Stephen Laskowski / Mbed 2 deprecated 2_131TEST

2.131 test rig DAQ for MTB suspension characterization project

Dependencies:   EthernetInterface ExperimentServer HX711 QEI_pmw mbed-rtos mbed

Fork of Dolphin by Stephen Laskowski

main.cpp@7:d5f354b450a3, 2016-05-03 (annotated)

Committer:
laskowsk
Date:
Tue May 03 17:22:31 2016 +0000
Revision:
7:d5f354b450a3
Parent:
6:b7f6433cc765 
This is the coding used in the 2.131 Biking Beavers test rig to characterize a mountain bikes suspension system

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pwensing 0:43448bf056e8 1 #include "mbed.h"
pwensing 0:43448bf056e8 2 #include "rtos.h"
pwensing 0:43448bf056e8 3 #include "EthernetInterface.h"
pwensing 0:43448bf056e8 4 #include "ExperimentServer.h"
laskowsk 4:300ced917633 5 #include "HX711.h"
pwensing 0:43448bf056e8 6
laskowsk 7:d5f354b450a3 7 #define NUM_INPUTS 5
laskowsk 7:d5f354b450a3 8 #define NUM_OUTPUTS 4
pwensing 0:43448bf056e8 9
pwensing 0:43448bf056e8 10 Serial pc(USBTX, USBRX); // USB Serial Terminal
pwensing 0:43448bf056e8 11 ExperimentServer server; // Object that lets us communicate with MATLAB
pwensing 0:43448bf056e8 12 Timer t; // Timer to measure elapsed time of experiment
laskowsk 7:d5f354b450a3 13 AnalogIn pot(A0); // Linear Potentiometer
laskowsk 7:d5f354b450a3 14 HX711 scale(A1, A2);
laskowsk 7:d5f354b450a3 15 DigitalOut led(LED_BLUE);
laskowsk 7:d5f354b450a3 16 Ticker randloop;
laskowsk 4:300ced917633 17
laskowsk 7:d5f354b450a3 18
laskowsk 7:d5f354b450a3 19
laskowsk 7:d5f354b450a3 20
laskowsk 4:300ced917633 21 // Timing parameters
laskowsk 4:300ced917633 22 float pwm_period_us;
laskowsk 4:300ced917633 23 float current_control_period_us;
laskowsk 4:300ced917633 24 float impedance_control_period_us;
laskowsk 4:300ced917633 25 float exp_period;
laskowsk 6:b7f6433cc765 26 float calibration_factor;
laskowsk 4:300ced917633 27
laskowsk 7:d5f354b450a3 28 void randomloop()
laskowsk 4:300ced917633 29 {
laskowsk 7:d5f354b450a3 30 int random = rand()%100;
laskowsk 7:d5f354b450a3 31 if (random > 85) {
laskowsk 7:d5f354b450a3 32 led.write(0);
laskowsk 7:d5f354b450a3 33 }
laskowsk 7:d5f354b450a3 34 else {
laskowsk 7:d5f354b450a3 35 led.write(1);
laskowsk 7:d5f354b450a3 36 }
pwensing 0:43448bf056e8 37
laskowsk 7:d5f354b450a3 38 } // end randomloop
pwensing 0:43448bf056e8 39 int main (void) {
laskowsk 7:d5f354b450a3 40 scale.tare(); // tare scale
laskowsk 7:d5f354b450a3 41
laskowsk 4:300ced917633 42 // Link the terminal with our server and start it up
laskowsk 4:300ced917633 43 server.attachTerminal(pc);
laskowsk 4:300ced917633 44 server.init();
laskowsk 4:300ced917633 45 // Continually get input from MATLAB and run experiments
laskowsk 4:300ced917633 46 float input_params[NUM_INPUTS];
laskowsk 4:300ced917633 47 while(1) {
laskowsk 4:300ced917633 48 if (server.getParams(input_params,NUM_INPUTS)) {
laskowsk 4:300ced917633 49 pwm_period_us = input_params[0]; // PWM_Period in mirco seconds
laskowsk 4:300ced917633 50 current_control_period_us = input_params[1]; // Current control period in micro seconds
laskowsk 4:300ced917633 51 impedance_control_period_us = input_params[2]; // Impedance control period in microseconds seconds
laskowsk 4:300ced917633 52 exp_period = input_params[3]; // Experiment time in seconds
laskowsk 7:d5f354b450a3 53 calibration_factor = input_params[4]; // calibration factor for load cell
pwensing 0:43448bf056e8 54
laskowsk 7:d5f354b450a3 55 randloop.attach_us(randomloop,current_control_period_us);
laskowsk 7:d5f354b450a3 56 pc.printf("This is working: %4f/n", pwm_period_us);
laskowsk 6:b7f6433cc765 57 scale.setScale(calibration_factor); //Adjust to this calibration factor
laskowsk 7:d5f354b450a3 58
laskowsk 7:d5f354b450a3 59
laskowsk 4:300ced917633 60 // Setup experiment
laskowsk 4:300ced917633 61 t.reset();
laskowsk 4:300ced917633 62 t.start();
laskowsk 7:d5f354b450a3 63
laskowsk 7:d5f354b450a3 64 // Run experiment, keep this line
laskowsk 7:d5f354b450a3 65 while ( t.read() < exp_period ) {
laskowsk 4:300ced917633 66 // Perform control loop logic
laskowsk 4:300ced917633 67
laskowsk 6:b7f6433cc765 68 // take measurement from load cell
laskowsk 7:d5f354b450a3 69 float F = scale.getGram();//+ 0.116f*t.read(); // value from load cell that uses calibration factor
laskowsk 7:d5f354b450a3 70 float Length = pot.read()*105.0f; // value from linear potentiometer * 1.05 calibration factor (105mm stroke length
laskowsk 7:d5f354b450a3 71 float light = led.read();
laskowsk 7:d5f354b450a3 72
laskowsk 7:d5f354b450a3 73
laskowsk 4:300ced917633 74 // Form output to send to MATLAB
laskowsk 4:300ced917633 75 float output_data[NUM_OUTPUTS];
laskowsk 4:300ced917633 76 output_data[0] = t.read();
laskowsk 7:d5f354b450a3 77 output_data[1] = Length;
laskowsk 7:d5f354b450a3 78 output_data[2] = F;
laskowsk 7:d5f354b450a3 79 output_data[3] = light;
laskowsk 7:d5f354b450a3 80 //output_data[4] = current_des1;
laskowsk 7:d5f354b450a3 81 //output_data[5] = duty_factor1;
laskowsk 7:d5f354b450a3 82 //pc.printf("Output data",output_data);
laskowsk 4:300ced917633 83
laskowsk 4:300ced917633 84 // Send data to MATLAB
laskowsk 4:300ced917633 85 server.sendData(output_data,NUM_OUTPUTS);
laskowsk 4:300ced917633 86 wait_us(impedance_control_period_us);
laskowsk 4:300ced917633 87 }
laskowsk 4:300ced917633 88 // Cleanup after experiment
laskowsk 4:300ced917633 89 server.setExperimentComplete();
laskowsk 4:300ced917633 90 // control.detach();
laskowsk 7:d5f354b450a3 91 randloop.detach();
laskowsk 4:300ced917633 92
laskowsk 4:300ced917633 93 } // end if
laskowsk 7:d5f354b450a3 94 } // end while
laskowsk 4:300ced917633 95 } // end main