Charles Stabler
Logical control algorithm for lab 4
Revision 0:a8ef6edcfcd4, committed 2015-03-02
- Comitter:
- cstab94
- Date:
- Mon Mar 02 14:38:34 2015 +0000
- Commit message:
- Logical control
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Mon Mar 02 14:38:34 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Mar 02 14:38:34 2015 +0000
@@ -0,0 +1,54 @@
+// LAB 4 ES202
+// 3/C Changdae Hahm and Charles Stabler
+// 13FEB15
+// Logical Control
+
+#include "mbed.h"
+#include "Motor.h"
+
+
+Serial pc(USBTX, USBRX); // serial comms
+AnalogIn ted(p19); // sensor pin
+Timer t;
+Motor m(p26,p29,p30); // motor control
+
+float read;
+float height;
+float difference;
+float Desired_distance= 7.0;
+
+
+int main() {
+ pc.baud(9600);
+ pc.format(7,SerialBase::None,1);
+ t.start();
+ int time_count=0;
+
+ while(1) {
+ while(time_count<300){
+ read = ted.read();
+ height = ((495.425114818726*pow(read,3)) - (734.715379566225*pow(read,2)) + (358.613836921017*read) - 35.5785628052144); // height calculation based on calibration
+ pc.printf("%f,%f\n", height,t.read()); // printing height and time for TeraTerm
+
+ difference = Desired_distance - height;
+
+ if (abs(difference)<=0.2){ // breaks loop when elevator reaches desired floor
+ m.speed(0.0);
+ break;
+ }
+ else if (height > Desired_distance){ // transit to floor
+ m.speed(.9);
+ }
+ else if (height < Desired_distance){ // transit to floor
+ m.speed(-.9);
+ }
+ time_count=time_count+1;
+ }
+ if (Desired_distance!=18.0){ // changes desired floor once elevator reaches floor
+ Desired_distance=18.0;
+ }
+ else if (Desired_distance!=7.0){ // changes desired floor once elevator reaches floor
+ Desired_distance=7.0;
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Mar 02 14:38:34 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/4fc01daae5a5 \ No newline at end of file