Revision 1:d68c51a0a706, committed 2016-09-28

Comitter:

dhaldane

Date:

Wed Sep 28 16:59:46 2016 +0000

Parent:

0:00c56a9c6dee

Commit message:

Initial commit;

Changed in this revision

diff -r 00c56a9c6dee -r d68c51a0a706 enc.cpp
--- a/enc.cpp	Sat Mar 05 00:09:45 2016 +0000
+++ b/enc.cpp	Wed Sep 28 16:59:46 2016 +0000
@@ -1,27 +1,17 @@
 #include "enc.h"
 
 enc::enc(PinName mosi, PinName miso, PinName sck, PinName cs) : m_spi(mosi, miso, sck), csl(cs){
-    ushort zpos = 2228; // est. 8/6/2015 1773
-    ushort zhold;
-    m_spi.format(16, 1);
-    m_spi.frequency(50000);
+    set_offset(2134); // est. 9/13/2016 
     csl=1;
+    m_spi.format(8, 1);
+    m_spi.frequency(1000000);
     wait(0.05);
 
-
     write_spi(0x0019, 0); //SETTINGS2
     write_spi(0x001D, 0);
     write_spi(0x0018, 0); //SETTINGS1
     write_spi(0x0018, 0);
-    
-    zhold = zpos >> 6; //8MSB of zero position
-    write_spi(0x0016, 0);
-    write_spi(zhold, 0);
-    
-    zhold = zpos & 0x003F; //6 LSB of zero position
-    write_spi(0x0017, 0);
-    write_spi(zhold, 0);   
-    
+      
     enc_pos.pos = 0;
     enc_pos.oticks = 0;
     enc_pos.offset = 0;
@@ -36,18 +26,30 @@
     return enc_pos.pos;
 }
 
-void enc::set_offset(){
-    enc_pos.offset = ams_read();
+void enc::set_offset(ushort zpos){
+    ushort zhold;
+    zhold = zpos >> 6; //8MSB of zero position
+    write_spi(0x0016, 0);
+    write_spi(zhold, 0);
+   
+    zhold = zpos & 0x003F; //6 LSB of zero position
+    write_spi(0x0017, 0);
+    write_spi(zhold, 0);   
 }
 
 ushort enc::write_spi(ushort reg, u8 rw){
     ushort data;
     reg = reg | rw << 14;
     reg = reg | par(reg);
+    char d1 = reg >> 8;
+    char d2 = reg & 0x00FF;
     csl=0;
-    data = m_spi.write(reg);
+    d1 = m_spi.write(d1);
+    d2 = m_spi.write(d2);
+    
     csl=1;
-    wait(0.00001);
+    wait(0.0001);
+    data = (d1 << 8) | (d2 & 0xFF);
     return data;
     
 }
@@ -102,4 +104,4 @@
     read_spi(0x0001);
         
     return enc_data & 0x3FFF;
-}
\ No newline at end of file
+}

diff -r 00c56a9c6dee -r d68c51a0a706 enc.h
--- a/enc.h	Sat Mar 05 00:09:45 2016 +0000
+++ b/enc.h	Wed Sep 28 16:59:46 2016 +0000
@@ -20,7 +20,7 @@
     ~enc();
     unsigned int  ams_read();
     void update_pos();
-    void set_offset();
+    void set_offset(ushort zpos);
     unsigned int cal_state(); //Calibrated stat
     static ushort par(ushort value);
     ushort write_spi(ushort reg, u8 rw);

diff -r 00c56a9c6dee -r d68c51a0a706 main.cpp
--- a/main.cpp	Sat Mar 05 00:09:45 2016 +0000
+++ b/main.cpp	Wed Sep 28 16:59:46 2016 +0000
@@ -1,23 +1,38 @@
 #include "mbed.h"
 #include "enc.h"
 
-Ticker RTI;
-DigitalOut myled(LED1);
-Serial pc(USBTX, USBRX); // tx, rx
-enc crankPos(p5,p6,p7,p8);
+//Ticker RTI;
+Serial imProc(PTD7,PTD6);
+DigitalOut led_1(PTC2);
+DigitalOut led_2(PTC3);
+DigitalOut led_3(PTA18);
+enc motPos(PTC6,PTC7,PTC5,PTC4);
+PwmOut EN(PTA4);
+DigitalOut DR(PTA2);
+DigitalOut BRAKE(PTA1);
+AnalogIn motCurrent(PTB0);
+AnalogIn temp(PTE30);
 
 
 void get_state(){
-    crankPos.update_pos();
+    motPos.update_pos();
 }
 
-int main() {    
-    RTI.attach(&get_state, 0.01);
+int main() {  
+        EN.period_us(50);
+    EN.write(0.9f);
+    DR.write(0);
+    BRAKE.write(1);
+      motPos.set_offset(2160);
+      led_1 = 1;
+//    RTI.attach(&get_state, 0.01f);
     while(1) {
-        myled = 1;
-        wait(0.05);
-        pc.printf("Encoder: %u                             \r\n", crankPos.cal_state());
-        myled = 0;
-        wait(0.05);
+        
+        led_2 = 1;
+        led_3 = 0;
+        wait(0.5);
+        led_2 = 0;
+        led_3 = 1;
+        wait(0.5);
     }
 }

diff -r 00c56a9c6dee -r d68c51a0a706 mbed-src.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-src.lib	Wed Sep 28 16:59:46 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed-src/#a11c0372f0ba

diff -r 00c56a9c6dee -r d68c51a0a706 mbed.bld
--- a/mbed.bld	Sat Mar 05 00:09:45 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/7e07b6fb45cf
\ No newline at end of file