first test
Dependencies: mbed QEI QEI_hw SDFileSystem
main.cpp
- Committer:
- chanaka_madhusanka
- Date:
- 2019-10-30
- Revision:
- 1:014671c2d6da
- Parent:
- 0:0205108c2c99
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); }