Diff: main.cpp

Revision:

0:c5257a56d3c7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Nov 05 19:25:12 2017 +0000
@@ -0,0 +1,77 @@
+#include "mbed.h"
+#include "mbedWSEsbc.h"
+#define PI (3.14159)
+
+//Declare objects (if necessary)
+Ticker Controller; //declare Ticker object name "Controller"
+
+//variables for data handling and storage
+float TotalTime;   //Total run time
+float Time;   //Current elapsed time
+float Ts=0.0083; //Control update period (seconds) (100Hz equivalent)
+float Tstrm=0.01; //Data streaming period (seconds) (50Hz equivalent)
+float usrDC;  //user-specified duty cycle
+float speed;
+float ang;
+float angp;
+float dc;
+float enc1;
+
+
+
+
+//Function definition Prototypes (declaration)
+void ctrCode(); //declare that a separate (other than main) function named "ctrCode" exists
+
+//main function
+int main ()
+{
+    //Initialize mbed to access functionality of encoder, A/D, driver, etc. chipsets
+    //Input is baud rate for PC communication
+    mbedWSEsbcInit(115200); //also intializes timer oject t
+    mot_en1.period(0.020); //sets PWM period to 0.02 seconds for best DC motor operation
+
+    while(1) {
+
+        //Scan serial port for user input to begin experiment
+        pc.scanf("%f,%f",&TotalTime,&usrDC);
+        //perform necessary functions to time the experiment
+        Time=0.0; //reset time variable
+        t.reset(); // reset time object
+
+//Attached the ctrCode function to ticker oject specified with period Ts
+        Controller.attach(&ctrCode,Ts);
+
+        t.start(); //start measuring elapsed time
+
+        //perform operations while the elapsed time is less than the desired total time
+        while(Time <= TotalTime) {
+
+            //read current elapsed time
+            Time= t.read();
+
+            //send data over serial port
+            pc.printf("%f,%f,%f\n",Time,speed,usrDC);
+
+
+            wait(Tstrm); //print data at approximately 50 Hz
+
+        } // end while(Time<=Ttime)
+
+        Controller.detach(); // detach ticker to turn off controller
+        mot_control(1,0.0);//Turn motor off at end of experiment
+
+    }//end while(1)
+}// end main
+
+//aditional function definitions
+void ctrCode() //fuction to attach to ticker
+{
+    enc1=LS7366_read_counter(1);
+    ang = 2*PI*enc1/6500;//convert to radians
+    speed = (ang - angp)/Ts;//estimate speed
+    angp = ang;//age variables
+    dc = usrDC;//compute duty cycle
+    mot_control(1,dc);//send duty cycle to moto
+
+}
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