David Salmon / Mbed OS ES_CW2_Starter_MDMA

ES2017 coursework 2

Dependencies:   PID

Fork of ES_CW2_Starter by Edward Stott

main.cpp@15:d9e50101a17e, 2017-03-09 (annotated)

Committer:
theMaO
Date:
Thu Mar 09 14:56:06 2017 +0000
Revision:
15:d9e50101a17e
Parent:
14:155e9a9147d4
Parent:
13:87ab3b008803
Child:
16:372c720015ab
merge; maybe

Who changed what in which revision?

UserRevisionLine numberNew contents of line
estott 0:de4320f74764 1 #include "mbed.h"
estott 0:de4320f74764 2 #include "rtos.h"
david_s95 5:e5313b695302 3 #include <string>
david_s95 10:0309d6c49f26 4 #include "PID.h"
david_s95 10:0309d6c49f26 5
david_s95 10:0309d6c49f26 6 //PID controller configuration
david_s95 10:0309d6c49f26 7 float PIDrate = 0.2;
david_s95 13:87ab3b008803 8 float Kc = 4.5;
david_s95 13:87ab3b008803 9 float Ti = 0.1;
david_s95 13:87ab3b008803 10 float Td = 0.5;
david_s95 10:0309d6c49f26 11 float speedControl = 0;
david_s95 10:0309d6c49f26 12 PID controller(Kc, Ti, Td, PIDrate);
david_s95 10:0309d6c49f26 13 Thread VPIDthread;
estott 0:de4320f74764 14
estott 0:de4320f74764 15 //Photointerrupter input pins
estott 0:de4320f74764 16 #define I1pin D2
estott 2:4e88faab6988 17 #define I2pin D11
estott 2:4e88faab6988 18 #define I3pin D12
estott 2:4e88faab6988 19
estott 2:4e88faab6988 20 //Incremental encoder input pins
estott 2:4e88faab6988 21 #define CHA D7
david_s95 5:e5313b695302 22 #define CHB D8
estott 0:de4320f74764 23
estott 0:de4320f74764 24 //Motor Drive output pins //Mask in output byte
estott 2:4e88faab6988 25 #define L1Lpin D4 //0x01
estott 2:4e88faab6988 26 #define L1Hpin D5 //0x02
estott 2:4e88faab6988 27 #define L2Lpin D3 //0x04
estott 2:4e88faab6988 28 #define L2Hpin D6 //0x08
estott 2:4e88faab6988 29 #define L3Lpin D9 //0x10
estott 0:de4320f74764 30 #define L3Hpin D10 //0x20
estott 0:de4320f74764 31
david_s95 5:e5313b695302 32 //Define sized for command arrays
david_s95 5:e5313b695302 33 #define ARRAYSIZE 8
david_s95 5:e5313b695302 34
estott 0:de4320f74764 35 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 36 /*
estott 0:de4320f74764 37 State L1 L2 L3
estott 0:de4320f74764 38 0 H - L
estott 0:de4320f74764 39 1 - H L
estott 0:de4320f74764 40 2 L H -
estott 0:de4320f74764 41 3 L - H
estott 0:de4320f74764 42 4 - L H
estott 0:de4320f74764 43 5 H L -
estott 0:de4320f74764 44 6 - - -
estott 0:de4320f74764 45 7 - - -
estott 0:de4320f74764 46 */
estott 0:de4320f74764 47 //Drive state to output table
david_s95 9:575b29cbf5e4 48 //const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
david_s95 9:575b29cbf5e4 49 const int8_t driveTable[6] = {0x38, 0x2C, 0x0E, 0x0B, 0x23, 0x32};
david_s95 9:575b29cbf5e4 50
david_s95 9:575b29cbf5e4 51 //const int8_t cwState[7] = {0, 4, 0, 5, 2, 3, 1};
david_s95 9:575b29cbf5e4 52 //const int8_t AcwState[7] = {0, 2, 4, 3, 0, 1, 5};
david_s95 9:575b29cbf5e4 53 //const int8_t cwState[7] = {0x00, 0x23, 0x38, 0x32, 0x0E, 0x0B, 0x2C};
david_s95 9:575b29cbf5e4 54 //const int8_t AcwState[7] = {0x00, 0x0E, 0x23, 0x0B, 0x38, 0x2C, 0x32};
david_s95 9:575b29cbf5e4 55 const int8_t AcwState[7] = {0x00, 0x23, 0x38, 0x32, 0x0E, 0x0B, 0x2C};
david_s95 9:575b29cbf5e4 56 const int8_t cwState[7] = {0x00, 0x0E, 0x23, 0x0B, 0x38, 0x2C, 0x32};
estott 2:4e88faab6988 57
estott 0:de4320f74764 58 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
