David Salmon / Mbed OS ES_CW2_Starter_MDMA

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Dependencies:   PID

Fork of ES_CW2_Starter by Edward Stott

main.cpp@17:9cd9f82027ca, 2017-03-09 (annotated)

Committer:
theMaO
Date:
Thu Mar 09 15:15:37 2017 +0000
Revision:
17:9cd9f82027ca
Parent:
16:372c720015ab
Child:
18:55cd33a3e69f
added code for spin to position function

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[6] = {0x38, 0x2C, 0x0E, 0x0B, 0x23, 0x32};
david_s95 9:575b29cbf5e4 49
david_s95 9:575b29cbf5e4 50 const int8_t AcwState[7] = {0x00, 0x23, 0x38, 0x32, 0x0E, 0x0B, 0x2C};
david_s95 9:575b29cbf5e4 51 const int8_t cwState[7] = {0x00, 0x0E, 0x23, 0x0B, 0x38, 0x2C, 0x32};
estott 2:4e88faab6988 52
estott 0:de4320f74764 53 //Status LED
estott 0:de4320f74764 54 DigitalOut led1(LED1);
estott 0:de4320f74764 55
estott 0:de4320f74764 56 //Photointerrupter inputs
david_s95 9:575b29cbf5e4 57 DigitalIn I1(I1pin);
david_s95 9:575b29cbf5e4 58 //InterruptIn I1(I1pin);
david_s95 9:575b29cbf5e4 59 InterruptIn I2(I2pin);
estott 2:4e88faab6988 60 DigitalIn I3(I3pin);
estott 0:de4320f74764 61
david_s95 8:77627657da80 62 InterruptIn qA(CHA);
david_s95 8:77627657da80 63 InterruptIn qB(CHB);
david_s95 8:77627657da80 64
estott 0:de4320f74764 65 //Motor Drive outputs
david_s95 5:e5313b695302 66 DigitalOut clk(LED1);
david_s95 8:77627657da80 67 DigitalOut Direction(LED2);
david_s95 9:575b29cbf5e4 68 DigitalOut testpin(D13);
david_s95 9:575b29cbf5e4 69
david_s95 9:575b29cbf5e4 70 //NOTE, BusOut declares things in reverse (ie, 0, 1, 2, 3) compared to binary represenation
david_s95 9:575b29cbf5e4 71 BusOut motor(L1Lpin, L1Hpin, L2Lpin, L2Hpin, L3Lpin, L3Hpin);
david_s95 5:e5313b695302 72
david_s95 5:e5313b695302 73 //Timeout function for rotating at set speed
david_s95 5:e5313b695302 74 Timeout spinTimer;
david_s95 5:e5313b695302 75 float spinWait = 10;
david_s95 5:e5313b695302 76 float revsec = 0;
david_s95 5:e5313b695302 77
theMaO 14:155e9a9147d4 78 //Variables for spinning N revolutions
theMaO 14:155e9a9147d4 79 int8_t targetRevs = 0;
theMaO 14:155e9a9147d4 80 int8_t currRevs = 0;
theMaO 14:155e9a9147d4 81
david_s95 7:5932ed0bad6d 82 //Timer used for calculating speed
david_s95 7:5932ed0bad6d 83 Timer speedTimer;
david_s95 10:0309d6c49f26 84 float measuredRevs = 0, revtimer = 0;
david_s95 7:5932ed0bad6d 85 Ticker printSpeed;
david_s95 7:5932ed0bad6d 86
david_s95 5:e5313b695302 87 Serial pc(SERIAL_TX, SERIAL_RX);
david_s95 5:e5313b695302 88
david_s95 5:e5313b695302 89 int8_t orState = 0; //Rotor offset at motor state 0
david_s95 5:e5313b695302 90 int8_t intState = 0;
david_s95 5:e5313b695302 91 int8_t intStateOld = 0;
david_s95 9:575b29cbf5e4 92 int position = 0;
david_s95 5:e5313b695302 93
david_s95 5:e5313b695302 94 int i=0;
david_s95 10:0309d6c49f26 95 int quadraturePosition=0;
david_s95 9:575b29cbf5e4 96 bool spinCW=0;
david_s95 10:0309d6c49f26 97 float u = 0; //Set point for VPI
david_s95 5:e5313b695302 98
estott 0:de4320f74764 99 //Set a given drive state
david_s95 5:e5313b695302 100 void motorOut(int8_t driveState)
david_s95 5:e5313b695302 101 {
david_s95 5:e5313b695302 102
david_s95 9:575b29cbf5e4 103 //Set to zero
david_s95 9:575b29cbf5e4 104 motor=0x2A;
david_s95 10:0309d6c49f26 105
david_s95 9:575b29cbf5e4 106 //Go to next state
david_s95 9:575b29cbf5e4 107 if(!spinCW) motor = AcwState[driveState];
david_s95 9:575b29cbf5e4 108 else motor = cwState[driveState];
estott 2:4e88faab6988 109 //Lookup the output byte from the drive state.
