File content as of revision 1:014671c2d6da:

#include "mbed.h"
#include "SDFileSystem.h"
#include "QEI.h"

SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board p5 - mosi, p6-miso, p7 - sck, p8 - cs 
Serial pc (USBTX,USBRX);
QEI wheel (p29, p30, NC, 2000, QEI::X4_ENCODING); //to get encoder position

//int i= 2;
int value = 0;

void sendDAC(int value);
void file_write_int(double input, double torque);


//DAC 712
DigitalOut dac_a0(p13);
DigitalOut dac_a1(p12);
DigitalOut dac_wr(p9);
DigitalOut dac_clr(p10);
DigitalOut dac_d15(p15);
DigitalOut dac_d14(p16);
DigitalOut dac_d13(p17);
DigitalOut dac_d12(p18);
DigitalOut dac_d11(p19);
DigitalOut dac_d10(p20);
DigitalOut dac_d9(p21);
DigitalOut dac_d8(p22);
DigitalOut dac_d7(p23);
DigitalOut dac_d6(p24);
DigitalOut dac_d5(p25);
DigitalOut dac_d4(p26);
DigitalOut dac_d3(p27);
DigitalOut dac_d2(p28);
DigitalOut dac_d1(p11); //p29 for writing purpose change p29 to p11
DigitalOut dac_d0(p14); //p30 for writing purpose change p30 to p14

int main(){
    
    float val = 32767/10;
    int sendval;
    double position;
    double x;
    
    while(1){
        //reverse loop
        dac_a0 = 0;
        dac_a1 = 1;
        dac_clr = 1;
        sendval = int(val * 0.06*(0.9));  //for maximum torque = 46.75 voltage = 2.805 >>> 0 is not zero. Eventhough "0.9" is a positive it gives negative direction movement for "3" it gives positive movement 
        sendDAC(sendval);                 
        dac_a0 = 1;
        dac_a1 = 0;
        wait(0.1);      //to change the back velocity
        
        dac_a0 = 0;
        dac_a1 = 1;
        dac_clr = 1;
        sendval = int(val * 0.06*(1.4));  //for maximum torque = 46.75 voltage = 2.805 >>> 0 is not zero. Eventhough "0.9" is a positive it gives negative direction movement for "3" it gives positive movement 
        sendDAC(sendval);                 
        dac_a0 = 1;
        dac_a1 = 0;
        wait(3);      //to change the back velocity
        
        //forward loop
        dac_a0 = 0;
        dac_a1 = 1;
        sendval = int(val * 0.06*(6));
        sendDAC(sendval);
        dac_a0 = 1;
        dac_a1 = 0;
        wait(4);
        
        position = 0;
        x = -wheel.getPulses()/200.0;
        
        //for increasing torque
        for(double i = 1 ; i<=20 ; i+=0.001){
            
            double torque;
            
            if(i<10.1){    
                dac_a0 = 0;
                dac_a1 = 1;
                sendval = int(val * (0.0284*i+0.1436));
                sendDAC(sendval);
                dac_a0 = 1;
                dac_a1 = 0;
                torque = 25*0.6*0.4*(0.0284*i+0.1436)/1.2796;      //maximum percentage is 40... range 0-40
                position = (-wheel.getPulses()/200.0)-x;
                
                if((wheel.getPulses()/200.0)<6){
                    file_write_int(position,torque);
                }
                pc.printf("Pulses is: %lf\t %lf\r\n",position,torque);
                
                if(i>9.9){
                    for(int j=1; j<500 ;j++){
                        pc.printf("Wait position : %lf\t %lf\r\n",-(wheel.getPulses()/200.0)-x,torque);
                    }       
                }
            }else if(i>=10.1){
                
                dac_a0 = 0;
                dac_a1 = 1;
                sendval = int(val * (0.0284*i+0.1436));
                sendDAC(sendval);
                dac_a0 = 1;
                dac_a1 = 0;
                torque = 25*0.6*0.4*(6+20-i)/2.805;
                position = (-wheel.getPulses()/200.0)-x;
                
                if((wheel.getPulses()/200.0)<6){
                    file_write_int(position,torque);
                }
                pc.printf("Pulses is: %lf\t %lf\r\n",position,torque);
            }
            wait(0.05); 
        }        
    }
}