david_s95 9:575b29cbf5e4 59 //const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 60 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
estott 2:4e88faab6988 61
estott 2:4e88faab6988 62 //Phase lead to make motor spin
david_s95 9:575b29cbf5e4 63 //int8_t lead = -2; //2 for forwards, -2 for backwards
estott 0:de4320f74764 64
estott 0:de4320f74764 65 //Status LED
estott 0:de4320f74764 66 DigitalOut led1(LED1);
estott 0:de4320f74764 67
estott 0:de4320f74764 68 //Photointerrupter inputs
david_s95 9:575b29cbf5e4 69 DigitalIn I1(I1pin);
david_s95 9:575b29cbf5e4 70 //InterruptIn I1(I1pin);
david_s95 9:575b29cbf5e4 71 InterruptIn I2(I2pin);
estott 2:4e88faab6988 72 DigitalIn I3(I3pin);
estott 0:de4320f74764 73
david_s95 8:77627657da80 74 InterruptIn qA(CHA);
david_s95 8:77627657da80 75 InterruptIn qB(CHB);
david_s95 8:77627657da80 76
estott 0:de4320f74764 77 //Motor Drive outputs
david_s95 9:575b29cbf5e4 78 //DigitalOut L1L(L1Lpin);
david_s95 9:575b29cbf5e4 79 //DigitalOut L1H(L1Hpin);
david_s95 9:575b29cbf5e4 80 //DigitalOut L2L(L2Lpin);
david_s95 9:575b29cbf5e4 81 //DigitalOut L2H(L2Hpin);
david_s95 9:575b29cbf5e4 82 //DigitalOut L3L(L3Lpin);
david_s95 9:575b29cbf5e4 83 //DigitalOut L3H(L3Hpin);
david_s95 5:e5313b695302 84 DigitalOut clk(LED1);
david_s95 8:77627657da80 85 DigitalOut Direction(LED2);
david_s95 9:575b29cbf5e4 86 DigitalOut testpin(D13);
david_s95 9:575b29cbf5e4 87
david_s95 9:575b29cbf5e4 88 //NOTE, BusOut declares things in reverse (ie, 0, 1, 2, 3) compared to binary represenation
david_s95 9:575b29cbf5e4 89 BusOut motor(L1Lpin, L1Hpin, L2Lpin, L2Hpin, L3Lpin, L3Hpin);
david_s95 5:e5313b695302 90
david_s95 5:e5313b695302 91 //Timeout function for rotating at set speed
david_s95 5:e5313b695302 92 Timeout spinTimer;
david_s95 5:e5313b695302 93 float spinWait = 10;
david_s95 5:e5313b695302 94 float revsec = 0;
david_s95 5:e5313b695302 95
theMaO 14:155e9a9147d4 96 //Variables for spinning N revolutions
theMaO 14:155e9a9147d4 97 int8_t targetRevs = 0;
theMaO 14:155e9a9147d4 98 int8_t currRevs = 0;
theMaO 14:155e9a9147d4 99
david_s95 7:5932ed0bad6d 100 //Timer used for calculating speed
david_s95 7:5932ed0bad6d 101 Timer speedTimer;
david_s95 10:0309d6c49f26 102 float measuredRevs = 0, revtimer = 0;
david_s95 7:5932ed0bad6d 103 Ticker printSpeed;
david_s95 7:5932ed0bad6d 104
david_s95 5:e5313b695302 105 Serial pc(SERIAL_TX, SERIAL_RX);
david_s95 5:e5313b695302 106
david_s95 5:e5313b695302 107 int8_t orState = 0; //Rotor offset at motor state 0
david_s95 5:e5313b695302 108 int8_t intState = 0;
david_s95 5:e5313b695302 109 int8_t intStateOld = 0;
david_s95 9:575b29cbf5e4 110 int position = 0;
david_s95 5:e5313b695302 111
david_s95 5:e5313b695302 112 int i=0;
david_s95 10:0309d6c49f26 113 int quadraturePosition=0;
david_s95 9:575b29cbf5e4 114 bool spinCW=0;
david_s95 10:0309d6c49f26 115 float u = 0; //Set point for VPI
david_s95 5:e5313b695302 116
estott 0:de4320f74764 117 //Set a given drive state
david_s95 5:e5313b695302 118 void motorOut(int8_t driveState)
david_s95 5:e5313b695302 119 {
david_s95 5:e5313b695302 120
david_s95 9:575b29cbf5e4 121 //Set to zero
david_s95 9:575b29cbf5e4 122 motor=0x2A;
david_s95 10:0309d6c49f26 123
david_s95 9:575b29cbf5e4 124 //Go to next state
david_s95 9:575b29cbf5e4 125 if(!spinCW) motor = AcwState[driveState];
david_s95 9:575b29cbf5e4 126 else motor = cwState[driveState];
estott 2:4e88faab6988 127 //Lookup the output byte from the drive state.
