Diff: main.cpp

Revision:

0:9f2b0ea63eac

Child:

1:5c05e0d08e61

diff -r 000000000000 -r 9f2b0ea63eac main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Dec 01 23:00:51 2013 +0000
@@ -0,0 +1,92 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "QEI.h"
+
+#define NR_SAMPLES 4000
+
+Serial pc(USBTX, USBRX);
+
+QEI encoder(p29, p30, NC, 1024);
+Timer T;
+
+// open a file for data logger
+LocalFileSystem local("local");
+
+float angle = 0.0;
+int pulses0 = 0;
+int deltaPulses;
+float t0 = 0.0;
+float t = 0.0, dt, vel;
+int curPulses;
+float conversion = 360.0/(1024.0*2.0);
+float* buffer;
+
+int index;
+
+void saving(void const *args) {
+    index = 0;
+    while (true) {
+        //fprintf(fp, "0.0\n");
+        //fprintf(fp, "%f, %f, %f\n", angle, vel, t); 
+        //printf("Vel is: %f, dt = %f\r\n", vel, dt);
+        buffer[index] = angle;
+        buffer[index+1] = t;
+        index = index+2;
+        Thread::wait(10);
+    }
+}
+
+void computing(void const *args) {
+    while (true) {
+        t = T.read();
+        dt = t - t0;
+        curPulses = encoder.getPulses();
+        angle = float(curPulses)*conversion;
+        
+        deltaPulses = curPulses - pulses0;
+        vel = float(deltaPulses)/dt*conversion;
+        
+        pulses0 = curPulses;
+        t0 = t;
+        Thread::wait(1);
+    }
+}
+
+void saveToFile ()
+{
+    FILE *fp = fopen("/local/data.csv", "w");
+    if (!fp) {
+        fprintf(stderr, "File could not be openend \n\r");
+        exit(1);
+    }
+ 
+    wait(2.0);
+ 
+    for (int i=0; i < index; i=i+2) {
+ 
+        fprintf(fp,"%f,%f\n", buffer[i],buffer[i+1]);
+    }
+    pc.printf("closing file\n\r");
+    fclose(fp);
+    wait(2.0);;
+}
+
+int main() {
+    //allocate memory for the buffer
+    buffer = new float[NR_SAMPLES];
+    T.start();
+    Thread thrd2(computing,NULL,osPriorityRealtime);
+    Thread thrd3(saving,NULL,osPriorityNormal);
+    
+    pc.printf("Start!\r\n");
+    pc.printf("Time: %f\r\n", t);
+    while (t < 10.0) 
+    {
+        pc.printf("Time: %f\r\n", t);
+        Thread::wait(1000);
+    }
+    pc.printf("Done!\r\n");
+    thrd2.terminate();
+    thrd3.terminate();
+    saveToFile();
+}
\ No newline at end of file