Joe Vogeney
two tank
Revision 0:20094a6b0f4e, committed 2018-03-21
- Comitter:
- m196624
- Date:
- Wed Mar 21 21:05:29 2018 +0000
- Commit message:
- ES306 Two Tank Lab;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Mar 21 21:05:29 2018 +0000
@@ -0,0 +1,130 @@
+// Description: Runs Two Tank
+// Date: 3FEB2018
+
+// Add important libraries
+
+#include "mbed.h"
+#include "mbedWSEsbc.h"
+
+// Declare objects
+Ticker Controller; //declares ticker interrupt object called controller
+
+// Declare variables
+float TotalTime; // Total run time (specified by user)
+float Time; // current elapsed time
+float Volt1, Volt2;//voltage tank1,2
+float dc;//Duty Cycle
+float dc_op; //operating duty cycle
+float dc_delta; //duty cycle change
+float alpha1, alpha2;//calibration parameters
+float beta1, beta2;
+float height_op1, height_op2;
+float K1, K2;//State feedback gain
+int indicator=1;//parameter indicating identification or state feedback
+float Tank1, Tank2;//pressure of tanks
+float h1,h2;
+float dct;
+//float speed; //speed of motor
+float Tstrm = 1.00; //data streaming period (100 Hz)
+//float ang; //angular position of DC motor
+//float angp = 0.0; //initialize previous angle to zero
+//float errp = 0.0; //initialize previous error to zero
+//long enc1; //encoder count variable
+//float Ts = 0.0083; //seconds, control update period
+//float dc;
+//float desired_speed; //desired speed specified by user
+//float a; //Tustin's value
+//float zero; //PI zero
+
+// Declare functions
+void Control(); //declare that a separate function (other than main) exists
+void ctrlr_sf(); //declare state feedback function
+//void twoStep();
+//void pctrl();
+//void PIctrl();
+//void sends nothing back, () takes no inputs
+
+// Create Main function
+int main()
+{
+ mbedWSEsbcInit(115200); //initialize ES3XX board (declares pc object, motors, encoders, etc)
+ mot_en1.period(0.02); //sets pwm period to 0.02 sec for best DC motor operation
+ mot_control(1,0); //send opposite duty cycle to pump
+ while(1) {
+ pc.scanf("%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %d", &TotalTime, &dc_op, &dc_delta, &alpha1, &alpha2, &beta1, &beta2, &height_op1, &height_op2, &K1, &K2, &indicator); //scans serial port for user specified run time and duty cycle
+//Declare
+ //dc_op=0.3; // 10 -15 centimeters
+ //dc_delta=0.01;
+//Calibration parameters
+ // alpha1=1;
+ // alpha2=1;
+ // beta1=0;
+ // beta2=0;
+ // height_op1=12.6; //observed operating height
+ // height_op2=12.6; //observed operating height
+ // K1=2.59; //State feedback gain
+ // K2=2.59; //State feedback gain
+ // indicator=1; //System ID or State Feedback
+
+ Time = 0.0; //set elapsed time to 0
+ t.reset(); //reset stop watch to sample from the timer object
+ t.start(); //start stop watch to measure elapsed time
+ Controller.attach(&ctrlr_sf, Tstrm); //attaches ticker to control function
+ while(Time<=TotalTime) {
+//read time from stop watch
+ Time = t.read();
+//send data over the serial port
+ pc.printf("%f, %f, %f, %f\n", Time, Tank1, Tank2, dc);
+ wait (Tstrm);
+ //Control();
+ }//end of while(Time<=TotalTime)
+
+ Controller.detach(); //detaching function from ticker to stop experiment
+ mot_control(1,0.0); //turns off motor, (references channel 1 where the motor is connected to and duty cycle is now set to 0.0)
+
+ }//end of while(1)
+
+}//end of main program
+void ctrlr_sf ()
+{
+ // Read pressure sensors
+ Tank1 = read_max1270_volts(1, 1, 1);
+ Tank2 = read_max1270_volts(0, 1, 1);
+
+ // Convert pressure voltage to tank height
+ h1 = alpha1*Tank1 + beta1;
+ h2 = alpha2*Tank2 + beta2;
+
+ // duty cycle
+ dct = -(K1*(h1-height_op1)+K2*(h2-height_op2)); // SF law
+ dc = -(dc_op+dct); // duty cycle must be negative
+
+
+ // saturation
+ if (dc > 1.0) {
+ dc = 1.0;
+ }
+
+ if (dc < -1.0) {
+ dc = -1.0;
+ }
+
+}
+// Define Functions (write the code for what each function does)
+/*void Control()
+{
+ Tank1=read_max1270_volts(1,1,1);
+ Tank2=read_max1270_volts(0,1,1);
+ h1=alpha1*Tank1+beta1;
+ h2=alpha2*Tank2+beta2;
+ if (Time<=(TotalTime/2)) {
+ dc=dc_op;
+ mot_control(1,-dc); //send opposite duty cycle to pump
+ } else if (Time>(TotalTime/2)) {
+ dc=dc_op+dc_delta;
+ mot_control(1,-dc); //send opposite duty cycle to pump
+ }
+ // }
+
+}
+*/
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Mar 21 21:05:29 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/7130f322cb7e \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbedWSEsbc.lib Wed Mar 21 21:05:29 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/jebradshaw/code/mbedWSEsbc/#2564f54c89df