david_s95 9:575b29cbf5e4 128 // int8_t driveOut = driveTable[driveState & 0x07];
david_s95 10:0309d6c49f26 129 }
david_s95 5:e5313b695302 130
david_s95 10:0309d6c49f26 131 inline void motorStop()
david_s95 10:0309d6c49f26 132 {
david_s95 10:0309d6c49f26 133 //revsec set to zero prevents recurring interrupt for constant speed
david_s95 10:0309d6c49f26 134 revsec = 0;
david_s95 10:0309d6c49f26 135 //0x2A turns all motor transistors off to prevent any power usage
david_s95 10:0309d6c49f26 136 motor = 0x2A;
david_s95 5:e5313b695302 137 }
david_s95 5:e5313b695302 138
david_s95 5:e5313b695302 139 //Convert photointerrupter inputs to a rotor state
david_s95 5:e5313b695302 140 inline int8_t readRotorState()
david_s95 5:e5313b695302 141 {
david_s95 9:575b29cbf5e4 142 return (I1 + 2*I2 + 4*I3);
david_s95 5:e5313b695302 143 }
estott 0:de4320f74764 144
david_s95 5:e5313b695302 145 //Basic synchronisation routine
david_s95 5:e5313b695302 146 int8_t motorHome()
david_s95 5:e5313b695302 147 {
estott 0:de4320f74764 148 //Put the motor in drive state 0 and wait for it to stabilise
david_s95 9:575b29cbf5e4 149 motor=cwState[1];
estott 0:de4320f74764 150 wait(1.0);
david_s95 10:0309d6c49f26 151
david_s95 9:575b29cbf5e4 152 position = 0;
david_s95 5:e5313b695302 153
estott 0:de4320f74764 154 //Get the rotor state
estott 2:4e88faab6988 155 return readRotorState();
estott 0:de4320f74764 156 }
david_s95 5:e5313b695302 157
david_s95 5:e5313b695302 158 void fixedSpeed()
david_s95 5:e5313b695302 159 {
david_s95 5:e5313b695302 160 intState = readRotorState();
david_s95 6:4edbe75736d9 161 //Increment state machine to next state
david_s95 9:575b29cbf5e4 162 motorOut(intState);
david_s95 6:4edbe75736d9 163 //If spinning is required, attach the necessary wait to the
david_s95 6:4edbe75736d9 164 //timeout interrupt to call this function again and
david_s95 6:4edbe75736d9 165 //keep the motor spinning at the right speed
david_s95 5:e5313b695302 166 if(revsec) spinTimer.attach(&fixedSpeed, spinWait);
david_s95 5:e5313b695302 167 }
david_s95 5:e5313b695302 168
theMaO 14:155e9a9147d4 169 void spinToPos(){
theMaO 14:155e9a9147d4 170 currRevs = 0;
theMaO 14:155e9a9147d4 171
theMaO 14:155e9a9147d4 172 }
theMaO 14:155e9a9147d4 173
david_s95 10:0309d6c49f26 174 void rps()
david_s95 7:5932ed0bad6d 175 {
david_s95 10:0309d6c49f26 176
david_s95 10:0309d6c49f26 177 clk=!clk;
david_s95 10:0309d6c49f26 178 speedTimer.stop();
david_s95 10:0309d6c49f26 179 revtimer = speedTimer.read_ms();
david_s95 10:0309d6c49f26 180 speedTimer.reset();
david_s95 10:0309d6c49f26 181 speedTimer.start();
david_s95 10:0309d6c49f26 182
david_s95 10:0309d6c49f26 183 measuredRevs = 1000/(revtimer);
david_s95 10:0309d6c49f26 184 quadraturePosition=0;
david_s95 10:0309d6c49f26 185
david_s95 7:5932ed0bad6d 186 }
david_s95 7:5932ed0bad6d 187
david_s95 10:0309d6c49f26 188 void VPID()
david_s95 10:0309d6c49f26 189 {
david_s95 12:8ea29b18d289 190 controller.setMode(1);
david_s95 10:0309d6c49f26 191 while(1) {
david_s95 10:0309d6c49f26 192 controller.setSetPoint(revsec);