david_s95 9:575b29cbf5e4 110 // int8_t driveOut = driveTable[driveState & 0x07];
david_s95 10:0309d6c49f26 111 }
david_s95 5:e5313b695302 112
david_s95 10:0309d6c49f26 113 inline void motorStop()
david_s95 10:0309d6c49f26 114 {
david_s95 10:0309d6c49f26 115 //revsec set to zero prevents recurring interrupt for constant speed
david_s95 10:0309d6c49f26 116 revsec = 0;
david_s95 10:0309d6c49f26 117 //0x2A turns all motor transistors off to prevent any power usage
david_s95 10:0309d6c49f26 118 motor = 0x2A;
david_s95 5:e5313b695302 119 }
david_s95 5:e5313b695302 120
david_s95 5:e5313b695302 121 //Convert photointerrupter inputs to a rotor state
david_s95 5:e5313b695302 122 inline int8_t readRotorState()
david_s95 5:e5313b695302 123 {
david_s95 9:575b29cbf5e4 124 return (I1 + 2*I2 + 4*I3);
david_s95 5:e5313b695302 125 }
estott 0:de4320f74764 126
david_s95 5:e5313b695302 127 //Basic synchronisation routine
david_s95 5:e5313b695302 128 int8_t motorHome()
david_s95 5:e5313b695302 129 {
estott 0:de4320f74764 130 //Put the motor in drive state 0 and wait for it to stabilise
david_s95 9:575b29cbf5e4 131 motor=cwState[1];
estott 0:de4320f74764 132 wait(1.0);
david_s95 10:0309d6c49f26 133
david_s95 9:575b29cbf5e4 134 position = 0;
david_s95 5:e5313b695302 135
estott 0:de4320f74764 136 //Get the rotor state
estott 2:4e88faab6988 137 return readRotorState();
estott 0:de4320f74764 138 }
david_s95 5:e5313b695302 139
david_s95 5:e5313b695302 140 void fixedSpeed()
david_s95 5:e5313b695302 141 {
david_s95 5:e5313b695302 142 intState = readRotorState();
david_s95 6:4edbe75736d9 143 //Increment state machine to next state
david_s95 9:575b29cbf5e4 144 motorOut(intState);
david_s95 6:4edbe75736d9 145 //If spinning is required, attach the necessary wait to the
david_s95 6:4edbe75736d9 146 //timeout interrupt to call this function again and
david_s95 6:4edbe75736d9 147 //keep the motor spinning at the right speed
david_s95 5:e5313b695302 148 if(revsec) spinTimer.attach(&fixedSpeed, spinWait);
david_s95 5:e5313b695302 149 }
david_s95 5:e5313b695302 150
theMaO 14:155e9a9147d4 151 void spinToPos(){
theMaO 14:155e9a9147d4 152 currRevs = 0;
theMaO 14:155e9a9147d4 153
theMaO 17:9cd9f82027ca 154 revsec = 50.0;
theMaO 17:9cd9f82027ca 155 fixedSpeed();
theMaO 17:9cd9f82027ca 156 while (targetRevs - currRevs > 100){
theMaO 17:9cd9f82027ca 157 }
theMaO 17:9cd9f82027ca 158
theMaO 17:9cd9f82027ca 159 remRevs = targetRevs - currRevs;
theMaO 17:9cd9f82027ca 160 while (remRevs > 3){
theMaO 17:9cd9f82027ca 161 revsec = remRevs/3;
theMaO 17:9cd9f82027ca 162 remRevs = targetRevs - currRevs;
theMaO 17:9cd9f82027ca 163 }
theMaO 17:9cd9f82027ca 164
theMaO 17:9cd9f82027ca 165
theMaO 14:155e9a9147d4 166 }
