 33:9806eb964362
- Parent:
- 32:bf1e079a2ee3
- Child:
- 34:44cc9b76a507
--- a/main.cpp Thu Jan 08 20:16:19 2015 +0000
+++ b/main.cpp Fri Jan 09 20:07:09 2015 +0000
@@ -123,7 +123,7 @@
void timed_sampling();
-int motorVal = 50;
+int motorVal = 0;
void releaseMallet()
{
motorA = 0;
@@ -360,96 +360,104 @@
}
break;
- case '1': // run motor and sample
+ case '3': // run motor and sample
{
- // release mallet
- motorA = 0;
- motorB = 1;
- wait_ms(10);
- motorB = 0;
- wait_ms(75);
-
- motorA = 0.7;
- wait_ms(8);
- motorA = 0;
-
- // wait for mallet to drop some before beginning to sample
- wait_ms(50);
-
- // begin sampling
- BW_ADC_SC1n_ADCH(0, 0, kAdcChannel12); // This corresponds to starting an ADC conversion on channel 12 of ADC 0 - which is A0 (PTB2)
- BW_ADC_SC1n_ADCH(1, 0, kAdcChannel14); // This corresponds to starting an ADC conversion on channel 14 of ADC 1 - which is A2 (PTB10)
- client[index].write((void *)"Data\n",5);
-
- TotalInd = 1;
+ // set angle to 0
+ led_blue = 0;
+ while(!angle_encoder.set_zero()) {}
+ led_blue = 1;
- uint32_t AMT20_AB;
- rotary_count = 0;
- __disable_irq();
- SampleInd = 0;
- for(int i = 0; i < TOTAL_SAMPLES; i++)
- {
- SampleInd = !SampleInd;
- sample_array1[i] = adc_hal_get_conversion_value(0, 0);
- sample_array2[i] = adc_hal_get_conversion_value(1, 0);
- BW_ADC_SC1n_ADCH(0, 0, kAdcChannel12); // This corresponds to starting an ADC conversion on channel 12 of ADC 0 - which is A0 (PTB2)
- BW_ADC_SC1n_ADCH(1, 0, kAdcChannel14); // This corresponds to starting an ADC conversion on channel 14 of ADC 1 - which is A2 (PTB10)
-
- // The following updates the rotary counter for the AMT20 sensor
- // Put A on PTC0
- // Put B on PTC1
- AMT20_AB = HW_GPIO_PDIR_RD(HW_PORTC) & 0x03;
-
- if (AMT20_AB != last_AMT20_AB_read)
- {
- // change "INVERT_ANGLE" to change whether relative angle counts up or down.
- if ((AMT20_AB >> 1)^(last_AMT20_AB_read) & 1U)
- #if INVERT_ANGLE == 1
- {rotary_count--;}
- else
- {rotary_count++;}
- #else
- {rotary_count++;}
- else
- {rotary_count--;}
- #endif
-
- last_AMT20_AB_read = AMT20_AB;
- }
- angle_array[i] = rotary_count;
- wait_us(8);
- }
- __enable_irq();
+ // release mallet
+ wait(1);
+
// reset mallet
motorA = 0;
- motorB = 1;
- wait_ms(138);
+ int angleVar = 1;
+ int counter = 0;
+ while(angleVar)
+ {
+ counter++;
+ angleVar = angle_encoder.absolute_angle();
+ //angleVar -= motorVal;
+ if(angleVar == 0x00ff0000) {} // do nothing
+ else if(angleVar > 340) motorB.pulsewidth_us(8000); // max speed
+ else if(angleVar < motorVal) {
+ angleVar = 0; // exit loop
+ motorB.pulsewidth_us(0);} // min speed
+ else motorB.pulsewidth_us(angleVar*800/34);
+ }
motorB = 0;
+ char buf[29];
+ sprintf(buf,"MotorVal: %i\n",motorVal);
+ client[index].write((void *) buf,29);
+
- NVIC_SetPriority(ENET_1588_Timer_IRQn,0);
- NVIC_SetPriority(ENET_Transmit_IRQn,0);
- NVIC_SetPriority(ENET_Receive_IRQn,0);
- NVIC_SetPriority(ENET_Error_IRQn,0);
- TotalInd = 1;
- client[index].write((void *)&sample_array1,2*TOTAL_SAMPLES);
- client[index].write((void *)&sample_array2,2*TOTAL_SAMPLES);
- client[index].write((void *)&angle_array,2*TOTAL_SAMPLES);
- TotalInd = 0;
-
- NVIC_SetPriority(ENET_1588_Timer_IRQn,1);
- NVIC_SetPriority(ENET_Transmit_IRQn,1);
- NVIC_SetPriority(ENET_Receive_IRQn,1);
- NVIC_SetPriority(ENET_Error_IRQn,1);
-
+ /*
+ int tempDutyCycle = 2000;
+ for(int i = counter; i > 0; i--)
+ {
+ motorA.pulsewidth_us(tempDutyCycle);
+ }
+ */
+ // make sure motors are off
+ motorA = 0;
+ motorB = 0;
+ //wait_ms(138);
+ motorB = 0;
}
break;
+ case '1':
+ {
+ // set angle to 0
+ led_blue = 0;
+ while(!angle_encoder.set_zero()) {}
+ led_blue = 1;
- case '2': // just reset the mallet
+ // release mallet
+ wait(1);
+
+
+ // reset mallet
+ motorA = 0;
+ int angleVar = 1;
+ int counter = 0;
+ while(angleVar)
+ {
+ counter++;
+ angleVar = angle_encoder.absolute_angle();
+ angleVar -= motorVal;
+ if(angleVar == 0x00ff0000) {} // do nothing
+ else if(angleVar > 340) motorB.pulsewidth_us(8000); // max speed
+ else if(angleVar < 43) {
+ angleVar = 0; // exit loop
+ motorB.pulsewidth_us(0);} // min speed
+ else motorB.pulsewidth_us(angleVar*800/34);
+ }
+ motorB = 0;
+
+ char buf[29];
+ sprintf(buf,"MotorVal: %i\n",motorVal);
+ client[index].write((void *) buf,29);
+
+
+
+ /*
+ int tempDutyCycle = 2000;
+ for(int i = counter; i > 0; i--)
+ {
+ motorA.pulsewidth_us(tempDutyCycle);
+ }
+ */
+ // make sure motors are off
+ motorA = 0;
+ motorB = 0;
+ }
+ break;
+ case '2':
{
-
// release mallet
motorA = 0;
motorB = 1;
@@ -552,10 +560,19 @@
break;
case '+':
motorVal++;
+ if(motorVal > 8000) motorVal = 43;
+ char buf[29];
+ sprintf(buf,"MotorVal: %i\n",motorVal);
+ client[index].write((void *) buf,29);
+
break;
case '-':
motorVal--;
if(motorVal < 0) motorVal = 0;
+ char buf[29];
+ sprintf(buf,"MotorVal: %i\n",motorVal);
+ client[index].write((void *) buf,29);
+
break;
case 'a':
if(angle_encoder.set_zero(&rotary_count)) {