david_s95 10:0309d6c49f26 193 // printf("revsec: %2.3f\r\n", revsec);
david_s95 10:0309d6c49f26 194 controller.setProcessValue(measuredRevs);
david_s95 10:0309d6c49f26 195 speedControl = controller.compute();
david_s95 10:0309d6c49f26 196 // printf("speed setpoint: %2.3f\r\n", speedControl);
david_s95 12:8ea29b18d289 197 if(speedControl<0) speedControl = -speedControl;
david_s95 12:8ea29b18d289 198 else if (speedControl==0) speedControl = 1;
david_s95 12:8ea29b18d289 199 spinWait = (1/speedControl)/6;
david_s95 10:0309d6c49f26 200 Thread::wait(PIDrate);
david_s95 10:0309d6c49f26 201 }
david_s95 10:0309d6c49f26 202 }
david_s95 7:5932ed0bad6d 203
theMaO 15:d9e50101a17e 204 <<<<<<< local
theMaO 15:d9e50101a17e 205 =======
david_s95 13:87ab3b008803 206 //void edgeRiseA()
david_s95 13:87ab3b008803 207 //{
david_s95 13:87ab3b008803 208 // pos++;
david_s95 13:87ab3b008803 209 // if(pos>=468) {
david_s95 13:87ab3b008803 210 //// Direction=!Direction;
david_s95 13:87ab3b008803 211 // pos=pos%468;
david_s95 13:87ab3b008803 212 //// testpin=!testpin;
david_s95 13:87ab3b008803 213 // }
david_s95 13:87ab3b008803 214 // if(qB) DIR = 0;
david_s95 13:87ab3b008803 215 // else DIR = 1;
david_s95 13:87ab3b008803 216 //// clk=DIR;
david_s95 13:87ab3b008803 217 ////CLOCKWISE: A rises before B -> On A edge, B low -> DIR = 1
david_s95 13:87ab3b008803 218 ////ANTICLOCKWISE: B rises before A -> On A edge, B high-> DIR = 0
david_s95 13:87ab3b008803 219 //}
david_s95 13:87ab3b008803 220
david_s95 13:87ab3b008803 221 void sing(float singFreq)
david_s95 9:575b29cbf5e4 222 {
david_s95 13:87ab3b008803 223 motor = driveTable[1];
david_s95 13:87ab3b008803 224 wait(1.0);
david_s95 13:87ab3b008803 225 float singDelayus = 1000000/singFreq;
david_s95 13:87ab3b008803 226 for(int count=0; count<singFreq; count++) {
david_s95 13:87ab3b008803 227 motor = driveTable[2];
david_s95 13:87ab3b008803 228 wait_us(singDelayus);
david_s95 13:87ab3b008803 229 motor = driveTable[1];
david_s95 8:77627657da80 230 }
david_s95 13:87ab3b008803 231 singFreq = 15000;
david_s95 13:87ab3b008803 232 singDelayus = 1000000/singFreq;
david_s95 13:87ab3b008803 233 for(int count=0; count<singFreq; count++) {
david_s95 13:87ab3b008803 234 motor = driveTable[2];
david_s95 13:87ab3b008803 235 wait_us(singDelayus);
david_s95 13:87ab3b008803 236 motor = driveTable[1];
david_s95 13:87ab3b008803 237 }
david_s95 8:77627657da80 238 }
david_s95 8:77627657da80 239
david_s95 13:87ab3b008803 240 //void edgeIncr()
david_s95 13:87ab3b008803 241 //{
david_s95 13:87ab3b008803 242 // pos++;
david_s95 13:87ab3b008803 243 // if(pos>=468) {
david_s95 13:87ab3b008803 244 //// Direction=!Direction;
david_s95 13:87ab3b008803 245 // pos=pos%468;
david_s95 13:87ab3b008803 246 //// testpin=!testpin;
david_s95 13:87ab3b008803 247 // }
david_s95 13:87ab3b008803 248 //}
david_s95 8:77627657da80 249
david_s95 9:575b29cbf5e4 250 //#define WAIT 2
mengkiang 4:f8a9ce214db9 251 //Main function
theMaO 15:d9e50101a17e 252 >>>>>>> other
david_s95 5:e5313b695302 253 int main()
david_s95 5:e5313b695302 254 {
