Elijah Stanger-Jones / Mbed OS experiment_example

2.74 Nucleo Code

Dependencies:   ExperimentServer QEI_pmw MotorShield

Dependents:   Position_ctrl

main.cpp@9:97360c92666f, 2020-08-26 (annotated)

Committer:
elijahsj
Date:
Wed Aug 26 00:24:56 2020 +0000
Revision:
9:97360c92666f
Parent:
8:98a83981c238
Child:
10:a40d180c305c
Cleanup

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pwensing 0:43448bf056e8 1 #include "mbed.h"
pwensing 0:43448bf056e8 2 #include "rtos.h"
pwensing 0:43448bf056e8 3 #include "EthernetInterface.h"
pwensing 0:43448bf056e8 4 #include "ExperimentServer.h"
pwensing 0:43448bf056e8 5 #include "QEI.h"
elijahsj 6:1faceb53dabe 6 #include "MotorShield.h"
elijahsj 8:98a83981c238 7 #include "HardwareSetup.h"
pwensing 0:43448bf056e8 8
pwensing 0:43448bf056e8 9 #define NUM_INPUTS 2
pwensing 0:43448bf056e8 10 #define NUM_OUTPUTS 3
pwensing 0:43448bf056e8 11
pwensing 0:43448bf056e8 12 Serial pc(USBTX, USBRX); // USB Serial Terminal
pwensing 0:43448bf056e8 13 ExperimentServer server; // Object that lets us communicate with MATLAB
elijahsj 5:1ab9b2527794 14 Timer t; // Timer to measure elapsed time of experiment
elijahsj 5:1ab9b2527794 15
elijahsj 5:1ab9b2527794 16 QEI encoderA(PE_9,PE_11, NC, 1200, QEI::X4_ENCODING); // MOTOR A ENCODER (no index, 1200 counts/rev, Quadrature encoding)
elijahsj 5:1ab9b2527794 17 QEI encoderB(PA_5, PB_3, NC, 1200, QEI::X4_ENCODING); // MOTOR B ENCODER (no index, 1200 counts/rev, Quadrature encoding)
elijahsj 5:1ab9b2527794 18 QEI encoderC(PC_6, PC_7, NC, 1200, QEI::X4_ENCODING); // MOTOR C ENCODER (no index, 1200 counts/rev, Quadrature encoding)
elijahsj 5:1ab9b2527794 19 QEI encoderD(PD_12, PD_13, NC, 1200, QEI::X4_ENCODING);// MOTOR D ENCODER (no index, 1200 counts/rev, Quadrature encoding)
elijahsj 5:1ab9b2527794 20
elijahsj 6:1faceb53dabe 21 AnalogIn currentA(PF_12); //MOTOR A CURRENT SENSOR
elijahsj 6:1faceb53dabe 22 AnalogIn currentB(PF_11); //MOTOR B CURRENT SENSOR
elijahsj 6:1faceb53dabe 23 AnalogIn currentC(PF_13); //MOTOR C CURRENT SENSOR
elijahsj 6:1faceb53dabe 24 AnalogIn currentD(PA_4); //MOTOR D CURRENT SENSOR
elijahsj 6:1faceb53dabe 25
elijahsj 8:98a83981c238 26 //MotorShield motorA(PE_5, PE_6); //MOTOR A PWM
elijahsj 8:98a83981c238 27 //MotorShield motorB(PB_14, PB_15); //MOTOR B PWM
elijahsj 8:98a83981c238 28 //MotorShield motorC(PA_6, PF_9); //MOTOR C PWM
elijahsj 8:98a83981c238 29 //MotorShield motorD(PF_6, PF_7); //MOTOR D PWM
elijahsj 6:1faceb53dabe 30
elijahsj 4:7a1b35f081bb 31 int main (void)
elijahsj 4:7a1b35f081bb 32 {
elijahsj 8:98a83981c238 33 initHardware(); // Setup PWM
elijahsj 8:98a83981c238 34 wait_us(100);
elijahsj 8:98a83981c238 35
elijahsj 8:98a83981c238 36 TIM12->CCR2 = 100;
elijahsj 8:98a83981c238 37 TIM12->CCR1 = 200;
elijahsj 9:97360c92666f 38 TIM13->CCR1 = 200;
elijahsj 9:97360c92666f 39 TIM14->CCR1 = 200;
elijahsj 9:97360c92666f 40 TIM15->CCR1 = 200;
