Diff: main.cpp

Revision:

6:8cd6aa47fd51

Parent:

5:9f31c55179d7

Child:

7:e64cd99abefb

--- a/main.cpp	Sun Dec 01 17:34:07 2013 +0000
+++ b/main.cpp	Sun Dec 01 19:33:07 2013 +0000
@@ -7,23 +7,27 @@
 //Motor 1
 DigitalOut mDir1_A(p5);
 DigitalOut mDir1_B(p6);
-AnalogIn aIn1(p19);
 PwmOut pwmOut1(p21);
 QEI encoder1(p23, p24, NC, 1200, QEI::X4_ENCODING);
 
 //Motor 2
 DigitalOut mDir2_A(p11);
 DigitalOut mDir2_B(p12);
-AnalogIn aIn2(p20);
 PwmOut pwmOut2(p22);
 QEI encoder2(p9, p10, NC, 1200, QEI::X4_ENCODING);
 
+//force measurement pins
+AnalogIn f1(p15);
+AnalogIn f2(p16);
+
 // Declare other objects
 Ticker ctrlTicker;                // creates an instance of the ticker class, which can be used for running functions at a specified frequency.
 Ticker trajTicker;
+Ticker writeTicker;
 Serial mySerial(USBTX, USBRX);  // create a serial connection to the computer over the tx/rx pins
 LocalFileSystem local("local");
-FILE *fp = fopen("/local/out.csv", "w");
+FILE *fp1 = fopen("/local/encoders.csv", "w");
+FILE *fp2 = fopen("/local/force.csv", "w");
 
 float a1_t0 = 0;    //motor angle 1 from previous time step
 float a1_t1 = 0;    //motor angle 1 from current time step
@@ -35,11 +39,9 @@
 int nTraj = 0; //trajectory index
 float aD[2] = {0.0, 0.0};
 //knee
-float traj2[] = {0.0000,0.082808,0.16684,0.25007,0.3309,0.40823,0.48137,0.54996,0.61388,0.67319,0.72803,0.77865,0.82528,0.8682,0.90766,0.94392,0.9772,1.0077,1.0357,1.0613,1.0847,1.106,1.1253,1.1429,1.1587,1.1729,1.1856,1.1968,1.2066,1.215,1.2222,1.2281,1.2329,1.2364,1.2388,1.2401,1.2403,1.2395,1.2375,1.2346,1.2306,1.2256,1.2196,1.2126,1.2047,1.1958,1.1859,1.1751,1.1634,1.1508,1.1373,1.1229,1.1077,1.0917,1.0749,1.0573,1.039,1.02,1.0002,0.97986,0.95884,0.93722,0.91503,0.8923,0.86905,0.84532,0.82113,0.79652,0.77151,0.74614,0.72043,0.69442,0.66812,0.64158,0.61483,0.58788,0.56079,0.53357,0.50627,0.47892,0.45155,0.42421,0.39695,0.3698,0.34282,0.31606,0.28958,0.26345,0.23774,0.21252,0.18788,0.16391,0.14073,0.11845,0.097185,0.077089,0.058313,0.041026,0.02541,0.011664,0.0};
-//float traj2[] = {0.0,0.0,0.0};
+float traj2[] = {0.0};
 //hip
-float traj1[] = {0,-0.07531,-0.1448,-0.20762,-0.2633,-0.31173,-0.35308,-0.38772,-0.41614,-0.43889,-0.45652,-0.4696,-0.47862,-0.48407,-0.48638,-0.48592,-0.48306,-0.47809,-0.47128,-0.46289,-0.45311,-0.44214,-0.43016,-0.41731,-0.40372,-0.38952,-0.37482,-0.35971,-0.3443,-0.32866,-0.31286,-0.29698,-0.28107,-0.26521,-0.24944,-0.23382,-0.21839,-0.2032,-0.18828,-0.17367,-0.15942,-0.14554,-0.13206,-0.11902,-0.10642,-0.0943,-0.08266,-0.07153,-0.0609,-0.05078,-0.04118,-0.03211,-0.02355,-0.0155,-0.00796,-0.00092,0.00563,0.0117,0.01731,0.02247,0.02719,0.0315,0.03542,0.03894,0.04211,0.04493,0.04742,0.04961,0.05151,0.05313,0.0545,0.05563,0.05654,0.05725,0.05776,0.05809,0.05825,0.05826,0.05813,0.05785,0.05744,0.0569,0.05623,0.05543,0.05449,0.05342,0.05218,0.05078,0.04919,0.04738,0.04533,0.043,0.04035,0.03732,0.03386,0.02991,0.0254,0.02024,0.01434,0.00763,0};
-//float traj1[] = {0.0,0.0,0.0};
+float traj1[] = {0.0};
 int numPoints = sizeof(traj1)/sizeof(traj1[0]);
 float fTraj = numPoints/0.5;   //time frequency of trajectory commands
 //starting motor positions
@@ -95,6 +97,11 @@
     }
 }
 
+void writeFiles() {
+    fprintf(fp1, "%f, %f\n",a1_t1, a2_t1);
+    fprintf(fp2, "%f, %f\n",f1.read(), f2.read());
+}
+
 int main() {
     mDir1_A = 1;
     mDir1_B = 0;
@@ -109,13 +116,13 @@
     if (sizeof(traj1) == sizeof(traj2)) {
         trajTicker.attach(setTraj, 1/fTraj);
         ctrlTicker.attach(pdControl, 1/fPWM);
-        //while (!done) {mySerial.printf("targets 1: %f 2: %f \n\r", aD[0], aD[1]);}
+        writeTicker.attach(writeFiles, 0.01);
         while (!done) {
             mySerial.printf("motor 2: %f \n\r", a2_t1);
-            fprintf(fp, "%f, %f\n",a1_t1, a2_t1);
         }
         mySerial.printf("Done\n\r");
-        fclose(fp);
+        fclose(fp1);
+        fclose(fp2);
         mDir1_A = 0;
         mDir1_B = 0;
         mDir2_A = 0;