Diff: test_dis_exp_main.h

Revision:

2:d9745be6c253

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/test_dis_exp_main.h	Thu Aug 04 15:14:29 2022 -0400
@@ -0,0 +1,55 @@
+#include <cstdint>
+#include <mbed.h>
+#include "dis_exp.h"
+
+const PinName MOTOR_ENABLE = D15;
+const PinName MOTOR_STEP = D9;
+const PinName MOTOR_DIR = D13;
+const PinName MOTOR_MS1 = D12;
+const PinName MOTOR_MS2 = D11;
+const PinName MOTOR_MS3 = D10;
+const PinName SLEEP = D1;
+
+const PinName CS_MEASURE = D2;
+const PinName CS_SQUARE = D3;
+
+const int BAUD_RATE = 9600;
+
+const int32_t N_MEASURE = 4;
+const uint32_t T_MEASURE_US = 400; //currently not in use
+const int32_t DELTA_STEPS = 20;
+const int32_t MAX_STEPS = 100;
+
+int main(void) {
+    StepperMotor motor(MOTOR_ENABLE, 
+                       MOTOR_STEP, 
+                       MOTOR_DIR, 
+                       MOTOR_MS1,
+                       MOTOR_MS2, 
+                       MOTOR_MS3,
+                       SLEEP);
+    
+    CapSense cap_sense(CS_MEASURE, CS_SQUARE);
+
+    DiscreteExperiment discrete_exp(motor, cap_sense, N_MEASURE, T_MEASURE_US,
+                                    DELTA_STEPS, MAX_STEPS);
+    
+    discrete_exp.reset();
+
+    discrete_exp.start();
+
+    int steps = 0;
+    while(!discrete_exp.is_done()) {
+        printf("Steps: %d\n", steps);
+        steps++;
+        discrete_exp.proceed();
+    }
+
+    auto& data = discrete_exp.report();
+
+    for (auto& steps_tau_tuple: data) {
+        printf("Steps: %d, Tau: %d\n",
+               std::get<0>(steps_tau_tuple),
+               std::get<1>(steps_tau_tuple));
+    }
+}
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