void sendDAC(int value){
    int remainder = 0;
    dac_clr = 0;
    wait_us(120);
    dac_clr = 1;
    //send output dac
    dac_wr = 1;
    if(value >= 0){
        if(value >= 32767){
           dac_d15 = 0; dac_d14= 1; dac_d13 = 1; dac_d12 = 1; dac_d11 = 1; dac_d10 =1; dac_d9 = 1; dac_d8 = 1; dac_d7 = 1; dac_d6 = 1; dac_d5 = 1; dac_d4 = 1; dac_d3 = 1; dac_d2 = 1; dac_d1 =1; dac_d0 = 1;  
        }
        else {
            dac_d15 = 0; 
            dac_d14 = value / 16384 ;
            remainder = value - dac_d14.read() * 16384;
            dac_d13 = remainder / 8192;
            remainder = remainder - dac_d13.read() * 8192;
            dac_d12 = remainder / 4096;
            remainder = remainder - dac_d12.read() * 4096;
            dac_d11 = remainder / 2048;
            remainder = remainder - dac_d11.read() * 2048;
            dac_d10 = remainder / 1024;
            remainder = remainder - dac_d10.read() * 1024;
            dac_d9 = remainder / 512;
            remainder = remainder - dac_d9.read() * 512;
            dac_d8 = remainder / 256;
            remainder = remainder - dac_d8.read() * 256;
            dac_d7 = remainder / 128;
            remainder = remainder - dac_d7.read() * 128;
            dac_d6 = remainder / 64;
            remainder = remainder - dac_d6.read() * 64;
            dac_d5 = remainder / 32;
            remainder = remainder - dac_d5.read() * 32;
            dac_d4 = remainder / 16;
            remainder = remainder - dac_d4.read() * 16;
            dac_d3 = remainder / 8;
            remainder = remainder - dac_d3.read() * 8;
            dac_d2 = remainder / 4;
            remainder = remainder - dac_d2.read() * 4;
            dac_d1 = remainder / 2; 
            remainder = remainder - dac_d1.read() * 2;
            dac_d0 = remainder ;            
        }
    }
    if (value < 0){
        if(value <= -32768){
            dac_d15 = 1; dac_d14= 0; dac_d13 = 0; dac_d12 = 0; dac_d11 = 0; dac_d10 =0; dac_d9 = 0; dac_d8 = 0; dac_d7 = 0; dac_d6 = 0; dac_d5 = 0; dac_d4 = 0; dac_d3 = 0; dac_d2 = 0; dac_d1 =0; dac_d0 = 0;  
        }   
        else{
            dac_d15 = 1;             
            dac_d14 = ( 32768 + value) / 16384 ;
            remainder = ( 32768 + value) - dac_d14.read() * 16384;
            dac_d13 = remainder / 8192;
            remainder = remainder - dac_d13.read() * 8192;
            dac_d12 = remainder / 4096;
            remainder = remainder - dac_d12.read() * 4096;
            dac_d11 = remainder / 2048;
            remainder = remainder - dac_d11.read() * 2048;
            dac_d10 = remainder / 1024;
            remainder = remainder - dac_d10.read() * 1024;
            dac_d9 = remainder / 512;
            remainder = remainder - dac_d9.read() * 512;
            dac_d8 = remainder / 256;
            remainder = remainder - dac_d8.read() * 256;
            dac_d7 = remainder / 128;
            remainder = remainder - dac_d7.read() * 128;
            dac_d6 = remainder / 64;
            remainder = remainder - dac_d6.read() * 64;
            dac_d5 = remainder / 32;
            remainder = remainder - dac_d5.read() * 32;
            dac_d4 = remainder / 16;
            remainder = remainder - dac_d4.read() * 16;
            dac_d3 = remainder / 8;
            remainder = remainder - dac_d3.read() * 8;
            dac_d2 = remainder / 4;
            remainder = remainder - dac_d2.read() * 4;
            dac_d1 = remainder / 2 ;
            remainder = remainder - dac_d1.read() * 2;
            dac_d0 = remainder ;          
        } 
    }
    dac_wr = 0;    
}

void file_write_int(double position,double torque){
    mkdir("/sd/mydir", 0777);
    FILE *fp = fopen("/sd/mydir/sdtesthys.txt", "a");
    if(fp == NULL){
        error("Could not open file for write\n");
    }
    fprintf(fp,"%lf\t %lf\t \r\n",position,torque);
    fclose(fp);
}