Carter Edwards
Communicates with MATLAB to collect encoder data
Dependencies: QEI mbed mbedWSEsbc
Revision 0:6f89ab3c1588, committed 2018-02-12
- Comitter:
- cjedwardz
- Date:
- Mon Feb 12 16:25:45 2018 +0000
- Commit message:
- Version 0
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Mon Feb 12 16:25:45 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Feb 12 16:25:45 2018 +0000
@@ -0,0 +1,71 @@
+#include "mbed.h"
+#include "QEI.h"
+//#include "mbedWSEsbc.h"
+
+Serial pc(USBTX, USBRX);
+QEI encoder(p16, p17, NC, 3200);
+
+Ticker Tocker;
+float TotalTime;
+float Time;
+float dt = 0.005;
+float refresh = 0.01;
+
+float theta;
+float omega;
+int ticks;
+
+float theta_p;
+float d_theta;
+
+float t2d = 0.1125;
+
+//Declare functions
+void velocity();
+
+int main()
+{
+ int go = 0;
+
+ // Set serial parameters
+ pc.baud(115200);
+ pc.format(8,SerialBase::None,1);
+
+ // Initialize time
+ Time = 0.0;
+ // Attach ticker function
+ Tocker.attach(&velocity,dt);
+
+ while(1) {
+ // Get "go" command from MATLAB
+ pc.scanf("%d,%f",&go, &TotalTime);
+ // Reset time
+ Time = 0.0;
+ if(go == 1) {
+ while(Time <= TotalTime) {
+ //pc.printf("Time: %f; Position: %f (deg); Velocity: %f (deg/s);\n", Time, theta, omega);
+ pc.printf("%f,%f,%f\n", Time, theta, omega);
+ wait(refresh);
+ }
+ }
+ }
+}
+
+void velocity()
+{
+ ticks = encoder.getPulses();
+ theta = ticks*t2d;
+ Time = Time + dt;
+ // Angle in degrees
+
+ //if (theta > 360.0) {
+ // theta = theta - 360.0;
+ //} else if (theta < 0.0) {
+ // theta = theta + 360.0;
+ //}
+
+ d_theta = theta - theta_p;
+ omega = d_theta/dt;
+
+ theta_p = theta;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Feb 12 16:25:45 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7130f322cb7e \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbedWSEsbc.lib Mon Feb 12 16:25:45 2018 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/jebradshaw/code/mbedWSEsbc/#2564f54c89df