Diff: main.cpp

Revision:

0:b1f30f1487b9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Nov 28 02:21:22 2017 +0000
@@ -0,0 +1,112 @@
+// ES305 Lab #6
+
+//program to drive the DC motor with a user specified duty cycle
+
+// include libraries and define PI
+#include "mbed.h"
+#include "mbedWSEsbc.h"
+#define PI (3.14159)
+
+Ticker Controller;
+
+//declare variables for data handling
+float TotalTime; //establishing float called Totalime
+float UserDutyCycle; //establishing float called UserDutyCycle
+float Time; //establishing float called Time
+float DataStream = 0.01; //establishing float called DataStream
+float Ts = .0083; //establishing float called Ts
+float speed;  //establishing float called speed
+float enc1, ang, angp, dc, dspd, spderr, kp; //encoder, angle, previous angle, duty cycle
+
+//declare function definitions
+void ctrCode(); //function attaches to ticker
+void pCtrlCode();
+
+int main ()
+
+{
+    mbedWSEsbcInit(115200);
+    mot_en1.period(0.020);
+
+    while(1)    {
+        pc.scanf("%f,%f,%f", &TotalTime,&dspd, &kp);
+
+//Set current time to zero
+        Time = 0.0;
+        t.reset();
+
+        //attach ctrCode function ticker to the obj with specified period
+
+        Controller.attach(&pCtrlCode,Ts);
+        t.start(); //start timer object
+
+//loop that interates only if current time <+ desired run time; Data streaming loop
+
+        while(Time <= TotalTime) {
+            Time = t.read();
+            pc.printf("%f,%f,%f\n" , Time, speed, dc);
+            wait(DataStream); //print data at 100Hz
+        }
+
+        Controller.detach();
+        mot_control(1,0.0); //motor shuts off when experiment complete
+    } //end while 1
+
+} //end main
+
+void ctrCode()
+{
+
+// read encoder
+    enc1 = LS7366_read_counter(1);
+
+//convert from counts to radians
+    ang = 2*PI*enc1/6500;
+
+//estimated speed
+    speed = (ang-angp)/Ts;
+
+//age variables
+    angp = ang;
+
+//compute the duty cycle for motor
+    dc = UserDutyCycle;
+
+//send duty cycle to motor
+    mot_control(1,dc);
+
+} //end ctrCode()
+
+void pCtrlCode() // function to attach to ticker
+{
+
+    // Read encoder
+    enc1 = LS7366_read_counter(1); // input is the encoder channel
+
+    // Convert from counts to radians
+    ang = 2.0*PI*enc1/6400.0;
+
+    // Estimate speed
+    speed = (ang-angp)/Ts;
+
+    // Age variables
+    angp = ang;
+
+    // compute error
+    spderr = dspd-speed;
+
+    // compute duty cycle for motor
+    if(Time<0.1) {
+        dc = 0.0;
+    } else {
+        dc = kp*(spderr)/20;
+    }
+    // enforce duty cycle saturation
+    if(dc>1.0) {
+        dc = 1.0;
+    } else if(dc<-1.0) {
+        dc = -1.0;
+    }
+    // motor control
+    mot_control(1,dc); // first input is the motor channel, second is duty cycle
+} //end pctrl function
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