Carter Edwards / Mbed 2 deprecated ES309_encoder

Communicates with MATLAB to collect encoder data

Dependencies:   QEI mbed mbedWSEsbc

main.cpp@0:6f89ab3c1588, 2018-02-12 (annotated)

Committer:
cjedwardz
Date:
Mon Feb 12 16:25:45 2018 +0000
Revision:
0:6f89ab3c1588
Version 0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cjedwardz 0:6f89ab3c1588 1 #include "mbed.h"
cjedwardz 0:6f89ab3c1588 2 #include "QEI.h"
cjedwardz 0:6f89ab3c1588 3 //#include "mbedWSEsbc.h"
cjedwardz 0:6f89ab3c1588 4
cjedwardz 0:6f89ab3c1588 5 Serial pc(USBTX, USBRX);
cjedwardz 0:6f89ab3c1588 6 QEI encoder(p16, p17, NC, 3200);
cjedwardz 0:6f89ab3c1588 7
cjedwardz 0:6f89ab3c1588 8 Ticker Tocker;
cjedwardz 0:6f89ab3c1588 9 float TotalTime;
cjedwardz 0:6f89ab3c1588 10 float Time;
cjedwardz 0:6f89ab3c1588 11 float dt = 0.005;
cjedwardz 0:6f89ab3c1588 12 float refresh = 0.01;
cjedwardz 0:6f89ab3c1588 13
cjedwardz 0:6f89ab3c1588 14 float theta;
cjedwardz 0:6f89ab3c1588 15 float omega;
cjedwardz 0:6f89ab3c1588 16 int ticks;
cjedwardz 0:6f89ab3c1588 17
cjedwardz 0:6f89ab3c1588 18 float theta_p;
cjedwardz 0:6f89ab3c1588 19 float d_theta;
cjedwardz 0:6f89ab3c1588 20
cjedwardz 0:6f89ab3c1588 21 float t2d = 0.1125;
cjedwardz 0:6f89ab3c1588 22
cjedwardz 0:6f89ab3c1588 23 //Declare functions
cjedwardz 0:6f89ab3c1588 24 void velocity();
cjedwardz 0:6f89ab3c1588 25
cjedwardz 0:6f89ab3c1588 26 int main()
cjedwardz 0:6f89ab3c1588 27 {
cjedwardz 0:6f89ab3c1588 28 int go = 0;
cjedwardz 0:6f89ab3c1588 29
cjedwardz 0:6f89ab3c1588 30 // Set serial parameters
cjedwardz 0:6f89ab3c1588 31 pc.baud(115200);
cjedwardz 0:6f89ab3c1588 32 pc.format(8,SerialBase::None,1);
cjedwardz 0:6f89ab3c1588 33
cjedwardz 0:6f89ab3c1588 34 // Initialize time
cjedwardz 0:6f89ab3c1588 35 Time = 0.0;
cjedwardz 0:6f89ab3c1588 36 // Attach ticker function
cjedwardz 0:6f89ab3c1588 37 Tocker.attach(&velocity,dt);
cjedwardz 0:6f89ab3c1588 38
cjedwardz 0:6f89ab3c1588 39 while(1) {
cjedwardz 0:6f89ab3c1588 40 // Get "go" command from MATLAB
cjedwardz 0:6f89ab3c1588 41 pc.scanf("%d,%f",&go, &TotalTime);
cjedwardz 0:6f89ab3c1588 42 // Reset time
cjedwardz 0:6f89ab3c1588 43 Time = 0.0;
cjedwardz 0:6f89ab3c1588 44 if(go == 1) {
cjedwardz 0:6f89ab3c1588 45 while(Time <= TotalTime) {
cjedwardz 0:6f89ab3c1588 46 //pc.printf("Time: %f; Position: %f (deg); Velocity: %f (deg/s);\n", Time, theta, omega);
cjedwardz 0:6f89ab3c1588 47 pc.printf("%f,%f,%f\n", Time, theta, omega);
cjedwardz 0:6f89ab3c1588 48 wait(refresh);
cjedwardz 0:6f89ab3c1588 49 }
cjedwardz 0:6f89ab3c1588 50 }
cjedwardz 0:6f89ab3c1588 51 }
cjedwardz 0:6f89ab3c1588 52 }
cjedwardz 0:6f89ab3c1588 53
cjedwardz 0:6f89ab3c1588 54 void velocity()
cjedwardz 0:6f89ab3c1588 55 {
cjedwardz 0:6f89ab3c1588 56 ticks = encoder.getPulses();
cjedwardz 0:6f89ab3c1588 57 theta = ticks*t2d;
cjedwardz 0:6f89ab3c1588 58 Time = Time + dt;
cjedwardz 0:6f89ab3c1588 59 // Angle in degrees
cjedwardz 0:6f89ab3c1588 60
cjedwardz 0:6f89ab3c1588 61 //if (theta > 360.0) {
cjedwardz 0:6f89ab3c1588 62 // theta = theta - 360.0;
cjedwardz 0:6f89ab3c1588 63 //} else if (theta < 0.0) {
cjedwardz 0:6f89ab3c1588 64 // theta = theta + 360.0;
cjedwardz 0:6f89ab3c1588 65 //}
cjedwardz 0:6f89ab3c1588 66
cjedwardz 0:6f89ab3c1588 67 d_theta = theta - theta_p;
cjedwardz 0:6f89ab3c1588 68 omega = d_theta/dt;
cjedwardz 0:6f89ab3c1588 69
cjedwardz 0:6f89ab3c1588 70 theta_p = theta;
cjedwardz 0:6f89ab3c1588 71 }