Matthew Hall / Mbed 2 deprecated lab5es305

non

Dependencies:   mbed

main.cpp@0:2c721947a97e, 2017-11-05 (annotated)

Committer:
matthewhall115
Date:
Sun Nov 05 19:27:33 2017 +0000
Revision:
0:2c721947a97e
none

Who changed what in which revision?

UserRevisionLine numberNew contents of line
matthewhall115 0:2c721947a97e 1 #include "mbed.h"
matthewhall115 0:2c721947a97e 2 #include "mbedWSEsbc.h"
matthewhall115 0:2c721947a97e 3 #define PI (3.14159)
matthewhall115 0:2c721947a97e 4
matthewhall115 0:2c721947a97e 5
matthewhall115 0:2c721947a97e 6 // Declare objects (if necessary)
matthewhall115 0:2c721947a97e 7 Ticker Controller; // declare Ticker object named "Controller"
matthewhall115 0:2c721947a97e 8 DigitalOut myled(LED1); // LED, flash lights for debugging
matthewhall115 0:2c721947a97e 9
matthewhall115 0:2c721947a97e 10
matthewhall115 0:2c721947a97e 11 // variables for data handling and storage
matthewhall115 0:2c721947a97e 12 float TotalTime; // Total run time
matthewhall115 0:2c721947a97e 13 float Time; // Current elapsed time
matthewhall115 0:2c721947a97e 14 float Ts = 0.0083; // Control update period (seconds) (100 Hz equivalent)
matthewhall115 0:2c721947a97e 15 float Tstrm = 0.01; // Data streaming period (seconds) (50 Hz equivalent)
matthewhall115 0:2c721947a97e 16 float usrDC; // uaser-specified duty cycle
matthewhall115 0:2c721947a97e 17 float ang,angp,speed; // variables for approximating speed from encoder measurements
matthewhall115 0:2c721947a97e 18 float dc; // duty cycle applied to motor
matthewhall115 0:2c721947a97e 19 long enc1; // encoder variable
matthewhall115 0:2c721947a97e 20 float lowDC;
matthewhall115 0:2c721947a97e 21
matthewhall115 0:2c721947a97e 22
matthewhall115 0:2c721947a97e 23 // Function definition Prototypes (declarations)
matthewhall115 0:2c721947a97e 24 void ctrCode(); // declare that a separate (other than main) function named "ctrCode" exists
matthewhall115 0:2c721947a97e 25 void twoStepCode(); //Two Step input
matthewhall115 0:2c721947a97e 26
matthewhall115 0:2c721947a97e 27
matthewhall115 0:2c721947a97e 28 // Enter main function
matthewhall115 0:2c721947a97e 29 int main ()
matthewhall115 0:2c721947a97e 30 {
matthewhall115 0:2c721947a97e 31 // Initializes mbed to access functionality of encoder, A/D, driver, etc. chipsets
matthewhall115 0:2c721947a97e 32 // Input is baud rate for PC communication
matthewhall115 0:2c721947a97e 33 mbedWSEsbcInit(115200); // also initializes timer object t
matthewhall115 0:2c721947a97e 34 mot_en1.period(0.020); // sets PWM period to 0.02 seconds for best DC motor operation
matthewhall115 0:2c721947a97e 35
matthewhall115 0:2c721947a97e 36 while(1) {
matthewhall115 0:2c721947a97e 37
matthewhall115 0:2c721947a97e 38 // Scan serial port for user input to begin experiment
matthewhall115 0:2c721947a97e 39 pc.scanf("%f,%f",&TotalTime,&lowDC);
matthewhall115 0:2c721947a97e 40
matthewhall115 0:2c721947a97e 41 // perform necessary functions to time the experiment
matthewhall115 0:2c721947a97e 42 Time = 0.0; // reset time variable
matthewhall115 0:2c721947a97e 43 t.reset(); // reset timer object
matthewhall115 0:2c721947a97e 44
matthewhall115 0:2c721947a97e 45 // Attach the ctrCode function to ticker object specified with period Ts
matthewhall115 0:2c721947a97e 46 Controller.attach(&twoStepCode,Ts);
matthewhall115 0:2c721947a97e 47
matthewhall115 0:2c721947a97e 48 t.start(); // start measuring elapsed time
matthewhall115 0:2c721947a97e 49
matthewhall115 0:2c721947a97e 50 // perform operations while the elapsed time is less than the desired total time
matthewhall115 0:2c721947a97e 51 while(Time <= TotalTime) {
matthewhall115 0:2c721947a97e 52
matthewhall115 0:2c721947a97e 53
matthewhall115 0:2c721947a97e 54
matthewhall115 0:2c721947a97e 55 // read current elapsed time
matthewhall115 0:2c721947a97e 56 Time = t.read();
matthewhall115 0:2c721947a97e 57
matthewhall115 0:2c721947a97e 58
matthewhall115 0:2c721947a97e 59 // send data over serial port
matthewhall115 0:2c721947a97e 60 pc.printf("%f,%f,%f\n",Time,speed,dc);