david_s95 9:575b29cbf5e4 255 pc.printf("spin\n\r");
david_s95 10:0309d6c49f26 256
estott 0:de4320f74764 257 //Run the motor synchronisation
estott 2:4e88faab6988 258 orState = motorHome();
david_s95 6:4edbe75736d9 259 //orState is subtracted from future rotor state inputs to align rotor and motor states
david_s95 6:4edbe75736d9 260
estott 2:4e88faab6988 261 pc.printf("Rotor origin: %x\n\r",orState);
david_s95 5:e5313b695302 262
david_s95 6:4edbe75736d9 263 char command[ARRAYSIZE];
david_s95 6:4edbe75736d9 264 int index=0;
david_s95 6:4edbe75736d9 265 int units = 0, tens = 0, decimals = 0;
david_s95 6:4edbe75736d9 266 char ch;
david_s95 9:575b29cbf5e4 267 testpin=0;
david_s95 12:8ea29b18d289 268 int vartens = 0, varunits = 0, vardecs = 0;
david_s95 7:5932ed0bad6d 269
david_s95 10:0309d6c49f26 270 speedTimer.reset();
david_s95 10:0309d6c49f26 271 speedTimer.start();
david_s95 10:0309d6c49f26 272 I2.mode(PullNone);
david_s95 10:0309d6c49f26 273 I2.fall(&rps);
theMaO 15:d9e50101a17e 274 <<<<<<< local
theMaO 15:d9e50101a17e 275 =======
david_s95 13:87ab3b008803 276
david_s95 9:575b29cbf5e4 277 // qA.rise(&edgeRiseA);
david_s95 9:575b29cbf5e4 278 // qB.rise(&edgeIncr);
david_s95 9:575b29cbf5e4 279 // qA.fall(&edgeIncr);
david_s95 9:575b29cbf5e4 280 // qB.fall(&edgeIncr);
theMaO 15:d9e50101a17e 281 >>>>>>> other
david_s95 7:5932ed0bad6d 282
david_s95 10:0309d6c49f26 283 VPIDthread.start(VPID);
david_s95 10:0309d6c49f26 284
david_s95 5:e5313b695302 285 while(1) {
david_s95 9:575b29cbf5e4 286 // clk = I2;
david_s95 6:4edbe75736d9 287 //Toggle LED so we know something's happening
david_s95 8:77627657da80 288 // clk = !clk;
david_s95 7:5932ed0bad6d 289
david_s95 6:4edbe75736d9 290 //If there's a character to read from the serial port
david_s95 6:4edbe75736d9 291 if (pc.readable()) {
david_s95 7:5932ed0bad6d 292
david_s95 6:4edbe75736d9 293 //Clear index counter and control variables
david_s95 6:4edbe75736d9 294 index = 0;
david_s95 7:5932ed0bad6d 295 // revsec = spinWait = 0;
david_s95 7:5932ed0bad6d 296
david_s95 6:4edbe75736d9 297 //Read each value from the serial port until Enter key is pressed
david_s95 6:4edbe75736d9 298 do {
david_s95 6:4edbe75736d9 299 //Read character
david_s95 6:4edbe75736d9 300 ch = pc.getc();
david_s95 6:4edbe75736d9 301 //Print character to serial for visual feedback
david_s95 6:4edbe75736d9 302 pc.putc(ch);
david_s95 6:4edbe75736d9 303 //Add character to input array
david_s95 6:4edbe75736d9 304 command[index++]=ch; // put it into the value array and increment the index
david_s95 7:5932ed0bad6d 305 //d10 and d13 used for detecting Enter key on Windows/Unix/Mac
david_s95 6:4edbe75736d9 306 } while(ch != 10 && ch != 13);
david_s95 7:5932ed0bad6d 307
david_s95 6:4edbe75736d9 308 //Start new line on terminal for printing data
david_s95 6:4edbe75736d9 309 pc.putc('\n');
david_s95 6:4edbe75736d9 310 pc.putc('\r');
david_s95 7:5932ed0bad6d 311
david_s95 6:4edbe75736d9 312 //Analyse the input string
david_s95 6:4edbe75736d9 313 switch (command[0]) {
david_s95 7:5932ed0bad6d 314 //If a V was typed...
