first test
Dependencies: mbed QEI QEI_hw SDFileSystem
Diff: main.cpp
- Revision:
- 1:014671c2d6da
- Parent:
- 0:0205108c2c99
diff -r 0205108c2c99 -r 014671c2d6da main.cpp --- a/main.cpp Thu Aug 08 08:12:52 2019 +0000 +++ b/main.cpp Wed Oct 30 06:57:25 2019 +0000 @@ -1,53 +1,217 @@ #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); + -#include "qeihw.h" +//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 -DigitalOut led1 (LED1); -DigitalOut led3 (LED3); - -int pulses = 0; -int32_t temp=0; -Serial pc(USBTX, USBRX); -//Use X4 encoding. -//QEI wheel(p29, p30, NC, 624, QEI::X4_ENCODING); -//Use X2 encoding by default. -//QEI wheel (p13, p14, NC, 2000); -QEIHW wheel(QEI_DIRINV_NONE, QEI_SIGNALMODE_QUAD, QEI_CAPMODE_4X, QEI_INVINX_NONE ); - -Ticker tick; - -void display() -{ - pc.printf("Pulses is: %i\n", temp ); - //pc.printf(" State : %i\n", wheel.GetPosition()); +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); + } + } } -int main() { - - while(1){ - wait(0.1); - wheel.SetDigiFilter(480UL); - wheel.SetMaxPosition(0xFFFFFFFF); - temp = wheel.GetPosition(); - // pulses = wheel.(); - //tick.attach (&display , 1); - - display(); - if (temp >20000){ - led1 = 1; - led3 = 1; +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 ; + } } - else if (temp >10000){ - led1 = 1; - led3 = 0; + 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 ; + } } - else if (temp >5000){ - led1 = 0; - led3 = 1; + 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"); } - else{ - led1 = 0; - led3 = 0; - } + fprintf(fp,"%lf\t %lf\t \r\n",position,torque); + fclose(fp); } -} \ No newline at end of file + +