Diff: main.cpp

Revision:

0:f2e536cb3497

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 25 00:22:07 2018 +0000
@@ -0,0 +1,104 @@
+/*******************************************************************************
+Jacob Kang, Montassar Mouaffak
+ES305
+Section 2141
+This will drive a DC motor with a sinusoidal duty cycle for a user specified
+amount of time and measure the speed of the motor shaft. Then it will send the
+elapsed time, speed, and duty cycle at each time increment across the serial
+port.
+*******************************************************************************/
+
+//declare libraries
+
+#include "mbed.h"
+#include "mbedWSEsbc.h"
+#define PI (3.14159)
+
+//declare objects
+
+Ticker Controller;
+
+
+//declare variables
+
+float time_tot;
+float current_time;
+float ctrl_period = 0.0083;
+float datastrm = 0.01;
+float dutcyc;
+float DCAmp;
+float speed;
+float meas;
+float rad_curr;
+float rad_old = 0.0;
+
+// declare functions
+
+void ctrCode();
+void stepCode();
+
+//Enter main function
+int main()
+{
+
+    //initialize board
+    mbedWSEsbcInit(115200);
+    //initialize pwm
+    mot_en1.period(.020);
+
+    while(1) {
+        pc.scanf("%f,%f", &time_tot,&DCAmp);
+        current_time = 0.0;
+        t.reset(); //reset time object
+        Controller.attach(&stepCode,ctrl_period);
+        t.start();
+        while(current_time <= time_tot) {
+            pc.printf("%f,%f,%f\n",current_time,speed,dutcyc);
+            wait(datastrm);
+        }
+        Controller.detach(); // detach ticker to turn off controller
+        mot_control(1,0.0);
+    }
+}
+
+
+void ctrCode()
+{
+    //Read current elasped time
+    current_time = t.read();
+    //Read encoder
+    meas = LS7366_read_counter(1);
+    //Convert from counts to radians
+    rad_curr = (meas/6500)*2*PI;
+    //Estimate speed
+    speed = (rad_curr - rad_old)/ctrl_period;
+    //Age variables
+    rad_old = rad_curr;
+    //compute duty cycle for motor (if necessary)
+    dutcyc = DCAmp*sin((2.0*PI*current_time)/5.0);
+    //send duty cycle to motor
+    mot_control(1,dutcyc);
+}
+
+void stepCode()
+{
+    //Read current elasped time
+    current_time = t.read();
+    //Read encoder
+    meas = LS7366_read_counter(1);
+    //Convert from counts to radians
+    rad_curr = (meas/6500)*2*PI;
+    //Estimate speed
+    speed = (rad_curr - rad_old)/ctrl_period;
+    //Age variables
+    rad_old = rad_curr;
+    //compute duty cycle for motor (if necessary)
+    if(current_time <0.1) {
+        dutcyc = 0.0;
+    } else {
+        dutcyc = DCAmp;
+    }
+    dutcyc = DCAmp*sin((2.0*PI*current_time)/5.0);
+    //send duty cycle to motor
+    mot_control(1,dutcyc);
+}