david_s95 6:4edbe75736d9 315 case 'V':
david_s95 7:5932ed0bad6d 316 units = 0, tens = 0, decimals = 0;
david_s95 7:5932ed0bad6d 317 //For each character received, subtract ASCII 0 from ASCII
david_s95 7:5932ed0bad6d 318 //representation to obtain the integer value of the number
david_s95 9:575b29cbf5e4 319 if(command[1]=='-') {
david_s95 9:575b29cbf5e4 320 spinCW = 0;
david_s95 9:575b29cbf5e4 321 //If decimal point is in the second character (eg, V-.1)
david_s95 9:575b29cbf5e4 322 if(command[2]=='.') {
david_s95 9:575b29cbf5e4 323 //Extract decimal rev/s
david_s95 9:575b29cbf5e4 324 decimals = command[3] - '0';
david_s95 7:5932ed0bad6d 325
david_s95 9:575b29cbf5e4 326 //If decimal point is in the third character (eg, V-0.1)
david_s95 9:575b29cbf5e4 327 } else if(command[3]=='.') {
david_s95 9:575b29cbf5e4 328 units = command[2] - '0';
david_s95 9:575b29cbf5e4 329 decimals = command[4] - '0';
david_s95 7:5932ed0bad6d 330
david_s95 9:575b29cbf5e4 331 //If decimal point is in the fourth character (eg, V-10.1)
david_s95 9:575b29cbf5e4 332 } else if(command[4]=='.') {
david_s95 9:575b29cbf5e4 333 tens = command[2] - '0';
david_s95 9:575b29cbf5e4 334 units = command[3] - '0';
david_s95 9:575b29cbf5e4 335 decimals = command[5] - '0';
david_s95 9:575b29cbf5e4 336 }
david_s95 9:575b29cbf5e4 337 } else {
david_s95 9:575b29cbf5e4 338 spinCW = 1;
david_s95 9:575b29cbf5e4 339 //If decimal point is in the second character (eg, V.1)
david_s95 9:575b29cbf5e4 340 if(command[1]=='.') {
david_s95 9:575b29cbf5e4 341 //Extract decimal rev/s
david_s95 9:575b29cbf5e4 342 decimals = command[2] - '0';
david_s95 7:5932ed0bad6d 343
david_s95 9:575b29cbf5e4 344 //If decimal point is in the third character (eg, V0.1)
david_s95 9:575b29cbf5e4 345 } else if(command[2]=='.') {
david_s95 9:575b29cbf5e4 346 units = command[1] - '0';
david_s95 9:575b29cbf5e4 347 decimals = command[3] - '0';
david_s95 9:575b29cbf5e4 348
david_s95 9:575b29cbf5e4 349 //If decimal point is in the fourth character (eg, V10.1)
david_s95 9:575b29cbf5e4 350 } else if(command[3]=='.') {
david_s95 9:575b29cbf5e4 351 tens = command[1] - '0';
david_s95 9:575b29cbf5e4 352 units = command[2] - '0';
david_s95 9:575b29cbf5e4 353 decimals = command[4] - '0';
david_s95 9:575b29cbf5e4 354 }
david_s95 6:4edbe75736d9 355 }
david_s95 7:5932ed0bad6d 356
david_s95 6:4edbe75736d9 357 //Calculate the number of revolutions per second required
david_s95 6:4edbe75736d9 358 revsec = float(tens)*10 + float(units) + float(decimals)/10;
david_s95 6:4edbe75736d9 359 //Calculate the required wait period
david_s95 12:8ea29b18d289 360
david_s95 7:5932ed0bad6d 361
david_s95 6:4edbe75736d9 362 //Print values for verification
david_s95 12:8ea29b18d289 363 pc.printf("Rev/S: %2.4f\n\r", revsec);
david_s95 7:5932ed0bad6d 364
david_s95 6:4edbe75736d9 365 //Run the function to start rotating at a fixed speed
david_s95 6:4edbe75736d9 366 fixedSpeed();
david_s95 6:4edbe75736d9 367 break;
david_s95 7:5932ed0bad6d 368 //If anything unexpected was received
theMaO 14:155e9a9147d4 369
theMaO 14:155e9a9147d4 370 case 'R':