theMaO 14:155e9a9147d4 167
david_s95 10:0309d6c49f26 168 void rps()
david_s95 7:5932ed0bad6d 169 {
david_s95 10:0309d6c49f26 170
david_s95 10:0309d6c49f26 171 clk=!clk;
david_s95 10:0309d6c49f26 172 speedTimer.stop();
david_s95 10:0309d6c49f26 173 revtimer = speedTimer.read_ms();
david_s95 10:0309d6c49f26 174 speedTimer.reset();
david_s95 10:0309d6c49f26 175 speedTimer.start();
david_s95 10:0309d6c49f26 176
david_s95 10:0309d6c49f26 177 measuredRevs = 1000/(revtimer);
david_s95 10:0309d6c49f26 178 quadraturePosition=0;
theMaO 17:9cd9f82027ca 179 currRevs = currRevs + 1;
david_s95 10:0309d6c49f26 180
david_s95 7:5932ed0bad6d 181 }
david_s95 7:5932ed0bad6d 182
david_s95 10:0309d6c49f26 183 void VPID()
david_s95 10:0309d6c49f26 184 {
david_s95 12:8ea29b18d289 185 controller.setMode(1);
david_s95 10:0309d6c49f26 186 while(1) {
david_s95 10:0309d6c49f26 187 controller.setSetPoint(revsec);
david_s95 10:0309d6c49f26 188 // printf("revsec: %2.3f\r\n", revsec);
david_s95 10:0309d6c49f26 189 controller.setProcessValue(measuredRevs);
david_s95 10:0309d6c49f26 190 speedControl = controller.compute();
david_s95 10:0309d6c49f26 191 // printf("speed setpoint: %2.3f\r\n", speedControl);
david_s95 12:8ea29b18d289 192 if(speedControl<0) speedControl = -speedControl;
david_s95 12:8ea29b18d289 193 else if (speedControl==0) speedControl = 1;
david_s95 12:8ea29b18d289 194 spinWait = (1/speedControl)/6;
david_s95 10:0309d6c49f26 195 Thread::wait(PIDrate);
david_s95 10:0309d6c49f26 196 }
david_s95 10:0309d6c49f26 197 }
david_s95 7:5932ed0bad6d 198
david_s95 13:87ab3b008803 199 void sing(float singFreq)
david_s95 9:575b29cbf5e4 200 {
david_s95 13:87ab3b008803 201 motor = driveTable[1];
david_s95 13:87ab3b008803 202 wait(1.0);
david_s95 13:87ab3b008803 203 float singDelayus = 1000000/singFreq;
david_s95 13:87ab3b008803 204 for(int count=0; count<singFreq; count++) {
david_s95 13:87ab3b008803 205 motor = driveTable[2];
david_s95 13:87ab3b008803 206 wait_us(singDelayus);
david_s95 13:87ab3b008803 207 motor = driveTable[1];
david_s95 8:77627657da80 208 }
david_s95 13:87ab3b008803 209 singFreq = 15000;
david_s95 13:87ab3b008803 210 singDelayus = 1000000/singFreq;
david_s95 13:87ab3b008803 211 for(int count=0; count<singFreq; count++) {
david_s95 13:87ab3b008803 212 motor = driveTable[2];
david_s95 13:87ab3b008803 213 wait_us(singDelayus);
david_s95 13:87ab3b008803 214 motor = driveTable[1];
david_s95 13:87ab3b008803 215 }
david_s95 8:77627657da80 216 }
david_s95 8:77627657da80 217
david_s95 8:77627657da80 218
mengkiang 4:f8a9ce214db9 219 //Main function
theMaO 15:d9e50101a17e 220 >>>>>>> other
david_s95 5:e5313b695302 221 int main()
david_s95 5:e5313b695302 222 {
