Joao Luiz Almeida de Souza Ramos
a controller for a furuta pendulum
Dependencies: QEI mbed-rtos mbed
Revision 0:9f2b0ea63eac, committed 2013-12-01
- Comitter:
- jaoramos
- Date:
- Sun Dec 01 23:00:51 2013 +0000
- Child:
- 1:5c05e0d08e61
- Commit message:
- main allows to save angles
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Sun Dec 01 23:00:51 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Sun Dec 01 23:00:51 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#29007aef10a4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Dec 01 23:00:51 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f \ No newline at end of file