Revision 16:bbe4ac38c535, committed 2020-09-12

Comitter:

elijahsj

Date:

Sat Sep 12 16:10:06 2020 +0000

Parent:

15:495333b2ccf1

Commit message:

changes to include encoder part;

Changed in this revision

--- a/main.cpp	Thu Aug 27 14:55:58 2020 +0000
+++ b/main.cpp	Sat Sep 12 16:10:06 2020 +0000
@@ -19,7 +19,7 @@
 QEI encoderC(PC_6, PC_7, NC, 1200, QEI::X4_ENCODING);  // MOTOR C ENCODER (no index, 1200 counts/rev, Quadrature encoding)
 QEI encoderD(PD_12, PD_13, NC, 1200, QEI::X4_ENCODING);// MOTOR D ENCODER (no index, 1200 counts/rev, Quadrature encoding)
 
-MotorShield motorShield(12000); //initialize the motor shield with a period of 12000 ticks or ~20kHZ
+MotorShield motorShield(12000); //initialize the motor shield with a period of 12000 clock ticks or ~20kHZ
 
 int main (void)
 {
@@ -33,8 +33,8 @@
     
     while(1) {
         if (server.getParams(input_params,NUM_INPUTS)) {
-            float v1   = input_params[0]; // Duty cycle for first second
-            float v2   = input_params[1]; // Duty cycle for second second
+            float d1   = input_params[0]; // Duty cycle for first second
+            float d2   = input_params[1]; // Duty cycle for second second
 
             // Setup experiment
             t.reset();
@@ -53,17 +53,17 @@
             while( t.read() < 2 ) {
                 // Perform control loop logic
                 if (t.read() < 1)
-                    motorShield.motorAWrite(v1, 0); //run motor A at "v1" duty cycle and in the forward direction 
+                    motorShield.motorAWrite(d1, 0); //run motor A at "v1" duty cycle and in the forward direction 
                 else
-                    motorShield.motorAWrite(v2, 0); //run motor A at "v2" duty cycle and in the forward direction 
+                    motorShield.motorAWrite(d2, 0); //run motor A at "v2" duty cycle and in the forward direction 
 
                 // Form output to send to MATLAB
                 float output_data[NUM_OUTPUTS];
                 
                 output_data[0] = t.read();
-                output_data[1] = encoderA.getPulses(); 
-                output_data[2] = encoderA.getVelocity();
-                output_data[3] = motorShield.readCurrentA();
+                output_data[1] = 0; //MODIFY: COPY IN YOUR ANSWER FROM PART 1
+                output_data[2] = 0; //MODIFY: COPY IN YOUR ANSWER FROM PART 1
+                output_data[3] = motorShield.readCurrentA()*(30.0/65536.0)-15;
                 
                 // Send data to MATLAB
                 server.sendData(output_data,NUM_OUTPUTS);