david_s95 9:575b29cbf5e4 223 pc.printf("spin\n\r");
david_s95 10:0309d6c49f26 224
estott 0:de4320f74764 225 //Run the motor synchronisation
estott 2:4e88faab6988 226 orState = motorHome();
david_s95 6:4edbe75736d9 227 //orState is subtracted from future rotor state inputs to align rotor and motor states
david_s95 6:4edbe75736d9 228
estott 2:4e88faab6988 229 pc.printf("Rotor origin: %x\n\r",orState);
david_s95 5:e5313b695302 230
david_s95 6:4edbe75736d9 231 char command[ARRAYSIZE];
david_s95 6:4edbe75736d9 232 int index=0;
david_s95 6:4edbe75736d9 233 int units = 0, tens = 0, decimals = 0;
david_s95 6:4edbe75736d9 234 char ch;
david_s95 9:575b29cbf5e4 235 testpin=0;
david_s95 12:8ea29b18d289 236 int vartens = 0, varunits = 0, vardecs = 0;
david_s95 7:5932ed0bad6d 237
david_s95 10:0309d6c49f26 238 speedTimer.reset();
david_s95 10:0309d6c49f26 239 speedTimer.start();
david_s95 10:0309d6c49f26 240 I2.mode(PullNone);
david_s95 10:0309d6c49f26 241 I2.fall(&rps);
david_s95 7:5932ed0bad6d 242
david_s95 10:0309d6c49f26 243 VPIDthread.start(VPID);
david_s95 10:0309d6c49f26 244
david_s95 5:e5313b695302 245 while(1) {
david_s95 9:575b29cbf5e4 246 // clk = I2;
david_s95 6:4edbe75736d9 247 //Toggle LED so we know something's happening
david_s95 8:77627657da80 248 // clk = !clk;
david_s95 7:5932ed0bad6d 249
david_s95 6:4edbe75736d9 250 //If there's a character to read from the serial port
david_s95 6:4edbe75736d9 251 if (pc.readable()) {
david_s95 7:5932ed0bad6d 252
david_s95 6:4edbe75736d9 253 //Clear index counter and control variables
david_s95 6:4edbe75736d9 254 index = 0;
david_s95 7:5932ed0bad6d 255 // revsec = spinWait = 0;
david_s95 7:5932ed0bad6d 256
david_s95 6:4edbe75736d9 257 //Read each value from the serial port until Enter key is pressed
david_s95 6:4edbe75736d9 258 do {
david_s95 6:4edbe75736d9 259 //Read character
david_s95 6:4edbe75736d9 260 ch = pc.getc();
david_s95 6:4edbe75736d9 261 //Print character to serial for visual feedback
david_s95 6:4edbe75736d9 262 pc.putc(ch);
david_s95 6:4edbe75736d9 263 //Add character to input array
david_s95 6:4edbe75736d9 264 command[index++]=ch; // put it into the value array and increment the index
david_s95 7:5932ed0bad6d 265 //d10 and d13 used for detecting Enter key on Windows/Unix/Mac
david_s95 6:4edbe75736d9 266 } while(ch != 10 && ch != 13);
david_s95 7:5932ed0bad6d 267
david_s95 6:4edbe75736d9 268 //Start new line on terminal for printing data
david_s95 6:4edbe75736d9 269 pc.putc('\n');
david_s95 6:4edbe75736d9 270 pc.putc('\r');
david_s95 7:5932ed0bad6d 271
david_s95 6:4edbe75736d9 272 //Analyse the input string
david_s95 6:4edbe75736d9 273 switch (command[0]) {
david_s95 7:5932ed0bad6d 274 //If a V was typed...