elijahsj 9:97360c92666f 41 TIM15->CCR2 = 200;
elijahsj 9:97360c92666f 42 TIM16->CCR1 = 200;
elijahsj 9:97360c92666f 43 TIM17->CCR1 = 200;
elijahsj 8:98a83981c238 44
elijahsj 8:98a83981c238 45 while(1){
elijahsj 8:98a83981c238 46 }
elijahsj 8:98a83981c238 47 /*
pwensing 0:43448bf056e8 48 // Link the terminal with our server and start it up
pwensing 0:43448bf056e8 49 server.attachTerminal(pc);
pwensing 0:43448bf056e8 50 server.init();
pwensing 0:43448bf056e8 51
Patrick Wensing 1:95a7fddd25a9 52 // PWM period should nominally be a multiple of our control loop
Patrick Wensing 1:95a7fddd25a9 53 motorPWM.period_us(500);
elijahsj 4:7a1b35f081bb 54
pwensing 0:43448bf056e8 55 // Continually get input from MATLAB and run experiments
pwensing 0:43448bf056e8 56 float input_params[NUM_INPUTS];
elijahsj 5:1ab9b2527794 57 pc.printf("%f",input_params[0]);
elijahsj 5:1ab9b2527794 58
pwensing 0:43448bf056e8 59 while(1) {
pwensing 0:43448bf056e8 60 if (server.getParams(input_params,NUM_INPUTS)) {
pwensing 0:43448bf056e8 61 float v1 = input_params[0]; // Voltage for first second
pwensing 0:43448bf056e8 62 float v2 = input_params[1]; // Voltage for second second
elijahsj 4:7a1b35f081bb 63
pwensing 0:43448bf056e8 64 // Setup experiment
pwensing 0:43448bf056e8 65 t.reset();
pwensing 0:43448bf056e8 66 t.start();
elijahsj 5:1ab9b2527794 67 encoderA.reset();
elijahsj 5:1ab9b2527794 68 encoderB.reset();
elijahsj 5:1ab9b2527794 69 encoderC.reset();
elijahsj 5:1ab9b2527794 70 encoderD.reset();
pwensing 0:43448bf056e8 71 motorFwd = 1;
pwensing 0:43448bf056e8 72 motorRev = 0;
Patrick Wensing 1:95a7fddd25a9 73 motorPWM.write(0);
pwensing 0:43448bf056e8 74
pwensing 0:43448bf056e8 75 // Run experiment
elijahsj 4:7a1b35f081bb 76 while( t.read() < 2 ) {
pwensing 0:43448bf056e8 77 // Perform control loop logic
elijahsj 4:7a1b35f081bb 78 if (t.read() < 1)
Patrick Wensing 1:95a7fddd25a9 79 motorPWM.write(v1);
elijahsj 4:7a1b35f081bb 80 else
Patrick Wensing 1:95a7fddd25a9 81 motorPWM.write(v2);
elijahsj 4:7a1b35f081bb 82
elijahsj 4:7a1b35f081bb 83 // Form output to send to MATLAB
pwensing 0:43448bf056e8 84 float output_data[NUM_OUTPUTS];
pwensing 0:43448bf056e8 85 output_data[0] = t.read();
elijahsj 5:1ab9b2527794 86 output_data[1] = encoderA.getPulses();
elijahsj 5:1ab9b2527794 87 output_data[2] = encoderA.getVelocity();
elijahsj 4:7a1b35f081bb 88
pwensing 0:43448bf056e8 89 // Send data to MATLAB
pwensing 0:43448bf056e8 90 server.sendData(output_data,NUM_OUTPUTS);
elijahsj 4:7a1b35f081bb 91 wait(.001);
elijahsj 4:7a1b35f081bb 92 }
pwensing 0:43448bf056e8 93 // Cleanup after experiment
pwensing 0:43448bf056e8 94 server.setExperimentComplete();
Patrick Wensing 1:95a7fddd25a9 95 motorPWM.write(0);
pwensing 0:43448bf056e8 96 } // end if
pwensing 0:43448bf056e8 97 } // end while
elijahsj 8:98a83981c238 98 */
elijahsj 6:1faceb53dabe 99 } // end main
elijahsj 6:1faceb53dabe 100