Diff: main.cpp

Revision:

1:57efa2224451

Parent:

0:924cdaeea469

Child:

2:5eacc17e53eb

--- a/main.cpp	Thu May 23 16:28:28 2013 +0000
+++ b/main.cpp	Fri May 24 08:39:03 2013 +0000
@@ -5,6 +5,7 @@
 
 #include "mbed.h"
 //#include "math.h"
+//#include "Tables.cpp"
 
 Serial pc(USBTX, USBRX); // tx, rx
 DigitalOut led1(LED1);  // main led
@@ -12,6 +13,8 @@
 PwmOut led3(LED3), aPwm0(p23);
 
 Ticker t;
+
+//int SineTable tSineTable;
  
 Timer tmr1;
 AnalogIn AD1(p20), AD2(p19);
@@ -19,45 +22,52 @@
 unsigned int ServoCnt, BackgrCnt, ServoTime; 
 float Potm1, Potm2;
 
-int TableIndex, SineOut0;
+int TableIndex;
+int SineOut0, SineOut1, SineOut2;       // The Sine output values
+float mSineOut0, mSineOut1, mSineOut2;  // The multiplied Sine output values
+
 
 int PwmTime_us = 10000;
-int SineTable[360] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9
-, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19
-, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29
-, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39
-, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49
-, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59
-, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69
-, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79
-, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89
-, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99
-, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109
-, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119
-, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129
-, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139
-, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149
-, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159
-, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169
-, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179
-, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189
-, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199
-, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209
-, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219
-, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229
-, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239
-, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249
-, 250, 251, 252, 253, 254, 255, 256, 257, 258, 259
-, 260, 261, 262, 263, 264, 265, 266, 267, 268, 269
-, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279
-, 280, 281, 282, 283, 284, 285, 286, 287, 288, 289
-, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299
-, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309
-, 310, 311, 312, 313, 314, 315, 316, 317, 318, 319
-, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329
-, 330, 331, 332, 333, 334, 335, 336, 337, 338, 339
-, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349
-, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359};
+int Sin1Offset = 120, Sin2Offset = 240;  // Offsets for two other phase outputs
+
+int SineTable[360] = {0, 17, 35, 52, 70, 87, 105, 122, 139, 156 
+,174, 191, 208, 225, 242, 259, 276, 292, 309, 326 
+,342, 358, 375, 391, 407, 423, 438, 454, 469, 485 
+,500, 515, 530, 545, 559, 574, 588, 602, 616, 629 
+,643, 656, 669, 682, 695, 707, 719, 731, 743, 755 
+,766, 777, 788, 799, 809, 819, 829, 839, 848, 857 
+,866, 875, 883, 891, 899, 906, 914, 921, 927, 934 
+,940, 946, 951, 956, 961, 966, 970, 974, 978, 982 
+,985, 988, 990, 993, 995, 996, 998, 999, 999, 1000 
+,1000, 1000, 999, 999, 998, 996, 995, 993, 990, 988 
+,985, 982, 978, 974, 970, 966, 961, 956, 951, 946 
+,940, 934, 927, 921, 914, 906, 899, 891, 883, 875 
+,866, 857, 848, 839, 829, 819, 809, 799, 788, 777 
+,766, 755, 743, 731, 719, 707, 695, 682, 669, 656 
+,643, 629, 616, 602, 588, 574, 559, 545, 530, 515 
+,500, 485, 469, 454, 438, 423, 407, 391, 375, 358 
+,342, 326, 309, 292, 276, 259, 242, 225, 208, 191 
+,174, 156, 139, 122, 105, 87, 70, 52, 35, 17 
+,0, -17, -35, -52, -70, -87, -105, -122, -139, -156 
+,-174, -191, -208, -225, -242, -259, -276, -292, -309, -326 
+,-342, -358, -375, -391, -407, -423, -438, -454, -469, -485 
+,-500, -515, -530, -545, -559, -574, -588, -602, -616, -629 
+,-643, -656, -669, -682, -695, -707, -719, -731, -743, -755 
+,-766, -777, -788, -799, -809, -819, -829, -839, -848, -857 
+,-866, -875, -883, -891, -899, -906, -914, -921, -927, -934 
+,-940, -946, -951, -956, -961, -966, -970, -974, -978, -982 
+,-985, -988, -990, -993, -995, -996, -998, -999, -999, -1000 
+,-1000, -1000, -999, -999, -998, -996, -995, -993, -990, -988 
+,-985, -982, -978, -974, -970, -966, -961, -956, -951, -946 
+,-940, -934, -927, -921, -914, -906, -899, -891, -883, -875 
+,-866, -857, -848, -839, -829, -819, -809, -799, -788, -777 
+,-766, -755, -743, -731, -719, -707, -695, -682, -669, -656 
+,-643, -629, -616, -602, -588, -574, -559, -545, -530, -515 
+,-500, -485, -469, -454, -438, -423, -407, -391, -375, -358 
+,-342, -326, -309, -292, -276, -259, -242, -225, -208, -191 
+,-174, -156, -139, -122, -105, -87, -70, -52, -35, -17 
+};
+
 
 // A class for flip()-ing a DigitalOut 
 class Flipper {
@@ -77,6 +87,7 @@
         
         TableIndex = ceil(Potm1 * 359);
         SineOut0 = SineTable[TableIndex];   // Get sine value from table
+        mSineOut0 = SineOut0 * Potm2;        // Multiply sine with potmeter
         
         ServoCnt++;                         // Servo counter
         endtime = tmr1.read_us();           // Measure time 2
@@ -114,8 +125,8 @@
         wait(0.2);
         led1 = 0;
         wait(0.2);
-        pc.printf("Servotm: %i, ServoCnt: %i , BackgrCnt: %i , Potm1: ,%.2f, Potm2: ,%.2f, TableIndex %i, SineOut0 %i\r",
-         ServoTime, ServoCnt, BackgrCnt, Potm1, Potm2, TableIndex, SineOut0 );
+        pc.printf("Servotm: %i, ServoCnt: %i , BackgrCnt: %i , Potm1: %.2f, Potm2: %i, TableIndex :%i, SineOut0: %i , mSineOut0: %.2f\r",
+         ServoTime, ServoCnt, BackgrCnt, Potm1, Potm2, TableIndex, SineOut0, mSineOut0 );
     }
 }