david_s95 6:4edbe75736d9 275 case 'V':
david_s95 7:5932ed0bad6d 276 units = 0, tens = 0, decimals = 0;
david_s95 7:5932ed0bad6d 277 //For each character received, subtract ASCII 0 from ASCII
david_s95 7:5932ed0bad6d 278 //representation to obtain the integer value of the number
david_s95 9:575b29cbf5e4 279 if(command[1]=='-') {
david_s95 9:575b29cbf5e4 280 spinCW = 0;
david_s95 9:575b29cbf5e4 281 //If decimal point is in the second character (eg, V-.1)
david_s95 9:575b29cbf5e4 282 if(command[2]=='.') {
david_s95 9:575b29cbf5e4 283 //Extract decimal rev/s
david_s95 9:575b29cbf5e4 284 decimals = command[3] - '0';
david_s95 7:5932ed0bad6d 285
david_s95 9:575b29cbf5e4 286 //If decimal point is in the third character (eg, V-0.1)
david_s95 9:575b29cbf5e4 287 } else if(command[3]=='.') {
david_s95 9:575b29cbf5e4 288 units = command[2] - '0';
david_s95 9:575b29cbf5e4 289 decimals = command[4] - '0';
david_s95 7:5932ed0bad6d 290
david_s95 9:575b29cbf5e4 291 //If decimal point is in the fourth character (eg, V-10.1)
david_s95 9:575b29cbf5e4 292 } else if(command[4]=='.') {
david_s95 9:575b29cbf5e4 293 tens = command[2] - '0';
david_s95 9:575b29cbf5e4 294 units = command[3] - '0';
david_s95 9:575b29cbf5e4 295 decimals = command[5] - '0';
david_s95 9:575b29cbf5e4 296 }
david_s95 9:575b29cbf5e4 297 } else {
david_s95 9:575b29cbf5e4 298 spinCW = 1;
david_s95 9:575b29cbf5e4 299 //If decimal point is in the second character (eg, V.1)
david_s95 9:575b29cbf5e4 300 if(command[1]=='.') {
david_s95 9:575b29cbf5e4 301 //Extract decimal rev/s
david_s95 9:575b29cbf5e4 302 decimals = command[2] - '0';
david_s95 7:5932ed0bad6d 303
david_s95 9:575b29cbf5e4 304 //If decimal point is in the third character (eg, V0.1)
david_s95 9:575b29cbf5e4 305 } else if(command[2]=='.') {
david_s95 9:575b29cbf5e4 306 units = command[1] - '0';
david_s95 9:575b29cbf5e4 307 decimals = command[3] - '0';
david_s95 9:575b29cbf5e4 308
david_s95 9:575b29cbf5e4 309 //If decimal point is in the fourth character (eg, V10.1)
david_s95 9:575b29cbf5e4 310 } else if(command[3]=='.') {
david_s95 9:575b29cbf5e4 311 tens = command[1] - '0';
david_s95 9:575b29cbf5e4 312 units = command[2] - '0';
david_s95 9:575b29cbf5e4 313 decimals = command[4] - '0';
david_s95 9:575b29cbf5e4 314 }
david_s95 6:4edbe75736d9 315 }
david_s95 7:5932ed0bad6d 316
david_s95 6:4edbe75736d9 317 //Calculate the number of revolutions per second required
david_s95 6:4edbe75736d9 318 revsec = float(tens)*10 + float(units) + float(decimals)/10;
david_s95 6:4edbe75736d9 319 //Calculate the required wait period
david_s95 12:8ea29b18d289 320
david_s95 7:5932ed0bad6d 321
david_s95 6:4edbe75736d9 322 //Print values for verification
david_s95 12:8ea29b18d289 323 pc.printf("Rev/S: %2.4f\n\r", revsec);
david_s95 7:5932ed0bad6d 324
david_s95 6:4edbe75736d9 325 //Run the function to start rotating at a fixed speed
david_s95 6:4edbe75736d9 326 fixedSpeed();
david_s95 6:4edbe75736d9 327 break;
david_s95 7:5932ed0bad6d 328 //If anything unexpected was received
theMaO 14:155e9a9147d4 329
theMaO 14:155e9a9147d4 330 case 'R':
