Jacob Kang
published
Revision 0:f2e536cb3497, committed 2018-10-25
- Comitter:
- kingkang2
- Date:
- Thu Oct 25 00:22:07 2018 +0000
- Commit message:
- published;
Changed in this revision
diff -r 000000000000 -r f2e536cb3497 main.cpp
--- /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);
+}
diff -r 000000000000 -r f2e536cb3497 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Oct 25 00:22:07 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a7c7b631e539 \ No newline at end of file
diff -r 000000000000 -r f2e536cb3497 mbedWSEsbc.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbedWSEsbc.lib Thu Oct 25 00:22:07 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/jebradshaw/code/mbedWSEsbc/#2564f54c89df