Luke Ledva / Mbed 2 deprecated LogicControl

Commented Logic Control

Dependencies:   Motor mbed

main.cpp@0:70e2da623aa5, 2017-03-12 (annotated)

Committer:
m193672
Date:
Sun Mar 12 17:56:36 2017 +0000
Revision:
0:70e2da623aa5
LogicControl

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m193672 0:70e2da623aa5 1 /*************************************************************************************
m193672 0:70e2da623aa5 2 Program Name: ES202 Laboratory Experiment 4, week 1
m193672 0:70e2da623aa5 3
m193672 0:70e2da623aa5 4 Description:
m193672 0:70e2da623aa5 5 This program takes two values (the number of measurements to collect out and the motor
m193672 0:70e2da623aa5 6 pwm) from a user. The program then collects the prescribed number measurements
m193672 0:70e2da623aa5 7 and sends the iteration stamped values across the serial port.
m193672 0:70e2da623aa5 8 NOTE: YOU MUST CHANGE THE PWM PERIOD IN THE MOTOR.CPP FILE! CHANGE TO _pwm.period_us(50);
m193672 0:70e2da623aa5 9 Author: Levi DeVries, PhD, USNA, 2/1/17
m193672 0:70e2da623aa5 10 **************************************************************************************/
m193672 0:70e2da623aa5 11
m193672 0:70e2da623aa5 12 #include "mbed.h"
m193672 0:70e2da623aa5 13 #include "Motor.h"
m193672 0:70e2da623aa5 14
m193672 0:70e2da623aa5 15 Serial pc(USBTX,USBRX); // serial comms with PC
m193672 0:70e2da623aa5 16
m193672 0:70e2da623aa5 17 // ENTER CORRECT PIN NUMBER HERE
m193672 0:70e2da623aa5 18 AnalogIn sensor(p20); // analog sensor
m193672 0:70e2da623aa5 19
m193672 0:70e2da623aa5 20 // ENTER CORRECT MOTOR PINS HERE
m193672 0:70e2da623aa5 21 Motor mot(p26,p30,p29); // motor object
m193672 0:70e2da623aa5 22
m193672 0:70e2da623aa5 23 int counter; // counter variable to print across serial port
m193672 0:70e2da623aa5 24 int Ncnts = 0; // number of iterations to count to
m193672 0:70e2da623aa5 25 float aval = 0.0; // analog measurement value
m193672 0:70e2da623aa5 26 float mDC = 0.0; // motor duty cycle
m193672 0:70e2da623aa5 27 float dheight=0.0;
m193672 0:70e2da623aa5 28 float meas_height;
m193672 0:70e2da623aa5 29 float height_error;
m193672 0:70e2da623aa5 30 int main()
m193672 0:70e2da623aa5 31 {
m193672 0:70e2da623aa5 32 pc.baud(115200); // baud rate
m193672 0:70e2da623aa5 33
m193672 0:70e2da623aa5 34 while(1) {
m193672 0:70e2da623aa5 35 mot.speed(0.0); // turn motor off at start of program
m193672 0:70e2da623aa5 36
m193672 0:70e2da623aa5 37 pc.scanf("%d,%f",&Ncnts,&dheight);
m193672 0:70e2da623aa5 38 // ENTER CODE HERE TO READ NUMBER OF COUNTS AND DUTY CYCLE FROM SERIAL PORT!!!
m193672 0:70e2da623aa5 39
m193672 0:70e2da623aa5 40
m193672 0:70e2da623aa5 41 counter = 1; // set counter to 1 for new experiment
m193672 0:70e2da623aa5 42 while(counter<=Ncnts) {
m193672 0:70e2da623aa5 43
m193672 0:70e2da623aa5 44 aval=sensor.read();// Read from sensor
m193672 0:70e2da623aa5 45 meas_height = 568.3*pow(aval,3) - 797.8*pow(aval,2) + 381*pow(aval,1) - 41; //polyfit funciton coefficients used to accurately model the height
m193672 0:70e2da623aa5 46 height_error = dheight - meas_height; //determine the distance between the desired height and actual height
m193672 0:70e2da623aa5 47 // logic control
m193672 0:70e2da623aa5 48 if(height_error > 1.0) { //when the elevator is greater than 1 inch below the desired height
m193672 0:70e2da623aa5 49 mDC = 1.0; //drive the elevator up
m193672 0:70e2da623aa5 50 } else if(height_error < -1.0) { //when the elevator is greater than one inch above the desired height
m193672 0:70e2da623aa5 51 mDC = -1.0; //drive the elevator down
m193672 0:70e2da623aa5 52 } else { //if the elevator is between 1 inch above and 1 inch below the desired height
m193672 0:70e2da623aa5 53 mDC = 0.0; // stop the elevator by turning off the DC Motor
m193672 0:70e2da623aa5 54 }
m193672 0:70e2da623aa5 55
m193672 0:70e2da623aa5 56 pc.printf("%d,%f,%f\n",counter,meas_height,mDC);
m193672 0:70e2da623aa5 57 mot.speed(mDC);// ENTER CODE HERE TO SET MOTOR DUTY CYCLE
m193672 0:70e2da623aa5 58
m193672 0:70e2da623aa5 59 //pc.printf("%d,%f,%f\n",counter,aval,mDC);// PRINT ITERATION #, SENSOR MEASUREMENT, AND DUTY CYCLE TO SERIAL PORT
m193672 0:70e2da623aa5 60
m193672 0:70e2da623aa5 61
m193672 0:70e2da623aa5 62
m193672 0:70e2da623aa5 63
m193672 0:70e2da623aa5 64 counter++; // update counter
m193672 0:70e2da623aa5 65 wait(0.05); // wait 0.05 seconds to allow sensor to refresh
m193672 0:70e2da623aa5 66
m193672 0:70e2da623aa5 67 } // end while(counter)
m193672 0:70e2da623aa5 68 }// end while(1)
m193672 0:70e2da623aa5 69 } // end main