theMaO 14:155e9a9147d4 331 hdrds = 0; units = 0, tens = 0, decimals = 0;
theMaO 14:155e9a9147d4 332 //For each character received, subtract ASCII 0 from ASCII
theMaO 14:155e9a9147d4 333 //representation to obtain the integer value of the number
theMaO 14:155e9a9147d4 334 if(command[1]=='-') {
theMaO 14:155e9a9147d4 335 spinCW = 0;
theMaO 14:155e9a9147d4 336 //If decimal point is in the second character (eg, V-.1)
theMaO 14:155e9a9147d4 337 if(command[2]=='.') {
theMaO 14:155e9a9147d4 338 //Extract decimal rev/s
theMaO 14:155e9a9147d4 339 decimals = command[3] - '0';
theMaO 14:155e9a9147d4 340
theMaO 14:155e9a9147d4 341 //If decimal point is in the third character (eg, V-0.1)
theMaO 14:155e9a9147d4 342 } else if(command[3]=='.') {
theMaO 14:155e9a9147d4 343 units = command[2] - '0';
theMaO 14:155e9a9147d4 344 decimals = command[4] - '0';
theMaO 14:155e9a9147d4 345
theMaO 14:155e9a9147d4 346 //If decimal point is in the fourth character (eg, V-10.1)
theMaO 14:155e9a9147d4 347 } else if(command[4]=='.') {
theMaO 14:155e9a9147d4 348 tens = command[2] - '0';
theMaO 14:155e9a9147d4 349 units = command[3] - '0';
theMaO 14:155e9a9147d4 350 decimals = command[5] - '0';
theMaO 14:155e9a9147d4 351 } else if(command[5]=='.'){
theMaO 14:155e9a9147d4 352 hdrds = command[2] - '0';
theMaO 14:155e9a9147d4 353 tens = command[3] - '0';
theMaO 14:155e9a9147d4 354 units = command[4] - '0';
theMaO 14:155e9a9147d4 355 decimals = command[6] - '0';
theMaO 14:155e9a9147d4 356 }
theMaO 14:155e9a9147d4 357 } else {
theMaO 14:155e9a9147d4 358 spinCW = 1;
theMaO 14:155e9a9147d4 359 //If decimal point is in the second character (eg, V.1)
theMaO 14:155e9a9147d4 360 if(command[1]=='.') {
theMaO 14:155e9a9147d4 361 //Extract decimal rev/s
theMaO 14:155e9a9147d4 362 decimals = command[2] - '0';
theMaO 14:155e9a9147d4 363
theMaO 14:155e9a9147d4 364 //If decimal point is in the third character (eg, V0.1)
theMaO 14:155e9a9147d4 365 } else if(command[2]=='.') {
theMaO 14:155e9a9147d4 366 units = command[1] - '0';
theMaO 14:155e9a9147d4 367 decimals = command[3] - '0';
theMaO 14:155e9a9147d4 368
theMaO 14:155e9a9147d4 369 //If decimal point is in the fourth character (eg, V10.1)
theMaO 14:155e9a9147d4 370 } else if(command[3]=='.') {
theMaO 14:155e9a9147d4 371 tens = command[1] - '0';
theMaO 14:155e9a9147d4 372 units = command[2] - '0';
theMaO 14:155e9a9147d4 373 decimals = command[4] - '0';
theMaO 14:155e9a9147d4 374 }
theMaO 17:9cd9f82027ca 375 else if(command[4]=='.'){
theMaO 17:9cd9f82027ca 376 hdrds = command[1] - '0';
theMaO 17:9cd9f82027ca 377 tens = command[2] - '0';
theMaO 17:9cd9f82027ca 378 units = command[3] - '0';
theMaO 17:9cd9f82027ca 379 decimals = command[5] - '0';
theMaO 14:155e9a9147d4 380 }
theMaO 14:155e9a9147d4 381 }
theMaO 14:155e9a9147d4 382 //Calculate the number of revolutions required
theMaO 17:9cd9f82027ca 383 targetRevs = float(hdrds)*100 + float(tens)*10 + float(units) + float(decimals)/10;
theMaO 14:155e9a9147d4 384
theMaO 14:155e9a9147d4 385 //Print values for verification
theMaO 14:155e9a9147d4 386 pc.printf("Target revs: %2.4f\n\r", targetRevs);