matthewhall115 0:2c721947a97e 61
matthewhall115 0:2c721947a97e 62
matthewhall115 0:2c721947a97e 63 wait(Tstrm); // print data at approximately 50 Hz
matthewhall115 0:2c721947a97e 64
matthewhall115 0:2c721947a97e 65
matthewhall115 0:2c721947a97e 66
matthewhall115 0:2c721947a97e 67
matthewhall115 0:2c721947a97e 68 } // end while(Time<=Ttime)
matthewhall115 0:2c721947a97e 69
matthewhall115 0:2c721947a97e 70 Controller.detach(); // detach ticker to turn off controller
matthewhall115 0:2c721947a97e 71 // Turn motor off at end of experiment
matthewhall115 0:2c721947a97e 72 mot_control(1,0.0);
matthewhall115 0:2c721947a97e 73
matthewhall115 0:2c721947a97e 74 }// end while(1)
matthewhall115 0:2c721947a97e 75 }// end main
matthewhall115 0:2c721947a97e 76
matthewhall115 0:2c721947a97e 77
matthewhall115 0:2c721947a97e 78
matthewhall115 0:2c721947a97e 79 // Additional function definitions
matthewhall115 0:2c721947a97e 80 void ctrCode() // function to attach to ticker
matthewhall115 0:2c721947a97e 81 {
matthewhall115 0:2c721947a97e 82
matthewhall115 0:2c721947a97e 83 myled = !myled; // toggle LED 2 to indicate control update
matthewhall115 0:2c721947a97e 84
matthewhall115 0:2c721947a97e 85 // Read encoder
matthewhall115 0:2c721947a97e 86 enc1 = LS7366_read_counter(1); // input is the encoder channel
matthewhall115 0:2c721947a97e 87
matthewhall115 0:2c721947a97e 88 // Convert from counts to radians
matthewhall115 0:2c721947a97e 89 ang = 2.0*PI*enc1/6400.0;
matthewhall115 0:2c721947a97e 90
matthewhall115 0:2c721947a97e 91 // Estimate speed
matthewhall115 0:2c721947a97e 92 speed = (ang-angp)/Ts;
matthewhall115 0:2c721947a97e 93
matthewhall115 0:2c721947a97e 94 // Age variables
matthewhall115 0:2c721947a97e 95 angp = ang;
matthewhall115 0:2c721947a97e 96
matthewhall115 0:2c721947a97e 97 // compute duty cycle for motor (will be changed later!)
matthewhall115 0:2c721947a97e 98 dc = usrDC; // user-specified duty cycle
matthewhall115 0:2c721947a97e 99
matthewhall115 0:2c721947a97e 100 // motor control
matthewhall115 0:2c721947a97e 101 mot_control(1,dc); // first input is the motor channel, second is duty cycle
matthewhall115 0:2c721947a97e 102
matthewhall115 0:2c721947a97e 103 } // end ctrCode()
matthewhall115 0:2c721947a97e 104
matthewhall115 0:2c721947a97e 105
matthewhall115 0:2c721947a97e 106
matthewhall115 0:2c721947a97e 107
matthewhall115 0:2c721947a97e 108 // Additional function definitions
matthewhall115 0:2c721947a97e 109 void twoStepCode() // function to attach to ticker
matthewhall115 0:2c721947a97e 110 {
matthewhall115 0:2c721947a97e 111 myled = !myled; // toggle LED 2 to indicate control update
matthewhall115 0:2c721947a97e 112
matthewhall115 0:2c721947a97e 113 // Read encoder
matthewhall115 0:2c721947a97e 114 enc1 = LS7366_read_counter(1); // input is the encoder channel
matthewhall115 0:2c721947a97e 115
matthewhall115 0:2c721947a97e 116 // Convert from counts to radians
matthewhall115 0:2c721947a97e 117 ang = 2.0*PI*enc1/6400.0;
matthewhall115 0:2c721947a97e 118
matthewhall115 0:2c721947a97e 119 // Estimate speed
matthewhall115 0:2c721947a97e 120 speed = (ang-angp)/Ts;
matthewhall115 0:2c721947a97e 121
matthewhall115 0:2c721947a97e 122 // Age variables
matthewhall115 0:2c721947a97e 123 angp = ang;
matthewhall115 0:2c721947a97e 124
matthewhall115 0:2c721947a97e 125 // compute duty cycle for motor over two step inputs
matthewhall115 0:2c721947a97e 126 if(Time<0.1) {
matthewhall115 0:2c721947a97e 127 dc = 0.0;
matthewhall115 0:2c721947a97e 128 } else if(Time<0.55) {
matthewhall115 0:2c721947a97e 129 dc = lowDC; // low duty cycle
matthewhall115 0:2c721947a97e 130 } else {
matthewhall115 0:2c721947a97e 131 dc = 0.10;
matthewhall115 0:2c721947a97e 132 }
matthewhall115 0:2c721947a97e 133 // motor control
matthewhall115 0:2c721947a97e 134 mot_control(1,dc); // first input is the motor channel, second is duty cycle
matthewhall115 0:2c721947a97e 135 } // end twoStepCode()
matthewhall115 0:2c721947a97e 136
matthewhall115 0:2c721947a97e 137