Harrison Kubena
/
ES306_Motor
a
main.cpp@0:40605c19e1a6, 2017-11-06 (annotated)
- Committer:
- m193516
- Date:
- Mon Nov 06 03:04:52 2017 +0000
- Revision:
- 0:40605c19e1a6
- Child:
- 1:ca98a3ae7a70
asdf;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
m193516 | 0:40605c19e1a6 | 1 | /* Harrison Kubena and Rav Dhingra |
m193516 | 0:40605c19e1a6 | 2 | ES305 Lab 1 - Motor Ticker |
m193516 | 0:40605c19e1a6 | 3 | 27 August 2017 */ |
m193516 | 0:40605c19e1a6 | 4 | |
m193516 | 0:40605c19e1a6 | 5 | #include "mbed.h" |
m193516 | 0:40605c19e1a6 | 6 | #include "mbedWSEsbc.h" |
m193516 | 0:40605c19e1a6 | 7 | #define PI (3.14159) |
m193516 | 0:40605c19e1a6 | 8 | |
m193516 | 0:40605c19e1a6 | 9 | //declare objects |
m193516 | 0:40605c19e1a6 | 10 | Ticker Controller; //declare ticker obj |
m193516 | 0:40605c19e1a6 | 11 | |
m193516 | 0:40605c19e1a6 | 12 | //declare variables |
m193516 | 0:40605c19e1a6 | 13 | float TotalTime; |
m193516 | 0:40605c19e1a6 | 14 | float Time; |
m193516 | 0:40605c19e1a6 | 15 | float Tsamp = 0.0083; |
m193516 | 0:40605c19e1a6 | 16 | float Tstream = 0.01; |
m193516 | 0:40605c19e1a6 | 17 | float userDC; |
m193516 | 0:40605c19e1a6 | 18 | float ang, angp, speed; |
m193516 | 0:40605c19e1a6 | 19 | float dc; |
m193516 | 0:40605c19e1a6 | 20 | float enc1; |
m193516 | 0:40605c19e1a6 | 21 | float lowDC; |
m193516 | 0:40605c19e1a6 | 22 | |
m193516 | 0:40605c19e1a6 | 23 | void ctrCode(); |
m193516 | 0:40605c19e1a6 | 24 | void twoStepCode(); |
m193516 | 0:40605c19e1a6 | 25 | |
m193516 | 0:40605c19e1a6 | 26 | //enter main |
m193516 | 0:40605c19e1a6 | 27 | int main() { |
m193516 | 0:40605c19e1a6 | 28 | //init mbed |
m193516 | 0:40605c19e1a6 | 29 | |
m193516 | 0:40605c19e1a6 | 30 | mbedWSEsbcInit(115200); |
m193516 | 0:40605c19e1a6 | 31 | mot_en1.period(0.020); |
m193516 | 0:40605c19e1a6 | 32 | |
m193516 | 0:40605c19e1a6 | 33 | while(1) { |
m193516 | 0:40605c19e1a6 | 34 | |
m193516 | 0:40605c19e1a6 | 35 | pc.scanf("%f,%f", &TotalTime, &lowDC); |
m193516 | 0:40605c19e1a6 | 36 | Time = 0.0; |
m193516 | 0:40605c19e1a6 | 37 | t.reset(); |
m193516 | 0:40605c19e1a6 | 38 | Controller.attach(&twoStepCode,Tsamp); |
m193516 | 0:40605c19e1a6 | 39 | t.start(); |
m193516 | 0:40605c19e1a6 | 40 | |
m193516 | 0:40605c19e1a6 | 41 | //data streaming |
m193516 | 0:40605c19e1a6 | 42 | |
m193516 | 0:40605c19e1a6 | 43 | while(Time <= TotalTime) { |
m193516 | 0:40605c19e1a6 | 44 | |
m193516 | 0:40605c19e1a6 | 45 | Time = t.read(); |
m193516 | 0:40605c19e1a6 | 46 | pc.printf("%f, %f, %f\n", Time, speed, dc); |
m193516 | 0:40605c19e1a6 | 47 | wait(Tstream); |
m193516 | 0:40605c19e1a6 | 48 | } |
m193516 | 0:40605c19e1a6 | 49 | Controller.detach(); |
m193516 | 0:40605c19e1a6 | 50 | mot_control(1,0.0); |
m193516 | 0:40605c19e1a6 | 51 | } |
m193516 | 0:40605c19e1a6 | 52 | } |
m193516 | 0:40605c19e1a6 | 53 | // additional function definitions |
m193516 | 0:40605c19e1a6 | 54 | void ctrCode() { |
m193516 | 0:40605c19e1a6 | 55 | //read encoder |
m193516 | 0:40605c19e1a6 | 56 | enc1 = LS7366_read_counter(1); |
m193516 | 0:40605c19e1a6 | 57 | //convert counts to rads |
m193516 | 0:40605c19e1a6 | 58 | ang = 2.0*PI*enc1/6400.0; |
m193516 | 0:40605c19e1a6 | 59 | //estimate speed |
m193516 | 0:40605c19e1a6 | 60 | speed = (ang-angp)/Tsamp; |
m193516 | 0:40605c19e1a6 | 61 | //age variables |
m193516 | 0:40605c19e1a6 | 62 | angp = ang; |
m193516 | 0:40605c19e1a6 | 63 | //compute duty cycle |
m193516 | 0:40605c19e1a6 | 64 | dc = userDC; |
m193516 | 0:40605c19e1a6 | 65 | //send the duty cycle to motor |
m193516 | 0:40605c19e1a6 | 66 | mot_control(1,dc); } |
m193516 | 0:40605c19e1a6 | 67 | |
m193516 | 0:40605c19e1a6 | 68 | void twoStepCode() { |
m193516 | 0:40605c19e1a6 | 69 | //read encoder |
m193516 | 0:40605c19e1a6 | 70 | enc1 = LS7366_read_counter(1); |
m193516 | 0:40605c19e1a6 | 71 | //convert counts to rads |
m193516 | 0:40605c19e1a6 | 72 | ang = 2.0*PI*enc1/6400.0; |
m193516 | 0:40605c19e1a6 | 73 | //estimate speed |
m193516 | 0:40605c19e1a6 | 74 | speed = (ang-angp)/Tsamp; |
m193516 | 0:40605c19e1a6 | 75 | //age variables |
m193516 | 0:40605c19e1a6 | 76 | angp = ang; |
m193516 | 0:40605c19e1a6 | 77 | //compute duty cycle |
m193516 | 0:40605c19e1a6 | 78 | if(Time<0.1){ |
m193516 | 0:40605c19e1a6 | 79 | dc = 0.0; |
m193516 | 0:40605c19e1a6 | 80 | } else if(Time<0.55){ |
m193516 | 0:40605c19e1a6 | 81 | dc = lowDC; |
m193516 | 0:40605c19e1a6 | 82 | } else { |
m193516 | 0:40605c19e1a6 | 83 | dc = 0.10; |
m193516 | 0:40605c19e1a6 | 84 | } |
m193516 | 0:40605c19e1a6 | 85 | //send the duty cycle to motor |
m193516 | 0:40605c19e1a6 | 86 | mot_control(1,dc); } |
m193516 | 0:40605c19e1a6 | 87 | |
m193516 | 0:40605c19e1a6 | 88 | |
m193516 | 0:40605c19e1a6 | 89 | |
m193516 | 0:40605c19e1a6 | 90 |