Diff: main.cpp

Revision:

0:70e2da623aa5

diff -r 000000000000 -r 70e2da623aa5 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Mar 12 17:56:36 2017 +0000
@@ -0,0 +1,69 @@
+/*************************************************************************************
+Program Name: ES202 Laboratory Experiment 4, week 1
+
+Description:
+This program takes two values (the number of measurements to collect out and the motor
+pwm) from a user. The program then collects the prescribed number measurements
+and sends the iteration stamped values across the serial port.
+NOTE: YOU MUST CHANGE THE PWM PERIOD IN THE MOTOR.CPP FILE! CHANGE TO _pwm.period_us(50);
+Author: Levi DeVries, PhD, USNA, 2/1/17
+**************************************************************************************/
+
+#include "mbed.h"
+#include "Motor.h"
+
+Serial pc(USBTX,USBRX);   // serial comms with PC
+
+// ENTER CORRECT PIN NUMBER HERE
+AnalogIn sensor(p20);    // analog sensor
+
+// ENTER CORRECT MOTOR PINS HERE
+Motor mot(p26,p30,p29);   // motor object
+
+int counter;      // counter variable to print across serial port
+int Ncnts = 0;    // number of iterations to count to
+float aval = 0.0; // analog measurement value
+float mDC = 0.0;  // motor duty cycle
+float dheight=0.0;
+float meas_height;
+float height_error;
+int main()
+{
+    pc.baud(115200); // baud rate
+
+    while(1) {
+        mot.speed(0.0);  // turn motor off at start of program
+
+        pc.scanf("%d,%f",&Ncnts,&dheight);
+        // ENTER CODE HERE TO READ NUMBER OF COUNTS AND DUTY CYCLE FROM SERIAL PORT!!!
+
+
+        counter = 1; // set counter to 1 for new experiment
+        while(counter<=Ncnts) {
+
+            aval=sensor.read();// Read from sensor
+            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
+            height_error = dheight - meas_height; //determine the distance between the desired height and actual height
+            // logic control
+            if(height_error > 1.0) { //when the elevator is greater than 1 inch below the desired height
+                mDC = 1.0; //drive the elevator up
+            } else if(height_error < -1.0) { //when the elevator is greater than one inch above the desired height
+                mDC = -1.0; //drive the elevator down
+            } else { //if the elevator is between 1 inch above and 1 inch below the desired height
+                mDC = 0.0; // stop the elevator by turning off the DC Motor
+            }
+
+            pc.printf("%d,%f,%f\n",counter,meas_height,mDC);
+            mot.speed(mDC);// ENTER CODE HERE TO SET MOTOR DUTY CYCLE
+
+            //pc.printf("%d,%f,%f\n",counter,aval,mDC);// PRINT ITERATION #, SENSOR MEASUREMENT, AND DUTY CYCLE TO SERIAL PORT
+
+
+
+
+            counter++; // update counter
+            wait(0.05); // wait 0.05 seconds to allow sensor to refresh
+
+        } // end while(counter)
+    }// end while(1)
+} // end main
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