theMaO 14:155e9a9147d4 371 hdrds = 0; units = 0, tens = 0, decimals = 0;
theMaO 14:155e9a9147d4 372 //For each character received, subtract ASCII 0 from ASCII
theMaO 14:155e9a9147d4 373 //representation to obtain the integer value of the number
theMaO 14:155e9a9147d4 374 if(command[1]=='-') {
theMaO 14:155e9a9147d4 375 spinCW = 0;
theMaO 14:155e9a9147d4 376 //If decimal point is in the second character (eg, V-.1)
theMaO 14:155e9a9147d4 377 if(command[2]=='.') {
theMaO 14:155e9a9147d4 378 //Extract decimal rev/s
theMaO 14:155e9a9147d4 379 decimals = command[3] - '0';
theMaO 14:155e9a9147d4 380
theMaO 14:155e9a9147d4 381 //If decimal point is in the third character (eg, V-0.1)
theMaO 14:155e9a9147d4 382 } else if(command[3]=='.') {
theMaO 14:155e9a9147d4 383 units = command[2] - '0';
theMaO 14:155e9a9147d4 384 decimals = command[4] - '0';
theMaO 14:155e9a9147d4 385
theMaO 14:155e9a9147d4 386 //If decimal point is in the fourth character (eg, V-10.1)
theMaO 14:155e9a9147d4 387 } else if(command[4]=='.') {
theMaO 14:155e9a9147d4 388 tens = command[2] - '0';
theMaO 14:155e9a9147d4 389 units = command[3] - '0';
theMaO 14:155e9a9147d4 390 decimals = command[5] - '0';
theMaO 14:155e9a9147d4 391 } else if(command[5]=='.'){
theMaO 14:155e9a9147d4 392 hdrds = command[2] - '0';
theMaO 14:155e9a9147d4 393 tens = command[3] - '0';
theMaO 14:155e9a9147d4 394 units = command[4] - '0';
theMaO 14:155e9a9147d4 395 decimals = command[6] - '0';
theMaO 14:155e9a9147d4 396 }
theMaO 14:155e9a9147d4 397 } else {
theMaO 14:155e9a9147d4 398 spinCW = 1;
theMaO 14:155e9a9147d4 399 //If decimal point is in the second character (eg, V.1)
theMaO 14:155e9a9147d4 400 if(command[1]=='.') {
theMaO 14:155e9a9147d4 401 //Extract decimal rev/s
theMaO 14:155e9a9147d4 402 decimals = command[2] - '0';
theMaO 14:155e9a9147d4 403
theMaO 14:155e9a9147d4 404 //If decimal point is in the third character (eg, V0.1)
theMaO 14:155e9a9147d4 405 } else if(command[2]=='.') {
theMaO 14:155e9a9147d4 406 units = command[1] - '0';
theMaO 14:155e9a9147d4 407 decimals = command[3] - '0';
theMaO 14:155e9a9147d4 408
theMaO 14:155e9a9147d4 409 //If decimal point is in the fourth character (eg, V10.1)
theMaO 14:155e9a9147d4 410 } else if(command[3]=='.') {
theMaO 14:155e9a9147d4 411 tens = command[1] - '0';
theMaO 14:155e9a9147d4 412 units = command[2] - '0';
theMaO 14:155e9a9147d4 413 decimals = command[4] - '0';
theMaO 14:155e9a9147d4 414 }
theMaO 14:155e9a9147d4 415 else if(command[5]=='.'){
theMaO 14:155e9a9147d4 416 hdrds = command[2] - '0';
theMaO 14:155e9a9147d4 417 tens = command[3] - '0';
theMaO 14:155e9a9147d4 418 units = command[4] - '0';
theMaO 14:155e9a9147d4 419 decimals = command[6] - '0';
theMaO 14:155e9a9147d4 420 }
theMaO 14:155e9a9147d4 421 }
theMaO 14:155e9a9147d4 422 //Calculate the number of revolutions required
theMaO 14:155e9a9147d4 423 targetRevs = float(hundreds)*100 + float(tens)*10 + float(units) + float(decimals)/10;
theMaO 14:155e9a9147d4 424
theMaO 14:155e9a9147d4 425 //Print values for verification
theMaO 14:155e9a9147d4 426 pc.printf("Target revs: %2.4f\n\r", targetRevs);