theMaO 14:155e9a9147d4 387
theMaO 14:155e9a9147d4 388 //Run the function to start rotating at a fixed speed
theMaO 14:155e9a9147d4 389 spinToPos();
theMaO 14:155e9a9147d4 390 break;
theMaO 14:155e9a9147d4 391
theMaO 14:155e9a9147d4 392
david_s95 7:5932ed0bad6d 393 case 's':
david_s95 9:575b29cbf5e4 394 // pc.printf("Revs / sec: %2.2f\r", revs);
david_s95 9:575b29cbf5e4 395 // printSpeed.attach(&speedo, 1.0);
david_s95 10:0309d6c49f26 396 printf("Measured: %2.3f, revsec: %2.3f\r\n", measuredRevs, revsec);
david_s95 10:0309d6c49f26 397 printf("speed setpoint: %2.3f\r\n", speedControl);
david_s95 7:5932ed0bad6d 398 break;
david_s95 8:77627657da80 399 case 't':
david_s95 10:0309d6c49f26 400 // pc.printf("%d\n\r", pos);
david_s95 8:77627657da80 401 break;
david_s95 12:8ea29b18d289 402
david_s95 12:8ea29b18d289 403 case 'K':
david_s95 12:8ea29b18d289 404 vartens = command[1] - '0';
david_s95 12:8ea29b18d289 405 varunits = command[2] - '0';
david_s95 12:8ea29b18d289 406 vardecs = command[4] - '0';
david_s95 12:8ea29b18d289 407 Kc = float(vartens)*10 + float(varunits) + float(vardecs)/10;
david_s95 12:8ea29b18d289 408 printf("Kc: %2.1f\r\n", Kc);
david_s95 12:8ea29b18d289 409 controller.setTunings(Kc, Ti, Td);
david_s95 12:8ea29b18d289 410 // controller.setMode(1);
david_s95 12:8ea29b18d289 411 break;
david_s95 12:8ea29b18d289 412 case 'i':
david_s95 12:8ea29b18d289 413 vartens = command[1] - '0';
david_s95 12:8ea29b18d289 414 varunits = command[2] - '0';
david_s95 12:8ea29b18d289 415 vardecs = command[4] - '0';
david_s95 12:8ea29b18d289 416 Ti = float(vartens)*10 + float(varunits) + float(vardecs)/10;
david_s95 12:8ea29b18d289 417 printf("Ti: %2.1f\r\n", Ti);
david_s95 12:8ea29b18d289 418 controller.setTunings(Kc, Ti, Td);
david_s95 12:8ea29b18d289 419 // controller.setMode(1);
david_s95 12:8ea29b18d289 420 break;
david_s95 12:8ea29b18d289 421 case 'd':
david_s95 12:8ea29b18d289 422 vartens = command[1] - '0';
david_s95 12:8ea29b18d289 423 varunits = command[2] - '0';
david_s95 12:8ea29b18d289 424 vardecs = command[4] - '0';
david_s95 12:8ea29b18d289 425 Td = float(vartens)*10 + float(varunits) + float(vardecs)/10;
david_s95 12:8ea29b18d289 426 printf("Td: %2.1f\r\n", Td);
david_s95 12:8ea29b18d289 427 controller.setTunings(Kc, Ti, Td);
david_s95 12:8ea29b18d289 428 // controller.setMode(1);
david_s95 12:8ea29b18d289 429 break;
david_s95 13:87ab3b008803 430 case 'l':
david_s95 13:87ab3b008803 431 sing(10000);
david_s95 13:87ab3b008803 432 break;
david_s95 6:4edbe75736d9 433 default:
david_s95 6:4edbe75736d9 434 //Set speed variables to zero to stop motor spinning
david_s95 6:4edbe75736d9 435 //Print error message
david_s95 10:0309d6c49f26 436 motorStop();
david_s95 10:0309d6c49f26 437 pc.printf("Error in received data 0\n\r");
david_s95 6:4edbe75736d9 438 break;
david_s95 6:4edbe75736d9 439 }
david_s95 6:4edbe75736d9 440 }
david_s95 7:5932ed0bad6d 441 // printSpeed.attach(&speedo, 1.0);
david_s95 7:5932ed0bad6d 442 // pc.printf("Revs / sec: %2.2f\r", revs);
estott 2:4e88faab6988 443 }
david_s95 5:e5313b695302 444
estott 0:de4320f74764 445 }