Revision 0:0734b922c101, committed 2014-07-07

Comitter:

johnson6987

Date:

Mon Jul 07 16:11:23 2014 +0000

Commit message:

Slope Draw Bar Pull

Changed in this revision

diff -r 000000000000 -r 0734b922c101 MODSERIAL.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib	Mon Jul 07 16:11:23 2014 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/Sissors/code/MODSERIAL/#f42def64c4ee

diff -r 000000000000 -r 0734b922c101 QEI.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.lib	Mon Jul 07 16:11:23 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa

diff -r 000000000000 -r 0734b922c101 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jul 07 16:11:23 2014 +0000
@@ -0,0 +1,160 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "MODSERIAL.h"
+
+#define MCONV 10900
+
+AnalogOut tri(p18);
+DigitalIn Enable(p10);
+MODSERIAL pc(USBTX,USBRX);
+QEI wheel (p24, p25,NC, 1800);
+AnalogIn load(p20);
+unsigned short value = 0x0500;
+float Set=25;
+LocalFileSystem local("local");
+Timer SystemTime;
+Timer LogTime;
+Timer LoopTime;
+Timer SampleTime;
+BusOut leds(LED1, LED2, LED3, LED4);
+float errorup=1;
+float errorlow=-1;
+
+int main()
+{
+    pc.printf("alive");
+    Enable.mode(PullDown);
+    int filenumber=0;
+    bool FLAG =0;
+    char filename[22];
+    leds=0x1;
+    pc.printf("alsoHere");
+    Set=30;
+    value=0x0500;
+    while(1) {
+        while(!FLAG) {
+            sprintf(filename,"/local/data%04d.txt",filenumber++);
+            FILE *SetupFile= fopen(filename, "r");
+            if (SetupFile != NULL) fclose(SetupFile);
+            else FLAG=1;
+        }
+        leds=0x2;
+        tri.write_u16(value);
+        while(pc.getcNb()!='s');
+
+        FILE *fp =fopen(filename, "w");  // Open "out.txt" on the local file system for writing
+        fprintf(fp,"Time(s), EncoderCnts, LoadCell, Meters, Newtons \n");
+
+        tri = 0;
+        //wait(20);
+        SystemTime.start();
+        LogTime.start();
+        LoopTime.start();
+        SampleTime.start();
+        leds=0xF;
+        float avgtotal=0;
+        float avgcnt=0;
+        wheel.reset();
+        char check = '0';
+        while(check!= 'S') {
+check = pc.getcNb();
+                if(check=='y') {
+                    //while(pc.getcNb()=='y');
+                    Set+=3;
+                    pc.printf("\r\nTarget = %flbs",Set);
+                }
+                if(check=='h') {
+                    //while(pc.getcNb()=='h');
+                    Set-=3;
+                    pc.printf("\r\nTarget = %flbs",Set);
+                }
+
+            //wait_ms(100);
+            if (LogTime.read_ms()>100) {
+                int temp2 = wheel.getPulses();
+                float temp = ((avgtotal/avgcnt)+1.7026)/336.85;
+                fprintf(fp,"%f ,%i ,%f , %f, %f\n", SystemTime.read(),temp2,temp,(float)temp2/10900.000,avgtotal/avgcnt*4.45);
+                LogTime.reset();
+                
+            }
+            avgtotal+=336.85*load.read()-1.7026;
+            avgcnt+=1.0;
+            if (LoopTime.read_ms()>5) {
+
+                LoopTime.reset();
+
+                float Actual=avgtotal/avgcnt;
+                avgtotal=0;
+                avgcnt=0;
+                float Error = (Set-Actual);
+                if (Error>errorup)Error=errorup;
+                if (Error<errorlow)Error=errorlow;
+                value=value+Error;
+                // pc.printf("%x\r\n",value);
+
+                if(value > 0xFFFE) {
+                    value=0xFFFE;
+                }
+                if(value < 0x00A0) {
+                    value=0x00A0;
+                }
+                tri.write_u16(value);
+
+
+            }// 4.45 lbs to N
+            
+              // if (wheel.getPulses()>MCONV)Set=200;
+            if (wheel.getPulses()>1.6*MCONV)Set=220;
+            if (wheel.getPulses()>2.2*MCONV)Set=240;
+            if (wheel.getPulses()>2.8*MCONV)Set=260;
+            if (wheel.getPulses()>3.4*MCONV)Set=280;
+            if (wheel.getPulses()>4*MCONV)Set=300;
+            if (wheel.getPulses()>4.6*MCONV)Set=320;
+            /*if (wheel.getPulses()>5.8*MCONV)Set=210;
+            if (wheel.getPulses()>6.6*MCONV)Set=220;
+            if (wheel.getPulses()>7*MCONV)Set=240;*/
+            
+            
+/*
+if (wheel.getPulses()>MCONV)Set=40;
+            if (wheel.getPulses()>1.8*MCONV)Set=60;
+            if (wheel.getPulses()>2.6*MCONV)Set=80;
+            if (wheel.getPulses()>3.4*MCONV)Set=100;
+            if (wheel.getPulses()>4.2*MCONV)Set=120;
+            if (wheel.getPulses()>5*MCONV)Set=140;
+            if (wheel.getPulses()>5.8*MCONV)Set=160;
+            if (wheel.getPulses()>6.6*MCONV)Set=180;
+            if (wheel.getPulses()>7*MCONV)Set=200;
+            */
+        }
+        fclose(fp);
+        tri.write_u16(0x0400);
+        leds=0x8;
+        Set=30;
+        while(pc.getcNb()!='R') {
+            avgtotal+=336.85*load.read()-1.7026;
+            avgcnt+=1.0;
+            if (LoopTime.read_ms()>5) {
+
+                LoopTime.reset();
+
+                float Actual=avgtotal/avgcnt;
+                avgtotal=0;
+                avgcnt=0;
+                float Error = (Set-Actual);
+                if (Error>errorup)Error=errorup;
+                if (Error<errorlow)Error=errorlow;
+                value=value+Error;
+                // pc.printf("%x\r\n",value);
+
+                if(value > 0xFFFE) {
+                    value=0xFFFE;
+                }
+                if(value < 0x00A0) {
+                    value=0x00A0;
+                }
+                tri.write_u16(value);
+            }
+        }
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 0734b922c101 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jul 07 16:11:23 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/71b101360fb9
\ No newline at end of file