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main.cpp@0:c5257a56d3c7, 2017-11-05 (annotated)
- Committer:
- matthewhall115
- Date:
- Sun Nov 05 19:25:12 2017 +0000
- Revision:
- 0:c5257a56d3c7
nothing
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
matthewhall115 | 0:c5257a56d3c7 | 1 | #include "mbed.h" |
matthewhall115 | 0:c5257a56d3c7 | 2 | #include "mbedWSEsbc.h" |
matthewhall115 | 0:c5257a56d3c7 | 3 | #define PI (3.14159) |
matthewhall115 | 0:c5257a56d3c7 | 4 | |
matthewhall115 | 0:c5257a56d3c7 | 5 | //Declare objects (if necessary) |
matthewhall115 | 0:c5257a56d3c7 | 6 | Ticker Controller; //declare Ticker object name "Controller" |
matthewhall115 | 0:c5257a56d3c7 | 7 | |
matthewhall115 | 0:c5257a56d3c7 | 8 | //variables for data handling and storage |
matthewhall115 | 0:c5257a56d3c7 | 9 | float TotalTime; //Total run time |
matthewhall115 | 0:c5257a56d3c7 | 10 | float Time; //Current elapsed time |
matthewhall115 | 0:c5257a56d3c7 | 11 | float Ts=0.0083; //Control update period (seconds) (100Hz equivalent) |
matthewhall115 | 0:c5257a56d3c7 | 12 | float Tstrm=0.01; //Data streaming period (seconds) (50Hz equivalent) |
matthewhall115 | 0:c5257a56d3c7 | 13 | float usrDC; //user-specified duty cycle |
matthewhall115 | 0:c5257a56d3c7 | 14 | float speed; |
matthewhall115 | 0:c5257a56d3c7 | 15 | float ang; |
matthewhall115 | 0:c5257a56d3c7 | 16 | float angp; |
matthewhall115 | 0:c5257a56d3c7 | 17 | float dc; |
matthewhall115 | 0:c5257a56d3c7 | 18 | float enc1; |
matthewhall115 | 0:c5257a56d3c7 | 19 | |
matthewhall115 | 0:c5257a56d3c7 | 20 | |
matthewhall115 | 0:c5257a56d3c7 | 21 | |
matthewhall115 | 0:c5257a56d3c7 | 22 | |
matthewhall115 | 0:c5257a56d3c7 | 23 | //Function definition Prototypes (declaration) |
matthewhall115 | 0:c5257a56d3c7 | 24 | void ctrCode(); //declare that a separate (other than main) function named "ctrCode" exists |
matthewhall115 | 0:c5257a56d3c7 | 25 | |
matthewhall115 | 0:c5257a56d3c7 | 26 | //main function |
matthewhall115 | 0:c5257a56d3c7 | 27 | int main () |
matthewhall115 | 0:c5257a56d3c7 | 28 | { |
matthewhall115 | 0:c5257a56d3c7 | 29 | //Initialize mbed to access functionality of encoder, A/D, driver, etc. chipsets |
matthewhall115 | 0:c5257a56d3c7 | 30 | //Input is baud rate for PC communication |
matthewhall115 | 0:c5257a56d3c7 | 31 | mbedWSEsbcInit(115200); //also intializes timer oject t |
matthewhall115 | 0:c5257a56d3c7 | 32 | mot_en1.period(0.020); //sets PWM period to 0.02 seconds for best DC motor operation |
matthewhall115 | 0:c5257a56d3c7 | 33 | |
matthewhall115 | 0:c5257a56d3c7 | 34 | while(1) { |
matthewhall115 | 0:c5257a56d3c7 | 35 | |
matthewhall115 | 0:c5257a56d3c7 | 36 | //Scan serial port for user input to begin experiment |
matthewhall115 | 0:c5257a56d3c7 | 37 | pc.scanf("%f,%f",&TotalTime,&usrDC); |
matthewhall115 | 0:c5257a56d3c7 | 38 | //perform necessary functions to time the experiment |
matthewhall115 | 0:c5257a56d3c7 | 39 | Time=0.0; //reset time variable |
matthewhall115 | 0:c5257a56d3c7 | 40 | t.reset(); // reset time object |
matthewhall115 | 0:c5257a56d3c7 | 41 | |
matthewhall115 | 0:c5257a56d3c7 | 42 | //Attached the ctrCode function to ticker oject specified with period Ts |
matthewhall115 | 0:c5257a56d3c7 | 43 | Controller.attach(&ctrCode,Ts); |
matthewhall115 | 0:c5257a56d3c7 | 44 | |
matthewhall115 | 0:c5257a56d3c7 | 45 | t.start(); //start measuring elapsed time |
matthewhall115 | 0:c5257a56d3c7 | 46 | |
matthewhall115 | 0:c5257a56d3c7 | 47 | //perform operations while the elapsed time is less than the desired total time |
matthewhall115 | 0:c5257a56d3c7 | 48 | while(Time <= TotalTime) { |
matthewhall115 | 0:c5257a56d3c7 | 49 | |
matthewhall115 | 0:c5257a56d3c7 | 50 | //read current elapsed time |
matthewhall115 | 0:c5257a56d3c7 | 51 | Time= t.read(); |
matthewhall115 | 0:c5257a56d3c7 | 52 | |
matthewhall115 | 0:c5257a56d3c7 | 53 | //send data over serial port |
matthewhall115 | 0:c5257a56d3c7 | 54 | pc.printf("%f,%f,%f\n",Time,speed,usrDC); |
matthewhall115 | 0:c5257a56d3c7 | 55 | |
matthewhall115 | 0:c5257a56d3c7 | 56 | |
matthewhall115 | 0:c5257a56d3c7 | 57 | wait(Tstrm); //print data at approximately 50 Hz |
matthewhall115 | 0:c5257a56d3c7 | 58 | |
matthewhall115 | 0:c5257a56d3c7 | 59 | } // end while(Time<=Ttime) |
matthewhall115 | 0:c5257a56d3c7 | 60 | |
matthewhall115 | 0:c5257a56d3c7 | 61 | Controller.detach(); // detach ticker to turn off controller |
matthewhall115 | 0:c5257a56d3c7 | 62 | mot_control(1,0.0);//Turn motor off at end of experiment |
matthewhall115 | 0:c5257a56d3c7 | 63 | |
matthewhall115 | 0:c5257a56d3c7 | 64 | }//end while(1) |
matthewhall115 | 0:c5257a56d3c7 | 65 | }// end main |
matthewhall115 | 0:c5257a56d3c7 | 66 | |
matthewhall115 | 0:c5257a56d3c7 | 67 | //aditional function definitions |
matthewhall115 | 0:c5257a56d3c7 | 68 | void ctrCode() //fuction to attach to ticker |
matthewhall115 | 0:c5257a56d3c7 | 69 | { |
matthewhall115 | 0:c5257a56d3c7 | 70 | enc1=LS7366_read_counter(1); |
matthewhall115 | 0:c5257a56d3c7 | 71 | ang = 2*PI*enc1/6500;//convert to radians |
matthewhall115 | 0:c5257a56d3c7 | 72 | speed = (ang - angp)/Ts;//estimate speed |
matthewhall115 | 0:c5257a56d3c7 | 73 | angp = ang;//age variables |
matthewhall115 | 0:c5257a56d3c7 | 74 | dc = usrDC;//compute duty cycle |
matthewhall115 | 0:c5257a56d3c7 | 75 | mot_control(1,dc);//send duty cycle to moto |
matthewhall115 | 0:c5257a56d3c7 | 76 | |
matthewhall115 | 0:c5257a56d3c7 | 77 | } |