File content as of revision 0:40605c19e1a6:

/* Harrison Kubena and Rav Dhingra
ES305 Lab 1 - Motor Ticker
27 August 2017 */

#include "mbed.h"
#include "mbedWSEsbc.h"
#define PI (3.14159)

//declare objects
Ticker Controller; //declare ticker obj

//declare variables
float TotalTime;
float Time;
float Tsamp = 0.0083;
float Tstream = 0.01;
float userDC;
float ang, angp, speed;
float dc;
float enc1;
float lowDC;

void ctrCode();
void twoStepCode();

//enter main
int main()  {  
    //init mbed
    
    mbedWSEsbcInit(115200);
    mot_en1.period(0.020);
    
    while(1)    {
        
        pc.scanf("%f,%f", &TotalTime, &lowDC);
        Time = 0.0;
        t.reset();
        Controller.attach(&twoStepCode,Tsamp);
        t.start();
        
        //data streaming
        
        while(Time <= TotalTime)    {
            
            Time = t.read();
            pc.printf("%f, %f, %f\n", Time, speed, dc);
            wait(Tstream);
                                    }
            Controller.detach();
            mot_control(1,0.0);
                }
            }  
// additional function definitions
void ctrCode()  {
        //read encoder
        enc1 = LS7366_read_counter(1);
        //convert counts to rads
        ang = 2.0*PI*enc1/6400.0;
        //estimate speed
        speed = (ang-angp)/Tsamp;
        //age variables
        angp = ang;
        //compute duty cycle
        dc = userDC;
        //send the duty cycle to motor
        mot_control(1,dc); }
        
void twoStepCode()  {
        //read encoder
        enc1 = LS7366_read_counter(1);
        //convert counts to rads
        ang = 2.0*PI*enc1/6400.0;
        //estimate speed
        speed = (ang-angp)/Tsamp;
        //age variables
        angp = ang;
        //compute duty cycle
        if(Time<0.1){
            dc = 0.0;
            } else if(Time<0.55){
            dc = lowDC;
            } else {
            dc = 0.10;
            }   
        //send the duty cycle to motor
        mot_control(1,dc); }