theMaO 14:155e9a9147d4 427
theMaO 14:155e9a9147d4 428 //Run the function to start rotating at a fixed speed
theMaO 14:155e9a9147d4 429 spinToPos();
theMaO 14:155e9a9147d4 430 break;
theMaO 14:155e9a9147d4 431
theMaO 14:155e9a9147d4 432
david_s95 7:5932ed0bad6d 433 case 's':
david_s95 9:575b29cbf5e4 434 // pc.printf("Revs / sec: %2.2f\r", revs);
david_s95 9:575b29cbf5e4 435 // printSpeed.attach(&speedo, 1.0);
david_s95 10:0309d6c49f26 436 printf("Measured: %2.3f, revsec: %2.3f\r\n", measuredRevs, revsec);
david_s95 10:0309d6c49f26 437 printf("speed setpoint: %2.3f\r\n", speedControl);
david_s95 7:5932ed0bad6d 438 break;
david_s95 8:77627657da80 439 case 't':
david_s95 10:0309d6c49f26 440 // pc.printf("%d\n\r", pos);
david_s95 8:77627657da80 441 break;
david_s95 12:8ea29b18d289 442
david_s95 12:8ea29b18d289 443 case 'K':
david_s95 12:8ea29b18d289 444 vartens = command[1] - '0';
david_s95 12:8ea29b18d289 445 varunits = command[2] - '0';
david_s95 12:8ea29b18d289 446 vardecs = command[4] - '0';
david_s95 12:8ea29b18d289 447 Kc = float(vartens)*10 + float(varunits) + float(vardecs)/10;
david_s95 12:8ea29b18d289 448 printf("Kc: %2.1f\r\n", Kc);
david_s95 12:8ea29b18d289 449 controller.setTunings(Kc, Ti, Td);
david_s95 12:8ea29b18d289 450 // controller.setMode(1);
david_s95 12:8ea29b18d289 451 break;
david_s95 12:8ea29b18d289 452 case 'i':
david_s95 12:8ea29b18d289 453 vartens = command[1] - '0';
david_s95 12:8ea29b18d289 454 varunits = command[2] - '0';
david_s95 12:8ea29b18d289 455 vardecs = command[4] - '0';
david_s95 12:8ea29b18d289 456 Ti = float(vartens)*10 + float(varunits) + float(vardecs)/10;
david_s95 12:8ea29b18d289 457 printf("Ti: %2.1f\r\n", Ti);
david_s95 12:8ea29b18d289 458 controller.setTunings(Kc, Ti, Td);
david_s95 12:8ea29b18d289 459 // controller.setMode(1);
david_s95 12:8ea29b18d289 460 break;
david_s95 12:8ea29b18d289 461 case 'd':
david_s95 12:8ea29b18d289 462 vartens = command[1] - '0';
david_s95 12:8ea29b18d289 463 varunits = command[2] - '0';
david_s95 12:8ea29b18d289 464 vardecs = command[4] - '0';
david_s95 12:8ea29b18d289 465 Td = float(vartens)*10 + float(varunits) + float(vardecs)/10;
david_s95 12:8ea29b18d289 466 printf("Td: %2.1f\r\n", Td);
david_s95 12:8ea29b18d289 467 controller.setTunings(Kc, Ti, Td);
david_s95 12:8ea29b18d289 468 // controller.setMode(1);
david_s95 12:8ea29b18d289 469 break;
david_s95 13:87ab3b008803 470 case 'l':
david_s95 13:87ab3b008803 471 sing(10000);
david_s95 13:87ab3b008803 472 break;
david_s95 6:4edbe75736d9 473 default:
david_s95 6:4edbe75736d9 474 //Set speed variables to zero to stop motor spinning
david_s95 6:4edbe75736d9 475 //Print error message
david_s95 10:0309d6c49f26 476 motorStop();
david_s95 10:0309d6c49f26 477 pc.printf("Error in received data 0\n\r");
david_s95 6:4edbe75736d9 478 break;
david_s95 6:4edbe75736d9 479 }
david_s95 6:4edbe75736d9 480 }
david_s95 7:5932ed0bad6d 481 // printSpeed.attach(&speedo, 1.0);
david_s95 7:5932ed0bad6d 482 // pc.printf("Revs / sec: %2.2f\r", revs);
estott 2:4e88faab6988 483 }
david_s95 5:e5313b695302 484
estott 0:de4320f74764 485 }