Diff: main.cpp

Revision:

0:43448bf056e8

Child:

1:95a7fddd25a9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Aug 12 11:54:33 2015 +0000
@@ -0,0 +1,66 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "EthernetInterface.h"
+#include "ExperimentServer.h"
+#include "QEI.h"
+
+#define NUM_INPUTS 2
+#define NUM_OUTPUTS 3
+
+Serial pc(USBTX, USBRX);    // USB Serial Terminal
+ExperimentServer server;    // Object that lets us communicate with MATLAB
+PwmOut motorPMW(D5);        // Motor PMW output
+DigitalOut motorFwd(D6);    // Motor forward enable
+DigitalOut motorRev(D7);    // Motor backward enable
+Timer t;                    // Timer to measure elapsed time of experiment
+
+QEI encoder(D3,D4, NC, 1200 , QEI::X4_ENCODING); // Pins D3, D4, no index, 1200 counts/rev, Quadrature encoding
+
+int main (void) {
+    // Link the terminal with our server and start it up
+    server.attachTerminal(pc);
+    server.init();
+
+    // PMW period should nominally be a multiple of our control loop
+    motorPMW.period_us(500);
+    
+    // Continually get input from MATLAB and run experiments
+    float input_params[NUM_INPUTS];
+    
+    while(1) {
+        if (server.getParams(input_params,NUM_INPUTS)) {
+            float v1   = input_params[0]; // Voltage for first second
+            float v2   = input_params[1]; // Voltage for second second
+        
+            // Setup experiment
+            t.reset();
+            t.start();
+            encoder.reset();
+            motorFwd = 1;
+            motorRev = 0;
+            motorPMW.write(0);
+
+            // Run experiment
+            while( t.read() < 2 ) { 
+                // Perform control loop logic
+                if (t.read() < 1) 
+                    motorPMW.write(v1);
+                else 
+                    motorPMW.write(v2);
+                    
+                // Form output to send to MATLAB    
+                float output_data[NUM_OUTPUTS];
+                output_data[0] = t.read();
+                output_data[1] = encoder.getPulses();
+                output_data[2] = encoder.getVelocity();
+             
+                // Send data to MATLAB
+                server.sendData(output_data,NUM_OUTPUTS);
+                wait(.001); 
+            }     
+            // Cleanup after experiment
+            server.setExperimentComplete();
+            motorPMW.write(0);
+        } // end if
+    } // end while
+} // end main
\ No newline at end of file